CN106938229A - A kind of spray painting control method of spray coating mechanical hand - Google Patents
A kind of spray painting control method of spray coating mechanical hand Download PDFInfo
- Publication number
- CN106938229A CN106938229A CN201611229950.7A CN201611229950A CN106938229A CN 106938229 A CN106938229 A CN 106938229A CN 201611229950 A CN201611229950 A CN 201611229950A CN 106938229 A CN106938229 A CN 106938229A
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- China
- Prior art keywords
- spray
- workpiece surface
- mechanical hand
- spraying
- control method
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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
- 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
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides a kind of spray painting control method of spray coating mechanical hand, comprise the following steps：Spraying profile is selected according to workpiece surface to be sprayed；Set spray parameters；Manipulator is run into workpiece surface starting point, the nozzle of mechanical hand lance is all the time perpendicular to workpiece surface；Open spray gun；Spray gun is equidistantly run according to the spraying profile of selection along workpiece surface, and is sprayed according to the oil mass size of setting；Close spray gun；Run adjusting microinching track；Repeat the above steps, until spraying terminates.The spray painting control method that the present invention is provided, either plane or curved surface, reciprocal spraying can be done along workpiece actual surface, so that spraying is more uniform, and according to the spray gun set in advance each position oil mass proportioning valve size come dynamic control spray gun oil mass size, without direct surveillance, spray time and manpower are saved.
Description
Technical field
The present invention relates to spray coating mechanical hand technical field of automation, and in particular to a kind of spray painting control side of spray coating mechanical hand
Method.
Background technology
Spray robot is can to carry out auto spray painting or spray the industrial robot of other coating, current spray coating mechanical hand
The spraying method that industry is taken is square on the surface of the workpiece, and spray gun does multiple plane and straight line and moves back and forth to reach sprayed surface
Purpose, the shortcoming of this mode is the workpiece for curved surface, sprays uneven, and wastes spray painting.And need workman's root
Factually the spraying situation on border controls oil mass proportioning valve size, it is impossible to realizes the dynamic control of oil mass, loses time and manpower.
The content of the invention
The application is by providing the spray painting control method of spray coating mechanical hand a kind of, to solve spray coating mechanical hand in the prior art
When spraying curve surface work pieces, spraying is uneven, wastes spray painting, it is necessary to the technical problem of manual adjustment spray gun oil mass size.
In order to solve the above technical problems, the application is achieved using following technical scheme：
A kind of spray painting control method of spray coating mechanical hand, comprises the following steps：
S1：Spraying profile is selected according to workpiece surface to be sprayed；
S2：Set spray parameters；
S3：Manipulator is run into workpiece surface starting point, the nozzle of mechanical hand lance is all the time perpendicular to workpiece surface；
S4：Open spray gun；
S5：The spraying profile that spray gun is selected according to step S1 is equidistantly run along workpiece surface, and big according to the oil mass of setting
It is small to be sprayed；
S6：Close spray gun；
S7：Run adjusting microinching track；
S8：Judge whether to reach the adjusting microinching number of times of setting, if it is, into step S9, otherwise, jumping to step S4；
S9：Judge whether to need to change workpiece surface, if it is, into step S10, otherwise, terminating spraying；
S10：Switch workpiece surface, and jump to step S3.
Further, the spraying profile described in step S1 is Z-shaped including curve, curve zigzag and curve adjusting microinching shape.
Further, the spray parameters set in step S2 include：Plane where the workpiece surface to be sprayed, adjusting microinching
Axle, sprays starting point, sprays terminal, sprays recurrence rate, arc heights of roofs, adjusting microinching distance, adjusting microinching speed, adjusting microinching number of times and oil mass
Size.
Adjusting microinching axle：The progressive direction to be sprayed；
Starting point：Start each shaft position of spraying；
Terminal：Repeat the terminal of axle motion；
Spray recurrence rate：Repeat speed during axle action；
Arc heights of roofs：Height at the top of circular arc；
Adjusting microinching distance：The adjusting microinching length of adjusting microinching axle；
Adjusting microinching speed：The translational speed of adjusting microinching axle；
Adjusting microinching number of times：The number of times of actuation cycle；
Oil mass size：Spray the oil mass size on the surface.
