Spraying robot control method based on three-dimensional model recognition

Abstract

The invention discloses a spraying robot control method based on three-dimensional model recognition. The method comprises the steps that hardware driving parameters are set for a main control device, an optical measuring device and a spraying device; a three-dimensional projection view of a workpiece to be sprayed is read from the optical measuring device; spraying parameters of a spraying robot are read from a memorizer of the main control device; the spraying path of each single face of the workpiece to be sprayed is calculated according to the three-dimensional projection view and the spraying parameters; an integral spraying path is produced according to the spraying paths of the single faces; the spraying track and space condition of a spraying gun are calculated according to the integral spraying path; a spraying instruction is produced according to the spraying track and the space condition of the spraying gun; the spraying instruction is sent to the spraying robot through a data interface to control the spraying robot to spray the workpiece to be sprayed.

Description

technical field [0001] The invention relates to the field of painting, in particular to a method for controlling a painting robot based on three-dimensional model recognition. Background technique [0002] The use of spraying robots in the spraying industry can avoid artificial long-term exposure to toxic and harmful production environments. At present, the programming methods for spraying robots mainly include manual teaching method and offline programming method. In the manual teaching method, experienced workers operate the robot control handle to gradually move the position of the spray gun to complete the setting of the entire spray path. By recording and saving the parameter changes and positions of the end joints of the robot, the robot can repeat the original motion trajectory to realize automatic spraying. This method has relatively high labor costs. [0003] The off-line programming method requires the use of computer graphics technology to pre-generate the spra...

AI Technical Summary

Problems solved by technology

However, the robot offline programming software used in practical applications is relatively complicated to operate, and requires an accurate CAD model or 3D model of the workpiece in order to simulate a more accurate spraying path

However, in the production environment where the accuracy of spraying paths is not high, such as furniture panels, these panel workpieces often do not have CAD or 3D models, so offline programming software cannot be used to simulate and generate spraying paths

Images