CN207050664U - Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope - Google Patents
Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope Download PDFInfo
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- CN207050664U CN207050664U CN201720732847.8U CN201720732847U CN207050664U CN 207050664 U CN207050664 U CN 207050664U CN 201720732847 U CN201720732847 U CN 201720732847U CN 207050664 U CN207050664 U CN 207050664U
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- spray gun
- teaching
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- optic gyroscope
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Abstract
The utility model discloses a kind of spraying teaching apparatus for coordinating positioning using machine vision and fibre optic gyroscope, include teaching powder room, teaching powder room is provided with spray gun device, the side wall in teaching powder room is provided with the first camera, the top in teaching powder room is provided with second camera, spray gun device is provided with the fibre optic gyroscope for being used for gathering teaching spray gun posture, and fibre optic gyroscope is connected with outside multi-axis controller；Mechanical mechanism complicated in the prior art is replaced to obtain the coordinate parameters of spray gun device by using the first camera and second camera, the attitude parameter of spray gun device is obtained using fibre optic gyroscope, the operating process of driving manipulator reproduction teaching mechanism after coordinate parameters and attitude parameter is obtained by multi-axis controller, it is complicated can to solve current multi-spindle machining hand teaching mode, the defects of technical requirements are high, lift the flexibility of multi-spindle machining hand spraying operation mode, reach simplified teaching device structure, reduce production cost, improve equipment flexibility ratio and expand the purpose of job area.
Description
Technical field
It the utility model is related to a kind of teaching device for spraying industry, and in particular to one kind uses machine vision and light
Fiber gyroscope coordinates the spraying teaching apparatus of positioning.
Background technology
The application programming of multiaxis spray coating mechanical hand substantially passes through manipulation by programming personnel in spraying industry in the prior art
Programmable device (teaching box) is completed using special off-line programming software, and user needs to have higher knowledge expertise, and
To pass through special training could be competent at, and the post dependence to programming engineer is high and operation is not directly perceived, after program setting
It is not easy to change.
The telescopic spraying teaching mechanism with hemisphere job area that our company is previously proposed
(CN201620587905.8), there is the problems such as complicated, cost is high, job area is insufficient in the teaching device.
Utility model content
In order to solve the above technical problems, the utility model proposes coordinate positioning using machine vision and fibre optic gyroscope
Teaching apparatus is sprayed, reaching simplified teaching device structure, reducing production cost and expanding the purpose of job area.
To reach above-mentioned purpose, the technical solution of the utility model is as follows：
A kind of spraying teaching apparatus for coordinating positioning using machine vision and fibre optic gyroscope, includes teaching powder room (1),
The teaching powder room is provided with spray gun device (2), and the side wall in the teaching powder room is provided with the first camera (3), the teaching
The top in powder room is provided with second camera (4), and first camera and second camera are engaged with the spray gun device,
And first camera gathers coordinate of the spray gun device in XZ planes, the second camera gathers the spray gun dress
The coordinate in X/Y plane is put, the spray gun device is provided with the fibre optic gyroscope (5) for being used for gathering teaching spray gun posture, described
Fibre optic gyroscope (5), the first camera (3) and second camera (4) transfer data to main frame by industrial control host serial ports,
Multi-axis controller, the multi-axis controller driving are transferred to after by the image processing software in main frame data are carried out with transformation calculations
The operating process of mechanical arm reproduction teaching mechanism.
The utility model replaces mechanical mechanism complicated in the prior art by using the first camera and second camera
To obtain the coordinate parameters of spray gun device, the attitude parameter of spray gun device is obtained using fibre optic gyroscope, is obtained by multi-axis controller
The operating process of driving manipulator reproduction teaching mechanism after coordinate parameters and attitude parameter is taken, current multi-spindle machining hand can be solved and show
The defects of religion mode is complicated, technical requirements are high, the flexibility of multi-spindle machining hand spraying operation mode is lifted, reaches simplified teaching and sets
Standby structure, production cost is reduced, improve equipment flexibility ratio and expands the purpose of job area.
