CN110124966A - A kind of camouflage color patch fractionation spraying method - Google Patents
A kind of camouflage color patch fractionation spraying method Download PDFInfo
- Publication number
- CN110124966A CN110124966A CN201910470919.XA CN201910470919A CN110124966A CN 110124966 A CN110124966 A CN 110124966A CN 201910470919 A CN201910470919 A CN 201910470919A CN 110124966 A CN110124966 A CN 110124966A
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- path
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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
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D5/00—Processes for applying liquids or other fluent materials to surfaces to obtain special surface effects, finishes or structures
- B05D5/06—Processes for applying liquids or other fluent materials to surfaces to obtain special surface effects, finishes or structures to obtain multicolour or other optical effects
- B05D5/065—Processes for applying liquids or other fluent materials to surfaces to obtain special surface effects, finishes or structures to obtain multicolour or other optical effects having colour interferences or colour shifts or opalescent looking, flip-flop, two tones
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- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The present disclosure discloses a kind of camouflage color patches to split spraying method, path is sprayed to split, the path filtered out is split, will the sequential short circuit diameter that at least two length values are less than L value wherein be split as more than the path of L value length, migration path is added respectively to every short path after fractionation simultaneously, the length value of migration path is M value；Path is planned again, using the short path after fractionation as new path, the new path to be sprayed with the entirety of the path reformulation workpiece without fractionation, and planning spraying sequence again is carried out to the new path to be sprayed；Control During Paint Spraying by Robot will be easily caused causes stuck path to be split as short path in the process, so that the short path after splitting is less than the spraying limit range of robot, has achieved the effect that robot caused by avoiding long path is stuck.
Description
Technical field
This disclosure relates to which a kind of camouflage color patch splits spraying method.
Background technique
Only there is provided background technical informations relevant to the disclosure for the statement of this part, it is not necessary to so constitute first skill
Art.
To meet contemporary spraying operation requirement, robot automatic coating system is employed in spraying operation, can be according to visitor
Family demand quickly and efficiently carries out digital camouflage and spot camouflage color painting operation to workpiece.
Inventors have found that in digital camouflage operation process, since the spraying of seven axis is fixed using the same area by robot
Mode, so, when the same continuous patch length of color is too long, it will appear during Control During Paint Spraying by Robot and go beyond the limit of range and block
Dead phenomenon needs to restart robot, then sprayed after stuck, influences the fluency and spray efficiency of spraying.
Summary of the invention
The disclosure to solve the above-mentioned problems, proposes a kind of camouflage color patch fractionation spraying method, it is intended to solve digital fan
The continuous patch process of color same color, robot goes beyond the limit of the stuck technical problem of range in spraying process, passes through scanning
All spraying paths of area to be sprayed carry out split-type spraying to too long continuous patch, solve machine in spraying process
People goes beyond the limit of the stuck problem of range.
To achieve the goals above, the disclosure adopts the following technical scheme that
A kind of camouflage color patch fractionation spraying method, Work robot fix the spraying of seven axis using the same area, including following
Step:
Workpiece path scanning, is scanned all paths to be sprayed of entire workpiece, detects all path lengths and deposit
Store up path length information；
Projecting parameter setting, by the path length information to be sprayed of workpiece compared with the spraying limit range of robot, sieve
The path for selecting the spraying limit beyond robot sets transition point distance value M and path is torn open according to the routing information filtered out
Divide length threshold L；
It sprays path to split, the path filtered out is split, the path wherein more than L value length is split as at least
Two length values are less than the sequential short circuit diameter of L value, while adding migration path, transition road respectively to every short path after fractionation
The length value of diameter is M value；
Path is planned again, using the short path after fractionation as new path, reformulates work with the path without fractionation
The new path to be sprayed of the entirety of part, and planning spraying sequence again is carried out to the new path to be sprayed, reduce Invalid path；
Spraying operation is carried out according to the spraying sequence after planning again.
Further, in the workpiece path scanning process, the length of the detection continuous patch of same color is stored,
And record its location information on workpiece.Record position information, the planning again in the path after facilitating subsequent split.
Further, the transition point distance value M value is 50-200mm, and the path splits length threshold L value and is
0.6-2m。
Further, a shooting migration path and a pass rifle are added respectively to the front and back of every short path after fractionation
Migration path.
Preferably, the length value of the shooting migration path of every short path is equal to the length value for closing rifle migration path.
Further, a shooting point is added in the intersection point of shooting migration path and corresponding short path, when the spray of robot
When rifle is moved to this, opens spray gun and sprayed；A pass is added in the intersection point for closing rifle migration path and corresponding short path
Rifle point closes spray gun and stops spraying when the spray gun of robot is moved to this.
