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WO2020019209A1 - Localisateur optique - Google Patents

Localisateur optique Download PDF

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Publication number
WO2020019209A1
WO2020019209A1 PCT/CN2018/097087 CN2018097087W WO2020019209A1 WO 2020019209 A1 WO2020019209 A1 WO 2020019209A1 CN 2018097087 W CN2018097087 W CN 2018097087W WO 2020019209 A1 WO2020019209 A1 WO 2020019209A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
information
coordinate system
motion information
light
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/097087
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English (en)
Chinese (zh)
Inventor
梁栋
王超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Ltd China
Original Assignee
Siemens Ltd China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Ltd China filed Critical Siemens Ltd China
Priority to PCT/CN2018/097087 priority Critical patent/WO2020019209A1/fr
Publication of WO2020019209A1 publication Critical patent/WO2020019209A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques

Definitions

  • the invention relates to the field of optical calibration and positioning design, in particular to an optical locator.
  • Spatial positioning technology is a technology that is widely used in various fields, such as virtual reality and industrial robots. Specifically, the spatial positioning technology refers to a technology that collects and utilizes spatial position coordinates of an object.
  • the prior art a problem of large position coordinate positioning errors often occurs.
  • a person holds a movable device to simulate the motion trajectory of an industrial robot's End-Effector, and then uses a sensor to collect the motion of the movable device After the trajectory, the position coordinates are sent to the robot teaching programming device, which is processed by the robot teaching programming device to generate a program for controlling the robot.
  • the present application provides an optical locator, which solves the technical problem of inaccurate positioning of the position coordinates of an object in the existing spatial positioning technology.
  • the present application provides a light locator including a support portion, a light transmitter, a first trigger component, and a second trigger component.
  • the light emitter is fixedly connected to the support portion.
  • the first triggering component is disposed on the support portion, and the first triggering component is electrically connected to the light emitter for triggering a switch of the light emitter.
  • the second trigger component is disposed on the support portion, and the second trigger component is electrically connected to a position tracker for triggering a position tracker to send a signal, and the position tracker is fixedly connected to the support portion.
  • This embodiment provides a locator that can use light for precise positioning.
  • the light emitter is triggered by the first triggering component, and a spot of light emitted by the light emitter accurately positions a target position.
  • the second triggering component triggers the position tracker to send a signal, that is, the position coordinate signal of the light locator.
  • the light locator further includes a connection portion provided on the support portion, and the connection portion is physically and electrically connected to the position tracker, and the connection portion And is electrically connected to the second trigger component.
  • This embodiment provides a technical solution for physically connecting the position tracker and the support part through the connection part, and the connection part electrically connects the position tracker and the second trigger component so that The second triggering component triggers the position tracker to send a signal.
  • connection portion includes a Picatinny rail and a first connection port, and an adapter member.
  • the Picatinny rail is provided on the support portion.
  • a first connection port is provided on the Picatinny rail, and the position tracker is connected to the transfer member.
  • the transfer member includes a fixed connection block, a slide rail, a second connection port and a third connection port.
  • the position tracker is fixedly installed on the fixed connection block, and the slide rail is disposed on the fixed On the connecting block, and the slide rail is installed in cooperation with the Picatinny rail.
  • the second connection port is disposed on the fixed connection block, and the second connection port is electrically connected to the first connection port.
  • the third connection port is disposed on the fixed connection block, and is electrically connected to the second connection port and the position tracker, respectively.
  • a specific structure of the connection portion is provided, so that the connection portion is used to physically connect with the support portion and the position tracker, respectively, and realizes electrical connection through a connection port.
  • the Picatinny rail includes a strip-shaped rail and a plurality of protrusions, and the strip-shaped rail is disposed on the support portion.
  • the plurality of protrusions are disposed on a first end surface of the strip guide, and the plurality of protrusions are arranged along a length direction of the strip guide.
  • the first electrical connection port includes a plurality of external contacts, the plurality of external contacts are disposed on the first end surface, and the plurality of external contacts are arranged along a length direction of the strip guide, so The plurality of external contacts are spaced from the plurality of protrusions.
  • the second electrical connection port includes a plurality of pairs of contact points, the plurality of pair of contact points are disposed on the slide rail, and the plurality of pair of contact points are correspondingly arranged and offset with the plurality of external contacts,
