Mobile robot automatic spraying device and mobile robot automatic spraying control system and method

Abstract

The invention discloses a movable robot automatic spraying device, a control system and a method, comprising a visual recognition unit, a main control unit, a graphic reconstruction unit, a trajectory programming unit, a spraying unit and a robot control unit; The information is processed to obtain geometric information; the graphic reconstruction unit optimizes the geometric information of the workpiece to obtain the gridded 3D model of the workpiece; the trajectory programming unit automatically identifies the spraying area and calculates the spraying trajectory strategy to obtain the spraying trajectory file; the spraying unit according to the workpiece The positional relationship with the robot and the spraying trajectory file plan the spraying path, and generate the executable code of the robot; the robot control unit controls the industrial robot to perform the spraying action according to the above code file; the present invention adopts the trajectory planning method based on visual recognition to automatically plan for the workpiece to be sprayed Spraying trajectory, the robot automatically completes the painting work, which increases the flexibility of work and reduces the workload of programming.

Description

technical field [0001] The invention belongs to the technical field of robot automatic spraying application, and more specifically relates to a visual recognition-based movable robot automatic spraying device, control system and method. Background technique [0002] Surface spraying is a crucial link in the product processing chain, and manual spraying has certain defects: First, the quality of manual spraying is unstable, and many factors such as spray gun settings and process parameters are determined by manual experience, resulting in the failure of the entire product. The quality is uneven; second, in order to ensure that the spraying thickness is uniform and there are no dead ends, the operator will apply glaze repeatedly, resulting in a large waste of glaze and low production efficiency; third, the spraying operation environment is harsh, and long-term work is harmful to the health of workers. Serious harm. [0003] In recent years, with the popularization of robot ap...

AI Technical Summary

Problems solved by technology

[0002] Surface spraying is a crucial link in the product processing chain, and manual spraying has certain defects: First, the quality of manual spraying is unstable, and many factors such as spray gun settings and process parameters are determined by manual experience, resulting in the failure of the entire product. The quality is uneven; second, in order to ensure that the spraying thickness is uniform and there are no dead ends, the operator will apply glaze repeatedly, resulting in a large waste of glaze and low production efficiency; third, the spraying operation environment is harsh, and long-term work is harmful to the health of workers. Serious harm

However, offline programming is highly dependent on accurate part models and the technical experience of programmers. When there are many types of parts, the programming workload is heavy. If there is no part model, it is necessary to remodel the part.

In addition, the application scenarios of the current robot spraying system are fixed and cannot meet the needs of changing application scenarios

[0005] In short, the existing programming mode of fixed robots has many limitations in the application of surface spraying, such as high site requirements, poor work flexibility, and heavy programming workload.

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