CN109821707A - A kind of automatic supplementary spraying method of spraying robot and spraying robot thereof - Google Patents
A kind of automatic supplementary spraying method of spraying robot and spraying robot thereof Download PDFInfo
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- CN109821707A CN109821707A CN201910033343.0A CN201910033343A CN109821707A CN 109821707 A CN109821707 A CN 109821707A CN 201910033343 A CN201910033343 A CN 201910033343A CN 109821707 A CN109821707 A CN 109821707A
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Abstract
一种喷涂机器人的自动补喷方法及其喷涂机器人，其方法包括以下步骤：(1)操作人员操作操作控制板，通过集成喷头对工件进行喷涂；(2)系统集成模块记录移动轨迹和人工操作参数；(3)系统集成模块将移动轨迹与人工操作参数对比，判断是否漏喷；若发现漏喷，系统集成模块记录漏喷位置并反馈至集成喷头；集成喷头对工件进行补喷；系统集成模块将参数更新，以更新后的移动轨迹和人工操作参数作为自动喷涂参数；(4)集成喷头按自动喷涂参数进行自动喷涂。该喷涂机器人，包括：机械底座、机械机架、机械臂、集成喷头和喷涂单元。本设计能的系统集成模块记录移动轨迹和操作控制板的人工操作参数，达到提高喷涂的效率及自动化的效率。
An automatic supplementary spraying method for a spraying robot and a spraying robot, the method comprising the following steps: (1) an operator operates an operation control panel, and sprays a workpiece through an integrated spray head; (2) a system integration module records the movement trajectory and manual operation (3) The system integration module compares the movement trajectory with the manual operation parameters to determine whether there is a missed spray; if a missed spray is found, the system integration module records the missed spray position and feeds it back to the integrated nozzle; the integrated nozzle performs supplementary injection on the workpiece; system integration The module updates the parameters, and uses the updated moving trajectory and manual operation parameters as the automatic spraying parameters; (4) The integrated spray head performs automatic spraying according to the automatic spraying parameters. The spraying robot includes: a mechanical base, a mechanical frame, a mechanical arm, an integrated spray head and a spraying unit. The system integration module of this design can record the movement trajectory and the manual operation parameters of the operation control panel, so as to improve the efficiency of spraying and the efficiency of automation.
Description
Technical field
The present invention relates to spray robot technical field more particularly to a kind of spray robot fill spray automatically method and its
Spray robot.
Background technique
Increasingly fierce market industry competes now, and under the overall background of manufacturing industry upgrading, " machine substitute human labor " improves manufacturing industry
Intelligence degree becomes new trend.
Spray robot is widely used in the production lines such as automobile, instrument, electric appliance, ceramics.In industry above I
Find that spray robot does not have in particular circumstances and fill spray function automatically, or the effect to fill spray automatically is poor, be easy to appear therefore
Barrier, leads to the error that fills spray of whole production line, influences the cost of enterprise.
Summary of the invention
It is an object of the invention to propose that a kind of method that fills spray automatically of spray robot, this method utilize and spray are manually entered
Data are applied, and after the data comparison with system, find out drain spray position, and fill spray.
The present invention also proposes a kind of spray robot, which can fill spray automatically, and compares after recording data.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of method that fills spray automatically of spray robot, comprising the following steps:
(1) operator operates the operation control panel of spray robot, is sprayed by integrated spray head to workpiece；
(2) system integration module records the motion track of integrated spray head and the manual operation parameter of operation control panel；
(3) motion track and manual operation parameter comparison are judged whether drain spray by system integration module；
If no discovery drain spray, i.e., using in the step (2) motion track and manual operation parameter join as automatic spraying
Number；
If it was found that drain spray, system integration module records the drain spray position in motion track and feeds back to integrated spray head；It is integrated
Spray head moves to the drain spray position of workpiece, and fills spray to the position of workpiece；System integration module is by motion track and manually
Operating parameter updates, using updated motion track and manual operation parameter as automatic spray parameters；
(4) spray head is integrated to be sprayed automatically by automatic spray parameters.
It further explains, in the step (3), system integration module is specified by setting automatically or artificial setting spraying
Error；If motion track and the resulting spraying actual error of manual operation parameter comparison are less than or equal to spraying nominal error, it is
No drain spray；
If motion track and the resulting spraying actual error of manual operation parameter comparison are greater than spraying nominal error, for leakage
Spray.
