CN115007350A - Automatic splicing spraying method of plate spraying robot - Google Patents
Automatic splicing spraying method of plate spraying robot Download PDFInfo
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- CN115007350A CN115007350A CN202210870839.5A CN202210870839A CN115007350A CN 115007350 A CN115007350 A CN 115007350A CN 202210870839 A CN202210870839 A CN 202210870839A CN 115007350 A CN115007350 A CN 115007350A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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- Spray Control Apparatus (AREA)
- Manipulator (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention discloses an automatic splicing and spraying method of a metal plate spraying robot, and relates to the technical field of metal plate spraying. The invention comprises the following steps: receiving a spraying instruction, and performing roundabout discontinuous offset spraying according to the spraying instruction in a preset spraying area according to a spraying track; the spraying area of the spraying area is formed by splicing at least two spraying tracks, each spraying gauge is provided with a starting point, a gun opening point, a gun closing point and an end point, the end parts of two adjacent actual spraying tracks are arranged in a staggered mode, and the gun opening point and the gun closing point are two end points of a spray gun on the spraying equipment, wherein the spray gun runs on the spraying tracks at a constant speed. According to the invention, the spray gun is opened or closed according to the running speed of the spray gun, and spraying is carried out according to the spraying track, so that a spraying area with a gap is formed, area complementation is formed, and the problems of reducing spraying lines and sagging paint accumulation due to track overlapping at the splicing part of the area are avoided.
Description
Technical Field
The invention belongs to the technical field of metal plate spraying, and particularly relates to an automatic splicing and spraying method of a metal plate spraying robot.
Background
At present, the automobile plate spraying is mainly divided into two types: one is automatic spraying in an automobile host factory, the other is manual spraying in an automobile after-market, and in addition, a few robots are also used for automatic spraying in the automobile after-market.
The host factory mainly uses a plurality of robots with rotating cup spray guns to spray simultaneously, so the coverage is large, and the spraying effect is best.
The automobile after-market is mainly independent manual spraying, so the spraying range is small, large-range sheet metal or the whole automobile cannot be sprayed at the same time, multiple spraying is needed, and the splicing method is involved in multiple spraying. At present, the following problems are easy to exist in manual splicing: obvious lines are easy to appear at the splicing part, different color impressions can appear when spraying methods on two sides are inconsistent, and paint piling sagging or insufficient fullness is easy to appear in varnish spraying.
Then, in automatic plate spraying in the market, one robot is used for completing spraying operation, the robot is limited by the arm length of the robot, the speed of the robot at the starting point and the end point of each track is reduced, and therefore the same problem as that of manual operation exists.
Based on the problems, the invention makes a set of unique spraying mode aiming at automatic plate spraying and splicing, and can effectively avoid the phenomena of lines, color impression, sagging and the like.
Disclosure of Invention
The invention aims to provide an automatic splicing and spraying method for a plate spraying robot, which is characterized in that a spray gun is opened or closed according to the running speed of the spray gun, spraying is carried out according to a spraying track, a spraying area with a gap is formed, area complementation is formed, and the problems that the tracks at the splicing part of the area are overlapped to reduce spraying lines and sagging and paint piling are avoided.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to an automatic splicing and spraying method of a plate spraying robot, which comprises the following steps: receiving a spraying instruction, and performing roundabout discontinuous offset spraying according to the spraying instruction in a preset spraying area according to a spraying track; the spraying area of the spraying area is formed by splicing at least two spraying tracks, each spraying gauge is provided with a starting point, a gun opening point, a gun closing point and an end point, and the end parts of two adjacent actual spraying tracks are arranged in a staggered mode.
Preferably, the gun opening point and the gun closing point are two end points of a spray gun on the spraying equipment which runs at a constant speed on the spraying track respectively.
Preferably, on each spraying track, when the spraying equipment receives a gun opening instruction, the distances from a point on a spraying area aligned with the gun head to a preset starting point are equal.
Preferably, on each spraying track, when the spraying equipment receives a gun closing instruction, the distance from a point on a spraying area, to which the gun head is aligned, to a preset key point is equal.
A metal plate spouts automatic concatenation spraying system of robot for realize above-mentioned metal plate spouts automatic concatenation spraying method of robot, includes:
the operation unit is used for controlling the spraying equipment to operate along a preset spraying track;
and the spraying control unit controls a spray gun of the spraying equipment to start spraying and stop spraying.
Preferably, the device further comprises a preset spraying track unit for planning the spraying track in the spraying area.
Preferably, the preset spraying track unit comprises a function point setting module, and a starting point, a gun opening point, a gun closing point and a terminal point are set on the preset spraying track.
