CN113909032A - Rapid automatic spraying system and method for countless die parts - Google Patents
Rapid automatic spraying system and method for countless die parts Download PDFInfo
- Publication number
- CN113909032A CN113909032A CN202111120318.XA CN202111120318A CN113909032A CN 113909032 A CN113909032 A CN 113909032A CN 202111120318 A CN202111120318 A CN 202111120318A CN 113909032 A CN113909032 A CN 113909032A
- Authority
- CN
- China
- Prior art keywords
- spraying
- platform
- robot
- working platform
- positioner
- 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.)
- Pending
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000000576 coating method Methods 0.000 claims abstract description 24
- 239000011248 coating agent Substances 0.000 claims abstract description 21
- 238000004088 simulation Methods 0.000 claims abstract description 15
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 9
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 239000003973 paint Substances 0.000 claims description 15
- 239000007921 spray Substances 0.000 claims description 14
- 238000010422 painting Methods 0.000 claims 2
- 230000007547 defect Effects 0.000 abstract description 4
- 238000007592 spray painting technique Methods 0.000 abstract 1
- 238000003754 machining Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Images
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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
Abstract
The invention relates to the technical field of industrial robot spraying, in particular to a rapid automatic spraying system and a rapid automatic spraying method for a plurality of mould parts, wherein the spraying system comprises an assistant robot working platform, a positioning machine, an assistant mechanical arm and a simulation coating; the industrial robot working platform comprises a positioner, an industrial mechanical arm and actual coating; the matched software platform comprises a robot track conversion model algorithm. According to the invention, by adopting the cooperative robot as a means for acquiring the spraying track of the part, the defect that three-dimensional modeling is required before automatic spraying of traditional multi-model parts is realized can be overcome, the cost investment of reverse modeling equipment is saved, the working process is simplified, the technical dependence on reverse modeling of complex parts is reduced, and the operation can be mastered by general field spray painting operators; the comprehensive time efficiency is obviously higher than that of the traditional mode of acquiring the spraying track of the robot after reverse modeling.
Description
Technical Field
The invention relates to the technical field of industrial robot spraying, in particular to a rapid automatic spraying system and method for countless die parts.
Background
In the field of industrial spraying, the spraying of surfaces by using a mobile device and spraying equipment has been carried out for many years due to the severe working environment and the like. The mechanical arm is large in flexibility and good in program control, so that the mechanical arm is often used as a moving device of a loaded spraying device, and the generation of a machining track of the mechanical arm is a main preparation work content in the spraying process.
The generation of the motion track of the Robot mainly comprises two modes at present, wherein the teaching programming and control are carried out through a remote control handle provided by a manufacturer, and the off-line programming is carried out by adopting Robot simulation software (such as Delmia of Dasuo, Germany, Process Simulans, Robot MASTER of MASTER, USA) and then the off-line programming is carried out, and then the Robot motion track is introduced into a Robot controller to realize the generation. The two modes have advantages and disadvantages, the teaching programming operation is simple and easy to operate, but the track route of the robot arm is simple; the off-line programming function is strong, the path planning of a complex track can be realized, and operators need to be trained professionally to learn simulation software deeply. Due to the inherent defects of the mechanical arm track generation mode, time and labor are wasted when the actual workpiece, particularly a part digital model is not repaired, and the requirement on the skill of a worker is high.
In order to obtain an automatic spraying machining track of a part without a digital-analog mode, the traditional method comprises the steps of firstly scanning the appearance of the part by using a reverse scanning device to obtain appearance point cloud data, secondly processing the point cloud data into a normal three-dimensional model by using reverse software such as Geomagic, thirdly generating machining track initial data based on the three-dimensional digital-analog by using machining track generation software such as Mastercam, fourthly converting the machining track data into robot track data by using robot off-line programming software such as Robotmaster and verifying the robot track data, and finally obtaining an actually used robot spraying track, wherein the whole flow is shown in figure 2. In the general industrial field, most parts are produced in batches and have original numerical models, and the machining track generation of the mechanical arm is complex, but the average workload of single parts is still within an acceptable range. In the field of aviation maintenance, most parts are small in batch, complex in shape and free of ready-made models, the comprehensive cost for acquiring the machining track of the mechanical arm is too high, the requirement on the quality of personnel is very high, and the method becomes the biggest obstacle for popularizing the automatic paint spraying of the parts.