  • the plurality of pairs of contact points are elastic contacts that expand and contract in a vertical direction of the first end surface.
  • the adapter component further includes a fixing stud, and one end thereof is fixed with the fixing connection block.
  • the third electrical connection port includes a plurality of connection contacts, and the plurality of connection contacts are electrically connected to the corresponding pair of contact points, respectively, and the plurality of connection contacts are along a length of the fixed stud. Slide in the direction.
  • the position tracker includes a tracker electrical connection port and a fixed threaded hole, and the contacts of the tracker electrical connection port are correspondingly connected to the plurality of connection contacts, respectively.
  • the fixed threaded hole is screwed and fixed to the other end of the fixed stud.
  • the support portion has a hollow cavity
  • the light emitter is disposed in the hollow cavity
  • the support portion is provided with an opening
  • the opening is in communication with the hollow cavity.
  • the opening is used for disassembling the light emitter.
  • a light emitting port of the light emitter is disposed toward the opening so that the light emitted from the light emitter is emitted through the opening.
  • a transparent region is provided on the support portion, and is disposed at a position where the emitted light can be viewed through the transparent region.
  • a telescopic tube is provided on the support portion, one end of the telescopic tube is connected to the support portion, and an inner cavity of the telescopic tube is in communication with the hollow cavity.
  • the laser emitting port of the light transmitter is opposite to the length direction of the inner cavity of the telescopic tube, so that the light emitted from the light transmitter is emitted from the other end of the telescopic tube.
  • the telescopic tube or the support portion has a transparent area provided at a position where the emitted light can be viewed through the transparent area.
  • the support portion is provided with an ejection device and a third triggering component, and the ejection device is installed in cooperation with the light emitter to realize the light emitter to be ejected from the opening.
  • the third triggering component triggers the ejection device to eject the light emitter.
  • This embodiment provides an ejection device for ejecting the light emitter from the opening, and the purpose thereof is to facilitate the insertion of the light emitter.
  • the support portion has a hollow cavity
  • the support portion is provided with a built-in power supply device
  • the built-in power supply device is disposed in the hollow cavity
  • the built-in power supply device and the The light transmitter and / or the position tracker are electrically connected.
  • This embodiment provides a technical solution for setting the built-in power supply device, the built-in power supply device is disposed in the hollow cavity and supplies power to the light transmitter and / or the position tracker.
  • the embodiment of the present invention also provides a robot teaching programming technology, which can easily realize the programming of the robot without being restricted by the type of the robot.
  • a robot teaching programming method may include: recording first motion information, where the first motion information is information that mimics a robot's end effector motion in a robot's workspace in a first coordinate system; A correspondence between the first coordinate system and a second coordinate system, and the first motion information to determine second motion information, wherein the second coordinate system is a coordinate of the robot in the working space System, the second motion information is information that the movable device mimics the motion of the end effector of the robot under the second coordinate system; the robot is programmed according to the second motion information.
  • a movable device is used to simulate the movement of a robot's end effector, the movement information of the movable device is recorded, and the recorded movement information is converted into the movement information in the coordinate system of the robot through coordinate transformation, and then the converted information is used.
  • Motion information to program the robot. Has the advantages of easy operation, not limited by the type of robot. Teach programming through a simple transformation of the coordinate system without the need for higher programming skills.
  • the movable device includes at least one signal receiver.
  • the method when recording the first motion information, it can be determined according to a signal received by the at least one signal receiver from at least one signal transmitter. And recording the first motion information, and further, in the method, a corresponding relationship between the first coordinate system and the second coordinate system is determined according to a relative position relationship between the at least one signal transmitter and the robot. . In this way, the corresponding relationship between the two coordinate systems can be determined according to the position of the deployed signal transmitter, which has the advantages of simple and easy implementation and flexible deployment.
  • a robot teaching programming device which can be used to implement the method provided in the first aspect.
  • the device may include: a recording module for recording first motion information, where the first motion information is executed under a first coordinate system, imitating an end of the robot in a working space of the robot Information about the motion of the controller; a conversion module for determining a second motion information according to the correspondence between the first coordinate system and a second coordinate system, and the first motion information, wherein the second coordinate system Is the coordinate system of the robot in the working space, the second motion information is information that the movable device mimics the motion of the end effector of the robot under the second coordinate system; a programming module For programming the robot according to the second motion information.
