CN104841593B - Control method of robot automatic spraying system - Google Patents

Control method of robot automatic spraying system Download PDF

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Publication number
CN104841593B
CN104841593B CN201510288692.9A CN201510288692A CN104841593B CN 104841593 B CN104841593 B CN 104841593B CN 201510288692 A CN201510288692 A CN 201510288692A CN 104841593 B CN104841593 B CN 104841593B
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workpiece
spraying
robot
sprayed
parameter
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CN104841593A (en
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艾尼奥·萨卡维里
丹尼尔·皮兰
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Ximeiai (wuhu) Robot Technology Co Ltd
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Ximeiai (wuhu) Robot Technology Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0447Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0457Installation or apparatus for applying liquid or other fluent material to conveyed separate articles specially designed for applying liquid or other fluent material to 3D-surfaces of the articles, e.g. by using several moving spray heads

Abstract

The invention discloses a control method for a robot automatic spraying system. The control method of the robot automatic spraying system comprises the following steps of (1) acquiring feature data of a workpiece to be sprayed; (2) processing acquired data by using an image processing system; (3) automatically generating a track; (4) simulating; (5) controlling a user interface; (6) determining a spraying parameter; and (7) performing spraying. The control method of the robot automatic spraying system has the advantages of high automation degree, high machining precision, wide application range and the like. Different workpiece spraying tracks can be generated automatically, the operation difficulty of a user is reduced, the traditional manual programming on single different-model workpieces to be sprayed is replaced, consumed time on spraying is shortened, and the production efficiency is improved.

Description

A kind of control method of robot automatic spraying system
Technical field
The present invention relates to industrial robot spray process technical field, specifically a kind of robot automatic spraying system Control method.
Background technology
The competition of industry spraying production field just becomes to be growing more intense, the matter to automatization level, degree of optimization and paint Amount demand is increasingly improved.Introduce industrial robot paint finishing will more environmental protection and energy saving, health, safety, and will be greatly reduced Cost.Robot path plays a decisive role to the uniformity of coating thickness, and the uniformity of coating thickness affects it strongly The quality of product.
The generating mode in Control During Paint Spraying by Robot path is usually that commissioning staff repeatedly shows according to the 3D of workpiece to be painted figures and scene Just can complete after religion programming.The method complex operation, has higher professional skill to require that flexibility simultaneously is poor, workpiece to operator Require to regroup new a set of track program after replacing, operate extremely loaded down with trivial details, take longer so that the efficiency of spray process compared with It is low, have influence on the production efficiency of product.And under traditional teaching programming, need to ensure that the position and attitude that different workpieces are put every time must Must be consistent, therefore need design and manufacture special frock clamp for different workpiece to complete the strict positioning to it, frock The inaccurate quality that seriously can affect to spray of fixture positioning.
The content of the invention
In order to solve above-mentioned technical problem, the present invention provides a kind of control method of robot automatic spraying system, can be real Existing different workpieces spraying profile is automatically generated, and so as to reduce the operation difficulty of user, and does not need extra frock clamp, is reduced System design complexity and working service cost.
The present invention solves its technical problem and employs the following technical solutions to realize:
A kind of control method of robot automatic spraying system, comprises the following steps:
(1) workpiece features data to be sprayed are obtained:Fixed or portable workpiece to be sprayed is scanned using vision system, Workpiece data to be sprayed is obtained to obtain the total content control of spray, data can in real time show and transmit to integrated computer Reason, is integrated with the image of the optimal path for processing scan data and generating Control During Paint Spraying by Robot in the integrated computer Reason system and dummy robot carry out the analogue system of spray process, and the data of the present invention have real-time, that is, obtain to be sprayed Integrated computer is transferred to after workpiece data at once, to guarantee the quick reflection of integrated computer and contribute to the fast of spraying profile Fast-growing into;
(2) image processing system processes fetched data:Image processing system is received after vision system data, simulation Redundant information is deleted first in human vision and reasoning, and the solid data for then extracting workpiece to be sprayed constitutes workpiece to be sprayed Geometric figure, these features will be detected and send into trajectory map module, by automatic orbit maker carry out track from Dynamic generation is processed;The image processing system of the present invention carries out the synthesis work of image using image segmentation from different visual apparatus Make, while different workpiece to be sprayed can be processed, the workpiece to be sprayed all may be used after being scanned with arbitrary position and direction To be processed, the real-time tracking of coordinate system can be realized, so as to solve the problems, such as scanning when workpiece to be sprayed is mobile status.
