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Camouflage plaque splitting and spraying method
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A kind of plaque and camouflage technology, which is applied to coatings, devices that apply liquid to surfaces, special surfaces, etc., can solve problems such as robot jamming, improve efficiency, reduce empty running and path waste, and reduce path waste. Effect
Inactive Publication Date: 2019-08-16
QINGDAO JINGUANGHONG INTELLIGENT MACHINERY ELECTRONICS CO LTD
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Problems solved by technology
[0005] In order to solve the above problems, this disclosure proposes a method of splitting and spraying camouflage patches, aiming at solving the technical problem of the continuous patch process of the same color of digital camouflage and the robot stuck beyond the limit range during the spraying process, by scanning the area to be sprayed All the spraying paths can be split and sprayed for too long continuous patches, which solves the problem that the robot is stuck beyond the limit range during the spraying process
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Embodiment 1
[0038] A typical embodiment of the present disclosure, such as figure 1 , figure 2 As shown, a kind of camouflage plaque splitting spraying method is provided, comprising the following steps:
[0039] Workpiece path scanning: scan all the spraying paths of the entire workpiece, detect all path lengths, and the path length information is used for re-planning of the path in the subsequent steps; of course, in this process, the position of the corresponding path can also be recorded to facilitate subsequent steps route re-planning;
[0040] Path planning parameter setting: compare all the path length information of the workpiece to be sprayed with the spraying limit range of the robot, and filter out the paths exceeding the spraying limit of the robot; combine the actual working conditions to set the distance value M of the transition point and the path split length Threshold L, the setting of M value and L value can make the path more reasonable and effective, among which the...
Embodiment 2
[0054] The present invention also provides another embodiment, which is different from Embodiment 1 in the path splitting process.
[0055] A method for splitting and spraying camouflage plaques, in which a working robot adopts fixed seven-axis spraying in the same area, including the following steps:
[0056] Workpiece path scanning, scan all the paths to be sprayed on the entire workpiece, detect all path lengths and store path length information;
[0057] Planning parameter setting, compare the length information of the workpiece’s spraying path with the robot’s spraying limit range, filter out the path beyond the robot’s spraying limit, and set the transition point distance value M and path split length according to the filtered path information Threshold L;
[0058] Spraying path splitting, splitting the filtered path, splitting the path exceeding the L value length into at least two continuous short paths whose length value is less than the L value, and adding Transiti...
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Abstract
The invention discloses a camouflage plaque splitting and spraying method. The method comprises the steps of a spraying path is split, a screened path is split, the path which exceeds the L value length is split into at least two continuous short paths with the length value smaller than the L value, and a transition path is added to each split short path, wherein the length value of each transition path is M; the path is replanned, the split short paths are used as new paths and combined with unsplit paths to form a whole new to-be-sprayed path for workpieces, and the spraying sequence of thenew to-be-sprayed path is replanned; and the path likely to cause clamping in the robot spraying process is split into short paths, the split short paths are smaller than the robot spraying limit range, and the effect of preventing robot clamping caused by the long path is achieved.
Description
technical field [0001] The disclosure relates to a method for splitting and spraying camouflage plaques. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] In order to meet the requirements of contemporary spraying operations, the robotic automatic coatingsystem is used in spraying operations, which can quickly and efficiently paint digital camouflage and spotted camouflage on workpieces according to customer needs. [0004] The inventor found that during the digital camouflage operation, since the robot adopts the method of fixed seven-axis spraying in the same area, when the length of continuous patches of the same color is too long, the robot will be stuck beyond the limit range during the spraying process , after being stuck, the robot needs to be restarted before spraying, which will affect the smoothness and efficiency of spraying. ...
Claims
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IPC IPC(8): B05D5/06B05D1/02
CPCB05D1/02B05D5/065
Inventor 陈巍罗宏郑东
Owner QINGDAO JINGUANGHONG INTELLIGENT MACHINERY ELECTRONICS CO LTD
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