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A spraying control method of a spraying manipulator

A control method and manipulator technology, applied in the direction of spraying device, etc., can solve the problems of wasting spraying and uneven spraying, and achieve the effect of even spraying, saving spraying time and manpower

Active Publication Date: 2019-06-11
SHENZHEN HUACHENG IND CONTROL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] This application provides a spraying control method for a spraying manipulator to solve the technical problems in the prior art that when a spraying manipulator sprays curved surface workpieces, the spraying is uneven, the paint is wasted, and the oil volume of the spray gun needs to be manually adjusted.

Method used

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  • A spraying control method of a spraying manipulator
  • A spraying control method of a spraying manipulator
  • A spraying control method of a spraying manipulator

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Experimental program
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Effect test

Embodiment

[0039] A spraying control method of a spraying manipulator, such as figure 1 shown, including the following steps:

[0040] S1: Select the spraying trajectory according to the surface of the workpiece to be sprayed;

[0041] S2: Set the spraying parameters;

[0042] S3: Run the manipulator to the starting point of the workpiece surface, and the nozzle of the manipulator spray gun is always perpendicular to the workpiece surface;

[0043] S4: open the spray gun;

[0044] S5: The spray gun runs equidistantly along the surface of the workpiece according to the spray trajectory selected in step S1, and sprays according to the set oil volume, that is, the proportional valve of the spray gun is controlled by the analog voltage output, so as to control the spray gun according to the set oil volume to spray;

[0045] S6: close the spray gun;

[0046] S7: Run the inching track;

[0047] S8: Judging whether the set number of times of inching has been reached, if yes, go to step S9...

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Abstract

The invention provides a spraying control method for a spraying manipulator. The control method includes the following steps that a spraying track is selected according to the workpiece surface to be sprayed; spraying parameters are set; the manipulator operates to the start point of the workpiece surface, and a nozzle of a manipulator spray gun is always perpendicular to the workpiece surface; the spray gun is started; the spray gun operates along the workpiece surface in an equal-distance mode according to the selected spraying track and conducts spraying according to set oil quantity; the spray gun is shut down; an inching track is operated; and the steps are repeated till spraying is completed. By means of the spraying control method provided by the invention, repeated spraying can be conducted along the actual workpiece surface which is a plane or a curved surface, so that spraying is more even; and the oil quantity of the spray gun is controlled dynamically according to predetermined magnitudes of oil quantity proportional valves in all positions of the spray gun, manual monitoring is not needed, and the spraying time and labor are saved.

Description

technical field [0001] The invention relates to the technical field of spraying manipulator automation, in particular to a spraying control method of a spraying manipulator. Background technique [0002] The spraying robot is an industrial robot that can automatically spray paint or spray other coatings. At present, the spraying method adopted by the spraying manipulator industry is above the surface of the workpiece, and the spray gun performs multiple plane and linear reciprocating movements to achieve the purpose of spraying the surface. The disadvantage of this method is For workpieces with curved surfaces, the spraying is uneven and the spray paint is wasted. Moreover, workers are required to control the size of the oil volume proportional valve according to the actual spraying situation, which cannot realize the dynamic control of the oil volume, and wastes time and manpower. Contents of the invention [0003] The present application provides a spraying control meth...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B05B13/04B05B15/70B05B12/00
CPCB05B12/00B05B13/0431
Inventor 程国醒徐山石建军孙毅冷俊董改田关增增
Owner SHENZHEN HUACHENG IND CONTROL
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