(3) track automatically generates:The spray procedure of robot is generated by automatic orbit maker, target is any for one The workpiece to be sprayed of shape and size finds an optimal automatic spraying profile, and automatic orbit maker is integrated with figure reason By analysis, path optimization's algorithm, generate robot motion track, software inhouse copying system as a digitized function, Purpose is to realize constant spraying rate and high flatness, and automatic orbit maker is built-in with the spray that experience is sprayed based on specific industry Painting technique expert system, the track with optimum for containing the data accumulation based on substantial amounts of Workpiece painting experience to be formed, The spraying coating process of parameter, so as to track and parameter that different workpiece to be sprayed formulate optimum can be directed to, it is ensured that spray process Be smoothed out;
(4) emulate:The spraying task that completes to set is gone in track after automatically generating by analogue system dummy robot, so as to Be simulated emulation to the optimization of motion path and track, the key of robot for example positive kinematics, inverse kinematics, The Realization of Simulation, for detecting and the problems such as solve collision, singular point, the joint velocity limit and the joint position limit;Adopt in emulation The quantity for spray of the whole surface for being applied to the object is highlighted with different color changes.And, user can show all The position of the connecting rod on robot body, speed and acceleration;
(5) user interface is manipulated:After the completion of step (4), operator's operation user interface realizes spraying, and user interface is main It is to provide simply and easily to operate for operator's operation robot, language, all kinds of parameters, statistics, remote assistance can be selected Function;
(6) spray parameters are determined:Control During Paint Spraying by Robot track completes the basic trend of spraying, to guarantee that quality system is provided The parameter adjustment function of all kinds of sprayings, plane and edge general parameter provide skew, shooting, close rifle distance, track transition Parameter, for the parameter that the parameter of the edge of work has Y angles, excursions depths, continuous moving angle, side selection;For the ginseng of flat board Number has the direction of motion, Y angles, Y angular oscillatory motions, Z angles, Z angular oscillatory motions, parallel traces interval, parallel traces skew, Workpiece painting Several parameters;For line parameter has Y angles, Z angles, apex offset, summit amendment, angle to pass through speed, the parameter of panel frame.
(7) spray process:Robot spraying system is according to the profiling track for determining, with reference to paint feeding system, spraying coating process Require, various workpiece to be sprayed are sprayed, installed using the robot body lower section in robot spraying system during spraying Rotating base complete to capture workpiece to be sprayed automatically and quick-replaceable has sprayed workpiece, it would however also be possible to employ others conveying and on Cutting mode completes the replacing of workpiece.
The vision system realizes the scanning to workpiece to be sprayed using grating, laser sensor.
Described image processing system includes search and analysis to workpiece image information to be sprayed, and using image segmentation pair Different images carries out synthetic work, and the workpiece image to be sprayed is the form of 2D or 3D.
The robot spraying system that the present invention is adopted integrates robot body, robot controller and paint feeding system, The rotating base that the bottom of robot body is installed can automatically capture workpiece to be sprayed and quick-replaceable has sprayed workpiece, greatly The piece installing that improve workpiece and change efficiency, high degree of automation instead of traditional people's tool part mode, safety coefficient It is high.
The robot body, paint feeding system, rotating base are connected with robot controller, the robot controller Be connected with integrated computer, so as to instruction is conveyed to into robot controller using integrated computer, with control robot body, Paint feeding system, rotating base perform corresponding spraying operation.