  • a movable device is used to simulate the movement of a robot's end effector, the movement information of the movable device is recorded, and the recorded movement information is converted into the movement information in the coordinate system of the robot through coordinate transformation, and then the converted information is used.
  • Motion information to program the robot. Has the advantages of easy operation, not limited by the type of robot. Teach programming through a simple transformation of the coordinate system without the need for higher programming skills.
  • the movable device includes at least one signal receiver, and the recording module is specifically configured to determine and record the first according to a signal received by the at least one signal receiver from at least one signal transmitter.
  • a motion information; the conversion module is further configured to determine a corresponding relationship between the first coordinate system and the second coordinate system according to a relative position relationship between the at least one signal transmitter and the robot. In this way, the corresponding relationship between the two coordinate systems can be determined according to the position of the deployed signal transmitter, which has the advantages of simple and easy implementation and flexible deployment.
  • a robot teaching programming device including: at least one memory for storing computer-readable code; and at least one processor for calling the computer-readable code to execute the method provided by the first aspect.
  • a computer program product being tangibly stored on a computer-readable medium and including computer-executable instructions that, when executed, cause at least one processor to execute a first Provided on one hand.
  • a computer-readable medium stores computer-readable instructions.
  • the processor causes the processor to execute the computer-readable instructions. method.
  • a robot teaching programming system including: a movable device for imitating the robot's end effector motion in a robot's working space; a robot teaching programming device for recording the first A movement information, the first movement information is information of the movement of the movable device in a first coordinate system; according to a correspondence relationship between the first coordinate system and a second coordinate system, and the first Motion information to determine a second motion information, wherein the second coordinate system is a coordinate system of the robot in the working space, and the second motion information is the The motion device mimics information of the robot's end effector motion; and programs the robot based on the second motion information.
  • a movable device is used to simulate the movement of a robot's end effector, the movement information of the movable device is recorded, and the recorded movement information is converted into the movement information in the robot's coordinate system through coordinate transformation, and the converted Motion information to program the robot.
  • a movable device is used to simulate the movement of a robot's end effector, the movement information of the movable device is recorded, and the recorded movement information is converted into the movement information in the robot's coordinate system through coordinate transformation, and the converted Motion information to program the robot.
  • the movable device includes at least one signal receiver, the system further includes at least one of the at least one signal transmitter, and the robot teaches a programming device, and is specifically configured to be based on the at least one signal receiver The received signal from at least one signal transmitter to determine and record the first motion information; the robot teaching programming device is further configured to according to a relative position relationship between the at least one signal transmitter and the robot, Determining a correspondence between the first coordinate system and the second coordinate system. In this way, the corresponding relationship between the two coordinate systems can be determined according to the position of the deployed signal transmitter, which has the advantages of simple and easy implementation and flexible deployment.
  • the types of the first motion information and the second motion information include at least one of the following information: position information, attitude information, trajectory information, speed information, and acceleration information.
  • position information attitude information
  • trajectory information trajectory information
  • speed information speed information
  • acceleration information acceleration information
  • FIG. 1 is a schematic diagram of an external overall structure according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a robot teaching programming system according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of position teaching according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of posture teaching according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of a robot teaching programming method according to an embodiment of the present invention.
  • FIG. 7 is an exploded view of the overall structure according to an embodiment of the present invention.
  • FIG. 8 is a schematic cross-sectional view of a structure of a connecting portion according to the present invention.
  • FIG. 9 is a schematic diagram of an external overall structure according to another embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of another embodiment of the present invention.
  • FIG. 11 is a schematic structural diagram of a position tracker according to the present invention.
