CN106733379A - The spray robot and its control method of view-based access control model identification - Google Patents
The spray robot and its control method of view-based access control model identification Download PDFInfo
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- CN106733379A CN106733379A CN201710019022.6A CN201710019022A CN106733379A CN 106733379 A CN106733379 A CN 106733379A CN 201710019022 A CN201710019022 A CN 201710019022A CN 106733379 A CN106733379 A CN 106733379A
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- spray
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/90—Spray booths comprising conveying means for moving objects or other work to be sprayed in and out of the booth, e.g. through the booth
- B05B16/95—Spray booths comprising conveying means for moving objects or other work to be sprayed in and out of the booth, e.g. through the booth the objects or other work to be sprayed lying on, or being held above the conveying means, i.e. not hanging from the conveying means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines 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
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines 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
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
- B05B13/025—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts the objects or work being present in bulk
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines 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
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
- B05B13/0264—Overhead conveying means, i.e. the object or other work being suspended from the conveying means; Details thereof, e.g. hanging hooks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines 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
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means 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
- B05B13/0431—Means 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 with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
- B05B14/40—Arrangements for collecting, re-using or eliminating excess spraying material for use in spray booths
- B05B14/48—Arrangements for collecting, re-using or eliminating excess spraying material for use in spray booths specially adapted for particulate material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/90—Spray booths comprising conveying means for moving objects or other work to be sprayed in and out of the booth, e.g. through the booth
Abstract
The invention discloses the spray robot and its control method of a kind of identification of view-based access control model, spray robot including a kind of identification of view-based access control model, a kind of control method of the spray robot of view-based access control model identification, a kind of spray robot of the view-based access control model identification, including spray room, and it is arranged at the upper conveyer chain of spray room, lower conveyer chain, visual identifying system, control cabinet one, manipulator one, computer controls terminal one, Powder trap, control cabinet two, manipulator two, computer controls terminal two, a kind of control method of the spray robot of the view-based access control model identification, comprise the following steps：Step one：Conveying work pieces enter spray room；Step 2：Identification workpiece species；Step 3：Obtain workpiece threedimensional model；Step 4：Planning spraying path；Step 5：Spraying workpiece.The invention enables spraying no longer just in certain part spray workpiece, and be directed to certain class spraying workpiece, same species workpiece is carried out parametric programming increased to spray workpiece adaptability.
Description
Technical field
The present invention relates to spray automation technology class, the especially a kind of spray robot of view-based access control model identification and its control
Method field.
Background technology
At present, spray robot is one of application of industrial robot, is primarily adapted for use in hardware, plastic cement, family property, military project,
The fields such as ship, are to apply a kind of most common spraying method now.The coating cloud of high degree of dispersion and volatilized in spraying process
Actual bodily harm of the solvent for coming to workman is very big, and the workman in spray room work easily suffers from occupational disease for a long time；Spray robot
It is a large amount of to use the labour for greatly having liberated and having been worked under hazardous environment, also drastically increase productivity ratio and spraying matter
Amount, reduces cost and improves paint utilization rate.
But it is to be operated machine people completion job space track and right by teaching box by operator mostly current spray robot
The teaching information such as tracing point position, movement velocity is recorded and is stored and then write computer operation program, and robot can root
Teaching spraying profile is reappeared so as to reach spraying purpose according to program command.Or make robot by being programmed to workpiece in certain
Spraying profile according to single-pathway work.
In addition, existing spray robot production flexibility is poor at present, for different spraying workpiece, it is necessary to carry out weight to it
New program, otherwise will carry out spray coating operations according to the spraying profile of its original.
The content of the invention
The purpose of the present invention be to solve the above problems, and provide a kind of view-based access control model identification spray robot and its
Control method.