The course of work of automatic orbit maker is as follows:
The formation of (a) spraying coating process expert system:A set of spraying is defined based on long-term spraying project experiences and data Technique expert system, and spraying coating process expert system is integrated on computers;
(b) workpiece image data input:The view data for obtaining workpiece is transferred to spraying coating process expert system;
C () track automatically generates:Generate the spray procedure of robot, it is not necessary to carry out the programming of point-to-point spray procedure And automatically generated spraying profile program;
(d) parameter setting:After track automatically generates, spraying coating process expert system is provided to each point sprayed on path Following parameter:Speed, the rotational value of wrist, the opening and closing of spray gun, spray distance, the amplitude range of spray gun, the stream of coating Amount and color, the speed of track can be formulated for uniform motion to obtain best spraying quality;
E () spline algorithms realize constant speed and high flatness:After the completion of step (d), operator's operation user interface Spray painting control is realized, the workpiece coordinate point information obtained based on three-dimension sensor using spline algorithms, with the flute card of robot The correct height in your space and walk to be inserted upwardly into each tracing point, calculated by analyzing the point for closing on and can complete batten, make Obtain speed and acceleration of the robot between point of proximity and keep continuous, robot trajectory can be analyzed by point of proximity, So that the motion of robot is smoothed out as far as possible;
F () robot controller forms final track by carrying out kinematics resolving to batten:According in step (e) Robot trajectory's point that cartesian space is obtained by spline algorithms, by robot controller kinematics resolving is carried out, and obtains right The angle-data of joint servo motor is answered, while carrying out further discretization to data, servomotor position loop instruction is obtained. By corresponding control algolithm within the fixed sampling period, servomotor speed command, current-order are obtained.By being arranged on The encoder of motor side (or joint output end) completes the Real-time Feedback to servomotor positional value and velocity amplitude, right so as to complete The real-time closed-loop control of the position loop of servomotor, speed loop and current loop.So that robot is entered by predetermined track Row motion.
Spline algorithms require the workpiece coordinate point information obtained based on three-dimension sensor in step (e), with correct Height and walk to be inserted upwardly into each tracing point, the calculating of the above can be completed by analyzing the point that closes on, as a digitlization Function, realize constant spraying rate and high flatness.
Spray gun in the step (e) must be perpendicular to surface of the work.
When surface of the work is smooth or surface is black, interference process is reduced or ignored using wave filter.Work as workpiece Surface is smooth or surface is black, and 3-D scanning result receives noise effect so that many mistakes occur in the data of acquisition, such as high There is fluctuation in the change detection of degree and the deformation of the edge of work etc., the operation that can cause robot, therefore spy is entered using wave filter Row reduces or ignores interference process, so that the surface of workpiece is smooth as far as possible.
Spraying profile can be automatically generated when workpiece putting position deviation, variety classes workpiece are mixed and put, greatly Improve working (machining) efficiency.
The invention has the beneficial effects as follows:
The present invention has the advantages that high degree of automation, machining accuracy are high and widely applicable, is capable of achieving different workpieces spraying Track automatically generates, and so as to reduce the operation difficulty of user, instead of traditional workpiece to be sprayed for single different model Artificial programming, shorten the time spent by spray process, improve production efficiency, and do not need it is extra fixed for workpiece The frock clamp of position, reduces system design complexity and working service cost.
Description of the drawings
With reference to the accompanying drawings and examples the present invention is further described.