Further, the pass rifle point of all short paths after fractionation and shooting point all keep direction with respectively corresponding short path
Unanimously；
Preferably, two adjacent short paths, the shooting of pass the rifle point and posterior short path of preceding short path
Point is overlapped.
Further, the length value of the spraying limit range of the robot is greater than L value.
Further, in the split process of the spraying path, the path more than L value length is preferably split as two companies
Continuous short path, to reduce path waste and empty race.
Compared with prior art, the disclosure has the beneficial effect that
1, the spraying limit range of disclosure combination robot carries out the fractionation in long path, will easily cause Control During Paint Spraying by Robot
Cause stuck path to be split as short path in the process, so that the short path after splitting is less than the spraying limit range of robot, reach
To the effect for avoiding robot caused by long path stuck, to improve the efficiency of camouflage color spraying；
2, the disclosure carries out primary screening according to path length, can be not compared to fixed spray range is directly reduced
It in the case where changing fixed spray range, avoids robot stuck, is run and path waste to reduce the empty of robot；
3, the spraying limit range of disclosure foundation robot and the routing information filtered out, set transition point distance length
With fractionation threshold value, to rationally split spraying path, maximized reduction sky is run and path waste, raising coating quality；
4, the disclosure sets reasonable transition point distance value, avoids the too small caused spray gun shake of distance value, rises and receive rifle position
The problem of setting oil accumulation, also avoids the too big caused path waste of distance value and sky is run；Configuration is reasonable to split threshold value, avoids threshold
Be worth it is too small caused by spraying path it is short, more, mixed and disorderly, robot migration path is more, the problem of dragging down efficiency, also avoids threshold value mistake
Control During Paint Spraying by Robot range caused by big is unable to reach, can still result in stuck problem.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is that the disclosure sprays the structural schematic diagram before path is split；
Fig. 2 is that the disclosure sprays the structural schematic diagram after path is split；
Wherein: 1, robot, 2, spray gun, 3, spraying path.
Specific embodiment:
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the disclosure, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this public affairs
The relative for opening each component or component structure relationship and determination, not refers in particular to either component or element in the disclosure, cannot understand
For the limitation to the disclosure.
In the disclosure, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection,
It is also possible to be integrally connected or is detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the disclosure as the case may be,
It should not be understood as the limitation to the disclosure.
Embodiment 1
A kind of exemplary embodiments of the disclosure provide a kind of camouflage color patch fractionation spraying method as shown in Figure 1 and Figure 2,
The following steps are included:
Workpiece path scanning: spraying paths all to entire workpiece are scanned, and detect all path lengths, path length
Information is used for the planning again in subsequent step path；Certainly, in the process, the position of respective path can also be remembered
Record, facilitates the planning again in subsequent step path；
Path planning parameter setting: by the spraying limit range of all the path length information to be sprayed and robot of workpiece
Compare, filters out the path of the spraying limit beyond robot；In conjunction with actual condition, sets transition point distance value M and path is torn open
Divide length threshold L, the setting of M value and L value can make path more rationally effective, and wherein the setting of L value is particularly important；The value of M value
50-200mm is ranged preferably from, the value range of L value is preferably 0.6m-2m；
Spraying path is split: being split length threshold L according to the path set in the above process and is compared the path of scanning
It is right, the path more than L value length is split, a long path is split into the short path that two length are less than L value, together
When, migration path, the migration path distance value M of the above-mentioned setting of migration path length are added to two paths completed are split；
Again plan in path: the paths beyond L value length all to entire workpiece are split, right after the completion of fractionation
New path is made rational planning for, and is effectively planned spraying sequence, is reduced Invalid path；
Spraying operation is carried out according to the spraying sequence after planning again.
Of course, it should be understood that the seven axis spraying operation robots that the application is introduced are common seven axis in spraying field
Robot, end effector are a spray gun, spray camouflage color special coating.
With reference to the accompanying drawing, the process of fractionation is further described:
Fig. 1 show the path without fractionation, if B-C is spraying path 3, A point and D according to traditional spraying method
It is transition point at point, A-B, C-D are migration path, and spraying direction is A-B-C-D, wherein B point is shooting point, i.e. spray gun 2 is opened
The point sprayed, C point are to close rifle point, i.e. spray gun closes the point for stopping spraying；
It needs to particularly point out, in this path, if the length of A-D is greater than the length of the spraying limit of robot 3,
When spray gun does not reach terminal, robot has arrived at extreme position, if continuing to spray, will lead to the stuck of robot, makes
At the stopping of spraying, the efficiency of spraying is influenced.