It further explains, in the step (2), manual operation parameter includes: workpiece parameter, spraying area size, applies
Stream amount and atomizing pressure.
It further explains, in the step (1), operator controls spraying robot by real-time or remote online manually
The operation control panel of people.
It further explains, further includes step (5): after the every spraying for completing specified piece count of integrated spray head, system collection
The step (3) are repeated at module.
Further explain, in step (5), if after connection repeats, when being judged as that the number of drain spray is higher than 3, i.e., in
Disconnected integrated spray head output.
It further explains, the step (3) is specifically, if discovery drain spray, system integration module record in motion track
Drain spray position and feed back to integrated spray head；Integrated spray head moves to the drain spray position of workpiece, and mends to the position of workpiece
Spray；System integration module updates motion track and manual operation parameter, with updated motion track and manual operation parameter
As automatic spray parameters；System integration module re-starts motion track and manual operation parameter comparison, judges whether drain spray；
If it was found that repeating the above steps if drain spray.
A kind of spray robot, comprising: mechanical pedestal, mechanical rack, mechanical arm, integrated spray head and spray unit；
The machinery rack has at least two freedom degrees, and is pivotally mounted in the mechanical pedestal；The machinery
Armband has at least two freedom degrees, and one end is connected with the mechanical rack, and the other end is operatively connected to the integrated spray head；
The spray unit is further fixed on the mechanical arm；
The integrated spray head, for spraying；
The spray unit is equipped with operation control panel and system integration module；
The operation control panel, for integrating spray head described in manual control；
The system integration module, for judge the integrated spray head whether drain spray；And it controls the integrated spray head and fills spray.
It further explains, the machinery rack includes: rotating base and supporting support；
The rotating base is rotatably mounted in the mechanical pedestal；It one end of the supporting support can the company of rotation vertically
It is connected to the rotating base, the other end is operatively connected to the mechanical arm；
The intelligence spray robot further include: connector；
One end of the connector is connected to one end of the mechanical arm, and the other end is connected to the supporting support and described
The position of rotating base connection；
The operation control panel includes: spraying function key, intelligent fill spray function button and traffic monitoring function button.
It further explains, the integrated spray head is equipped with integrated spray gun and V-type spout；
The V-type spout is placed on the delivery outlet of the integrated spray gun；The V-type spout is defeated in the integrated spray gun
Exit is equipped with V-type angled end-face；
The V-type angled end-face is equipped with fumarole；
The integrated spray gun is equipped with material spraying hole.
Beneficial effects of the present invention:
The design can integrate spray head by manual control, and by the motion track of system integration module record spray head and operation
The manual operation parameter of control panel, detects drain spray afterwards by contrast, to being filled spray accordingly, and the parameter to fill spray as from
The automaticdata of dynamic operation spray robot, reaches the efficiency of the efficiency and automation that improve spraying.
Detailed description of the invention
Fig. 1 is the structure chart of spray robot；
Fig. 2 is the structure chart of integrated spray head and spray unit；
Fig. 3 is the enlarged drawing of A in Fig. 2；
Fig. 4 is the structure chart of spray unit；
Wherein:
Mechanical pedestal 1, mechanical rack 2, mechanical arm 3, integrated spray head 4, spray unit 5, connector 6；
Operation control panel 51, system integration module 52；
Rotating base 21, supporting support 22；
Spraying function key 511, intelligent fill spray function button 512, traffic monitoring function button 513；
Integrated spray gun 41, V-type spout 42；
V-type angled end-face 421；Fumarole 422；Material spraying hole 411.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
A kind of method that fills spray automatically of spray robot, comprising the following steps:
(1) operator operates the operation control panel 51 of spray robot, is sprayed by integrated spray head 4 to workpiece；
(2) system integration module 52 records the motion track of integrated spray head 4 and the manual operation parameter of operation control panel 51；
(3) motion track and manual operation parameter comparison are judged whether drain spray by system integration module 52；
If no discovery drain spray, i.e., using in the step (2) motion track and manual operation parameter join as automatic spraying
Number；
If it was found that drain spray, system integration module 52 records the drain spray position in motion track and feeds back to integrated spray head 4；Collection
The drain spray position of workpiece is moved at spray head 4, and is filled spray to the position of workpiece；System integration module 52 by motion track and
Manual operation parameter updates, using updated motion track and manual operation parameter as automatic spray parameters；
(4) spray head 4 is integrated to be sprayed automatically by automatic spray parameters.
