CN109395941A - The method of the robot speed of service is adjusted under painting environments in real time - Google Patents
The method of the robot speed of service is adjusted under painting environments in real time Download PDFInfo
- Publication number
- CN109395941A CN109395941A CN201811360243.0A CN201811360243A CN109395941A CN 109395941 A CN109395941 A CN 109395941A CN 201811360243 A CN201811360243 A CN 201811360243A CN 109395941 A CN109395941 A CN 109395941A
- Authority
- CN
- China
- Prior art keywords
- robot
- speed
- service
- rotary encoder
- programmable controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B05B12/002—Manually-actuated controlling means, e.g. push buttons, levers or triggers
Abstract
The present invention relates to Control During Paint Spraying by Robot fields, disclose the method for adjusting the robot speed of service under painting environments in real time, it is characterized by: establishing communication between programmable controller and robot, and the programmable controller is connected with rotary encoder, the rotary encoder can carry out electrodeless rotation suitable, counterclockwise, accordingly change the specified speed of service of the robot set on the programmable controller by rotating the rotary encoder, the robot is according to the specified speed of service real-time speed regulating.The present invention can carry out manual governing to it outside robot, the defect that the good speed that overcoming previous robot can only set originally according to it is moved, using flexible, can be adjusted in real time according to spraying situation, effectively improve the spraying effect of robot.
Description
Technical field
The present invention relates to Control During Paint Spraying by Robot fields, and in particular to adjusts the side of the robot speed of service under painting environments in real time
Method.
Background technique
In traditional Control During Paint Spraying by Robot field, the path and speed that robot sprays workpiece are all previously set
It is good, and cannot change.However the case where workpiece surface, is different, especially for area to be sprayed complexity, coating thickness is different
Workpiece, can not be sprayed in high quality by traditional Control During Paint Spraying by Robot mode, can not be according to needing to robot when spraying
Speed adjust in real time, it is even more impossible to make robot workpiece different parts spraying different-thickness material, have much room for improvement.
Summary of the invention
In view of the deficiency of background technique, how the technical problems to be solved by the invention adjust machine under painting environments in real time
The speed of service of people improves coating quality.
To realize the above-mentioned technical purpose, the present invention provides the following technical scheme that
The method of the robot speed of service is adjusted under painting environments in real time, it is characterised in that steps are as follows:
(1) communication is established between programmable controller and robot, and by the programmable controller and rotary coding
Device is connected, and the rotary encoder can carry out electrodeless rotation suitable, counterclockwise；
(2) the specified speed of service, speed limit value and speed of the robot are set on the programmable controller
Lower limit value, and the knots modification of specified speed of service when the often suitable rotary encoder, one lattice of rotation counterclockwise is set, it is described
Its pulse change of rotary encoder one lattice of every rotation is primary；
(3) start the robot, show the actual motion speed of the robot on the programmable controller simultaneously
With the specified speed of service；
(4) operator observes the robot image that its vision camera is transmitted in spraying operation, and according to described
Image judges that the robot should accelerate or slow down, and when the robot should when under acceleration, operator is rotated clockwise
The rotary encoder, when the robot should slow down, operator rotates the rotary encoder counterclockwise；
(5) programmable controller judges that the rotary encoder is rotated clockwise or rotated counterclockwise, when sentencing
Disconnected is after rotating clockwise, and the programmable controller often detects that the pulse change of the rotary encoder is primary, the finger
Determine the speed of service and increase accordingly a knots modification, the specified speed of service reaches after the speed limit value no longer with the rotation
Turn the rotation of encoder and continues growing；After judgement is rotation counterclockwise, the programmable controller often detects the rotation
The pulse change for turning encoder is primary, and the specified speed of service accordingly reduces a knots modification, the specified speed of service drop
No longer continue to reduce with the rotation of the rotary encoder after to the lower velocity limit value；
(6) the specified speed of service after change is real-time transmitted to the robot, institute by the programmable controller
Robot is stated according to the specified speed of service real-time speed regulating.
The rotary encoder, which often rotates a circle, issues 20 pulses.
The speed limit value is set as 50mm/s, and the lower velocity limit value is set as 5mm/s, and the knots modification is 0.1mm/s.
Compared with the prior art, the invention has the beneficial effects that: it can be outside robot by rotary encoder
Manual governing is carried out to it, the defect that the good speed that overcoming previous robot can only set originally according to it is moved,
Using flexible can adjust in real time the speed of service of robot according to spraying situation, effectively improve the spraying effect of robot.
