Two-dimensional tracking robot spraying programming method

A programming method and robot technology, applied in two-dimensional position/channel control, instruments, spraying devices, etc., can solve the problems of increased robot positioning distance, high equipment investment cost, and increased spray booth space, etc., to achieve robot Reduced loss, improved work efficiency, and reduced wire speed

Active Publication Date: 2020-03-17
GUANGDONG TAYO MOTORCYCLE TECH
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Problems solved by technology

In the second way, the robot needs a long space distance when tracking the workpiece, that is, the robot requires a larger left and right range of motion.
Therefore, the positioning d

Method used

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Embodiment Construction

[0031] refer to figure 1 , 2 , a two-dimensional tracking robot spraying programming method, comprising the following steps:

[0032] (1) Calculate the running time of a single beat of the robot: from the time when the workpiece reaches the spraying area, the workpiece moves in parallel with the conveyor chain and rotates around the hanging rod. The production beat is obtained by dividing each pitch S of the conveyor chain by the chain speed V, The workpiece rotates with the hanger in place at a constant angular velocity for one circle (360°), the corresponding time is T, and the theoretical running time T of a single beat of the robot is calculated. 0 ;

[0033] (2) Plan the spraying trajectory according to the shape and structure of the workpiece to be sprayed, and mark the key points on the trajectory: take the key points as the teaching points, the workpiece is rotated in situ for trajectory teaching, and the instructions required for spraying are marked on the workpiece...

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Abstract

The invention relates to a robot in a two-dimensional tracking robot spraying programming method, the robot tracks real-time movement pulses of a conveying chain and simulates and tracks rotation angle real-time pulses of a workpiece, a problem that robot hardware and software in the prior art including offline programming software cannot directly achieve two-dimensional tracking spraying of workpieces with complex appearances is solved, different spraying angles can be distributed through rotation, and spraying without dead angles is achieved; the robot does not need to walk at a singular angle to the maximum degree, the spraying angle does not need to be changed frequently, the operation time of the unit spraying area is greatly shortened, and operation efficiency is improved; robot lossis reduced; workpiece positioning is changed from a plane state to a three-dimensional state, and the space distance between workpieces can be reduced; the number of workpieces hung each time is increased by 50%; under the same productivity condition, the linear speed can be reduced, the actual operation range of robot tracking is reduced by 50%, the space of a spraying room is reduced, and energy consumption is reduced; the automation of horizontal rotary spraying becomes possible.

Description

technical field [0001] The invention relates to the field of robot spraying programming, in particular to a two-dimensional tracking robot spraying programming method. Background technique [0002] At present, robot spraying programming is divided into two types from the tracking point of view: [0003] 1. Fixed-point spraying—fixing the workpiece, the workpiece does not move with the conveyor chain, the robot does not need to turn on the synchronous tracking function, and runs according to the teaching track. The movement commands are mainly MOVJ and MOVL, also known as "non-tracking spraying". In this way, the position of the workpiece is fixed, and the placement of its position mostly requires human assistance, and the degree of automation is low. There is a rhythm pause in the middle to wait for the workpiece to move, which also causes the problem of low effective utilization of the robot. [0004] 2. One-dimensional tracking spraying - the workpiece moves with the con...

Claims

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Application Information

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IPC IPC(8): G05D1/02B05B13/04
CPCG05D1/0223B05B13/0431
Inventor 谢升白锐张林
Owner GUANGDONG TAYO MOTORCYCLE TECH
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