To achieve the above object, the technical solution adopted in the present invention is as follows：
The spray robot and its control method of a kind of view-based access control model identification, including the flush coater that a kind of view-based access control model is recognized
Device people, a kind of control method of the spray robot of view-based access control model identification,
A kind of spray robot of the view-based access control model identification, including spray room, and be arranged at the upper conveyer chain of spray room, under
Conveyer chain, visual identifying system, control cabinet one, manipulator one, computer controls terminal one, Powder trap, control cabinet two, machine
Tool hand two, computer controls terminal two, wherein, the visual identifying system includes image processor, industrial camera, the industry
Even, with image processor by data wire phase, described image processor is respectively by data wire and computer controls terminal for camera
First, computer controls terminal two is connected, and the computer controls terminal one is connected by data wire with control cabinet one, the calculating
Machine control terminal two is connected by data wire with control cabinet two；The control cabinet one is connected by data wire with manipulator one；Institute
Control cabinet two is stated to be connected with manipulator two by data wire.
A kind of control method of the spray robot of view-based access control model identification, comprises the following steps：
Step one：Conveying work pieces enter spray room, and workpiece is sent into spray room by upper conveyer chain, lower conveyer chain；
Step 2：Identification workpiece species, resemblance acquisition is carried out by industrial camera to spraying workpiece, feeds back to calculating
Machine control terminal one, computer controls terminal two tell the species of spraying workpiece；
Step 3：Workpiece threedimensional model is obtained, according to the workpiece species that step 2 is recognized, computer controls terminal one,
The adaptable default spray procedure of the selection of computer controls terminal two, recycling image processor carries out IMAQ and nothing connects
The three-dimensional information that measurement obtains spraying workpiece is touched, workpiece is carried out by computer controls terminal one, computer controls terminal two
Three-dimensional reconstruction obtains the threedimensional model of the workpiece species；
Step 4：Planning spraying path, the threedimensional model according to obtained by step 3 extracts the feature chi of the species workpiece
It is very little, the spraying path for determining manipulator one, manipulator two is calculated by computer controls terminal one, computer controls terminal two；
Step 5：Spraying workpiece, is sent the spraying path transmission obtained by step 4 to control cabinet one, control cabinet two,
Control signal is transformed into by control cabinet one, control cabinet two, control machinery hand one, manipulator two are sprayed.
Further, the upper conveyer chain is arranged at the upper wall middle part in spray room, and the lower conveyer chain is arranged in spray room
Lower wall middle part, the upper conveyer chain is mutually corresponding with the position of lower conveyer chain.
Further, the manipulator one is arranged at the front of spray room, and the manipulator two is arranged at the back side in spray room,
The manipulator one is mutually corresponding with the position of manipulator two；And manipulator one, manipulator two are reached in spray room respectively.
Further, a kind of spray robot of view-based access control model identification also includes spray gun, the manipulator one, manipulator two
Top be respectively arranged with spray gun, the spray gun of the manipulator one is connected with control cabinet one, the spray gun of the manipulator two and control
Case processed two is connected.
Further, the control cabinet one is arranged at the left side of manipulator one, and the computer controls terminal one is arranged at
The left side of manipulator one；The control cabinet two is arranged at the left side of manipulator two, and the computer controls terminal two is arranged at machine
The left side of tool hand two.
Further, the Powder trap is arranged at the left side of control cabinet two, and the Powder trap reaches spray room
Interior bottom surface；The visual identifying system is arranged at the side of spray room entrance.
Optionally, the model of the industrial camera is specially MER-030-120GC.
Optionally, the manipulator one, manipulator two are specially ABB robots IRB 1410.
Optionally, the control cabinet one, control cabinet two are specially Golden Horse spray gun controller OptiStar CG08.
Optionally, the spray gun is specially Golden Horse automatic spray gun OptiGun GA03.
Optionally, the Powder trap is specially cruel cypress Powder trap DX2000.
In sum, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
The present invention carries out parametric programming by the workpiece classification for recognizing so that each class method goes for this
Class sprays workpiece, will not be unable to reach expected spraying effect because the size of similar spraying workpiece is different.So that spraying is not
Workpiece is sprayed just in certain part again, and is directed to certain class spraying workpiece.In this way, by workpiece Classified into groups, and to it
Carry out parametric programming increased to spray workpiece adaptability, enhance production flexibility.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is positive structure schematic of the invention.