Further, the plane where the workpiece surface to be sprayed includes X/Y plane, XZ planes and YZ planes.
Further, it is convex arc when arc heights of roofs is positive number, is concave arc when arc heights of roofs is negative.
Further, by analog voltage output control spray gun proportioning valve size in step S5, thus control spray gun according to
The oil mass size of setting is sprayed.
Compared with prior art, the technical scheme that the application is provided, the technique effect or advantage having be：The present invention is provided
Spray painting control method, either plane or curved surface can do reciprocal spraying along workpiece actual surface so that spraying
It is more uniform, and according to the spray gun set in advance each position oil mass proportioning valve size come dynamic control spray gun oil mass size,
Without direct surveillance, spray time and manpower are saved.
Brief description of the drawings
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is the Z-shaped spraying schematic diagram of curve；
Fig. 3 is that curve zigzag sprays schematic diagram；
Fig. 4 is that curve adjusting microinching shape sprays schematic diagram；
Fig. 5 is spraying profile schematic diagram.
Embodiment
The embodiment of the present application is by providing the spray painting control method of spray coating mechanical hand a kind of, to solve to spray in the prior art
Manipulator is when spraying curve surface work pieces, and spraying is uneven, wastes spray painting, it is necessary to which the technology of manual adjustment spray gun oil mass size is asked
Topic.
It is right below in conjunction with Figure of description and specific embodiment in order to be better understood from above-mentioned technical proposal
Above-mentioned technical proposal is described in detail.
Embodiment
A kind of spray painting control method of spray coating mechanical hand, as shown in figure 1, comprising the following steps：
S1：Spraying profile is selected according to workpiece surface to be sprayed；
S2：Set spray parameters；
S3：Manipulator is run into workpiece surface starting point, the nozzle of mechanical hand lance is all the time perpendicular to workpiece surface；
S4：Open spray gun；
S5：The spraying profile that spray gun is selected according to step S1 is equidistantly run along workpiece surface, and big according to the oil mass of setting
It is small to be sprayed, i.e.,：By analog voltage output control spray gun proportioning valve size, so as to control spray gun according to the oil mass of setting
Size is sprayed；
S6：Close spray gun；
S7：Run adjusting microinching track；
S8：Judge whether to reach the adjusting microinching number of times of setting, if it is, into step S9, otherwise, jumping to step S4；
S9：Judge whether to need to change workpiece surface, if it is, into step S10, otherwise, terminating spraying；
S10：Switch workpiece surface, and jump to step S3.
Further, the spraying profile described in step S1 is Z-shaped (as shown in Figure 2) including curve, and curve zigzag is (such as
Shown in Fig. 3) and curve adjusting microinching shape (as shown in Figure 4).
Further, the spray parameters set in step S2 include：Plane where the workpiece surface to be sprayed, adjusting microinching
Axle, sprays starting point, sprays terminal, sprays recurrence rate, arc heights of roofs, adjusting microinching distance, adjusting microinching speed, adjusting microinching number of times and oil mass
Size.Fig. 5 is spraying profile schematic diagram.
Adjusting microinching axle：The progressive direction to be sprayed；
Starting point：Start each shaft position of spraying；
Terminal：Repeat the terminal of axle motion；
Spray recurrence rate：Repeat speed during axle action；
Arc heights of roofs：Height at the top of circular arc, is convex arc when arc heights of roofs is positive number, to be recessed when arc heights of roofs is negative
Arc；
Adjusting microinching distance：The adjusting microinching length of adjusting microinching axle；
Adjusting microinching speed：The translational speed of adjusting microinching axle；
Adjusting microinching number of times：The number of times of actuation cycle；
Oil mass size：Spray the oil mass size on the surface.
Wherein, the plane where the workpiece surface to be sprayed includes X/Y plane, XZ planes and YZ planes.