Schematic diagram when Fig. 1 is the work of the present invention;
Fig. 2 is the control flow chart of the present invention;
Fig. 3 is that the parameter of the edge of work of the present invention has Y angular dimensions application schematic diagrams;
Fig. 4 is the application schematic diagram of the excursions depths parameter of the parameter at the edge of the present invention;
Fig. 5 is the application schematic diagram of the continuous moving angle parameter of the parameter at the edge of the present invention;
Fig. 6 is the application schematic diagram one of the parameter that the side in the parameter at the edge of the present invention selects;
Fig. 7 is the application schematic diagram two of the parameter that the side in the parameter at the edge of the present invention selects;
Fig. 8 is the application schematic diagram of the direction of motion parameter of the parameter of the flat board of the present invention;
Fig. 9 is the application schematic diagram of the Y angular oscillatory motion parameters in the parameter of the flat board of the present invention;
Figure 10 is the application schematic diagram of the Z angle parameters in the parameter of the flat board of the present invention;
Figure 11 is the application schematic diagram of the Z angular oscillatory motion parameters in the parameter of the flat board of the present invention;
Figure 12 is the application schematic diagram of the parallel traces spacing parameter in the parameter of the flat board of the present invention;
Figure 13 is the application schematic diagram of the parallel traces offset parameter in the parameter of the flat board of the present invention;
Figure 14 is the application schematic diagram of the Y angle parameters in the line parameter of the present invention;
Figure 15 is the application schematic diagram of the Z angle parameters in the line parameter of the present invention;
Figure 16 is the definition schematic diagram of the summit length in the line parameter of the present invention;
Figure 17 is the application schematic diagram of the apex offset parameter in the line parameter of the present invention;
Figure 18 is the application schematic diagram of the summit corrected parameter in the line parameter of the present invention;
Figure 19 is the application schematic diagram when present invention is enabled and do not enabled for complicated flat work pieces;
Figure 20 is the application schematic diagram of the panel frame parameter in the line parameter of the present invention.
Specific embodiment
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, below in conjunction with accompanying drawing, to the present invention Preferred embodiment be described in detail, the present invention will be further described, to facilitate the technical staff to understand.
As depicted in figs. 1 and 2, a kind of control method of robot automatic spraying system, comprises the following steps:
(1) workpiece features data to be sprayed are obtained:Fixed or portable work to be sprayed is scanned using vision system 1 Part, obtains workpiece data to be sprayed to obtain the total content control of spray, and data can in real time show and transmit to integrated calculating Machine 4 is processed, and the optimal path of Control During Paint Spraying by Robot is integrated with for processing scan data and generated in the integrated computer 4 Image processing system and dummy robot carry out the analogue system of spray process, and the data of the present invention have real-time, that is, obtain Integrated computer 4 is transferred to after workpiece data to be sprayed at once, to guarantee the quick reflection of integrated computer 4 and contribute to spraying Track quickly generates;
(2) image processing system processes fetched data:Image processing system is received after the data of vision system 1, mould Intend human vision and redundant information is deleted first in reasoning, the solid data for then extracting workpiece to be sprayed constitutes work to be sprayed The geometric figure of part, these features will be detected and send into trajectory map module, and by automatic orbit maker track is carried out Automatically generate process;The image processing system of the present invention carries out the synthesis of image using image segmentation from different visual apparatus Work, while different workpiece to be sprayed can be processed, the workpiece to be sprayed be scanned with arbitrary position and direction after all Can be processed, the real-time tracking of coordinate system can be realized, be asked so as to solve scanning when workpiece to be sprayed is mobile status Topic.
(3) track automatically generates:The spray procedure of robot is generated by automatic orbit maker, target is any for one The workpiece to be sprayed of shape and size finds an optimal automatic spraying profile, and automatic orbit maker is integrated with figure reason By analysis, path optimization's algorithm, generate robot motion track, software inhouse copying system as a digitized function, Purpose is to realize constant spraying rate and high flatness, and automatic orbit maker is built-in with the spray that experience is sprayed based on specific industry Painting technique expert system, the track with optimum for containing the data accumulation based on substantial amounts of Workpiece painting experience to be formed, The spraying coating process of parameter, so as to track and parameter that different workpiece to be sprayed formulate optimum can be directed to, it is ensured that spray process Be smoothed out;
(4) emulate:The spraying task that completes to set is gone in track after automatically generating by analogue system dummy robot, so as to Optimization to motion path and track is simulated emulation, key such as positive kinematics, inverse kinematics, the differential of robot Kinematics, static dynamic can the Realization of Simulation, for detecting and solve collision, singular point, the joint velocity limit and joint position The problems such as limit;The quantity for spray of the whole surface for being applied to the object is highlighted in emulation using different color changes.And And, user can show position, speed and the acceleration of the connecting rod on all robot bodies;
(5) user interface is manipulated:After the completion of step (4), operator's operation user interface realizes spraying, and user interface is main It is to provide simply and easily to operate for operator's operation robot, language, all kinds of parameters, statistics, remote assistance can be selected Function;
(6) spray parameters are determined:Control During Paint Spraying by Robot track completes the basic trend of spraying, to guarantee that quality system is provided The parameter adjustment function of all kinds of sprayings, plane and edge general parameter provide skew, shooting, close rifle distance, track transition Parameter, for the parameter that the parameter of the edge of work has Y angles, excursions depths, continuous moving angle, side selection;For the ginseng of flat board Number has the direction of motion, Y angles, Y angular oscillatory motions, Z angles, Z angular oscillatory motions, parallel traces interval, parallel traces skew, Workpiece painting Several parameters;For line parameter has Y angles, Z angles, apex offset, summit amendment, angle to pass through speed, the parameter of panel frame.