Fig. 2 is structure schematic diagram of the invention..
Fig. 3 is spraying schematic flow sheet of the invention.
Fig. 4 is annexation schematic diagram of the invention.
In figure：1. spray room, 2. goes up conveyer chain, 3. descends conveyer chain, 4. workpiece, 5. visual identifying system, 6. control cabinet one, 7.
Manipulator one, 8. computer controls terminal one, 9. Powder trap, 10. control cabinet two, 11. manipulators two, 12. computer controls
Terminal processed two, 13. spray guns, 14. image processors, 15. industrial cameras.
Specific embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically is chatted
State, can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature
It is an example in a series of equivalent or similar characteristics.
As Figure 1-Figure 4, the spray robot and its control method of a kind of view-based access control model identification, including one kind are based on regarding
Feel spray robot, a kind of control method of the spray robot of view-based access control model identification of identification.
In embodiments, it is preferred that a kind of spray robot of view-based access control model identification, including spray room, Yi Jishe
Be placed in the upper conveyer chain of spray room, lower conveyer chain, visual identifying system, control cabinet one, manipulator one, computer controls terminal one,
Powder trap, control cabinet two, manipulator two, computer controls terminal two, wherein, the visual identifying system is included at image
Reason device, industrial camera, the industrial camera are connected with image processor by data wire, and described image processor is respectively by number
Be connected with computer controls terminal one, computer controls terminal two according to line, the computer controls terminal one by data wire with
Control cabinet one is connected, and the computer controls terminal two is connected by data wire with control cabinet two；The control cabinet one is by number
It is connected with manipulator one according to line；The control cabinet two is connected by data wire with manipulator two.
In embodiments, it is preferred that a kind of control method of the spray robot of the view-based access control model identification, including with
Lower step：
Step one：Conveying work pieces enter spray room, and workpiece is sent into spray room by upper conveyer chain, lower conveyer chain；
Step 2：Identification workpiece species, resemblance acquisition is carried out by industrial camera to spraying workpiece, feeds back to calculating
Machine control terminal one, computer controls terminal two tell the species of spraying workpiece；
Step 3：Workpiece threedimensional model is obtained, according to the workpiece species that step 2 is recognized, computer controls terminal one,
The adaptable default spray procedure of the selection of computer controls terminal two, recycling image processor carries out IMAQ and nothing connects
The three-dimensional information that measurement obtains spraying workpiece is touched, workpiece is carried out by computer controls terminal one, computer controls terminal two
Three-dimensional reconstruction obtains the threedimensional model of the workpiece species；
Step 4：Planning spraying path, the threedimensional model according to obtained by step 3 extracts the feature chi of the species workpiece
It is very little, the spraying path for determining manipulator one, manipulator two is calculated by computer controls terminal one, computer controls terminal two；
Step 5：Spraying workpiece, is sent the spraying path transmission obtained by step 4 to control cabinet one, control cabinet two,
Control signal is transformed into by control cabinet one, control cabinet two, control machinery hand one, manipulator two are sprayed.
Specifically, it is that its characteristic size is extracted for example according to the species of workpiece in step 4：Square class is sprayed
Its characteristic size of workpiece is length；Cylinder class spraying workpiece its characteristic size is radius and height, be used to determine manipulator one,
The scope that sprays and horizontal spray distance when manipulator two is sprayed, step-length and number of times are vertically moved, while determining spraying workpiece
Side spraying path, and to consider work during each spraying backhaul of manipulator one, manipulator two when spraying workpiece is carried out
Relative velocity of the part on conveyer chain, the zero point for returning to every time is not leading zero's but more forward than leading zero's, it is to avoid gone out
Show empty spray, i.e. manipulator one, the origin of each backhaul when spraying workpiece is carried out of manipulator two should be according to upper conveyer chain, lower transmission
Chain and manipulator one, the relative velocity of conveyer chain two return, once shift to an earlier date per secondary than preceding, it is to avoid empty spray occur.So can
Preferably spraying path is cooked up, material has been saved, cost is reduced, efficiency is improve.
