Mechanical arm posture self-adaptive adjusting method for laser paint removal

Abstract

The invention discloses a mechanical arm posture self-adaptive adjusting method for laser paint removal. The mechanical arm posture self-adaptive adjusting method comprises the steps that S1, the initial position and the working range of a mechanical arm are determined; a height parameter, an anti-shaking parameter and a mechanical arm rotating shaft angle offset threshold value of the mechanical arm are set; S2, according to the working range set in the step S1, the starting and stopping time of a laser signal is set, and when the laser signal is started, automatic paint removal is conducted through automatic laser emitting; and S3, in the paint removing process of the step S2, a controller of the mechanical arm calculates the offsets in the z-axis direction of the mechanical arm and the w-axis direction and the p-axis direction of the rotating shaft of the mechanical arm according to the real-time measurement information of each laser range finder, the height and width of a laser output device, the height parameter, the anti-shaking parameter and the angle offset threshold parameter, so that the mechanical arm automatically conducts offset compensation. The problem that according to an existing laser cleaning device, the laser output device cannot be automatically adjusted to be parallel to the surface of to-be-machined equipment, and the cleaning effect is affected is solved.

Description

technical field [0001] The invention belongs to the technical field of machinery, and in particular relates to a method for self-adapting the attitude of a mechanical arm for laser paint removal. Background technique [0002] Traditional paint removal methods will produce dust pollution, pollute the environment, cause damage to equipment, and affect the effect of new paint spraying. The newly developed laser paint removal technology in recent years is a "green and environmentally friendly" paint removal process, which has the characteristics of no contact, no grinding, no introduction of additional impurities, and application to various unconventional materials. Compared with other methods, laser paint removal technology has five major advantages: (1) green, environmentally friendly, and does not pollute the environment; (2) does not cause damage to equipment; (3) has a good paint removal effect; (4) has a wide range of applications and is applicable to different Types of e...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method for self-adaptive adjustment of the posture of the mechanical arm for laser paint removal, so as to solve the problem that the existing laser cleaning device cannot automatically adjust the laser output device to keep parallel with the surface of the equipment to be processed, which affects the cleaning effect

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