(7) spray process:Robot spraying system is according to the profiling track for determining, with reference to paint feeding system, spraying coating process Require, various workpiece to be sprayed are sprayed, installed using the lower section of robot body 2 in robot spraying system during spraying Rotating base 3 complete to capture workpiece to be sprayed automatically and quick-replaceable has sprayed workpiece, it would however also be possible to employ others conveying and Loading and unloading mode completes the replacing of workpiece.
The vision system 1 realizes the scanning to workpiece to be sprayed using grating, laser sensor.
Described image processing system includes search and analysis to workpiece image information to be sprayed, and using image segmentation pair Different images carries out synthetic work, and the workpiece image to be sprayed is the form of 2D or 3D.
The robot spraying system that the present invention is adopted integrates robot body 2, robot controller and paint feeding system, The rotating base 3 that the bottom of robot body 2 is installed can automatically capture workpiece to be sprayed and quick-replaceable has sprayed workpiece, pole The big piece installing that improve workpiece instead of traditional people's tool part mode, safety coefficient with efficiency, high degree of automation is changed It is high.
The robot body, paint feeding system, rotating base are connected with robot controller, the robot controller Be connected with integrated computer, so as to instruction is conveyed to into robot controller using integrated computer, with control robot body, Paint feeding system, rotating base perform corresponding spraying operation.
Design parameter is analyzed as follows:
The Y angles of the parameter at edge:Spray angle of the spray gun relative to the Y-axis of robot body 2 is referred to, unit is degree, such as Shown in Fig. 3.
The excursions depths of the parameter at edge:Under normal circumstances, centre of the spraying profile in workpiece side, the parameter is used To set side-play amount of the actual spraying profile relative to Central Line, unit mm, as shown in figure 4, when spraying profile is located at workpiece side It is negative when spraying profile is located at the Centromedian right of workpiece side just to be during the Centromedian left on side.
The continuous moving angle of the parameter at edge:If the angle of two continuous robot trajectory's line segments is more than the setting value When, robot will not stop smoothly through its intersection point, otherwise will be regarded as two independent tracks, be represented with 0 °~180 °.Such as Fig. 5 is the example when parameter is set to into 130 °:1) angle of two tracks at place is 90 ° (i.e. less than setting value), so Robot will treat it as two tracks, track as depicted;2) angle of two tracks in place be 150 ° (higher than setting value), institute Identical strip path curve will treat it as with robot, do not stop in point of intersection and pass through.
The parameter that side in the parameter at edge selects:Allow to choose the side that need or need not spray, be only applicable to The rectangular piece of outer rim.Citing is as shown in fig. 6, robot spraying system sprays on four sides all of to workpiece;Lift For example shown in Fig. 7, robot spraying system will only choose being sprayed while (when being here 1 and side 3) of specifying, using the parameter When, workpiece to be sprayed needs to be put according to unified mode.
The direction of motion of the parameter of flat board:Permission onboard sprays the direction of motion and selects to robot, in Fig. 8 It is to be sprayed along horizontal direction shown in (a);It is to be sprayed along vertical direction as shown in (b) in Fig. 8;As schemed It is to be sprayed along the long side direction of workpiece to be sprayed shown in (c) in 8;It is along to be sprayed as shown in (d) in Fig. 8 The minor face of workpiece is sprayed.
Y angles in the parameter of flat board:Angle of the spray gun in spraying in the Y direction of robot body 2.