Specifically, it is that Classification and Identification, such as bodily form workpiece, post are carried out to workpiece using group technology in step 2
Body workpiece, centrum workpiece etc..The present invention is to attack workpiece to spraying by the industrial camera in visual identifying system to carry out into component
Class, first determines the species of spraying workpiece.
During practice, then by step 2 to step 5, the workpiece classification to recognizing carries out parametric programming,
The parametric programming for being carried out is that each class of correspondence sprays workpiece for example：Square class spraying workpiece, cylinder class spraying workpiece, circle
Cone class spraying workpiece.So that each class method goes for this class spraying workpiece, will not be because of the chi of similar spraying workpiece
It is very little different and be unable to reach expected spraying effect.So so that spraying no longer sprays workpiece just in certain part, and is directed to
Certain class sprays workpiece；By to workpiece Classified into groups, and parametric programming is carried out to it increased adaptation to spraying workpiece
Property, enhance production flexibility.
In embodiments, it is preferred that the upper conveyer chain is arranged at the upper wall middle part in spray room, the lower conveyer chain sets
The lower wall middle part being placed in spray room, the upper conveyer chain is mutually corresponding with the position of lower conveyer chain.
During practice, upper conveyer chain can be carried out by the way of the hanging spraying workpiece of prior art to workpiece
Transmission, spraying workpiece of the upper conveyer chain mainly for lighter in weight；Lower conveyer chain can be using the delivery of prior art spraying workpiece
Mode workpiece is transmitted, spraying workpiece of the lower conveyer chain mainly for heavier-weight.
In embodiments, it is preferred that the manipulator one is arranged at the front of spray room, the manipulator two is arranged at spray
The back side in room, the manipulator one is mutually corresponding with the position of manipulator two；And manipulator one, manipulator two reach spray respectively
In room.
In embodiments, it is preferred that a kind of spray robot of view-based access control model identification also includes spray gun, the manipulator
First, the top of manipulator two is respectively arranged with spray gun, and the spray gun of the manipulator one is connected with control cabinet one, the manipulator two
Spray gun be connected with control cabinet two.
During practice, by the setting of corresponding manipulator one, manipulator two, be capable of achieving it is forward and backward simultaneously
Spraying, so can just improve the efficiency of spraying.
In embodiments, it is preferred that the control cabinet one is arranged at the left side of manipulator one, the computer controls end
End one is arranged at the left side of manipulator one；The control cabinet two is arranged at the left side of manipulator two, the computer controls terminal
The two left sides for being arranged at manipulator two.
In embodiments, it is preferred that the Powder trap is arranged at the left side of control cabinet two, and the Powder Recovery
Device reaches the bottom surface in spray room；The visual identifying system is arranged at the side of spray room entrance.
During practice, the Powder trap is used to reclaim in spraying process, the spray in spray room of dropping
Material is applied, waste is so reduced, spraying cost is reduced.
In embodiments, optionally, the model of the industrial camera is specially MER-030-120GC.
In embodiments, optionally, the manipulator one, manipulator two are specially ABB robots IRB 1410.
In embodiments, optionally, the control cabinet one, control cabinet two are specially Golden Horse spray gun controller OptiStar
CG08。
In embodiments, optionally, the spray gun is specially Golden Horse automatic spray gun OptiGun GA03.
In embodiments, optionally, the Powder trap is specially cruel cypress Powder trap DX2000.
It is specifically, described to control a kind of spray robot operation of view-based access control model identification during practice
The PLC control system that a kind of spray robot of view-based access control model identification is used is specially Siemens S7-300.