It further explains, the design can integrate spray head 4 by manual control, and record spray head by system integration module 52
Motion track and operation control panel 51 manual operation parameter, detect drain spray afterwards by contrast, to being filled spray accordingly, and
Parameter to fill spray reaches the effect of the efficiency and automation that improve spraying as the automaticdata of automatic running spray robot
Rate.
Compared with the prior art, the prior art is by inputting a set of automatic parameter to system, and passes through and several are arranged
Detector is to detect drain spray；If drain spray, i.e., after readjustment parameter, sprays, finally detect again, whole process needs to consume big
The time of amount and labour cost, and it is possible to the phenomenon that still having drain spray after repeatedly adjusting, automate low efficiency.And the design,
On the one hand most accurate spraying for the first time is realized by manual operation, meets worker with the spraying standard of micro-judgment, another party
Face calculates practical the case where spraying with machine by comparison motion track and manual operation parameter, and to the position of drain spray
It sets and is filled spray automatically, drastically reduce the possibility of drain spray, improve the efficiency of spraying.
It further explains, in the step (3), system integration module 52 passes through setting automatically or artificial setting spraying volume
Determine error；If motion track and the resulting spraying actual error of manual operation parameter comparison are less than or equal to spraying nominal error,
Not have drain spray；
If motion track and the resulting spraying actual error of manual operation parameter comparison are greater than spraying nominal error, for leakage
Spray.
It further explains, the design is set with spraying nominal error as required, and judges spraying actual error
Whether drain spray.The Bell that the design applies workpiece parameter, spraying area size, coating flow, atomizing pressure, voltage and electrostatic
Speed etc. goes out a specific spraying nominal error by calculating dimension, therefore strict control is only needed to spray nominal error, can
The accuracy for guaranteeing detection drain spray, improves the spray efficiency of the design.
It further explains, in the step (2), manual operation parameter includes: workpiece parameter, spraying area size, applies
Stream amount and atomizing pressure.
It further explains, workpiece parameter: size, specification, shape and its distribution of surface specific structure of workpiece etc., the work
Part parameter can be confirmed by structure of the machine scans to workpiece.
Spraying area size: the sector widths and fan-shaped range that integrated spray head 4 sprays out.
Coating flow: integrated spray head 4 exports the flow of coating.
It further explains, in the step (1), operator controls spraying robot by real-time or remote online manually
The operation control panel 51 of people.
It further explains, operator can utilize manual control operation control panel 51 in the design, and it is integrated to carry out operation
Spray head 4 can guarantee the case where closely observation sprays, and improve spray efficiency.
In view of in certain circumstances, for the personal safety for guaranteeing staff, preventing staff's contact for a long time not
Suitable working environment, the design can also pass through remote control operation control panel 51；Staff only need to be across glass or by aobvious
Display screen carries out real-time control and integrates spray head 4.Therefore, the design has ensured the health of staff, can also improve the efficiency of spraying.
It further explains, further includes step (5): after the every spraying for completing specified piece count of integrated spray head 4, system collection
The step (3) are repeated at module 52.
After the integrated spray head 4 of the design completes specified work number, system integration module 52 can monitor integrated spray head 4, and
It controls it to fill spray, it is therefore prevented that wrong spray for a long time leads to flowing water line mass mass failure, is unfavorable for the cost of enterprise.Such as when integrated
After spray head 4 is completed at least 3 times, system integration module 52 carries out detection drain spray；The quantity of the specified workpiece is set by user.
Further explain, in step (5), if after connection repeats, when being judged as that the number of drain spray is higher than 3, i.e., in
Disconnected integrated spray head 4 exports.
It further explains, step (5) is to prevent spraying line continuous spray from quality problems occur, is needed at this time in time
It stops loss, therefore the output coating of integrated spray head 4 stops, and prevents the product of whole assembly line from going wrong, influences the cost of enterprise.
When there is multiple drain spray data exception problem, staff is needed to intervene, is examined according to the real-time data of system integration module 52
Look into the fixed-point problem of assembly line and intelligent spray robot.After debugging correction is good.
It further explains, the step (3) is specifically, if discovery drain spray, system integration module 52 record motion track
In drain spray position and feed back to integrated spray head 4；Integrated spray head 4 moves to the drain spray position of workpiece, and to the position of workpiece into
Row fills spray；System integration module 52 updates motion track and manual operation parameter, with updated motion track and artificial behaviour
Make parameter as automatic spray parameters；System integration module 52 re-starts motion track and manual operation parameter comparison, judgement
Whether drain spray；If it was found that repeating the above steps if drain spray.