  • Second trigger part 6 Connection section 61 Picatinny rail 611 Strip guide 612 Raised 62 First connection port 63 Adapter 631 Fixed connection block 632 Slide rail 633 Second connection port 634 Third connection port 635 Pair of touch points 636 Fixed stud 637 Connection contact 4 Position tracker
  • the position of the movable device is difficult to accurately reflect the true position of the end effector in the working state.
  • the main reason for the analysis is that the point of contact with the workpiece to be welded, whether using electrodes or other welding methods, is one point during welding. Therefore, the position of the end effector and the position of the point must be accurately positioned before the position of the end effector is the position data that needs to be collected.
  • virtual reality a similar situation occurs in shooting games.
  • the location of the targeted target and virtual weapons (such as firearms) is also difficult to accurately collect.
  • the target being shot is a point in the display content, and it is difficult for a human hand to perceive the correct position.
  • FIG. 1 is a schematic diagram of the overall external structure according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of an embodiment of the present invention.
  • an optical locator is provided in the present application, which includes a support part 1, an optical transmitter 2, a first triggering part 3, and a second triggering part 5.
  • the first triggering component 3 and the second triggering component 5 are both disposed on the support portion 1.
  • the light transmitter 2 is fixedly connected to the support portion 1, and the first triggering component 3 is electrically connected to the light transmitter 2.
  • the first triggering component 3 realizes the switching control of the light transmitter 2.
  • a position tracker 4 is fixedly connected to the support portion 1.
  • the second triggering component 5 is electrically connected to the position tracker 4 for triggering the position tracker 4 to send a signal.
  • the fixed connection refers to, for example, soldering, pasting, installation and connection of socket plugs, and the like. This embodiment provides a technical solution for determining accurate position coordinates by using light and sending position coordinate signals through the position tracker 4.
  • FIG. 3 is a schematic structural diagram of a robot teaching programming system provided by an embodiment of the present invention.
  • the computer teaching programming system includes:
  • a robot teaching programming device 40 is used to record information of movement of the movable device 20 in a first coordinate system 101, which is referred to herein as "first motion information"; and according to the first coordinate system 101 and a first
  • the correspondence between the two coordinate systems 102 and the first motion information determine the motion information of the movable device 20 under the second coordinate system 102, which is referred to herein as "second motion information".
  • the second coordinate system 102 is a coordinate system of the robot 30 in the working space.
  • the second coordinate system 102 may be a world coordinate system, a base coordinate system, a workpiece coordinate system, and the like. Then, according to the second motion information, The robot 30 is programmed.
  • the first motion information and the second motion information described above are both used to describe the motion of the movable device 20.
  • the difference is that the first motion information describes the motion of the movable device 20 with reference to the first coordinate system 101, and the second motion The information describes the movement of the movable device 20 with reference to the second coordinate system 102, that is, the coordinate system of the robot 30.
  • the second movement information can be obtained from the first movement information, and then the movement of the movable device 20 is described in the coordinate system of the robot 30, and the movable device 20 It is used to imitate the movement of the robot 30, and thus teaches the movement of the robot 30 in the working space of the robot 30, so that the teaching programming of the robot 30 can be realized according to the second movement information.
  • FIG. 4 is a schematic diagram of a position coordinate data architecture method according to an embodiment of the present invention. As shown in FIG. 4 (X 1 , Y 1 , Z 1 ), that is, the position coordinates of the motion device 20 in the first coordinate system 101, and (X 2 , Y 2 , Z 2 ) are the coordinate transformed The position coordinates of the movable device 20 in the second coordinate system 102.
  • the robot teaching programming device 40 may also record the posture information of the movable device 20.
  • FIG. 4 is a schematic diagram of a position coordinate data architecture method according to an embodiment of the present invention. As shown in FIG. 4 (X 1 , Y 1 , Z 1 ), that is, the position coordinates of the motion device 20 in the first coordinate system 101, and (X 2 , Y 2 , Z 2 ) are the coordinate transformed The position coordinates of the movable device 20 in the second coordinate system 102.
  • the robot teaching programming device 40 may also record the posture information of the movable device 20.
  • RYP 1 that is, the attitude angle of the motion device 20 in the first coordinate system 101
  • RYP 2 is the current position after coordinate transformation.
  • the change of the position of the movable device 20 with time can be used to represent the trajectory of the movable device 20, and the robot teaching programming device 40 can also record the trajectory information of the movable device 20.
  • speed information, acceleration information, and the like of the movable device 20 can also be obtained.
  • the robot teaching programming device 40 records the motion information of the movable device 20