Chinese patent CN105045098B (publication date of grant is 2017, 11, 21) discloses a control method of a robot spraying track automatic generation system, which includes the following steps: (1) forming a spraying process expert system; (2) inputting workpiece image data; (3) the spraying process expert system performs image processing, the geometric figure is detected and sent to a track mapping module, and an automatic track generator performs track automatic generation processing; (4) automatically generating a track; (5) setting parameters; (6) the spline algorithm realizes constant speed and high smoothness; (7) the robot controller performs kinematics calculation through a spline to form a track. The invention shortens the time consumed by spraying processing, and can automatically generate the spray paint under the conditions of workpiece placement position deviation, different types of workpieces mixed placement and the like.
The invention has the following disadvantages: 1) the realization of the invention depends on possessing a mature spraying process expert system, the technical threshold is high, the actual research and development period is long, and the cost is high; 2) the system also needs to be provided with reverse scanning equipment such as a grating or a laser sensor, and the equipment investment is large and the operation is complex; 3) a processing track is generated by the part image through the automatic track generator, a clear implementation method is not provided, and the realization difficulty is high.
Disclosure of Invention
In order to solve the technical problems, the invention provides a rapid automatic spraying system and a rapid automatic spraying method for countless die parts.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a rapid automated spray system for numerous mold parts comprising:
the assistant robot working platform comprises a positioner, an assistant mechanical arm and a simulation coating;
the industrial robot working platform comprises a positioner, an industrial mechanical arm and actual coating;
the matched software platform comprises a robot track conversion model algorithm;
the auxiliary robot working platform, the supporting software platform and the industrial robot working platform are sequentially and correspondingly connected, the auxiliary robot working platform is used for simulating spraying and recording simulated spraying track information, the supporting software platform converts the recorded simulated spraying track information into motion track information which can be recognized by the industrial robot working platform, and the industrial robot working platform is used for actually spraying parts through the converted motion track information.
Preferably, the assistant robot working platform further comprises a controller, a driver and an operation platform, and the simulation paint on the assistant robot working platform is volatile paint.
Preferably, the positioner in the assistant robot working platform is a two-axis positioner, is provided with a coding counter and is arranged on the operating platform.
Preferably, the industrial robot work platform further comprises a controller, a driver and an operation platform.
Preferably, the positioner in the industrial robot working platform is a two-axis positioner and is arranged on the operating platform.
A spraying method of a rapid automatic spraying system applying a plurality of mould parts comprises the following specific steps:
fixing a part to be sprayed on a positioner equipped for an auxiliary robot working platform through a corresponding tool;
mounting the simulation spraying gun on an execution terminal of the assistance mechanical arm, and connecting the simulation spraying gun with a simulation paint conveying system;
thirdly, an operator grasps an execution terminal of the assisting mechanical arm and respectively carries out simulated spraying on the areas to be sprayed by using a simulated spray gun loaded on the assisting mechanical arm terminal;
fourthly, a controller in the auxiliary robot working platform acquires the moving track and the coordinate state of the auxiliary mechanical arm and the matched positioner and transmits the moving track and the coordinate state to the matched software platform;
(V) the matching software platform converts the motion trail information of the assisting robot and the matching positioner into a motion trail which can be identified and operated by the industrial robot platform by using a matched robot trail conversion model algorithm and sends the motion trail to the industrial robot platform;
fixing the part to be sprayed on a positioner equipped on a working platform of the industrial robot through a corresponding tool;
(seventh) installing the actual spray gun to the execution terminal of the industrial robot and connecting the actual paint delivery system;
(VIII) the industrial robot platform utilizes the motion trail information sent by the matched software platform to carry out actual spraying operation;
and (ninthly) repeatedly executing the step (eight) according to the type and the requirement of the coating, and selecting to repeatedly spray the same coating or replace other coatings until all spraying works are finished.
Further, the requirements of the simulated spraying process in the step (III) are consistent with the requirements of the actual spraying process.