As preferable, first camera (3) is connected to the side wall in the teaching powder room by first crossbeam (11),
The second camera (4) is connected to the top in the teaching powder room by second cross beam (12).
As preferable, the spray gun device (2) includes manual spray gun (21) and substrate (22), and the substrate passes through spray
Rifle fixture (23) is connected on the manual spray gun (21), and the fibre optic gyroscope (5) is set on the substrate, the substrate
On be additionally provided with connecting rod (24), the bottom of the connecting rod is fixed on the substrate, and the top of the connecting rod is provided with positioning ball (25).
As preferable, the first camera (3) shooting spray gun device XZ planes image, it is soft by image procossing
The pixel coordinate of the part extraction positioning ball centre of sphere, obtains positioning ball X, Z coordinate in world coordinate system by transformation calculations；Described
Two cameras (4) shoot image of the spray gun device in X/Y plane, and the pixel that the positioning ball centre of sphere is extracted by image processing software is sat
Mark, obtain positioning ball X, Y-coordinate in world coordinate system by transformation calculations, the fibre optic gyroscope (5) exports spray gun device
Attitude parameter.The accuracy of the acquisition of spray gun device coordinate parameters is ensure that by the first camera and second camera.
The utility model has the following advantages that：
1. the utility model replaces mechanical machine complicated in the prior art by using the first camera and second camera
Structure obtains the coordinate parameters of spray gun device, the attitude parameter of spray gun device is obtained using fibre optic gyroscope, by multi-axis controller
The operating process of driving manipulator reproduction teaching mechanism, can solve current multi-spindle machining hand after acquisition coordinate parameters and attitude parameter
The defects of teaching mode is complicated, technical requirements are high, the flexibility of multi-spindle machining hand spraying operation mode is lifted, reaches simplified teaching
Device structure, production cost is reduced, improve equipment flexibility ratio and expands the purpose of job area.
2. the utility model ensure that the acquisition of spray gun device coordinate parameters by the first camera and second camera
Accuracy.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art.
Fig. 1 is the disclosed spraying teaching for coordinating positioning with fibre optic gyroscope using machine vision of the utility model embodiment
The structural representation of device；
Fig. 2 is the disclosed spraying teaching for coordinating positioning with fibre optic gyroscope using machine vision of the utility model embodiment
The structural representation of spray gun device in device；
Corresponding component title of the numeral represented by with letter in figure：
1. the manual spray gun of teaching powder room 11. first crossbeam, 12. second cross beam, 2. spray gun device 21.
22. the connecting rod 25. of 23. spray gun fixture of substrate 24. positions the camera of ball 3. first
4. the fibre optic gyroscope of second camera 5..
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe.
The utility model provides the spraying teaching apparatus for coordinating positioning using machine vision and fibre optic gyroscope, its work
Principle is to replace mechanical mechanism complicated in the prior art by using the first camera and second camera to obtain spray gun dress
The coordinate parameters put, using fibre optic gyroscope obtain spray gun device attitude parameter, by multi-axis controller obtain coordinate parameters and
The operating process of driving manipulator reproduction teaching mechanism after attitude parameter, can solve current multi-spindle machining hand teaching mode it is complicated,
The defects of technical requirements are high, the flexibility of multi-spindle machining hand spraying operation mode is lifted, reach simplified teaching device structure, reduce
Production cost, improve equipment flexibility ratio and expand the purpose of job area.
The utility model is described in further detail with reference to embodiment and embodiment.