In sum, the beneficial effects of the invention are as follows：The present invention carries out parametric programming by the workpiece classification for recognizing,
So that each class method goes for this class spraying workpiece, will not cannot be reached because the size of similar spraying workpiece is different
To expected spraying effect.So that spraying no longer sprays workpiece just in certain part, and it is directed to certain class spraying workpiece.In this way,
By to workpiece Classified into groups, and parametric programming is carried out to it increased adaptability to spraying workpiece, enhance production
It is flexible.
The invention is not limited in foregoing specific embodiment.The present invention is expanded to and any in this manual disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (10)
1. the spraying robot of the spray robot and its control method of a kind of view-based access control model identification, including a kind of view-based access control model identification
People, a kind of control method of the spray robot of view-based access control model identification, it is characterised in that：A kind of spray of the view-based access control model identification
Apply robot, including spray room, and upper conveyer chain, lower conveyer chain, visual identifying system, the control cabinet one, machine for being arranged at spray room
Tool hand one, computer controls terminal one, Powder trap, control cabinet two, manipulator two, computer controls terminal two, wherein, institute
Stating visual identifying system includes image processor, industrial camera, and the industrial camera is connected with image processor by data wire,
Described image processor is connected by data wire with computer controls terminal one, computer controls terminal two respectively, the calculating
Machine control terminal one is connected by data wire with control cabinet one, and the computer controls terminal two is by data wire and control cabinet two
It is connected；The control cabinet one is connected by data wire with manipulator one；The control cabinet two is by data wire and manipulator two-phase
Even.
A kind of control method of the spray robot of view-based access control model identification, comprises the following steps：
Step one：Conveying work pieces enter spray room, and workpiece is sent into spray room by upper conveyer chain, lower conveyer chain；
Step 2：Identification workpiece species, resemblance acquisition is carried out by industrial camera to spraying workpiece, feeds back to computer control
Terminal processed one, computer controls terminal two tell the species of spraying workpiece；
Step 3：Workpiece threedimensional model is obtained, according to the workpiece species that step 2 is recognized, computer controls terminal one, calculating
The adaptable default spray procedure of the selection of machine control terminal two, recycles image processor to carry out IMAQ and Contactless Measurement
Amount obtains the three-dimensional information of spraying workpiece, and three-dimensional is carried out to workpiece by computer controls terminal one, computer controls terminal two
Rebuild the threedimensional model for obtaining the workpiece species；
Step 4：Planning spraying path, the threedimensional model according to obtained by step 3 extracts the characteristic size of the species workpiece,
The spraying path for determining manipulator one, manipulator two is calculated by computer controls terminal one, computer controls terminal two；
Step 5：Spraying workpiece, by the spraying path transmission obtained by step 4 to control cabinet one, control cabinet two is sent to, by controlling
Case processed one, control cabinet two are transformed into control signal, and control machinery hand one, manipulator two are sprayed.
2. a kind of view-based access control model according to claim 1 is recognized spray robot and its control method, it is characterised in that：
The upper conveyer chain be arranged in spray room upper wall middle part, the lower conveyer chain be arranged in spray room lower wall middle part, it is described on
Conveyer chain is mutually corresponding with the position of lower conveyer chain.
3. a kind of view-based access control model according to claim 1 is recognized spray robot and its control method, it is characterised in that：
The manipulator one is arranged at the front of spray room, and the manipulator two is arranged at the back side in spray room, the manipulator one and machine
The position of tool hand two mutually corresponds to；And manipulator one, manipulator two are reached in spray room respectively.
4. a kind of view-based access control model according to claim 1 is recognized spray robot and its control method, it is characterised in that：
A kind of spray robot of view-based access control model identification also includes spray gun, and the manipulator one, the top of manipulator two are respectively arranged with
Spray gun, the spray gun of the manipulator one is connected with control cabinet one, and the spray gun of the manipulator two is connected with control cabinet two.
5. a kind of view-based access control model according to claim 1 is recognized spray robot and its control method, it is characterised in that：
The control cabinet one is arranged at the left side of manipulator one, and the computer controls terminal one is arranged at the left side of manipulator one；Institute
The left side that control cabinet two is arranged at manipulator two is stated, the computer controls terminal two is arranged at the left side of manipulator two.