The invention has the beneficial effects that:
compared with the prior art, the auxiliary robot is used as a means for acquiring the spraying track of the part, the defect that three-dimensional modeling is required before automatic spraying of traditional countless mould parts is realized can be overcome, the cost investment of reverse modeling equipment is saved, the working flow is simplified, the technical dependence on reverse modeling of complex parts is reduced, and the auxiliary robot can be mastered by common field spraying operators; the comprehensive time efficiency is obviously higher than that of the traditional mode of acquiring the spraying track of the robot after reverse modeling; the spraying track is obtained by using a skilled worker, and the expert knowledge of the skilled worker can be invisibly blended into the spraying track of the robot, which is difficult to realize by the traditional automatic spraying of parts.
Drawings
The invention is further illustrated with reference to the following figures and examples:
FIG. 1 is a schematic flow diagram of the present invention;
fig. 2 is a schematic flow chart in the prior art.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is further explained in the following with the accompanying drawings and the embodiments.
As shown in figure 1, the rapid automatic spraying system for the countless die parts comprises three parts, wherein the first part is an auxiliary robot working platform, the second part is a matched software platform, the third part is an industrial robot working platform, and the auxiliary robot working platform, the matched software platform and the industrial robot working platform are correspondingly and sequentially connected.
The auxiliary robot working platform comprises a set of auxiliary mechanical arms suitable for man-machine assistance, a relevant controller, a driver and an operating platform provided with a two-axis positioner. The assisting mechanical arm can be loaded with a simulation spraying gun to move and record a motion track, wherein the simulation spraying gun is connected with a simulation paint conveying system. The simulation coating is volatile coating, can volatilize by oneself after standing for a period after spraying, no residue, do not influence the subsequent spraying. The part to be sprayed is clamped on a positioner through a matched tool, and the positioner is provided with a coding counter and can record historical motion track information.
The matching software platform comprises a set of robot track conversion model algorithm, and the algorithm can convert the recorded motion track information of the assisting robot and the matching positioner into a motion track which can be identified and operated by the industrial robot platform and is used for actual spraying of subsequent parts.
The industrial robot platform comprises an operating platform suitable for a conventional mechanical arm and related controllers, drivers and equipment with a two-axis positioner. The industrial robot can carry a real paint gun for movement, wherein the paint gun is connected to a paint delivery system. And the part to be sprayed is clamped on the positioner through a matched tool, and the positioner and the assistance robot platform positioner are of the same type.
As shown in FIG. 1, a rapid automatic spraying method for countless mould parts comprises the following specific steps:
and (I) fixing the part to be sprayed on a positioner equipped on the working platform of the assistant robot through a corresponding tool.
And (II) mounting the simulated paint spraying gun on an execution terminal of the assistance mechanical arm and connecting the simulated paint conveying system.
And (III) an operator grasps an execution terminal of the assisting mechanical arm, and simulated spraying is respectively carried out on the areas to be sprayed by the simulated spray gun loaded on the assisting mechanical arm terminal. The spraying process requirement of the simulated spraying is consistent with the actual spraying process requirement, and the action of the positioner is flexibly controlled according to the actual requirement in the period.
And (IV) acquiring the moving track and the coordinate state of the assisting mechanical arm and the matched positioner by a controller in the assisting robot working platform, and transmitting the moving track and the coordinate state to the matched software platform.
And (V) converting the motion trail information of the assisting robot and the matching positioner into a motion trail which can be identified and operated by the industrial robot platform by using a matched software platform through a matched robot trail conversion model algorithm, and sending the motion trail to the industrial robot platform.
And (VI) fixing the part to be sprayed on a positioner equipped on the industrial robot working platform through a corresponding tool.
And (seventh) installing the actual coating gun to the execution terminal of the industrial robot and connecting the actual coating conveying system.
And (eighthly), the industrial robot platform utilizes the motion track information sent by the matched software platform to carry out actual spraying operation. The spraying speed can be flexibly selected according to the type of the coating in the actual spraying process, the speed can be properly increased when the coating is thin, and the speed can be properly reduced when the coating is thick.
And (ninthly) repeatedly executing the step (eight) according to the type and the requirement of the coating, and selecting to repeatedly spray the same coating or replace other coatings until all spraying works are finished.
And (4) directly calling the method for the same part which is sprayed at the later stage, and executing the steps (eight) and (nine) until all spraying works are finished.