As depicted in figs. 1 and 2, a kind of spraying teaching apparatus for coordinating positioning using machine vision and fibre optic gyroscope, bag
Containing teaching powder room (1), the teaching powder room is provided with spray gun device (2), and the side wall in the teaching powder room is taken the photograph provided with first
As head (3), the top in the teaching powder room is provided with second camera (4), and first camera and second camera are and institute
Spray gun device is stated to be engaged, and first camera gathers coordinate of the spray gun device in XZ planes, described second takes the photograph
As coordinate of the head collection spray gun device in X/Y plane, the spray gun device, which is provided with, to be used to gather teaching spray gun posture
Fibre optic gyroscope (5), the fibre optic gyroscope (5), the first camera (3) and second camera (4) pass through industrial control host string
Mouth transfers data to main frame, and multijoint control is transferred to after carrying out transformation calculations to data by the image processing software in main frame
Device, the multi-axis controller driving manipulator arm reproduction teaching mechanism operating process.
The utility model replaces mechanical mechanism complicated in the prior art by using the first camera and second camera
To obtain the coordinate parameters of spray gun device, the attitude parameter of spray gun device is obtained using fibre optic gyroscope, is obtained by multi-axis controller
The operating process of driving manipulator reproduction teaching mechanism after coordinate parameters and attitude parameter is taken, current multi-spindle machining hand can be solved and show
The defects of religion mode is complicated, technical requirements are high, the flexibility of multi-spindle machining hand spraying operation mode is lifted, reaches simplified teaching and sets
Standby structure, production cost is reduced, improve equipment flexibility ratio and expands the purpose of job area.
It is worth noting that, first camera (3) is connected to the side in the teaching powder room by first crossbeam (11)
Wall, the second camera (4) are connected to the top in the teaching powder room by second cross beam (12).
It is worth noting that, the spray gun device (2) includes manual spray gun (21) and substrate (22), the substrate passes through
Spray gun fixture (23) is connected on the manual spray gun (21), and the fibre optic gyroscope (5) is set on the substrate, the base
Connecting rod (24) is additionally provided with plate, the bottom of the connecting rod is fixed on the substrate, and the top of the connecting rod is provided with positioning ball
(25)。
It is worth noting that, first camera (3) shooting spray gun device in the image of XZ planes, passes through image procossing
The pixel coordinate of the software extraction positioning ball centre of sphere, obtains positioning ball X, Z coordinate in world coordinate system by converting transformation calculations；
The second camera (4) shoots image of the spray gun device in X/Y plane, passes through image processing software and extracts the positioning ball centre of sphere
Pixel coordinate, obtain positioning ball X, Y-coordinate in world coordinate system, fibre optic gyroscope (5) the output spray by transformation calculations
The attitude parameter of gun apparatus.The accurate of the acquisition of spray gun device coordinate parameters is ensure that by the first camera and second camera
Property.
Specifically used step of the present utility model is as follows：Again as depicted in figs. 1 and 2, in actual use, by first
Camera of the camera 3 with second camera 4 from same performance, the optical axis of two cameras are in approximately the same plane, the
The optical axis of one camera 3 is parallel to the ground and perpendicular to the ground perpendicular to crossbeam 11, the optical axis of second camera 4.
First camera 3 shoots photo of the spray gun device 2 in XZ planes, and the positioning ball of ball 25 is extracted by image processing software
The pixel coordinate of the heart, obtain positioning ball 25 X, Z coordinate in world coordinate system by transformation calculations；
Second camera 4 shoots photo of the spray gun device 2 in X/Y plane, and the positioning ball of ball 25 is extracted by image processing software
The pixel coordinate of the heart, obtain positioning ball 25 X, Y-coordinate in world coordinate system by transformation calculations；
Fibre optic gyroscope 5 exports the attitude parameter of spray gun device 2；
Multi-axis controller obtains the attitude parameter of above-mentioned Z, Y, Z coordinate and spray gun device 2, according to this driving parameter manipulator
Reappear the operating process of teaching mechanism.
