Dynamic supplementary spraying control system and method for spraying robot and breakpoint return control system and method

Abstract

The invention discloses a spraying robot dynamic supplementary spraying control system which comprises a spraying robot and a spraying target, the spraying robot comprises a spraying gun for spraying, a pressure sensor is arranged in a spraying gun pipeline, and the spraying robot dynamic supplementary spraying control system further comprises a data collecting module used for collecting real-time pressure data of the spraying gun pipeline; the calculation module is used for obtaining the real-time spraying sectional area of the spray gun nozzle; calculating the change relation of the thickness of the paint film on the spraying target along with time; the moving distance of the spraying robot in the clogging process of the spraying gun is calculated; the control module is used for controlling the spraying robot to stop spraying and controlling the spraying robot after blockage clearing to move to the initial position where clogging happens to conduct compensation spraying. And when the spray gun is blocked, the spray gun can be automatically closed, so that the phenomena of spraying pipeline damage and spraying leakage caused by overlarge pressure are avoided, and the overall spraying effect is improved. The target spraying thickness is obtained according to the pressure data of the spray gun pipeline, so that dynamic supplementary spraying is carried out, and the spraying quality of the clogged position of the spray gun is improved.

Description

technical field [0001] The invention relates to auxiliary equipment for ship construction, in particular to a control system and method for dynamic respraying of a spraying robot and a breakpoint recovery control system and method. Background technique [0002] At present, most of the spraying of large-scale ship segments is sprayed by artificial scaffolding. Many problems have been exposed by manual spraying methods, such as: low operating efficiency, uneven thickness of sprayed paint film, high labor intensity of operators, and hazards to operators. Physical and mental health issues. Therefore, manual spraying has been gradually replaced by various spraying robots. [0003] For the segmented spraying of large ships, the trajectory required by the spray gun at the end of the spraying robot is mainly generated by two methods: manual teaching programming and offline programming. However, these two methods are now facing a problem. During the spraying process, when the spray...

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Problems solved by technology

And at the same time, there is a problem that when the spray gun starts to clog, it will take a certain amount of time until it is completely blocked until it reaches the trigger pressure sensor, but in the process, the spray gun is still moving along the trajectory. The spray torch is completely different from the spray torch without clogging, and the thickness of the formed paint film also changes with time, so that the quality of the spraying effect is also greatly reduced

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