According to the invention, the auxiliary robot is used as a means for acquiring the spraying track of the part, so that the defect that three-dimensional modeling is required before automatic spraying of traditional countless mould parts is realized can be overcome, the cost investment of reverse modeling equipment is saved, the working process is simplified, the technical dependence on reverse modeling of complex parts is reduced, and the auxiliary robot can be mastered by general field spraying operators; the comprehensive time efficiency is obviously higher than that of the traditional mode of acquiring the spraying track of the robot after reverse modeling.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a quick automatic paint finishing of numerous mould parts which characterized in that: the method comprises the following steps:
the assistant robot working platform comprises a positioner, an assistant mechanical arm and a simulation coating;
the industrial robot working platform comprises a positioner, an industrial mechanical arm and actual coating;
the matched software platform comprises a robot track conversion model algorithm;
the auxiliary robot working platform, the supporting software platform and the industrial robot working platform are sequentially and correspondingly connected, the auxiliary robot working platform is used for simulating spraying and recording simulated spraying track information, the supporting software platform converts the recorded simulated spraying track information into motion track information which can be recognized by the industrial robot working platform, and the industrial robot working platform is used for actually spraying parts through the converted motion track information.
2. The rapid automated spray system of numerous mold parts according to claim 1, wherein: the assistant robot working platform further comprises a controller, a driver and an operating platform, and the simulation coating on the assistant robot working platform is volatile coating.
3. The rapid automated spray system of numerous mold parts according to claim 1, wherein: the positioner in the assistant robot working platform is a two-axis positioner, is provided with a coding counter and is arranged on the operating platform.
4. The rapid automated spray system of numerous mold parts according to claim 1, wherein: the industrial robot working platform further comprises a controller, a driver and an operating platform.
5. The rapid automated spray system of numerous mold parts according to claim 1, wherein: and the positioner in the industrial robot working platform is a two-axis positioner and is arranged on the operating platform.
6. A painting method using the rapid automatic painting system of countless mould parts according to any one of claims 1 to 5, characterized in that: the method comprises the following specific steps:
fixing a part to be sprayed on a positioner equipped for an auxiliary robot working platform through a corresponding tool;
mounting the simulation spraying gun on an execution terminal of the assistance mechanical arm, and connecting the simulation spraying gun with a simulation paint conveying system;
thirdly, an operator grasps an execution terminal of the assisting mechanical arm and respectively carries out simulated spraying on the areas to be sprayed by using a simulated spray gun loaded on the assisting mechanical arm terminal;
fourthly, a controller in the auxiliary robot working platform acquires the moving track and the coordinate state of the auxiliary mechanical arm and the matched positioner and transmits the moving track and the coordinate state to the matched software platform;
(V) the matching software platform converts the motion trail information of the assisting robot and the matching positioner into a motion trail which can be identified and operated by the industrial robot platform by using a matched robot trail conversion model algorithm and sends the motion trail to the industrial robot platform;
fixing the part to be sprayed on a positioner equipped on a working platform of the industrial robot through a corresponding tool;
(seventh) installing the actual spray gun to the execution terminal of the industrial robot and connecting the actual paint delivery system;
(VIII) the industrial robot platform utilizes the motion trail information sent by the matched software platform to carry out actual spraying operation;
and (ninthly) repeatedly executing the step (eight) according to the type and the requirement of the coating, and selecting to repeatedly spray the same coating or replace other coatings until all spraying works are finished.