Specific embodiment
The method for adjusting the robot speed of service under this painting environments in real time, steps are as follows:
(1) communication is established between programmable controller and robot, and by programmable controller and rotary encoder phase
Even, rotary encoder can carry out electrodeless rotation suitable, counterclockwise, not enclose number limitation；In the present embodiment, programmable controller
Select PLC；
(2) it is set according to need on programmable controller under the specified speed of service, speed limit value and speed of robot
Limit value, the change of the specified speed of service when also setting often suitable rotary encoder, one lattice of rotation counterclockwise on programmable controller
Amount, its pulse change of rotary encoder one lattice of every rotation are primary；In the present embodiment, speed limit value is set as 50mm/s, speed
Lower limit value is set as 5mm/s, knots modification 0.1mm/s, and rotary encoder, which often rotates a circle, issues 20 pulses；
(3) start robot, show the actual motion speed and specified operation speed of robot on programmable controller simultaneously
Whether degree presses setting operation for observer robot, further monitors its spraying effect；
(4) operator's observer robot image that its vision camera is transmitted in spraying operation, and judge according to image
Robot should accelerate or slow down, and when robot should when under acceleration, operator rotates clockwise rotary encoder, works as machine
When people should slow down, operator rotates rotary encoder counterclockwise；In the present embodiment, operator often rotates clockwise rotation
Turn one lattice of encoder, the specified speed of service on programmable controller increases 0.1mm/s；Operator is per rotation rotation counterclockwise
One lattice of encoder, the specified speed of service on programmable controller reduce 0.1mm/s；
(5) programmable controller judges that rotary encoder is rotated clockwise or rotated counterclockwise, when judgement is up time
After needle rotation, programmable controller often detects that the pulse change of rotary encoder is primary, and the specified speed of service increase accordingly one
A knots modification, the specified speed of service are no longer continued growing with the rotation of rotary encoder after reaching speed limit value；Work as judgement
It is after rotation counterclockwise, programmable controller often detects that the pulse change of rotary encoder is primary, specifies the speed of service corresponding
Reduce by a knots modification, the specified speed of service drops to after lower velocity limit value no longer to be continued to reduce with the rotation of rotary encoder；
Such speed control that can guarantee robot is in a suitable range, generation when preventing from manually adjusting rotary encoder
Fault, causes the robot speed of service too fast or too slow, to prevent robot from serious spraying fault occurs, guarantees spraying matter
Amount.
(6) the specified speed of service after change is real-time transmitted to robot by programmable controller, and robot is according to specified
Speed of service real-time speed regulating.
In the present embodiment, it is only necessary to common PLC input interface can collect the pulse signal of rotary encoder,
It does not need additionally to purchase the special high-speed pulse input module of PLC, if using resistance-type knob, it is also necessary to it is defeated to purchase PLC analog quantity
Enter module, therefore is effectively saved cost.Robot speed, which is adjusted also, using rotary encoder has highly reliable, interference
Small, the reliable beneficial effect of numerical stability, the processing of PLC side data and receives reliable and stable, and there is no lose pulse.
To sum up, the speed of robot can be manually adjusted outside robot, is overcome by rotary encoder
The defect that the good speed that previous robot can only be set originally according to it is moved, using flexible can be according to spraying situation
The speed of service for adjusting robot in real time, effectively improves the spraying effect of robot.
Claims (3)
1. the method for the robot speed of service is adjusted under painting environments in real time, it is characterised in that steps are as follows:
(1) communication is established between programmable controller and robot, and by the programmable controller and rotary encoder phase
Even, the rotary encoder can carry out electrodeless rotation suitable, counterclockwise；
(2) the specified speed of service, speed limit value and lower velocity limit of the robot are set on the programmable controller
Value, and set the knots modification of specified speed of service when the often suitable rotary encoder, one lattice of rotation counterclockwise, the rotation
Its pulse change of encoder one lattice of every rotation is primary；
(3) start the robot, show the actual motion speed of the robot simultaneously on the programmable controller and refer to
Determine the speed of service；
(4) operator observes the robot image that its vision camera is transmitted in spraying operation, and according to described image
Judge that the robot should accelerate or slow down, when the robot should when under acceleration, operator rotates clockwise described
Rotary encoder, when the robot should slow down, operator rotates the rotary encoder counterclockwise；
(5) programmable controller judges that the rotary encoder is rotated clockwise or rotated counterclockwise, when judgement is
After rotating clockwise, the programmable controller often detects that the pulse change of the rotary encoder is primary, the specified fortune
Scanning frequency degree increase accordingly a knots modification, and the specified speed of service is no longer compiled with the rotation after reaching the speed limit value
Code device rotation and continue growing；After judgement is rotation counterclockwise, the programmable controller often detects that the rotation is compiled
The pulse change of code device is primary, and the specified speed of service accordingly reduces by a knots modification, and the specified speed of service drops to institute
No longer continue to reduce with the rotation of the rotary encoder after stating lower velocity limit value；
(6) the specified speed of service after change is real-time transmitted to the robot, the machine by the programmable controller
Device people is according to the specified speed of service real-time speed regulating.
