CN113649205A - Spraying control method for spraying robot - Google Patents
Spraying control method for spraying robot Download PDFInfo
- Publication number
- CN113649205A CN113649205A CN202110977943.XA CN202110977943A CN113649205A CN 113649205 A CN113649205 A CN 113649205A CN 202110977943 A CN202110977943 A CN 202110977943A CN 113649205 A CN113649205 A CN 113649205A
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- China
- Prior art keywords
- spraying
- workpiece
- sprayed
- robot
- painting
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- 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
-
- 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
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/081—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to the weight of a reservoir or container for liquid or other fluent material; responsive to level or volume of liquid or other fluent material in a reservoir or container
-
- 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
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
-
- 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
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
-
- 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
- B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention discloses a spraying control method for a spraying robot, which comprises the steps of measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a spraying robot control system, and calculating and inputting dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed; planning a spraying path according to the size information and the three-dimensional view obtained in the above steps, then performing simulated spraying on the workpiece to be sprayed according to the planned spraying path, and correcting and updating the sprayed result. By adopting the control method designed by the invention, the workpiece can be quickly sprayed, the uniformity and consistency of the coating can be ensured, the phenomenon of different coating thicknesses can be avoided, the phenomena of sagging and orange peel of the coating can be avoided, the chapping tendency can be avoided, and the spraying accuracy can be improved while the spraying efficiency is ensured by planning the optimal spraying path in advance.
Description
Technical Field
The invention relates to the technical field of spraying robots, in particular to a spraying control method for a spraying robot.
Background
A spray painting robot, also called a paint spraying robot, is an industrial robot capable of automatically spraying paint or other coatings, wherein the air-spraying robot is also called as low-pressure air-spraying, the spray painting machine forms atomized airflow to act on the surface of an object (a wall surface or a woodware surface) after spraying paint out of a gun mouth by means of low-pressure air, the air-spraying is relatively uniform in plane, short in unit working time and capable of effectively shortening the construction period, but the splashing phenomenon of the air-spraying exists, paint is wasted, extremely fine particles can be seen when the air-spraying is checked at a short distance, an air compressor commonly used in the decoration industry is adopted for the air-spraying, the air-spraying robot is relatively multipurpose and low in investment cost, and special machines such as an air-pumping type air-spraying machine and a self-falling type air-spraying machine are arranged on the market, the spraying effect of the existing spray painting robot is related to various factors such as the surface shape of a workpiece, the track of a spray gun, the parameters and the like, for products such as automobiles, electrical appliances and furniture, the painting effect of the surface has a considerable influence on the quality, the color of the surface of the product depends on the consistency of the coating thickness to a large extent, if the coating thickness of the surface is inconsistent, the surface is rough, the phenomenon of sagging of the coating at the edge and orange peel of the coating occurs, and the coating tends to be chapped when the coating is too thick in use.
Disclosure of Invention
The present invention is directed to a painting control method for a painting robot, which solves the problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a painting control method for a painting robot, comprising the steps of:
determining workpiece dimension information:
measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed;
(II) determining a spraying working path:
planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path;
(III) spraying:
placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
Preferably, when the workpiece is measured in the first step, two sets of light curtain transmitters and receivers are used for measuring and recording the size information of the first surface and the second surface of the workpiece to be sprayed respectively, and after the information of the first surface and the second surface is recorded, the size information of the other four surfaces is measured and recorded.
Preferably, in the first step, the workpiece to be sprayed needs to be subjected to sand blasting treatment on the surface before being sprayed, so that the adhesion of the coating is ensured.
Preferably, the workpiece is conveyed by a conveying belt in the first step, and the workpiece is turned over by a manipulator when the size information is measured.
Preferably, in the second step, when simulating spraying, not only the paint is sprayed, but also the curved surface data and the spraying pattern of the object to be sprayed are included.
Preferably, in the second step, when simulating spraying, the range value of the number of repeated spraying, the range value of the parallel angle, the range value of the edge and the range value of the height of each side edge need to be determined.
Preferably, the spraying parameters in the second step further include electrostatic voltage, distance between the rotary cup and the spraying curved surface, and rotary cup rotation speed during the simulation of spraying.
Preferably, when the workpiece is sprayed in the third step, a liquid level sensor is arranged in a bin of the spraying robot, so that the paint in the bin is detected, and the phenomenon that the paint is not enough is prevented.
Preferably, in the third step, the temperature of the coating is kept at 70-80 ℃ when the coating is dried, and the exhausted waste gas is filtered.
Preferably, a liquid level observation window is arranged on the surface of the bin of the spraying robot in the third step, and scale marks are arranged on the surface of the liquid level observation window.
Compared with the prior art, the invention has the following beneficial effects:
by adopting the control method designed by the invention, the workpiece can be quickly sprayed, the uniformity and consistency of the coating can be ensured, the phenomenon of different coating thicknesses can be avoided, the phenomena of sagging and orange peel of the coating can be avoided, the chapping tendency can be avoided, and the spraying accuracy can be improved while the spraying efficiency is ensured by planning the optimal spraying path in advance.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a technical scheme that:
a painting control method for a painting robot, comprising the steps of:
determining workpiece dimension information:
measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed;
(II) determining a spraying working path:
planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path;
(III) spraying:
placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
The first embodiment is as follows:
measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed; planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path; placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
Example two:
in the first embodiment, the following steps are added:
when the size of the workpiece is measured in the first step, the size information of the first surface and the second surface of the workpiece to be sprayed is measured and recorded by using two groups of light curtain emitters and receivers respectively, and the size information of other four surfaces is measured and recorded after the information of the first surface and the second surface is recorded.
Measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed; planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path; placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
Example three:
in the second embodiment, the following steps are added:
in the first step, the surface of the workpiece to be sprayed needs to be subjected to sand blasting before spraying, so that the adhesiveness of the coating is ensured.
Measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed; planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path; placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
Example four:
in the third embodiment, the following steps are added:
and in the first step, the workpiece is conveyed through the conveying belt, and the workpiece is turned over through the mechanical arm when the size information is measured.
Measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed; planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path; placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
Example five:
in the fourth example, the following steps were added:
and step two, not only coating but also curved surface data and a spraying pattern of the sprayed object are required to be sprayed when the spraying is simulated.
Measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed; planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path; placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
Example six:
in the fifth example, the following steps were added:
in the second step, the range value of the repeated spraying times, the range value of the parallel angle, the range value of the edge and the range value of the height of each side edge need to be determined during the simulated spraying.
Measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed; planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path; placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
Example seven:
in example six, the following steps were added:
and in the second step, the spraying parameters during the simulated spraying further comprise electrostatic voltage, the distance between the rotary cup and the spraying curved surface and the rotary cup rotating speed.
Measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed; planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path; placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
Example eight:
in example seven, the following steps were added:
and in the third step, when the workpiece is sprayed, a liquid level sensor is arranged in a storage bin of the spraying robot, so that the paint in the storage bin is detected, and the phenomenon that the paint is not enough is prevented.
Measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed; planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path; placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
Example nine:
in example eight, the following steps were added:
in the third step, the temperature of the coating is kept between 70 and 80 ℃ when the coating is dried, and the exhausted waste gas is filtered.
Measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed; planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path; placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
Example ten:
in example nine, the following procedure was added:
and in the third step, a liquid level observation window is arranged on the surface of the bin of the spraying robot, and scale marks are arranged on the surface of the liquid level observation window.
Measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed; planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path; placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A spraying control method for a spraying robot is characterized in that: the method comprises the following steps:
determining workpiece dimension information:
measuring a workpiece to be sprayed, inputting measurement information into a working parameter module in a control system of the spraying robot, and calculating input dimension information through the spraying robot to obtain a three-dimensional view of the workpiece to be sprayed;
(II) determining a spraying working path:
planning a spraying path according to the size information and the three-dimensional view obtained in the step, then performing simulated spraying on a workpiece to be sprayed according to the planned spraying path, and correcting and updating a sprayed result to obtain an optimal spraying path;
(III) spraying:
placing a workpiece to be sprayed on the surface of a workbench, clamping the workpiece to be sprayed through a clamp, executing the optimal spraying path obtained by the steps by a spraying robot, drying the sprayed workpiece through a drying mechanism of the spraying robot after the spraying operation is finished, taking out the finished workpiece after the drying operation is finished, detecting the finished workpiece, removing defective products, and correcting and updating the spraying path again.
2. A painting control method for a painting robot according to claim 1, characterized in that: when the size of the workpiece is measured in the first step, the size information of the first surface and the second surface of the workpiece to be sprayed is measured and recorded by using the two groups of light curtain emitters and the two groups of light curtain receivers respectively, and the size information of other four surfaces is measured and recorded after the information of the first surface and the second surface is recorded.
3. A painting control method for a painting robot according to claim 1, characterized in that: in the first step, the surface of the workpiece to be sprayed needs to be subjected to sand blasting before spraying, so that the adhesiveness of the coating is ensured.
4. A painting control method for a painting robot according to claim 1, characterized in that: and conveying the workpiece in the first step through a conveying belt, and overturning the workpiece through a manipulator when measuring the size information.
5. A painting control method for a painting robot according to claim 1, characterized in that: and in the second step, not only the coating is sprayed, but also the curved surface data and the spraying pattern of the sprayed object are included during the simulation spraying.
6. A painting control method for a painting robot according to claim 1, characterized in that: in the second step, the range value of the repeated spraying times, the range value of the parallel angle, the range value of the edge and the range value of the height of each side edge need to be determined during the simulated spraying.
7. A painting control method for a painting robot according to claim 1, characterized in that: and in the second step, the spraying parameters during the simulated spraying further comprise electrostatic voltage, the distance between the rotary cup and the spraying curved surface and the rotary cup rotating speed.
8. A painting control method for a painting robot according to claim 1, characterized in that: and in the third step, when the workpiece is sprayed, a liquid level sensor is arranged in a storage bin of the spraying robot, so that the paint in the storage bin is detected, and the phenomenon that the paint is not enough is prevented.
9. A painting control method for a painting robot according to claim 1, characterized in that: in the third step, the temperature of the coating is kept between 70 and 80 ℃ when the coating is dried, and the exhausted waste gas is filtered.
10. A painting control method for a painting robot according to claim 1, characterized in that: and in the third step, a liquid level observation window is arranged on the surface of the bin of the spraying robot, and scale marks are arranged on the surface of the liquid level observation window.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110977943.XA CN113649205A (en) | 2021-08-25 | 2021-08-25 | Spraying control method for spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110977943.XA CN113649205A (en) | 2021-08-25 | 2021-08-25 | Spraying control method for spraying robot |
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| Publication Number | Publication Date |
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| CN113649205A true CN113649205A (en) | 2021-11-16 |
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| CN202110977943.XA Withdrawn CN113649205A (en) | 2021-08-25 | 2021-08-25 | Spraying control method for spraying robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114308487A (en) * | 2022-01-05 | 2022-04-12 | 上海拔山自动化技术有限公司 | Multifunctional paint spraying robot track device and control method thereof |
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2021
- 2021-08-25 CN CN202110977943.XA patent/CN113649205A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114308487A (en) * | 2022-01-05 | 2022-04-12 | 上海拔山自动化技术有限公司 | Multifunctional paint spraying robot track device and control method thereof |
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Application publication date: 20211116 |
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