Method for controlling spraying gun of spraying robot

Abstract

The invention discloses a method for controlling a spraying gun of a spraying robot. The method comprises the steps of determining a plurality of surfaces of a workpiece, to be spayed according to a three-dimensional projection view; determining a spraying joint of each of the plurality of surfaces to be sprayed according to the spraying parameters and the three-dimensional projection view, and obtaining a two-dimensional point coordinate of the spraying joint; calculating a three-dimensional coordinate corresponding to the spraying joint of each surface according to the correspondence relation of the two-dimensional point coordinate of each view of the three-dimensional projection view; calculating a normal vector of each spraying joint according to the three-dimensional coordinate of each of the spraying joints and the three-dimensional coordinate of the joint adjacent to each joint; generating a spraying track of the spraying surface according to the three-dimensional coordinates of the spraying joints; performing spatial fit for the spraying track to obtain the fitted spraying track; calculating the spraying track and the normal vector of the spraying gun by the formula in the specification according to the fit track and the normal vector of the spraying joints.

Description

technical field [0001] The invention relates to the field of spraying, in particular to a method for controlling a spray gun of a spraying robot. 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 spraying workpiece model. When th...

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

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