2. the method for the robot speed of service is adjusted under painting environments according to claim 1 in real time, it is characterised in that: institute
State rotary encoder often rotate a circle issue 20 pulses.
3. the method for the robot speed of service is adjusted under painting environments according to claim 1 in real time, it is characterised in that: institute
It states speed limit value and is set as 50mm/s, the lower velocity limit value is set as 5mm/s, and the knots modification is 0.1mm/s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811360243.0A CN109395941B (en) | 2018-11-15 | 2018-11-15 | Method for adjusting running speed of robot in real time in spraying environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811360243.0A CN109395941B (en) | 2018-11-15 | 2018-11-15 | Method for adjusting running speed of robot in real time in spraying environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109395941A true CN109395941A (en) | 2019-03-01 |
| CN109395941B CN109395941B (en) | 2020-04-21 |
Family
ID=65473355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811360243.0A Active CN109395941B (en) | 2018-11-15 | 2018-11-15 | Method for adjusting running speed of robot in real time in spraying environment |
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Citations (9)
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| CN101449220A (en) * | 2006-05-19 | 2009-06-03 | Abb股份有限公司 | Improved method for controlling a robot TCP |
| CN101554672A (en) * | 2009-05-21 | 2009-10-14 | 山东大学 | Detection and control system for container corrugated plate welding track based on laser ranging |
| CN201856249U (en) * | 2010-01-15 | 2011-06-08 | 广东工业大学 | Motion planning and performance testing system for industrial robot |
| WO2012107199A2 (en) * | 2011-02-07 | 2012-08-16 | Dürr Systems GmbH | Adapting the dynamics of at least one robot |
| US20130078385A1 (en) * | 2011-09-26 | 2013-03-28 | Todd E. Hendricks, SR. | Modular tire spraying system |
| CN104520076A (en) * | 2012-08-08 | 2015-04-15 | Abb技术有限公司 | System and method for determining optimal trajectory for material dispensing robots |
| CN108745728A (en) * | 2018-06-27 | 2018-11-06 | 江苏大洋海洋装备有限公司 | A kind of full-automatic outfititem airless spraying equipment robot |
-
2018
- 2018-11-15 CN CN201811360243.0A patent/CN109395941B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1734379A (en) * | 2004-08-02 | 2006-02-15 | 发那科株式会社 | Processing program generating device |
| CN101449220A (en) * | 2006-05-19 | 2009-06-03 | Abb股份有限公司 | Improved method for controlling a robot TCP |
| CN101367353A (en) * | 2007-08-14 | 2009-02-18 | 比亚迪股份有限公司 | Apparatus and method for governing display lightness of automobile instrument |
| CN101554672A (en) * | 2009-05-21 | 2009-10-14 | 山东大学 | Detection and control system for container corrugated plate welding track based on laser ranging |
| CN201856249U (en) * | 2010-01-15 | 2011-06-08 | 广东工业大学 | Motion planning and performance testing system for industrial robot |
| WO2012107199A2 (en) * | 2011-02-07 | 2012-08-16 | Dürr Systems GmbH | Adapting the dynamics of at least one robot |
| US20130078385A1 (en) * | 2011-09-26 | 2013-03-28 | Todd E. Hendricks, SR. | Modular tire spraying system |
| CN104520076A (en) * | 2012-08-08 | 2015-04-15 | Abb技术有限公司 | System and method for determining optimal trajectory for material dispensing robots |
| CN108745728A (en) * | 2018-06-27 | 2018-11-06 | 江苏大洋海洋装备有限公司 | A kind of full-automatic outfititem airless spraying equipment robot |
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| Publication number | Publication date |
|---|---|
| CN109395941B (en) | 2020-04-21 |
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