Y angular oscillatory motions in the parameter of flat board:Unit is degree, after setting the value, it is allowed to which robot body 2 will in spraying The angle swinging of hairbrush during simulation people's manual painting, this swing is an angle value relative to robot Y-axis:That is robot sheet There is a Y-axis equal with setting value in every track initial and deflect on the occasion of gradually inclined in spraying process thereafter in body 2 Turn, to tilt value at the end of track the negative value of setting value can be changed into.Illustrate, if as shown in figure 9, the setting value is 20 Degree, then robotic spray gun deflects 20 degree along Y-axis in spraying starting, the Y-axis deflection angle of robotic spray gun when spraying is terminated Degree can be changed into -20 degree.
Z angles in the parameter of flat board:Spray gun relative to the Z axis of robot body 2 deflection angle, as shown in Figure 10, table The tilt condition of bright robot spray gun when horizontally or vertically moving, unit is degree, wherein belonging to the situation in left side, Z angles are 0 Degree;Belong to middle situation, Z angles are more than 0 degree;Belong to the situation on right side, Z angles are less than 0 degree.
Z angular oscillatory motions in the parameter of flat board:Unit is degree, after setting the value, it is allowed to which robot body 2 will in spraying The angle swinging of hairbrush during simulation people's manual painting, this swing is the angle value of the Z axis relative to robot body 2:I.e. There are a Z axis equal with setting value in every track initial and deflect on the occasion of thereafter in spraying process in robot body 2 Gradually deflect, to tilt value at the end of track the negative value of setting value can be changed into.Illustrate, as shown in figure 11, if the setting It is worth for 20 °, then in spraying starting, the spray gun of robot body 2 deflects 20 degree along Z axis, the robot body when spraying is terminated The Z axis deflection angle of 2 spray gun can be changed into -20 degree.
Parallel traces interval in the parameter of flat board:As shown in figure 12, the distance between every track, it is adaptable to automatically raw When into track, unit is mm.
Parallel traces skew in the parameter of flat board:First track of setting parallel traces and the edge of work to be sprayed Distance.The parameter can preserve initial and last path and the spraying action in other multiple paths, to avoid spray gun always Through identical point.Parameter is defined as the percentage at parallel traces interval, in such as Figure 13 1) shown in, be on the occasion of i.e. the initial segment With ending segment track by the outside of workpiece, if negative value is in the inside of workpiece, such as Figure 13's is 2) shown, is then at the edge of workpiece Null value.
Workpiece painting number of times in the parameter of flat board:The number of times of setting spraying workpiece, if greater than 1, then Y angles and Z angles exist All can change once during spraying.
Y angles in line parameter:Angle of the spray gun relative to the Y-axis of robot body 2.There are 3 examples as shown in figure 14: If spray gun is vertically and object, the value is 0, on the occasion of being then shown in middle figure, negative value then for shown in right figure, the angle of inclination of spray gun It is identical with setting value.
Z angles in line parameter:Angle of the spray gun relative to robot Z axis.There are 3 examples as shown in figure 15:If spray Vertically and object, then the value is 0 to be left figure to rifle;On the occasion of then for shown in middle figure;Negative value is then the inclination angle of spray gun shown in right figure Degree is identical with setting value.
Summit length definition in line parameter:The length (such as Figure 16 lower horizontal arrows) of the prolongation line segment on summit is defined, So as to the related angle parameter of robot application, unit is mm.
Apex offset in line parameter:It is that, when spray gun is through turning, spray gun is needed on the basis of original spray distance On the distance raised, unit mm, referring to Figure 17.
Summit amendment in line parameter:When panel is sprayed, robot tends to cut off turning, sets the parameter Track will be corrected and the correct edge of work is sprayed.Correct referring to shown in the horizontal arrow in Figure 18.Unit mm, just Value;It is set to not worked when zero.
Angle in line parameter passes through speed:I.e. Control During Paint Spraying by Robot when by the speed at workpiece turning.With percentage 10%~ 100% note, wherein 100%=1m/s.