After the design judges whether drain spray every time, a motion track and manual operation parameter comparison can be all carried out, is prevented
Updated data cannot use, and guarantee its stability.
A kind of spray robot, comprising: mechanical pedestal 1, mechanical rack 2, mechanical arm 3, integrated spray head 4 and spray unit 5；
The machinery rack 2 has at least two freedom degrees, and is pivotally mounted in the mechanical pedestal 1；The machine
Tool arm 3 has at least two freedom degrees, and one end is connected with the mechanical rack 2, and the other end is operatively connected to described integrated
Spray head 4；The spray unit 5 is further fixed on the mechanical arm 3；
The integrated spray head 4, for spraying；
The spray unit 5 is equipped with operation control panel 51 and system integration module 52；
The operation control panel 51, for integrating spray head 4 described in manual control；
The system integration module 52, for judge the integrated spray head 4 whether drain spray；And control the integrated spray head 4
It fills spray.
It further explains, the machinery rack 2 includes: rotating base 21 and supporting support 22；
The rotating base 21 is rotatably mounted in the mechanical pedestal 1；One end of the supporting support 22 can be vertical
It is rotationally connected with the rotating base 21, the other end is operatively connected to the mechanical arm 3；
The intelligence spray robot further include: connector 6；
One end of the connector 6 is connected to one end of the mechanical arm 3, and the other end is connected to 22 He of supporting support
The position that the rotating base 21 connects；
The operation control panel 51 includes: spraying function key 511, intelligent fill spray function button 512 and traffic monitoring function
It can key 513.
When spraying function key 511 is used for manual operation, integrated spray head 4 is controlled.Intelligently fill spray function button 512
For manual operation it is complete after, pressing will start detection and fills spray.Traffic monitoring function button 513 is with long-range monitoring, intelligence system
Count the function of creation data and traffic monitoring.
Rotating base 21 can reach the rotation of driving robot entirety, enable robot under the action of mechanical pedestal 1
360 ° horizontally rotate, and spray the different directions of workpiece.And supporting support 22 can vertical oscillation, the upper bottom of workpiece can be sprayed vertically
It sets.Cooperate the mechanical arm 3 of multiple freedom degrees again, the robot of the design can spray each orientation of workpiece；And system integration mould
Block 52 can record the position and parameter of mechanical pedestal 1, mechanical rack 2, mechanical arm 3, integrated spray head 4 and spray unit 5 etc., go forward side by side
After row comparison, it is confirmed whether to need to fill spray.
It further explains, the integrated spray head 4 is equipped with integrated spray gun 41 and V-type spout 42；
The V-type spout 42 is placed on the delivery outlet of the integrated spray gun 41；The V-type spout 42 is in the integrated spraying
The equipped at outlet port of rifle 41 is equipped with V-type angled end-face 421；
The V-type angled end-face 421 is equipped with fumarole 422；
The integrated spray gun 41 is equipped with material spraying hole 411.
Integrated spray gun 41 limits the position of injection by the V-type angled end-face 421 at both ends, and due to V-type angled end-face 421
In the presence of the coating of ejection can be sprayed along inclined-plane, and under the effect of multivariant 3 adjustment angle of mechanical arm, integrating spray head 4 can be with
Workpiece is sprayed in multi-angle, achievees the effect that multi-faceted spraying.
Fumarole 422 is used for the outlet at integrated spray head 4, issues compressed gas, improves the atomizing of coating；And material spray
Hole 411 is for spraying coating；The fumarole 422 of two sides can accelerate coating and concentrate to center, make the region at the coating center sprayed
Region than surrounding is more concentrated, and the efficiency of coating spraying is improved.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of method that fills spray automatically of spray robot, which comprises the following steps:
(1) operator operates the operation control panel of spray robot, is sprayed by integrated spray head to workpiece；
(2) system integration module records the motion track of integrated spray head and the manual operation parameter of operation control panel；
(3) motion track and manual operation parameter comparison are judged whether drain spray by system integration module；
If no discovery drain spray, i.e., using in the step (2) motion track and manual operation parameter as automatic spray parameters；
If it was found that drain spray, system integration module records the drain spray position in motion track and feeds back to integrated spray head；Integrated spray head
The drain spray position of workpiece is moved to, and is filled spray to the position of workpiece；System integration module is by motion track and manual operation
Parameter updates, using updated motion track and manual operation parameter as automatic spray parameters；
(4) spray head is integrated to be sprayed automatically by automatic spray parameters.
