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A method for self-adapting attitude adjustment of robotic arm for laser paint removal

A technology of self-adaptive adjustment and mechanical arm, applied in the field of self-adaptive adjustment of manipulator posture and laser paint removal, can solve the problems of inability to automatically adjust the laser output device to keep parallel with the surface of the equipment to be processed, affecting the cleaning effect, etc. Paint effect, improve paint removal effect, apply to a wide range of processing effects

Active Publication Date: 2022-07-05
西安唐人电子科技有限公司
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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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  • A method for self-adapting attitude adjustment of robotic arm for laser paint removal
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  • A method for self-adapting attitude adjustment of robotic arm for laser paint removal

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Embodiment Construction

[0045] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0046]The present invention provides a method for self-adapting attitude adjustment of a robotic arm for laser paint removal, which is based on a laser paint removal device. The laser paint removal device includes a robotic arm and a laser output device disposed at one end of the robotic arm. , four laser distance meters are set on the laser output device, each of the laser distance meters is located between the laser output device and the surface to be removed, and each of the laser distance meters is located between the laser output device and the surface to be removed. The vertical distance of the paint surface is equal. The laser rangefinders are installed on a plane, that is, the distances between the four laser rangefinders and the surface to be removed in the vertical direction are equal, and the plane of the light outlet of the laser em...

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Abstract

The invention discloses a method for self-adapting attitude adjustment of a mechanical arm for laser paint removal. S1. Determine the initial position and working range of the mechanical arm; Threshold value of displacement; S2, according to the working range set in step S1, to set the on and off time of the laser signal, when the laser signal is turned on, the automatic laser light emission is used to carry out automatic paint removal; S3, during the paint removal process of step S2 , the controller of the manipulator calculates the z-axis of the manipulator and its The offsets in the directions of the w-axis and p-axis of the rotation axis make the robot arm automatically perform offset compensation; it solves the problem that the existing laser cleaning device cannot automatically adjust the laser output device to be parallel to the surface of the equipment to be processed, which affects the cleaning effect. .

Description

technical field [0001] The invention belongs to the technical field of machinery, and in particular relates to a method for self-adapting attitude adjustment 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 is suitable for various unconventional materials. Compared with other methods, laser paint removal technology has 5 major advantages: (1) green, environmental protection, no pollution to the environment; (2) no damage to equipment; (3) good paint removal effect; (4) wide range of applications, different applications Types of equipment, different paint thick...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B08B7/00B08B13/00
CPCB08B7/0042B08B13/00
Inventor 赵春晖李耀军杨峰马名发胡劲文王丽珍
Owner 西安唐人电子科技有限公司
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