  • the at least one signal receiver 202 shown in FIG. 3 receives at least one signal transmitter 201 and the robot teaching programming device 40 determines and records the first motion information according to the received signal.
  • At least one signal transmitter 201 can record the position information of at least one signal receiver 202 at various times. As shown in FIG. 3, according to the position information of each signal receiver 202, the position information of the movable device 20 at each time is calculated. Then send it to the robot teaching programming device 40, and the robot teaching programming device 40 can calculate the speed information, acceleration information, trajectory information, etc. of the movable device 20 based on the received position information of the movable device 20 at each time.
  • the at least one signal transmitter 201 may record the position information of the at least one signal receiver 202 at various times, and directly send the position information to the robot teaching and programming device 40 without further processing.
  • the robot teaching programming device 40 further calculates position information, acceleration information, speed information, trajectory information, and the like of the movable device 20 at various times.
  • At least one signal transmitter 201 may record the position information of at least one signal receiver 202 at various times. As shown in FIG. 4, since the position relationship between each signal receiver 202 is fixed and known in advance, at least one The signal transmitter 201 can calculate the posture information of the movable device 20 at various times according to the position information of each signal receiver 202, and then send it to the robot teaching programming device 40. The robot teaching programming device 40 can learn the movable device 20 Posture information at various times.
  • the at least one signal transmitter 201 may record the position information of the at least one signal receiver 202 at various times and directly send the position information to the robot teaching programming device 40.
  • the robot teaching and programming device 40 calculates the posture information of the movable device 20 at each time according to the position relationship between the signal receivers 202 and the position information of each signal receiver 202 at each time.
  • FIG. 6 is a flowchart of a robot teaching programming method according to an embodiment of the present invention. This method can be executed by the robot teaching programming device 40. As shown in FIG. 6, the method may include the following steps:
  • the robot teaching programming device 40 may determine the corresponding relationship between the first coordinate system 101 and the second coordinate system 102 according to the relative position relationship between the at least one signal transmitter 201 and the robot 30.
  • the robot teaching programming device 40 may acquire information from the at least one signal transmitter 201 and determine the first motion information.
  • S203 Perform coordinate transformation, and determine the second motion information according to the first motion information.
  • the robot teaching programming device 40 obtains the second motion information by converting the first motion information according to the correspondence between the first coordinate system 101 and the second coordinate system 102.
  • the robot teaching programming device 40 can perform teaching programming on the robot 30 according to the information.
  • a first coordinate system 101 is established using a laser.
  • the first coordinate system 101 is implemented by using a position tracker 4 and a lighthouse (that is, a laser emitting device), where the position tracker 4 is equivalent to the movable device 20 in the foregoing embodiment.
  • a three-dimensional space is constructed by the laser emitted by the lighthouse and a first coordinate system 101 is established therein.
  • the position tracker 4 is then placed in the three-dimensional space, and the position tracker 4 collects its own specific position coordinates (X 1 , Y 1 , Z 1 ) in the three-dimensional space through the sensor, that is, the recordable movable device in the above embodiment.
  • the first motion information of 20 and the position coordinates (X 1 , Y 1 , Z 1 ) are transmitted to the robot teaching and programming device 40.
  • a correspondence relationship is established between the first coordinate system 101 of the three-dimensional space and the second coordinate system 102 of the robot 30 itself in the robot teaching programming device 40, that is, the determination of the first coordinate system 101 and the second coordinate system in the above embodiment. Correspondence between the coordinate systems 102.
  • the step of establishing the corresponding relationship may also be completed before recording the first motion information.
  • the path of the position tracker 4 may be mapped to the second coordinate system 102 of the robot 30 to form a motion trajectory of the robot 30, that is, the second motion information is determined according to the first motion information in the steps of the foregoing embodiment.
  • the robot teaching programming device 40 then generates a path code according to the motion trajectory of the robot 30, that is, the robot 30 is programmed according to the second motion information in the steps of the foregoing embodiment.
  • the robot teaching programming device 40 has transformed coordinates, and converted the position coordinates of (X 1 , Y 1 , Z 1 ) in the first coordinate system into the coordinates of (X 2 , Y 2 , Z 2 ) in the second coordinate system.
  • Position coordinates In the above manner, the light emitter 2 can emit a parallel light (generally a laser is used because the laser can relatively easily form parallel light). In the application of a welding robot, the parallel light of the light emitter 2 is irradiated at a position where welding is required.
  • the position coordinates of the support part 1 are accurate, and then the position tracker 4 is triggered by the second triggering part 5 to send the position coordinates (X 1 , Y 1 , Z 1 ) to the robot teaching programming device 40.
