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

A spraying robot and control system technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as the decline of the effect quality and the change of the thickness of the paint film, and achieve the effect of improving the spraying quality, improving the efficiency, and avoiding the damage of the spraying pipeline.

Pending Publication Date: 2022-03-04
JIANGSU UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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

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Embodiment 1

[0048] Such as figure 2 , Figure 8 and Figure 9 As shown, a kind of spraying robot dynamic supplementary spraying control system in this embodiment includes a spraying robot and a spraying target, and the spraying robot includes a spray gun for spraying, and a pressure sensor is set in the spray gun pipeline, and also includes a data acquisition module, a calculation module, a control module; the spraying system of the spraying robot in this embodiment adopts CP505 / A controller, robot controller, driver and servo motor, etc., and uses the Ethercat bus protocol to communicate, and completes the configuration of the spraying robot system, so as to set the breakpoint for the spraying robot spray gun The implementation of the method of recovery and dynamic respray provides the basis.

[0049] The configuration steps of the spraying robot spraying system are:

[0050] S1: Install the Ethercat communication module in the robot controller, activate the key of the Ethercat commu...

Embodiment 2

[0060] Such as figure 1 As shown, a method for controlling dynamic respraying of a spraying robot in this embodiment adopts the configuration and control system of the spraying system in the above embodiment, and the control method includes the following steps:

[0061] (1) When the spray gun of the spraying robot is blocked from the beginning to the complete blockage, due to the constant output power of the hydraulic pump, the cross-sectional area S of the spray gun nozzle decreases with time, and the pressure P in the pipeline increases with time. The pressure of the pressure sensor in the spray gun pipeline will rise slowly until it reaches the critical pressure. When the spray gun of the spraying robot is clogged, the real-time pressure data of the spray gun pipeline will be collected. The pressure change of the pressure sensor is as follows: figure 2 As shown, when the critical pressure is reached, the pressure sensor is triggered to send a signal to the PLC. According t...

Embodiment 3

[0080] A breakpoint restoration control system of a dynamic respray control system of a spraying robot in this embodiment, on the basis of the above-mentioned embodiment 1, also includes a position memory module, a counting module, a pathfinding module and a return control module, the position memory module is used After the spray gun of the spraying robot is blocked and closed, the position coordinates of the spraying robot are recorded in real time. The counting module is used to count the number of times the position memory module records the position coordinates. The pathfinding module is used for the spraying robot to return sequentially according to the position coordinates recorded by the position memory module. And at this time, the count of the counting module is decremented, and the return control module is used to send a return signal to the pathfinding module.

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J11/00B25J19/00
CPCB25J11/0075B25J9/16B25J9/1679B25J9/1664B25J9/1602B25J9/1656B25J19/0058
Inventor 徐江敏季剑波姚震球张冰蔚王帅许明徐凡
Owner JIANGSU UNIV OF SCI & TECH
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