If the length of B-C is greater than the L value in preceding setting, that is, fractionation is executed, the spraying path after fractionation is as shown in Figure 2: E is
Split point, B-E, E-C are two sections of sequential short circuit diameters to be sprayed, and A-B, E-G, F-E, C-D are migration path, and spraying direction is A-
B-E-G and F-E-C-D, wherein B point and E point are shooting point, i.e. 1. 2. spray gun is separately turned on the point sprayed with spray gun, wherein
E point and C point are to close rifle point, i.e. 1. 2. spray gun closes the point for stopping spraying respectively with spray gun；
It is important to note that 1. 2. the spray gun can be two different spray guns with spray gun, it is also possible to not
With locating for the period with the same spray gun at different location, after which is split as two paths, the movement side of robot
Formula are as follows:
First paths: 1. spray gun is located at leftward position, acts along A-B-E-G；
Second paths: spray gun is 2. centrally located, acts along F-E-C-D；
To complete the fractionation spray coating operations in whole path.
Embodiment 2
The present invention also provides another embodiments, the difference from embodiment 1 is that path split process.
A kind of camouflage color patch fractionation spraying method, Work robot fix the spraying of seven axis using the same area, including following
Step:
Workpiece path scanning, is scanned all paths to be sprayed of entire workpiece, detects all path lengths and deposit
Store up path length information；
Projecting parameter setting, by the path length information to be sprayed of workpiece compared with the spraying limit range of robot, sieve
The path for selecting the spraying limit beyond robot sets transition point distance value M and path is torn open according to the routing information filtered out
Divide length threshold L；
It sprays path to split, the path filtered out is split, the path wherein more than L value length is split as at least
Two length values are less than the sequential short circuit diameter of L value, while adding migration path, transition road respectively to every short path after fractionation
The length value of diameter is M value；
Path is planned again, using the short path after fractionation as new path, reformulates work with the path without fractionation
The new path to be sprayed of the entirety of part, and planning spraying sequence again is carried out to the new path to be sprayed, reduce Invalid path.
Primary relatively screening is carried out to path to be sprayed, compared to fixed spray range is directly reduced, can not changed
It in the case where fixed spray range, avoids robot stuck, is run and path waste to reduce the empty of robot.
Further, in spraying path split process, one is added respectively to the front and back of every short path after fractionation
Shooting migration path and a pass rifle migration path；The length value of the shooting migration path of every short path, which is equal to, closes rifle mistake
Cross the length value in path；
Preferably, a shooting point is added in the intersection point of shooting migration path and corresponding short path, when the spray gun of robot
When being moved to this, opens spray gun and sprayed；A pass rifle is added in the intersection point for closing rifle migration path and corresponding short path
Point closes spray gun and stops spraying when the spray gun of robot is moved to this；The pass rifle point of all short paths after point and shooting
Point all keeps direction consistent with respectively corresponding short path.
It needs to particularly point out, the transition point distance value M refers to: reaching nearest shooting point at transition point or close rifle
Point length value, M value setting be to avoid oil accumulation, shake and sky from running about gathering information: M value setting it is too small, then transition point and spraying point away from
From closely will cause very much spray gun shake, rising and receive a rifle position and set oil accumulation problem, the setting of M value is too big, then transition point and spraying be apart from too far,
Cause path waste and empty race；
The setting of L value is the case where Control During Paint Spraying by Robot range is not achieved to avoid spraying path too long；But simultaneously it is noted that
It is that value setting is also unsuitable too small, too small to cause spraying path short, more, mixed and disorderly, robot migration path is excessive, waste time,
Influence efficiency.
It is, of course, understood that can carry out fractionation value setting according to actual needs when splitting, at least be split into two
Section short path, to effectively avoid the problem that stuck stopping rifle when the spraying of seven axis is fixed by robot.
Further, two adjacent short paths, preceding short path close rifle point and posterior short path
Shooting point is overlapped.
It is, of course, understood that the shooting point and pass rifle point by adjacent short path are corresponded to, spraying area is prevented
Repetition caused by thickness and color change, also avoid occurring interval that non-spraying area generates, influence coating quality.
