Aviation part sand blasting and paint removing robot moving speed adjusting method
A technology of moving speed and adjustment method, which is applied in the direction of instruments, image data processing, calculation, etc., and can solve the problems of damage to the base material of aviation parts, uneven paint removal, and inability to adjust
Pending Publication Date: 2021-11-02
WUXI RONGEN NUMERICAL CONTROL TECH
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Problems solved by technology
[0003] In view of the deficiencies in the background technology, the present invention provides a method for adjusting the moving speed of a robot for sandblasting and paint removal of aviation parts. The speed is fixed and cannot be adjusted according to the state of the paint layer, which may easily lead to uneven paint removal and damage to the substrate of aviation parts
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[0041] The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.
[0042] like Figure 1-7 As shown, the robot movement speed adjustment method for sandblasting and paint removal of aviation parts includes the following steps:
[0043] S1: According to the three-dimensional model of the surface of aviation parts, generate a zigzag path with a fixed line spacing width and alternating positive and negative directions. The zigzag path is as follows image 3 As shown in , the robot drives the sandblasting spray gun to blast the surface of aviation parts according to the zigzag path;
[0044] S2: Obtain the surface image of the aerospace parts of the robot during the sandblasting process;
[0045] S3: Draw N consecutive visual ...
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The invention relates to the technical field of aviation part maintenance, and discloses an aviation part sand blasting and paint removing robot moving speed adjusting method. When a robot drives a sand blasting gun to carry out sand blasting and paint removing on the surface of an aviation part, an industrial camera shoots a surface image of the aviation part; a plurality of visual detection frames are drawn then on the basis of the center of the sand blasting range of the sand blasting gun, the surface paint layer state of the aeronautical part is detected according to the paint removed area in each visual detection frame and the edge position of the sand blasting range of the sand blasting gun, and then the running speed of the robot is adjusted according to the surface paint layer state of the aeronautical part. The base materials of the aviation parts are prevented from being damaged when the robot carries out sand blasting and paint removal at the same speed.
Description
technical field [0001] The invention relates to the technical field of aviation parts maintenance, in particular to a method for adjusting the moving speed of a robot for sandblasting and paint removal of aviation parts. Background technique [0002] Aeronautical parts need to be depainted on the surface during maintenance. At present, most of the industry uses sandblasting to remove the surface paint of aviation parts, that is, using industrial robots to carry sandblasting front-end tools to remove paint on the surface of aviation parts. However, during the sandblasting and paint removal process of aviation parts, the existing industrial robots have a fixed moving speed, and cannot adopt the corresponding sandblasting speed according to the changeable paint layer state on the surface of the aviation parts, which may easily cause the paint layer to be damaged. Remove uneven and damaged aerospace component substrates. SUMMARY OF THE INVENTION [0003] In view of the defici...
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IPC IPC(8): G06T7/00G06T7/12G06T7/13G06T7/136G06T7/90G06T5/00G06T5/20
CPCG06T7/0004G06T7/12G06T7/13G06T7/136G06T7/90G06T5/20G06T2207/30156G06T2207/30164G06T5/90
Inventor 欧志山王大钧陈雁骉
Owner WUXI RONGEN NUMERICAL CONTROL TECH