The invention has the following beneficial effects:
according to the invention, by changing the distance between the gun opening and the gun closing of the spray gun, the track of the robot after the gun opening is firstly avoided, the gun closing after the track stopping is avoided, when the robot runs the track in the actual spraying process, the gun opening point is lagged, and the gun closing point is advanced, so that the problems caused by the acceleration path and the deceleration path of the robot can be avoided, two adjacent spraying tracks are staggered, so that gaps are generated at two sides of the spraying area, the two adjacent spraying areas form a complementary state, the tracks at the splicing part are prevented from being overlapped, and under the condition that the spraying uniformity of the plate spraying robot is strong, the problems of inconsistent lines, color impression, sagging and paint accumulation and the like are also avoided.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a preset operation track of a plate spraying robot;
FIG. 2 is a schematic diagram of a preset operation track of the plate spraying robot;
FIG. 3 shows the actual gun opening trajectory splicing of the spraying area of the plate spraying robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention relates to an automatic splicing and spraying method of a plate spraying robot, which is characterized in that the plate spraying is carried out by the movement of spraying equipment: firstly, the spraying of the metal plate is divided regionally, the regional spraying is noticed, so that the metal plate is sprayed by adopting a subordinate method in order to avoid the phenomena that obvious lines are easy to appear at a splicing part, spraying methods at two sides are inconsistent and different color impressions are generated, and paint piling sagging or insufficient fullness is easy to occur in varnish spraying.
Wherein, the spraying equipment is a walking robot, and a spray gun is arranged on a mechanical arm of the walking robot.
Specifically, the walking robot receives a spraying instruction, and roundabout intermittent offset spraying is carried out according to the spraying instruction in a preset spraying area and a spraying track; specifically, the spray gun and the plate move transversely.
The spraying area of the spraying area is formed by splicing at least two spraying tracks, each spraying gauge is provided with a starting point, a gun opening point, a gun closing point and an end point, the gun opening point and the gun closing point are two end points of a spray gun on spraying equipment which runs on the spraying track at a constant speed respectively, and an actual coating point on each coating track on a metal plate is between the two end points which run at a constant speed.
In addition, in order to ensure that the spraying in the spraying area is neat and beautiful:
on each spraying track, when the spraying equipment receives a gun opening instruction, the distance from a point on a spraying area aligned with the gun head to a preset initial point is equal, and on each spraying track, when the spraying equipment receives a gun closing instruction, the distance from the point on the spraying area aligned with the gun head to a preset key point is equal.
The above-described spray method is installed, specifically, two adjacent areas are spliced as shown in fig. 1-3.
The end parts of two adjacent actual spraying tracks are arranged in a staggered manner.
Fig. 1 shows the actual movement tracks of the robot, wherein the starting point and the ending point of each track are offset according to the actual edge track points, specifically, a1 and a2, and B1 and B2 in fig. 1. When the robot runs a track in the actual spraying process, the gun starting point is the second starting point, namely A2, B2, C2 and D2 in the figure 1, and the gun closing point is the second last point, specifically shown as A3, B3, C3 and D3 in the figure 1, so that the problems caused by the acceleration path and the deceleration path of the robot can be avoided.
After the robot sets a specific point for switching on and off the gun, the signal starting distance for starting the gun by the robot is set, specifically, as shown in fig. 2, point a2 is the gun starting point, the actual gun starting position is between a1 and a2, point A3 is the gun closing point, and the actual gun closing position is between A3 and a 4.
According to the mode, a plurality of areas are sprayed, the actual gun spraying track refers to the graph 3, and each area track is in a complementary state, so that the tracks at the splicing part are prevented from being overlapped, and the problems of inconsistent line and color impression and sagging paint accumulation are avoided under the clamping of strong spraying uniformity of the plate spraying robot.
A metal plate spouts automatic concatenation spraying system of robot for realize above-mentioned metal plate spouts automatic concatenation spraying method of robot, includes:
the operation unit is used for controlling the spraying equipment to operate along a preset spraying track;
and the spraying control unit controls a spray gun of the spraying equipment to start spraying and stop spraying.
The device comprises a spraying area, and is characterized by further comprising a preset spraying track unit used for planning a spraying track in the spraying area, wherein the preset spraying track unit comprises a function point setting module, and a starting point, a gun opening point, a gun closing point and a terminal point are set on the preset spraying track.
It should be noted that, in the above system embodiment, each included unit is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
In addition, it can be understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above can be implemented by instructing the relevant hardware through a program, and the corresponding program can be stored in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, or the like.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. The automatic splicing and spraying method of the plate spraying robot is characterized by comprising the following steps:
receiving a spraying instruction, and performing roundabout discontinuous offset spraying according to the spraying instruction in a preset spraying area according to a spraying track;
the spraying area of the spraying area is formed by splicing at least two spraying tracks, each spraying gauge is provided with a starting point, a gun opening point, a gun closing point and an end point, and the end parts of two adjacent actual spraying tracks are arranged in a staggered mode.
2. The plate-spraying robot automatic splicing spraying method as claimed in claim 1, wherein the gun opening point and the gun closing point are two end points of a spraying gun on the spraying equipment which runs at a constant speed on the spraying track.