6. a kind of view-based access control model according to claim 1 is recognized spray robot and its control method, it is characterised in that：
The Powder trap is arranged at the left side of control cabinet two, and the Powder trap reaches the bottom surface in spray room；The vision
Identifying system is arranged at the side of spray room entrance.
7. a kind of view-based access control model according to claim 1 is recognized spray robot and its control method, it is characterised in that：
The model of the industrial camera is specially MER-030-120GC.
8. a kind of view-based access control model according to claim 1 is recognized spray robot and its control method, it is characterised in that：
The manipulator one, manipulator two are specially ABB robots IRB 1410.
9. a kind of view-based access control model according to claim 1 is recognized spray robot and its control method, it is characterised in that：
The control cabinet one, control cabinet two are specially Golden Horse spray gun controller OptiStar CG08.
10. a kind of view-based access control model according to claim 1 is recognized spray robot and its control method, its feature exist
In：The spray gun is specially Golden Horse automatic spray gun OptiGun GA03；The Powder trap is specially cruel cypress Powder trap
DX2000。
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| CN107899784A (en) * | 2017-11-27 | 2018-04-13 | 蚌埠抒阳自动化设备制造有限公司 | A kind of intelligent spray painting regulator control system with positioning function |
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| CN109590181A (en) * | 2018-11-15 | 2019-04-09 | 株洲飞鹿高新材料技术股份有限公司 | A kind of Workpiece painting method, spray equipment and paint finishing based on binocular vision |
| CN109967283A (en) * | 2017-12-27 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | The automatic apparatus for waxing of automotive seat foam |
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| CN107899784A (en) * | 2017-11-27 | 2018-04-13 | 蚌埠抒阳自动化设备制造有限公司 | A kind of intelligent spray painting regulator control system with positioning function |
| CN109967283A (en) * | 2017-12-27 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | The automatic apparatus for waxing of automotive seat foam |
| CN108128623A (en) * | 2018-01-29 | 2018-06-08 | 西华大学 | The work conveyance system and its control method of white body welding production line |
| CN108128623B (en) * | 2018-01-29 | 2023-06-23 | 西华大学 | Workpiece conveying system of white car body welding production line and control method thereof |
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| CN109590181A (en) * | 2018-11-15 | 2019-04-09 | 株洲飞鹿高新材料技术股份有限公司 | A kind of Workpiece painting method, spray equipment and paint finishing based on binocular vision |
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| CN109465163A (en) * | 2018-12-28 | 2019-03-15 | 深圳市银宝山新科技股份有限公司 | High solid phase semisolid workpiece surface spraying method |
| CN109453928B (en) * | 2019-01-08 | 2020-11-24 | 河北科技大学 | Spraying equipment based on multi freedom motor |
| CN109453928A (en) * | 2019-01-08 | 2019-03-12 | 河北科技大学 | Spraying equipment based on multi-freedom electric motor |
| CN111421474A (en) * | 2020-04-13 | 2020-07-17 | 重庆固高科技长江研究院有限公司 | Intelligent automatic sand blasting equipment and sand blasting method thereof |
| CN111905951A (en) * | 2020-04-28 | 2020-11-10 | 杭州国辰机器人科技有限公司 | Intelligent powder room based on teaching technology |
| CN111958607A (en) * | 2020-07-09 | 2020-11-20 | 李卫军 | Industrial automation plastic spraying robot |
| CN111958607B (en) * | 2020-07-09 | 2022-02-01 | 苏州市全昱自动化机械设备有限公司 | Industrial automation plastic spraying robot |
| CN114100992A (en) * | 2020-08-25 | 2022-03-01 | 复盛应用科技股份有限公司 | Method for painting golf club head |
| CN113663835A (en) * | 2021-09-14 | 2021-11-19 | 兴三星云科技有限公司 | Spraying equipment for door and window machining and forming |
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