The above is only preferred embodiment of the present application, are not intended to limit this application, for those skilled in the art
For member, various changes and changes are possible in this application.Within the spirit and principles of this application, it is made it is any modification,
Equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
1. a kind of camouflage color patch splits spraying method, Work robot fixes the spraying of seven axis using the same area, which is characterized in that
The following steps are included:
Workpiece path scanning, is scanned all paths to be sprayed of entire workpiece, detects all path lengths and store road
Electrical path length information；
Projecting parameter setting, by the path length information to be sprayed of workpiece compared with the spraying limit range of robot, filters out
The path of the spraying limit beyond robot sets transition point distance value M and path splits length according to the routing information filtered out
Spend threshold value L；
It sprays path to split, the path filtered out is split, the path wherein more than L value length is split as at least two
Length value is less than the sequential short circuit diameter of L value, while adding migration path respectively to every short path after fractionation, migration path
Length value is M value；
Path is planned again, using the short path after fractionation as new path, reformulates workpiece with the path without fractionation
Whole new path to be sprayed, and planning spraying sequence again is carried out to the new path to be sprayed, reduce Invalid path；
Spraying operation is carried out according to the spraying sequence after planning again.
2. camouflage color patch as described in claim 1 splits spraying method, which is characterized in that the workpiece path scanning process
In, the length of the detection continuous patch of same color is stored, and records its location information on workpiece.
3. camouflage color patch as described in claim 1 splits spraying method, which is characterized in that the transition point distance value M value
For 50-200mm, it is 0.6-2m that the path, which splits length threshold L value,.
4. camouflage color patch as described in claim 1 splits spraying method, which is characterized in that every short path after fractionation
A shooting migration path and a pass rifle migration path are added respectively in front and back.
5. camouflage color patch as claimed in claim 4 splits spraying method, which is characterized in that the shooting of every short path
The length value for crossing path is equal to the length value for closing rifle migration path.
6. camouflage color patch as claimed in claim 5 splits spraying method, which is characterized in that short in shooting migration path and correspondence
The intersection point in path adds a shooting point, when the spray gun of robot is moved to this, opens spray gun and is sprayed；Closing rifle mistake
The intersection point for crossing path and corresponding short path adds a pass rifle point, when the spray gun of robot is moved to this, closes spray gun
Stop spraying.
7. camouflage color patch as claimed in claim 6 splits spraying method, which is characterized in that the pass of all short paths after fractionation
Rifle point and shooting point all keep direction consistent with respectively corresponding short path.
8. camouflage color patch as claimed in claims 6 or 7 splits spraying method, which is characterized in that two adjacent short circuits
The pass rifle point of diameter, preceding short path is overlapped with the shooting of posterior short path point.
9. camouflage color patch as described in claim 1 splits spraying method, which is characterized in that the spraying limit model of the robot
The length value enclosed is greater than L value.
10. camouflage color patch as described in claim 1 splits spraying method, which is characterized in that spraying path split process
In, the path more than L value length is preferably split as two sequential short circuit diameters, to reduce path waste and empty race.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910470919.XA CN110124966A (en) | 2019-05-31 | 2019-05-31 | A kind of camouflage color patch fractionation spraying method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910470919.XA CN110124966A (en) | 2019-05-31 | 2019-05-31 | A kind of camouflage color patch fractionation spraying method |
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| Publication Number | Publication Date |
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| CN110124966A true CN110124966A (en) | 2019-08-16 |
Family
ID=67583488
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910470919.XA Withdrawn CN110124966A (en) | 2019-05-31 | 2019-05-31 | A kind of camouflage color patch fractionation spraying method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761580A (en) * | 2020-07-01 | 2020-10-13 | 青岛九维华盾科技研究院有限公司 | Multi-robot pattern spraying working area flexible segmentation method |
| CN113714012A (en) * | 2021-08-30 | 2021-11-30 | 青岛金光鸿智能机械电子有限公司 | Automatic planning method and system for three-dimensional camouflage pattern spraying path |
| CN115007350A (en) * | 2022-07-22 | 2022-09-06 | 中铭谷智能机器人(广东)有限公司 | Automatic splicing spraying method of plate spraying robot |
-
2019
- 2019-05-31 CN CN201910470919.XA patent/CN110124966A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761580A (en) * | 2020-07-01 | 2020-10-13 | 青岛九维华盾科技研究院有限公司 | Multi-robot pattern spraying working area flexible segmentation method |
| CN111761580B (en) * | 2020-07-01 | 2022-12-23 | 青岛九维华盾科技研究院有限公司 | Multi-robot pattern spraying working area flexible segmentation method |
| CN113714012A (en) * | 2021-08-30 | 2021-11-30 | 青岛金光鸿智能机械电子有限公司 | Automatic planning method and system for three-dimensional camouflage pattern spraying path |
| CN115007350A (en) * | 2022-07-22 | 2022-09-06 | 中铭谷智能机器人(广东)有限公司 | Automatic splicing spraying method of plate spraying robot |
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