3. The method as claimed in claim 2, wherein the distance from a point on the spraying area where the gun head is aimed to a predetermined starting point is equal for each spraying trajectory when the spraying equipment receives a gun-opening command.
4. The automatic splicing and spraying method of the plate spraying robot as claimed in any one of claims 2 to 3, wherein in each spraying track, when the spraying equipment receives a gun closing command, the distance from a point on a spraying area, to which the gun head is directed, to a preset focal point is equal.
5. An automatic splicing and spraying system of a plate spraying robot, which is used for realizing the automatic splicing and spraying method of the plate spraying robot as claimed in any one of claims 1 to 4, and comprises the following steps:
the operation unit is used for controlling the spraying equipment to operate along a preset spraying track;
and the spraying control unit controls a spray gun of the spraying equipment to start spraying and stop spraying.
6. The plate-spraying robot automatic splicing spraying system as claimed in claim 5, further comprising a preset spraying track unit for planning a spraying track in the spraying area.
7. The plate-spraying robot automatic splicing spraying system as claimed in claim 1, wherein the preset spraying track unit comprises a function point setting module, and a starting point, a gun opening point, a gun closing point and an end point are set on the preset spraying track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210870839.5A CN115007350A (en) | 2022-07-22 | 2022-07-22 | Automatic splicing spraying method of plate spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210870839.5A CN115007350A (en) | 2022-07-22 | 2022-07-22 | Automatic splicing spraying method of plate spraying robot |
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| Publication Number | Publication Date |
|---|---|
| CN115007350A true CN115007350A (en) | 2022-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210870839.5A Pending CN115007350A (en) | 2022-07-22 | 2022-07-22 | Automatic splicing spraying method of plate spraying robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115816468A (en) * | 2023-02-10 | 2023-03-21 | 中铭谷智能机器人(广东)有限公司 | Method, system, electronic device and storage medium for paint spraying |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08141953A (en) * | 1994-11-18 | 1996-06-04 | Tokico Ltd | Industrial robot controller |
| US20070134429A1 (en) * | 2004-06-01 | 2007-06-14 | Abb K.K. | Painting method |
| CN108284048A (en) * | 2017-01-09 | 2018-07-17 | 苏州市铂汉塑胶五金有限公司 | A kind of spray painting control method |
| CN110124966A (en) * | 2019-05-31 | 2019-08-16 | 青岛金光鸿智能机械电子有限公司 | A kind of camouflage color patch fractionation spraying method |
| CN110180760A (en) * | 2019-05-31 | 2019-08-30 | 青岛金光鸿智能机械电子有限公司 | A kind of camouflage color spraying subregion operational method |
| CN112275599A (en) * | 2020-10-14 | 2021-01-29 | 泰和电路科技（惠州）有限公司 | One-time solder mask flow spraying method for 3OZ thick copper plate |
| CN112427275A (en) * | 2020-11-12 | 2021-03-02 | 苏州东盛金属表面处理有限公司 | Uniform thermal spraying process for metal-based roller body |
| CN113320294B (en) * | 2020-02-28 | 2022-05-06 | 深圳市汉森软件有限公司 | Method, device and equipment for eliminating ink dot overlapping of splicing nozzle and storage medium |
-
2022
- 2022-07-22 CN CN202210870839.5A patent/CN115007350A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08141953A (en) * | 1994-11-18 | 1996-06-04 | Tokico Ltd | Industrial robot controller |
| US20070134429A1 (en) * | 2004-06-01 | 2007-06-14 | Abb K.K. | Painting method |
| CN108284048A (en) * | 2017-01-09 | 2018-07-17 | 苏州市铂汉塑胶五金有限公司 | A kind of spray painting control method |
| CN110124966A (en) * | 2019-05-31 | 2019-08-16 | 青岛金光鸿智能机械电子有限公司 | A kind of camouflage color patch fractionation spraying method |
| CN110180760A (en) * | 2019-05-31 | 2019-08-30 | 青岛金光鸿智能机械电子有限公司 | A kind of camouflage color spraying subregion operational method |
| CN113320294B (en) * | 2020-02-28 | 2022-05-06 | 深圳市汉森软件有限公司 | Method, device and equipment for eliminating ink dot overlapping of splicing nozzle and storage medium |
| CN112275599A (en) * | 2020-10-14 | 2021-01-29 | 泰和电路科技（惠州）有限公司 | One-time solder mask flow spraying method for 3OZ thick copper plate |
| CN112427275A (en) * | 2020-11-12 | 2021-03-02 | 苏州东盛金属表面处理有限公司 | Uniform thermal spraying process for metal-based roller body |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115816468A (en) * | 2023-02-10 | 2023-03-21 | 中铭谷智能机器人(广东)有限公司 | Method, system, electronic device and storage medium for paint spraying |
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Application publication date: 20220906 |