In above-described embodiment of the application, by providing a kind of spray painting control method of spray coating mechanical hand, including following step
Suddenly：Spraying profile is selected according to workpiece surface to be sprayed；Set spray parameters；Manipulator is run into workpiece surface starting point, machine
The nozzle of tool hand lance is all the time perpendicular to workpiece surface；Open spray gun；Spray gun is according to the spraying profile of selection along workpiece surface etc.
Sprayed away from operation, and according to the oil mass size of setting；Close spray gun；Run adjusting microinching track；Repeat the above steps, until
Spraying terminates.The spray painting control method that the present invention is provided, either plane or curved surface, can be along workpiece actual surface
Do reciprocal spraying so that spraying is more uniform, and is moved according to the spray gun set in advance in the oil mass proportioning valve size of each position
State controls spray gun oil mass size, without direct surveillance, saves spray time and manpower.
It should be pointed out that described above is not limitation of the present invention, the present invention is also not limited to the example above,
What those skilled in the art were made in the essential scope of the present invention changes, is modified, adds or replaces,
Protection scope of the present invention should be belonged to.
Claims (6)
1. a kind of spray painting control method of spray coating mechanical hand, it is characterised in that comprise the following steps：
S1：Spraying profile is selected according to workpiece surface to be sprayed；
S2：Set spray parameters；
S3：Manipulator is run into workpiece surface starting point, the nozzle of mechanical hand lance is all the time perpendicular to workpiece surface；
S4：Open spray gun；
S5：The spraying profile that spray gun is selected according to step S1 is equidistantly run along workpiece surface, and is entered according to the oil mass size of setting
Row spraying；
S6：Close spray gun；
S7：Run adjusting microinching track；
S8：Judge whether to reach the adjusting microinching number of times of setting, if it is, into step S9, otherwise, jumping to step S4；
S9：Judge whether to need to change workpiece surface, if it is, into step S10, otherwise, terminating spraying；
S10：Switch workpiece surface, and jump to step S3.
2. the spray painting control method of spray coating mechanical hand according to claim 1, it is characterised in that the spray described in step S1
Apply track Z-shaped including curve, curve zigzag and curve adjusting microinching shape.
3. the spray painting control method of spray coating mechanical hand according to claim 2, it is characterised in that the spray set in step S2
Applying parameter includes：Plane where the workpiece surface to be sprayed, adjusting microinching axle sprays starting point, sprays terminal, sprays recurrence rate,
Arc heights of roofs, adjusting microinching distance, adjusting microinching speed, adjusting microinching number of times and oil mass size.
4. the spray painting control method of spray coating mechanical hand according to claim 3, it is characterised in that the workpiece surface to be sprayed
The plane at place includes X/Y plane, XZ planes and YZ planes.
5. the spray painting control method of spray coating mechanical hand according to claim 3, it is characterised in that when arc heights of roofs is positive number
It is concave arc when arc heights of roofs is negative for convex arc.