By way of more than, the spray provided by the utility model that positioning is coordinated using machine vision and fibre optic gyroscope
Teaching apparatus is applied, replaces mechanical mechanism complicated in the prior art by using the first camera and second camera to obtain spray
The coordinate parameters of gun apparatus, the attitude parameter of spray gun device is obtained using fibre optic gyroscope, coordinate ginseng is obtained by multi-axis controller
The operating process of driving manipulator reproduction teaching mechanism, can solve current multi-spindle machining hand teaching mode and answer after number and attitude parameter
Miscellaneous, the defects of technical requirements are high, lift the flexibility of multi-spindle machining hand spraying operation mode, reach simplified teaching device structure,
Production cost is reduced, improve equipment flexibility ratio and expands the purpose of job area.
Above-described is only the spray disclosed in the utility model for coordinating positioning using machine vision and fibre optic gyroscope
Apply the preferred embodiment of teaching apparatus, it is noted that for the person of ordinary skill of the art, do not departing from this practicality
On the premise of new creation design, various modifications and improvements can be made, these belong to the scope of protection of the utility model.
Claims (4)
1. a kind of spraying teaching apparatus for coordinating positioning using machine vision and fibre optic gyroscope, it is characterised in that include and show
Teach powder room (1), the teaching powder room is provided with spray gun device (2), and the side wall in the teaching powder room is provided with the first camera
(3), the top in the teaching powder room is provided with second camera (4), first camera and second camera with the spray
Gun apparatus is engaged, and first camera gathers coordinate of the spray gun device in XZ planes, the second camera
Coordinate of the spray gun device in X/Y plane is gathered, the spray gun device is provided with the optical fiber for being used for gathering teaching spray gun posture
Gyroscope (5), the fibre optic gyroscope (5), the first camera (3) and second camera (4) will by industrial control host serial ports
Data are transferred to main frame, are transferred to multi-axis controller after carrying out transformation calculations to data by the image processing software in main frame, institute
State the operating process of multi-axis controller driving manipulator arm reproduction teaching mechanism.
2. the spraying teaching apparatus according to claim 1 for coordinating positioning using machine vision and fibre optic gyroscope, it is special
Sign is that first camera (3) is connected to the side wall in the teaching powder room, second shooting by first crossbeam (11)
Head (4) is connected to the top in the teaching powder room by second cross beam (12).
3. the spraying teaching apparatus according to claim 1 for coordinating positioning using machine vision and fibre optic gyroscope, it is special
Sign is that the spray gun device (2) includes manual spray gun (21) and substrate (22), and the substrate is connected by spray gun fixture (23)
It is connected on the manual spray gun (21), the fibre optic gyroscope (5) is set on the substrate, and connecting rod is additionally provided with the substrate
(24), the bottom of the connecting rod is fixed on the substrate, and the top of the connecting rod is provided with positioning ball (25).
4. the spraying teaching apparatus according to claim 3 for coordinating positioning using machine vision and fibre optic gyroscope, it is special
Sign is that first camera (3) shoots image of the spray gun device in XZ planes, passes through image processing software and extracts positioning ball
The pixel coordinate of the centre of sphere, obtain positioning ball X, Z coordinate in world coordinate system by transformation calculations；The second camera (4)
Image of the spray gun device in X/Y plane is shot, the pixel coordinate of the positioning ball centre of sphere is extracted by image processing software, by conversion
Positioning ball X, Y-coordinate in world coordinate system, the attitude parameter of fibre optic gyroscope (5) the output spray gun device is calculated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720732847.8U CN207050664U (en) | 2017-06-22 | 2017-06-22 | Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope |
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| CN201720732847.8U CN207050664U (en) | 2017-06-22 | 2017-06-22 | Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope |
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| CN207050664U true CN207050664U (en) | 2018-02-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107328357A (en) * | 2017-06-22 | 2017-11-07 | 杭州国辰机器人科技有限公司 | Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107328357A (en) * | 2017-06-22 | 2017-11-07 | 杭州国辰机器人科技有限公司 | Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope |
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