2. a kind of method that fills spray automatically of spray robot according to claim 1, which is characterized in that the step (3)
In, system integration module passes through setting automatically or artificial setting spraying nominal error；If motion track and manual operation parameter pair
When being less than or equal to spraying nominal error than resulting spraying actual error, not have drain spray；
It is drain spray if motion track and the resulting spraying actual error of manual operation parameter comparison are greater than spraying nominal error.
3. a kind of method that fills spray automatically of spray robot according to claim 1, which is characterized in that the step (2)
In, manual operation parameter includes: workpiece parameter, spraying area size, coating flow and atomizing pressure.
4. a kind of method that fills spray automatically of spray robot according to claim 1, which is characterized in that the step (1)
In, operator controls the operation control panel of spray robot by real-time or remote online manually.
5. a kind of method that fills spray automatically of spray robot according to claim 1, which is characterized in that further include step
(5): after the every spraying for completing specified piece count of integrated spray head, system integration module repeats the step (3).
6. a kind of method that fills spray automatically of spray robot according to claim 5, which is characterized in that in step (5), if
After connection repeats, when being judged as that the number of drain spray is higher than 3, that is, integrated spray head output is interrupted.
7. a kind of method that fills spray automatically of spray robot described in any one according to claim 1~6, which is characterized in that
The step (3) is specifically, if discovery drain spray, system integration module records the drain spray position in motion track and feeds back to integrated
Spray head；Integrated spray head moves to the drain spray position of workpiece, and fills spray to the position of workpiece；System integration module is by moving rail
Mark and manual operation parameter update, using updated motion track and manual operation parameter as automatic spray parameters；System collection
Motion track and manual operation parameter comparison are re-started at module, judges whether drain spray；If it was found that repeating above-mentioned step if drain spray
Suddenly.
8. a kind of spray robot characterized by comprising mechanical pedestal, mechanical rack, mechanical arm, integrated spray head and spraying
Unit；
The machinery rack has at least two freedom degrees, and is pivotally mounted in the mechanical pedestal；The mechanical arm band
There are at least two freedom degrees, one end is connected with the mechanical rack, and the other end is operatively connected to the integrated spray head；It is described
The spray unit is further fixed on mechanical arm；
The integrated spray head, for spraying；
The spray unit is equipped with operation control panel and system integration module；
The operation control panel, for integrating spray head described in manual control；
The system integration module, for judge the integrated spray head whether drain spray；And it controls the integrated spray head and fills spray.
9. a kind of spray robot according to claim 8, which is characterized in that the machinery rack includes: rotating base
And supporting support；
The rotating base is rotatably mounted in the mechanical pedestal；One end of the supporting support can be rotationally connected with vertically
The rotating base, the other end are operatively connected to the mechanical arm；
The intelligence spray robot further include: connector；
One end of the connector is connected to one end of the mechanical arm, and the other end is connected to the supporting support and the rotation
The position of pedestal connection；
The operation control panel includes: spraying function key, intelligent fill spray function button and traffic monitoring function button.
10. a kind of spray robot according to claim 8, which is characterized in that the integrated spray head is equipped with integrated spraying
Rifle and V-type spout；
The V-type spout is placed on the delivery outlet of the integrated spray gun；The V-type spout is in the delivery outlet of the integrated spray gun
Place is equipped with V-type angled end-face；
The V-type angled end-face is equipped with fumarole；
The integrated spray gun is equipped with material spraying hole.
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| CN201910033343.0A CN109821707A (en) | 2019-01-14 | 2019-01-14 | A kind of automatic supplementary spraying method of spraying robot and spraying robot thereof |
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| CN201910033343.0A CN109821707A (en) | 2019-01-14 | 2019-01-14 | A kind of automatic supplementary spraying method of spraying robot and spraying robot thereof |
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| TWI782459B (en) * | 2021-03-24 | 2022-11-01 | 大瀚鋼鐵股份有限公司 | Spraying processing method of workpiece |
| CN115382685A (en) * | 2022-08-16 | 2022-11-25 | 苏州智涂工业科技有限公司 | Control technology of automatic robot spraying production line |
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Application publication date: 20190531 |
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