Glazing robot off-line teaching device and teaching method

Abstract

The present invention relates to an off-line glazing robot-demonstrating device, which belongs to the field of industrial robots. The demonstrating mechanism of the off-line glazing robot-demonstrating device has the same degree of freedom, the same type and number of hinges, the same mechanism size and the same operating space as the actual glazing robot does, joints are connected together by link rods, and the rotary shafts of the joints are respectively connected with an encoder. A demonstrating ejection gun is assembled on the end of the demonstrating mechanism and held by a hand in order to demonstrate, and a data-acquiring unit acquires and records the position and the speed of each joint and the on-off state of the ejection gun. A touch switch is assembled on the end of the demonstrating mechanism, the shape and the size of the surface of a workpiece are measured, and then the three-dimensional model of the workpiece is built in a computer. A glazing process simulation software simulates the piling process and the thickness distribution of glaze on the surface of the workpiece in the process of glazing. A data transmission unit converts the acquired data into a control program for the glazing robot, and then the glazing robot conducts a glazing action according to a data sequence. The off-line glazing robot-demonstrating device has the advantages of light weight, flexibility, high demonstration efficiency and convenient operation, and the glazing process simulation can forecast the thickness distribution of the glazed layer of the surface of the workpiece.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to an off-line teaching device for a glazing robot, which is used for off-line teaching programming of a glazing robot and simulation of a glazing process. Background technique [0002] The existing industrial robot programming mainly has the following forms: [0003] 1. On-line teaching programming: At the robot site, the operator guides the robot terminal to move along the working trajectory by hand or using the teaching box, and records the angle information of the robot joints; when working, the controller reads out the stored position information and drives the robot Repeat the trajectory and operation during teaching. [0004] 2. Robot offline programming: use computer graphics to establish a geometric model of the robot and its working environment, plan and program the tasks completed by the robot offline, and perform dynamic graphic simulation on the programming results, an...

AI Technical Summary

Problems solved by technology

[0010] 1. The glaze layer on the surface of the workpiece is accumulated by multiple sprayings. The robot is controlled by the teaching box to obtain the trajectory of the spray gun point by point. The work efficiency is low, the teaching effect is poor, and it takes a long time for the robot

[0011] 2. Due to the lack of advanced means of measuring the thickness of the glaze layer, the spraying effect is not intuitive

The program generation of a new type of workpiece requires multiple teaching, glazing, trial firing, inspection and other processes, and the teaching cycle is too long

[0012] 3. It is not easy to adjust the unreasonable teaching trajectory online

[0013] The above problems seriously restrict the popularization and application of robotic glazing

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