WO2023221754A1

WO2023221754A1 - Spray gun based on position sensing technology and robot convenient programming apparatus thereof

Info

Publication number: WO2023221754A1
Application number: PCT/CN2023/090878
Authority: WO
Inventors: 蒋立军; 游玮; 方明; 周建辉; 方钰; 陈圣亮; 徐强; 刘成利; 单春波; 陈青
Original assignee: 埃夫特智能装备股份有限公司
Priority date: 2022-05-20
Filing date: 2023-04-26
Publication date: 2023-11-23
Also published as: CN114918937A

Abstract

The present invention relates to the technical field of spray robots, in particular to a spray gun based on position sensing technology and a robot convenient programming apparatus thereof. The spray gun comprises a support, a spray head horizontally and fixedly connected to the top portion of the front end of the support, an operation handle vertically and fixedly connected to the bottom portion of the rear end of the support, and three position trackers correspondingly arranged on the left side, the right side and the rear end of the support, the position tracker at the left side of the support and the position tracker at the right side of the support being bilaterally symmetrical along the center line of the support, and the center line of the spray head, the center line of the operation handle and the center line of the position tracker at the rear end of the support coinciding. In the present invention, writing a robot track program by means of a demonstrator is not needed, and movement track programming of a spray robot can be completed simply by means of making a worker hold the apparatus in hands to complete one time of actual spraying. Once a program is copied to a robot controller, the spray robot can perform automatic spraying according to an actual-spraying track path of the worker, thereby greatly reducing the difficulty of robot programming.

Description

A spray gun and its robot convenient programming device based on position sensing technology

Technical field

The invention relates to the technical field of spraying robots, specifically a spraying gun based on position sensing technology and a convenient programming device for its robot.

Background technique

In recent years, due to the gradual disappearance of the demographic dividend, the manufacturing field has become more and more demanding for automation, especially in spraying scenes. Due to the harsh working environment and harmful effects on the human body, companies have increasingly urgent needs for spraying robots. At present, the main problem restricting the widespread application of spraying robots is the difficulty in programming and operating the spraying robots. Traditional P2P programming through a teaching pendant requires the operator to master the robot program code and understand the robot coordinate system, workpiece coordinate system, and spraying process. There is a deep understanding of the control of parameters, etc., so the professional level of operators is high. Many companies are faced with the pain of not being able to afford spraying robots. Therefore, solving the problem of difficult robot programming has become a top priority in the field of spraying robots.

Contents of the invention

In view of the above technical problems, the present invention proposes a spray gun and its robot convenient programming device based on position sensing technology.

The technical problems to be solved by the present invention are achieved by adopting the following technical solutions:

A spray gun based on position sensing technology includes a bracket, a nozzle horizontally fixedly connected to the top of the front end of the bracket, and an operating handle vertically fixedly connected to the bottom of the rear end of the bracket, corresponding to the three handles provided on the left, right and rear ends of the bracket. The position tracker on the left side of the bracket and the position tracker on the right side of the bracket are symmetrical along the center line of the bracket. The center line of the nozzle, the center line of the operating handle and the center line of the position tracker at the rear end of the bracket coincide with each other. , the three position trackers are in the same water surface, forming a 6-degree-of-freedom Cartesian coordinate system that accurately defines the point coordinates of the nozzle.

Preferably, the operating handle is provided with process parameter buttons for controlling corresponding opening/closing of the gun, flow rate, fan shape, and atomization.

Preferably, the midline of the stent is aligned with the position tracker on the left side of the stent, the position tracker on the right side of the stent The distance between the devices is L, and L is 70~120mm.

Preferably, the plane vertical distance between the nozzle and the center line of the position tracker on the left and right sides of the bracket is D, which is less than 50 mm.

Preferably, the horizontal height distance between the nozzle and the center line of the position tracker on the left and right sides of the bracket is H, and H is less than 50 mm.

Preferably, the horizontal and vertical distance between the center line of the position tracker at the rear end of the bracket and the position trackers on the left and right sides of the bracket is W, and W is 70 to 120 mm.

A convenient programming device for spraying robots based on position sensing technology. It applies a spray gun based on position sensing technology. It also includes several position receivers that completely receive position and attitude signals from three position trackers, and position sensors. A computer connected to the receiver, several position receivers constitute a position receiving area, and the spray gun performs motion teaching within the coverage of the position receiving area;

The computer converts the spray gun coordinate system formed by the three position trackers into the robot tool coordinate system, performs trajectory planning according to the robot MD-H algorithm, and generates a robot executable program file.

