Robot spraying control method, device, electronic equipment and storage medium

A control method and robot technology, applied in the field of robots, can solve problems such as uneven thickness of paint film, and achieve the effect of ensuring spraying quality and saving human resources.

Active Publication Date: 2022-04-01
JIHUA LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of this application is to provide a robot spraying control method, device, electronic equipment and storage medium, aiming to solve the technical problem of uneven thickness of the paint film sprayed by the existing mechanical arm when spraying large curvature workpieces

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  • Robot spraying control method, device, electronic equipment and storage medium
  • Robot spraying control method, device, electronic equipment and storage medium
  • Robot spraying control method, device, electronic equipment and storage medium

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Embodiment Construction

[0066] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

[0067] It should ...

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Abstract

This application relates to the field of robot technology, and provides a robot spraying control method, device, electronic equipment, and storage medium, including the following steps: acquiring the coordinates of the spraying path points on the workpiece surface based on the grating spraying method; acquiring two adjacent spraying paths Time interval information between points; obtain constraint condition information; the constraint condition information includes maximum paint film thickness, maximum moving speed and maximum acceleration; based on the spray path point coordinates, the time interval information and the constraint condition information , using the particle swarm optimization algorithm to optimize the time interval information to minimize the target parameter; the target parameter is a function of the variance of the paint film thickness of the spray path point, the total spraying time and the variance of the time interval information. The invention has the beneficial effects of good spraying quality and uniform paint film thickness.

Description

technical field [0001] The present application relates to the technical field of robots, in particular, to a robot spraying control method, device, electronic equipment and storage medium. Background technique [0002] Robots have been widely used in modern industries, such as welding, spraying, palletizing and other application scenarios, which have greatly improved productivity. For example, in a large shipbuilding plant, when spraying workpieces with large curvature, it is necessary to control and plan the trajectory of parameters such as the spraying speed, spraying time, and spraying acceleration of the robot or mechanical arm, so that the workpiece can be sprayed with a film of uniform thickness. [0003] However, the reality is that at present, the manufacturing plant only arranges the robotic arms at different positions on the spraying production line, and mainly uses manual teaching methods, without fully considering the spraying speed, spraying time and spraying ac...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/416B25J11/00B25J9/16
CPCG05B19/416B25J11/0075B25J9/1664B25J9/161G05B2219/34083
Inventor 邱呈溶邹雪丰刘速杰吴宇君钟泽邦
Owner JIHUA LAB
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