6. the spray painting control method of spray coating mechanical hand according to claim 1, it is characterised in that pass through simulation in step S5
Voltage output controls spray gun proportioning valve size, so as to control spray gun to be sprayed according to the oil mass size of setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611229950.7A CN106938229B (en) | 2016-12-27 | 2016-12-27 | A kind of spray painting control method of spray coating mechanical hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611229950.7A CN106938229B (en) | 2016-12-27 | 2016-12-27 | A kind of spray painting control method of spray coating mechanical hand |
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| Publication Number | Publication Date |
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| CN106938229A true CN106938229A (en) | 2017-07-11 |
| CN106938229B CN106938229B (en) | 2019-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611229950.7A Active CN106938229B (en) | 2016-12-27 | 2016-12-27 | A kind of spray painting control method of spray coating mechanical hand |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108580104A (en) * | 2018-06-21 | 2018-09-28 | 米亚索乐装备集成（福建）有限公司 | A kind of cold spraying control method and device |
| CN108722706A (en) * | 2018-06-21 | 2018-11-02 | 米亚索乐装备集成（福建）有限公司 | A kind of thermal spraying control method and device |
| CN108906404A (en) * | 2018-08-03 | 2018-11-30 | 米亚索乐装备集成（福建）有限公司 | A kind of spray painting control method and device |
| CN109225728A (en) * | 2018-05-21 | 2019-01-18 | 广州泽亨实业有限公司 | A kind of spray painting control method and apparatus that laser detection dynamic outline spray gun is adaptive |
| CN110935599A (en) * | 2018-09-20 | 2020-03-31 | 领凡新能源科技(北京)有限公司 | Spraying method and device and spraying equipment |
| CN114918083A (en) * | 2022-04-25 | 2022-08-19 | 青岛海尔科技有限公司 | Spraying control method and system, storage medium and electronic device |
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| US20030059523A1 (en) * | 2000-10-31 | 2003-03-27 | Bednarz Vincent L. | Remote control device for painting system |
| CN101850313A (en) * | 2009-04-01 | 2010-10-06 | 鸿富锦精密工业（深圳）有限公司 | Scaling powder spraying control system and method |
| CN104525420A (en) * | 2015-01-04 | 2015-04-22 | 成都思达特电器有限公司 | Spraying robot control method based on three-dimensional model recognition |
| CN104841593A (en) * | 2015-05-29 | 2015-08-19 | 芜湖希美埃机器人技术有限公司 | Control method of robot automatic spraying system |
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2016
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20030059523A1 (en) * | 2000-10-31 | 2003-03-27 | Bednarz Vincent L. | Remote control device for painting system |
| CN101850313A (en) * | 2009-04-01 | 2010-10-06 | 鸿富锦精密工业（深圳）有限公司 | Scaling powder spraying control system and method |
| CN104525420A (en) * | 2015-01-04 | 2015-04-22 | 成都思达特电器有限公司 | Spraying robot control method based on three-dimensional model recognition |
| CN104841593A (en) * | 2015-05-29 | 2015-08-19 | 芜湖希美埃机器人技术有限公司 | Control method of robot automatic spraying system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109225728A (en) * | 2018-05-21 | 2019-01-18 | 广州泽亨实业有限公司 | A kind of spray painting control method and apparatus that laser detection dynamic outline spray gun is adaptive |
| CN108580104A (en) * | 2018-06-21 | 2018-09-28 | 米亚索乐装备集成（福建）有限公司 | A kind of cold spraying control method and device |
| CN108722706A (en) * | 2018-06-21 | 2018-11-02 | 米亚索乐装备集成（福建）有限公司 | A kind of thermal spraying control method and device |
| CN108906404A (en) * | 2018-08-03 | 2018-11-30 | 米亚索乐装备集成（福建）有限公司 | A kind of spray painting control method and device |
| CN110935599A (en) * | 2018-09-20 | 2020-03-31 | 领凡新能源科技(北京)有限公司 | Spraying method and device and spraying equipment |
| CN114918083A (en) * | 2022-04-25 | 2022-08-19 | 青岛海尔科技有限公司 | Spraying control method and system, storage medium and electronic device |
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| Publication number | Publication date |
|---|---|
| CN106938229B (en) | 2019-06-11 |
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Address after: 518000 Guangdong city of Shenzhen province Baoan District Xixiang Shu Road No. 108 is on the eighth floor of Kitron Patentee after: Shenzhen Huacheng Industrial Control Co., Ltd Address before: 518000 Guangdong city of Shenzhen province Baoan District Xixiang Shu Road No. 108 is on the eighth floor of Kitron Patentee before: SHENZHEN HUACHENG INDUSTRIAL CONTROL Co.,Ltd. |
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Denomination of invention: A spraying control method of spraying manipulator Effective date of registration: 20201221 Granted publication date: 20190611 Pledgee: Shenzhen hi tech investment small loan Co.,Ltd. Pledgor: Shenzhen Huacheng Industrial Control Co., Ltd Registration number: Y2020980009637 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220415 Granted publication date: 20190611 Pledgee: Shenzhen hi tech investment small loan Co.,Ltd. Pledgor: Shenzhen Huacheng Industrial Control Co.,Ltd. Registration number: Y2020980009637 |