As a further improvement of the present invention, it also includes two fixed frames distributed at intervals. The position receivers are arranged on the two fixed frames. The number of position receivers on each fixed frame is two, distributed up and down.

As a further improvement of the present invention, the distance between the two fixing frames is 3-4m.

As a further improvement of the present invention, the distance between the two position receivers on each fixed frame is 2m.

The beneficial effects of the present invention are:

Compared with the existing technology, the present invention does not require the use of a teaching pendant to program the robot trajectory. It only requires a worker to complete an actual spraying operation using the handheld device to complete programming of the spraying robot's motion trajectory. Copy the program to the robot controller, and the spraying robot can automatically spray according to the actual spraying path of the worker, which greatly reduces the difficulty of robot programming.

Description of the drawings

The present invention will be further described below in conjunction with the accompanying drawings and examples:

Figure 1 is a schematic front structural view of the spray gun in the present invention;

Figure 2 is a schematic left structural diagram of the spray gun in the present invention;

Figure 3 is a schematic top view of the spray gun in the present invention;

Figure 4 is the coordinate system of the spray gun in the present invention;

Figure 5 is a schematic structural diagram of the convenient programming device in the present invention.

In the picture: 1. Bracket; 2. Nozzle; 3. Operating handle; 4. Position tracker; 5. Position receiver; 6. Computer; 7. Fixed frame.

Detailed ways

In order to make it easy to understand the technical means, creative features, objectives and effects of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and examples.

As shown in Figures 1 to 3, a spray gun based on position sensing technology includes a bracket 1, a nozzle 2, an operating handle 3, and three position trackers 4. The nozzle 2 is horizontally fixedly connected to the top of the front end of the bracket 1. The center line of the nozzle 2 coincides with the center line of the bracket 1. The operating handle 3 is vertically fixedly connected to the bottom of the rear end of the bracket 1. The operating handle 3 is The center line coincides with the center line of the bracket 1. The operating handle 3 is used to control the process parameters of the spray gun during hand-held spraying, such as opening/closing the gun, flow rate, fan shape, atomization, etc.

The three position trackers 4 are respectively arranged on the left, right and rear ends of the bracket 1. The position tracker 4 on the left and the position tracker 4 on the right are symmetrically distributed about the center line of the bracket 1 and are at a distance from the center line of the bracket 1. The distance between the center lines is L, and L is 70~120mm. When it is less than 70mm, the position accuracy will be attenuated. When it is less than 120mm, it will be inconvenient to operate. The horizontal distance between the nozzle 2 and the center line of the left and right position trackers 4 is H, and H is less than 50 mm, which is convenient for operation. The plane vertical distance D between the center line of the nozzle 2 and the left and right position trackers 4 is less than 50 mm, which is convenient for operation. The center line of the position tracker 4 at the rear end coincides with the center line of the bracket 1. The vertical distance between the position tracker 4 at the rear end and the position trackers 4 on the left and right sides is W. W is 70 to 120 mm. When it is less than 70 mm It will cause the position accuracy to attenuate, and it will be inconvenient to operate when it is less than 120mm.

The three position trackers 4 are located in the same water surface, denoted as P1, P2, and P3, forming a 6-degree-of-freedom Cartesian coordinate system that accurately defines the point coordinates of the nozzle 2, as shown in Figure 4.

According to the following coordinate matrix transformation, the spray gun coordinate system of the position tracking device is mapped to the robot end spray gun coordinate system, so that the drag spraying trajectory can be reproduced on the spraying machine.

The coordinate directions are defined in the following table:

The coordinate transformation formulas of the two are as follows:

Q _r =T ^-1 Q _v T

Among them: Q _r - robot tool coordinate matrix; Q _v - position tracking device tool coordinate matrix; T - left transformation matrix.

Furthermore, the number and relative positional relationship of the position trackers 4 in the spray gun have a greater impact on the tracking accuracy. In order to obtain the most appropriate number of trackers and the most reasonable positional relationship, a large amount of testing time was conducted. Comparing the tracking accuracy of three typical position points (that is, the four vertices or four protruding points of the workpiece spray surface), it is determined that the three position trackers are symmetrically arranged along the center line of the bracket 1 as the optimal arrangement structure. The experimental comparison data is as follows:

It can be seen from the above three tables that when the number of position trackers 2 is two, the average error is greater than the average error when the number is three; when the number of position trackers 2 is four, the average error It is less than the average error when the number is three, but its accuracy improvement is limited, and it will cause the calculation amount to increase exponentially, which does not meet the actual use requirements.