For complicated flat work pieces, when not enabling, spray gun will always be in opening during spraying, referring in Figure 19 1);During enable, during spraying spray gun will motion when only need spraying where open, referring to Figure 19 in 2).
Panel frame in line parameter:If the parameter is enabled, more line trackings can be generated according to the thickness of workpiece Rather than face track.There are aforementioned parameters " between parallel traces suitable for the object of multiple workpiece cascade, and the spacing between path Every " determine.The parameter is only applicable to the workpiece containing four outsides and an inward flange, referring to Figure 20.
The spray process of emulation or reality is performed according to above-mentioned parameter, control accuracy is high, and be capable of achieving different workpieces spray Automatically generating for track is applied, so as to reduce the operation difficulty of user, and extra frock clamp is not needed, system design is reduced and is answered Polygamy and working service cost.
Finally illustrate, preferred embodiment above is only unrestricted to illustrate technical scheme, although logical Cross above preferred embodiment to be described in detail the present invention, it is to be understood by those skilled in the art that can be In form and in details various changes are made to it, without departing from claims of the present invention limited range.

Claims (6)

1. a kind of control method of robot automatic spraying system, comprises the following steps:
(1) workpiece features data to be sprayed are obtained:Fixed or portable workpiece to be sprayed is scanned using vision system, is obtained Workpiece data to be sprayed is to obtain the total content control of spray, and data show in real time and transmit to integrated computer process, described The image processing system of the optimal path of Control During Paint Spraying by Robot is integrated with for processing scan data and generated in integrated computer With the analogue system that dummy robot carries out spray process;
(2) image processing system processes fetched data:Image processing system is received after vision system data, simulates the mankind Redundant information is deleted first in vision and reasoning, and the solid data for then extracting workpiece to be sprayed constitutes the several of workpiece to be sprayed What figure, these features will be detected and send into trajectory map module, carry out track by automatic orbit maker and give birth to automatically Into process;
It is characterized in that:Also include:
(3) track automatically generates:The spray procedure of robot is generated by automatic orbit maker, target is for an any shape An optimal automatic spraying profile is found with the workpiece to be sprayed of size, automatic orbit maker is integrated with graph theory point Analysis, path optimization's algorithm, generation robot motion track, automatic orbit maker is built-in with spraying coating process expert system;
(4) emulate:The spraying task that completes to set is gone in track after automatically generating by analogue system dummy robot;
(5) user interface is manipulated:After the completion of step (4), operator's operation user interface realizes spraying;
(6) spray parameters are determined:Control During Paint Spraying by Robot track completes the basic trend of spraying, and plane and edge general parameter are provided Skew, shooting, close rifle distance, the parameter of track transition;
(7) spray process:Robot spraying system according to the profiling track for determining, with reference to paint feeding system, spraying coating process requirement, Various workpiece to be sprayed are sprayed, the rotation installed using the robot body lower section in robot spraying system during spraying Base completes to capture workpiece to be sprayed automatically and quick-replaceable has sprayed workpiece.
2. the control method of a kind of robot automatic spraying system according to claim 1, it is characterised in that:The vision System realizes the scanning to workpiece to be sprayed using grating, laser sensor.
3. the control method of a kind of robot automatic spraying system according to claim 1, it is characterised in that:Described image Processing system includes search and analysis to workpiece image information to be sprayed, and different images is closed using image segmentation Into work, the workpiece image to be sprayed is the form of 2D or 3D.
4. the control method of a kind of robot automatic spraying system according to claim 1, it is characterised in that:In step (6) in, for the parameter that the parameter of the edge of work has Y angles, excursions depths, continuous moving angle, side selection.
5. the control method of a kind of robot automatic spraying system according to claim 1, it is characterised in that:In step (6) in, for the parameter of flat board has the direction of motion, Y angles, Y angular oscillatory motions, Z angles, Z angular oscillatory motions, parallel traces interval, parallel The parameter of course deviation, Workpiece painting number of times.
6. the control method of a kind of robot automatic spraying system according to claim 1, it is characterised in that:In step (6) in, for line parameter has Y angles, Z angles, apex offset, summit amendment, angle to pass through speed, the parameter of panel frame.
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