  • the first trigger component 3 is equivalent to an on / off key of the light emitter 2.
  • the trigger component can be a button.
  • FIG. 7 is an exploded view of the overall structure according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural cross-sectional view of the connecting portion according to the present invention.
  • the optical positioner further includes a connecting portion 6, the connecting portion 6 is disposed on the supporting portion 1, and the connecting portion 6 is physically connected to the position tracker 4. And electrical connection, the connecting portion 6 is electrically connected to the second trigger member 5.
  • This embodiment provides a structure for connecting to the position tracker 4 and realizes physical and electrical connections to the position tracker 4. Because the second triggering component 5 is electrically connected to the position tracker 4, the second trigger The component 5 can control the position tracker 4 to send signals.
  • the supporting portion 1 is provided with a connecting portion 6, and the connecting portion 6 is connected to the supporting portion 1.
  • the connecting portion 6 includes a Picatinny rail 61, a first connection port 62 and an adapter member 63.
  • the Picatinny rail 61 is disposed on the support portion 1, and the first connection port 62 is disposed on the Picatinny rail 61.
  • a position tracker 4 is connected to the switching member 6.
  • the transfer member 63 includes a fixed connection block 631, a slide rail 632, a second connection port 633, and a third connection port 634.
  • the slide rail 632 is disposed on the fixed connection block 631, and the slide rail 632 and the Picatinny rail 61 fit the installation.
  • the second connection port 633 and the third connection port 634 are disposed on the fixed connection block 631, and the second connection port 633 is electrically connected to the first connection port 62.
  • the third connection port 634 is electrically connected to the second connection port 633, and the third connection port 634 is electrically connected to the position tracker 4.
  • Picatinny rail 61 is a universal rail, which is mostly used for the mounting of sights on firearms. This embodiment borrows such a track-type installation position tracker 4.
  • This embodiment uses the cooperation of the Picatinny rail 61 and the slide rail 632 to make the transfer member 6 slide only along the length of the Picatinny rail 61.
  • the transfer member 63 may be limited by bolts on both sides, and may also be limited by other methods such as tolerance fitting. Because the structure and assembly of the Picatinny rail 63 is the prior art, it will not be repeated here.
  • the Picatinny rail 61 includes a strip-shaped rail 611 and a plurality of protrusions 612, and the strip-shaped rail 611 is disposed on the support portion 1.
  • the plurality of protrusions 612 are disposed on the first end surface 613 of the strip guide 612, and the plurality of protrusions 612 are arranged along the length direction of the strip guide 611.
  • the above structure belongs to the conventional structure of the Picatinny rail 61.
  • the first electrical connection port 62 includes a plurality of external contacts 64, the plurality of external contacts 64 are disposed on the first end surface 613, and the plurality of external contacts 64 are arranged along the length of the strip guide 611, and the plurality of external contacts 64 is spaced from the plurality of protrusions 622.
  • the second electrical connection port 633 includes a plurality of pairs of contact points 635, the plurality of pairs of contact points 635 are disposed on the slide rail 632, and the plurality of pairs of contact points 635 and the plurality of external contacts 64 are correspondingly arranged and offset, and the plurality of pairs of contacts
  • the point 635 is an elastic contact that expands and contracts in the vertical direction of the first end surface 613.
  • This embodiment provides an embodiment in which the contacts are arranged on the Picatinny rail 61, and this embodiment can save the layout space to the greatest extent.
  • the pair of contact points 635 may be triangular contacts on the mobile phone charger in the prior art, and the two sides of the triangular contacts are respectively facing the protrusions 612 on both sides.
  • the side of the triangle contact point 635 can be lifted up along the protrusion 612 to achieve assembly.
  • other methods such as a round head contact can also be adopted.
  • the connecting member 63 further includes a fixing stud 636, one end of which is fixed to the fixing connection block 631.
  • the third electrical connection port 633 includes a plurality of connection contacts 637, and the plurality of connection contacts 637 are electrically connected to corresponding pairs of contact points 635, respectively.
  • the plurality of connection contacts 637 slide along the length of the fixed stud 635.
  • the position tracker 4 includes a tracker electrical connection port 41 and a fixed threaded hole 42, and the contacts of the tracker electrical connection port 41 are correspondingly connected to a plurality of connection contacts 637, the fixed threaded hole 42 and the fixed stud 636 The other end is screwed and fixed.
  • FIG. 11 is a schematic structural diagram of a position tracker according to the present invention. As shown in FIG. 11, this embodiment provides a connection structure dedicated to a position tracker. It should be pointed out that since the tracker electrical connection port 41 is disposed at the bottom of the position tracker, the connection contact 637 needs to be able to slide along the length of the fixed stud 636 to achieve mounting contact. A specific implementation of the elastic contact is provided in FIG. 8, but this embodiment is not limited to the elastic contact in the figure.
  • the support portion 1 has a hollow cavity