As shown in Figure 5, a convenient programming device for a spraying robot based on position sensing technology, the application claims a spray gun based on position sensing technology, and also includes a position receiver 5, a computer 6 and a fixed frame 7.

There are two fixed brackets 7 , spaced 3-4m apart from each other; there are four position receivers 5 , corresponding to the upper and lower sides of the two fixed brackets 7 , and the same fixed bracket 7 The distance between the two position receivers 5 is about 2m to ensure complete reception of the position and attitude signals sent by the position tracker 4. The four position receivers 5 are connected to the computer 6 through USB, and the received position information is transmitted to the computer 6 through the USB interface.

Through the above settings, four position receivers 5 constitute a position receiving area, and the spray gun performs motion teaching within the coverage of the position receiving area; the computer 6 places the spray gun formed by the three position trackers 4 on the The coordinate system is converted into the robot tool coordinate system, trajectory planning is performed according to the robot MD-H algorithm, and an executable program file for the robot is generated.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and descriptions is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have various modifications. These changes and improvements all fall within the scope of the claimed invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

A spray gun based on position sensing technology, characterized by: including a bracket (1), a nozzle (2) horizontally fixedly connected to the top of the front end of the bracket (1), and a vertically fixed nozzle (2) connected to the bottom of the rear end of the bracket (1). The operating handle (3) corresponds to the three position trackers (4) provided on the left, right and rear ends of the bracket (1). The position tracker (4) on the left side of the bracket (1) is in contact with the right position of the bracket (1). The position tracker (4) on the side is symmetrical along the center line of the bracket (1), the center line of the nozzle (2), the center line of the operating handle (3) and the center line of the position tracker (4) at the rear end of the bracket (1) The three lines coincide and the three position trackers (4) are in the same water surface, forming a 6-degree-of-freedom Cartesian coordinate system that accurately defines the point coordinates of the nozzle (2).
A spray gun based on position sensing technology according to claim 1, characterized in that: the operating handle (3) is provided with process parameter buttons that control corresponding on/off gun, flow, fan shape, and atomization.
A spray gun based on position sensing technology according to claim 1, characterized in that: the center line of the bracket (1) and the position tracker (4) on the left side of the bracket (1), the right side of the bracket (1) The distance between the position trackers (4) is L, and L is 70~120mm.
A spray gun based on position sensing technology according to claim 1, characterized in that: the plane vertical distance between the nozzle (2) and the center line of the position tracker (4) on the left and right sides of the bracket (1) is D, D is less than 50mm.
A spray gun based on position sensing technology according to claim 1, characterized in that: the horizontal height distance between the nozzle (2) and the center line of the position tracker (4) on the left and right sides of the bracket (1) is H, H is less than 50mm.
A spray gun based on position sensing technology according to claim 1, characterized in that: the position tracker (4) at the rear end of the bracket (1) and the position trackers (4) on the left and right sides of the bracket (1) The horizontal and vertical distance between the center lines is W, and W is 70~120mm.
A convenient programming device for a spraying robot based on position sensing technology, characterized by: applying a spraying gun based on position sensing technology according to any one of claims 1 to 6, and further including completely receiving three position tracking Several position receivers (5) that transmit position and attitude signals from the sensor (4), and a computer (6) connected to the position receiver (5). Several position receivers (5) constitute a position receiving area, and the spray gun is Perform motion teaching within the coverage of the position receiving area;

The computer (6) converts the spray gun coordinate system formed by the three position trackers (4) into the robot tool coordinate system. It has a coordinate system, performs trajectory planning according to the robot MD-H algorithm, and generates executable program files for the robot.
A convenient programming device for a spraying robot based on position sensing technology according to claim 7, characterized in that it also includes two fixed frames (7) spaced apart, and the position receiver (5) is arranged on the two fixed frames. (7), the number of position receivers (5) on each fixed frame (7) is two, distributed up and down.
A convenient programming device for a spraying robot based on position sensing technology according to claim 8, characterized in that: the distance between the two fixed frames (7) is 3-4m.
A convenient programming device for a spraying robot based on position sensing technology according to claim 8, characterized in that the distance between the two position receivers (5) on each fixed frame (7) is 2m.