7. The spraying method according to claim 6, characterized in that: and (III) the requirements of the simulated spraying process are consistent with the requirements of the actual spraying process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111120318.XA CN113909032A (en) | 2021-09-24 | 2021-09-24 | Rapid automatic spraying system and method for countless die parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111120318.XA CN113909032A (en) | 2021-09-24 | 2021-09-24 | Rapid automatic spraying system and method for countless die parts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113909032A true CN113909032A (en) | 2022-01-11 |
Family
ID=79236023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111120318.XA Pending CN113909032A (en) | 2021-09-24 | 2021-09-24 | Rapid automatic spraying system and method for countless die parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113909032A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918062A (en) * | 2022-06-16 | 2022-08-19 | 一汽解放汽车有限公司 | Engine paint spraying control method and device, spraying equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2770155A1 (en) * | 1997-10-28 | 1999-04-30 | Cergi Sa | Automated cabin for maskless spraying of small parts |
| US20040068036A1 (en) * | 2002-10-07 | 2004-04-08 | Halladay James R. | Flexible emissive coatings for elastomer substrates |
| CN101850552A (en) * | 2010-05-28 | 2010-10-06 | 广东工业大学 | Industrial robot comprehensive control platform and control method thereof |
| CN104732864A (en) * | 2015-03-20 | 2015-06-24 | 武汉湾流新技术有限公司 | Spraying simulation method based on augmented reality and simulation system |
| 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 |
| CN105364349A (en) * | 2015-12-01 | 2016-03-02 | 徐州市产品质量监督检验中心 | Detecting method for welding seam track of welding robot |
| CN111438022A (en) * | 2020-04-27 | 2020-07-24 | 杭州国辰机器人科技有限公司 | Intelligent paint room based on teaching technology |
-
2021
- 2021-09-24 CN CN202111120318.XA patent/CN113909032A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2770155A1 (en) * | 1997-10-28 | 1999-04-30 | Cergi Sa | Automated cabin for maskless spraying of small parts |
| US20040068036A1 (en) * | 2002-10-07 | 2004-04-08 | Halladay James R. | Flexible emissive coatings for elastomer substrates |
| CN101850552A (en) * | 2010-05-28 | 2010-10-06 | 广东工业大学 | Industrial robot comprehensive control platform and control method thereof |
| CN104732864A (en) * | 2015-03-20 | 2015-06-24 | 武汉湾流新技术有限公司 | Spraying simulation method based on augmented reality and simulation system |
| 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 |
| CN105364349A (en) * | 2015-12-01 | 2016-03-02 | 徐州市产品质量监督检验中心 | Detecting method for welding seam track of welding robot |
| CN111438022A (en) * | 2020-04-27 | 2020-07-24 | 杭州国辰机器人科技有限公司 | Intelligent paint room based on teaching technology |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918062A (en) * | 2022-06-16 | 2022-08-19 | 一汽解放汽车有限公司 | Engine paint spraying control method and device, spraying equipment and storage medium |
| CN114918062B (en) * | 2022-06-16 | 2023-06-23 | 一汽解放汽车有限公司 | Engine paint spraying control method and device, spraying equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110694828B (en) | Robot spraying track planning method based on large complex curved surface model | |
| CN109483556B (en) | Robot polishing system and method based on teaching learning | |
| CN104841593B (en) | Control method of robot automatic spraying system | |
| CN202336657U (en) | Robot sectional steel cutting system | |
| CN108527319B (en) | Robot teaching method and system based on vision system | |
| CN101791801B (en) | Industrial robot motion planning and performance testing system and implementation method thereof | |
| CN107899814A (en) | A kind of robot spraying system and its control method | |
| CN105045098B (en) | A kind of control method of Control During Paint Spraying by Robot track automatic creation system | |
| CN107908152A (en) | A kind of movable robot automatic spray apparatus, control system and method | |
| CN101850552A (en) | Industrial robot comprehensive control platform and control method thereof | |
| CN111251277B (en) | Human-computer collaboration tool submission system and method based on teaching learning | |
| CN112642619A (en) | Intelligent spraying robot system and spraying method thereof | |
| CN103350421A (en) | Automatic glaze spraying controlling method and controlling device for simulating skilled worker operation | |
| CN107610579A (en) | Industrial robot teaching system and its teaching method based on the control of VR systems | |
| CN111347431A (en) | Robot teaching spraying method and device for teaching handheld tool | |
| CN109590139A (en) | The multi-shaft interlocked spray equipment of special-shaped structure piece surface heat barrier coating and spraying method | |
| CN111596614B (en) | Motion control error compensation system and method based on cloud edge cooperation | |
| CN114161048B (en) | 3D vision-based parameterized welding method and device for tower legs of iron tower | |
| CN208156500U (en) | A kind of movable robot automatic spray apparatus | |
| CN107671838B (en) | Robot teaching recording system, teaching process steps and algorithm flow thereof | |
| CN113909032A (en) | Rapid automatic spraying system and method for countless die parts | |
| CN114618704B (en) | 3D vision guiding robot programming-free spraying method and system | |
| CN114515662A (en) | Robot spraying system for automobile maintenance sheet metal parts and technological process thereof | |
| CN110743735A (en) | Intelligent spraying system based on robot platform | |
| CN109055930B (en) | Rapid repair method for workpiece surface damage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220111 |