  • the light emitter 2 is disposed in the hollow cavity
  • the support portion 1 is provided with an opening 12, and the opening 12 and the hollow cavity are provided.
  • the body is connected, and the opening 12 is used for disassembling and mounting the light emitter 2.
  • This embodiment provides a specific arrangement manner of the light emitter 2, which can be conveniently taken out from the opening 12 for repair, and it is also very convenient to install the light emitter 2 from the opening 12.
  • the light emitting port of the light emitter 2 is disposed toward the opening 12 so that the light emitted from the light emitter 2 is emitted through the opening 12.
  • the support portion 1 has a transparent region 18 provided at a position where the emitted light can be viewed through the transparent region 18.
  • a light spot appears at the position to be positioned, and the position of the light spot is the position to be positioned.
  • the light emitted from the opening 12 cannot display the light path, and the distance between the light spot and the light positioner cannot be determined to affect the positioning effect.
  • one end of the support portion 1 provided with the opening 12 is directly in contact with the positioning position, and the distance between the light spot and the light locator can be determined by using the above method.
  • the above method will cause the support portion 1 to completely block the emitted light. Therefore, it is necessary to observe the inside of the support part 1 using the transparent area 18 and confirm the position of a light spot.
  • a flip cover 13 may be further provided on the support portion 1.
  • the flip cover 13 is made of transparent material, and the flip cover 13 is closed to close the opening 12.
  • the flip cover 13 can protect the light emitter 2 and keep the inside of the hollow cavity clean.
  • transparent materials are used to facilitate light transmission.
  • FIG. 9 is a schematic diagram of an external overall structure according to another embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of another embodiment of the present invention.
  • the support portion 1 has a hollow cavity
  • the light emitter 2 is disposed in the hollow cavity
  • the support portion 1 is provided with a telescopic tube 16.
  • One end of the telescopic tube 16 is connected to the support portion 1, and the inner cavity of the telescopic tube 16 is in communication with the hollow cavity.
  • the laser emission port of the light transmitter 2 is opposite to the length direction of the inner cavity of the telescopic tube 16.
  • This embodiment provides a specific structure of the telescopic tube 16, which is mainly used to guide the light emitted by the light transmitter 2 to a specific position required, which can better simulate the actual working conditions of the welding torch and make the collected position data more accurate.
  • the telescopic tube 16 or the supporting portion 1 has a transparent region 18 provided at a position where the emitted light can be viewed through the transparent region 18.
  • the role of the transparent area 18 is the same as that described above, and will not be repeated here. It should be noted that the transparent area 18 is more convenient to use on the telescopic tube 16 according to the structural characteristics.
  • the support portion 1 is provided with an ejection device 14 and a third triggering component 15.
  • the ejection device 14 is installed in cooperation with the light emitter 2 to realize the light emitter 2 being ejected from the opening 12.
  • the third triggering component 15 triggers the ejection device 14 to eject the light emitter 2.
  • This embodiment provides an embodiment in which the light emitter 2 is ejected from the opening 12 to facilitate installation and maintenance of the light emitter 2.
  • the ejection device 14 may use the ejection mechanism of a firearm magazine. Since the ejection device 14 and the third triggering member 15 use the existing technology, the details will not be repeated here.
  • the support portion 1 has a hollow cavity.
  • the support portion 1 is provided with a built-in power supply device 17, the built-in power supply device 17 is disposed in the hollow cavity, and the built-in power supply device 17 is electrically connected to the light transmitter 2.
  • This embodiment provides a specific implementation using the built-in power supply device 17, and an external power supply can be omitted.
  • the ejection device 14 can also be applied to the built-in power supply device 17 for easy installation or replacement.
  • the position of the support portion 1 is accurately located by using a light beam emitted from the light transmitter 2. Then, the position data collected by the position tracker 4 is sent to the system background for subsequent use by the second triggering component 5. The technical problem of inaccurate location data collection in the prior art is solved.
  • the present invention also provides a specific implementation mode for connecting the position tracker 4 using a Picatinny rail 61.
  • the present invention also provides two different embodiments, a light emitting port of the light emitter 2 faces the opening 12, which is more suitable for teaching spray type end effectors.
  • the laser emitting port of another optical transmitter 2 is opposite to the length direction of the inner cavity of the telescopic tube 16 so that the light emitted from the optical transmitter 2 is emitted from the other end of the telescopic tube 16. It is more suitable for teaching the end of a welding class. Device.
  • the flip cover 13 can protect the light emitter 2 and keep the inside of the hollow cavity clean.
  • transparent materials are used to facilitate light transmission.
  • the ejection device 14 is used for assembling the light emitter 2 and the built-in power supply device 17.
  • the telescopic tube 16 is easier to simulate the actual working conditions of the welding torch.

Landscapes

  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Numerical Control (AREA)

Abstract

L'invention concerne un localisateur optique, comprenant une partie de support (1), un émetteur de lumière (2), un premier composant de déclenchement (3) et un deuxième composant de déclenchement (5), le premier composant de déclenchement (3) et le deuxième composant de déclenchement (5) étant tous deux disposés sur la partie de support (1) ; l'émetteur de lumière (2) est raccordé fixe à la partie de support (1) et le premier composant de déclenchement (3) est raccordé électriquement à l'émetteur de lumière (2), de sorte que le premier composant de déclenchement (3) réalise une commande de commutation sur l'émetteur de lumière (2) ; la partie de support (1) est également raccordée fixe à un dispositif de suivi de localisation (4) ; et le deuxième composant de déclenchement (5) est raccordé au dispositif de suivi de localisation (4) de sorte à déclencher ledit dispositif (4) pour qu'il envoie un signal. Le localisateur optique selon l'invention localise avec précision la partie de support (1) au moyen d'un faisceau lumineux émis par l'émetteur de lumière (2) et collecte des coordonnées de localisation par l'intermédiaire du dispositif de suivi de localisation (4).
PCT/CN2018/097087 2018-07-25 2018-07-25 Localisateur optique Ceased WO2020019209A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/097087 WO2020019209A1 (fr) 2018-07-25 2018-07-25 Localisateur optique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/097087 WO2020019209A1 (fr) 2018-07-25 2018-07-25 Localisateur optique

Publications (1)

Publication Number Publication Date
WO2020019209A1 true WO2020019209A1 (fr) 2020-01-30

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Family Applications (1)

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PCT/CN2018/097087 Ceased WO2020019209A1 (fr) 2018-07-25 2018-07-25 Localisateur optique

Country Status (1)

Country Link
WO (1) WO2020019209A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
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US20230061207A1 (en) * 2021-08-26 2023-03-02 Street Smarts VR Mount for adapting weapons to a virtual tracker
EP4306986A1 (fr) * 2022-07-14 2024-01-17 The Raymond Corporation Systèmes et procédés de détermination d'emplacement et d'orientation de capteur

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US20230061207A1 (en) * 2021-08-26 2023-03-02 Street Smarts VR Mount for adapting weapons to a virtual tracker
US11852436B2 (en) * 2021-08-26 2023-12-26 Street Smarts VR, Inc. Mount for adapting weapons to a virtual tracker
EP4306986A1 (fr) * 2022-07-14 2024-01-17 The Raymond Corporation Systèmes et procédés de détermination d'emplacement et d'orientation de capteur
US20240019523A1 (en) * 2022-07-14 2024-01-18 The Raymond Corporation Systems and Methods for Determining Sensor Location and Orientation

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