CN114131619B - Dynamic spray compensating control system and method for spraying robot and breakpoint reply control system and method - Google Patents
Dynamic spray compensating control system and method for spraying robot and breakpoint reply control system and method Download PDFInfo
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- CN114131619B CN114131619B CN202210016763.XA CN202210016763A CN114131619B CN 114131619 B CN114131619 B CN 114131619B CN 202210016763 A CN202210016763 A CN 202210016763A CN 114131619 B CN114131619 B CN 114131619B
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- 238000005507 spraying Methods 0.000 title claims abstract description 197
- 239000007921 spray Substances 0.000 title claims abstract description 183
- 238000000034 method Methods 0.000 title claims abstract description 46
- 239000003973 paint Substances 0.000 claims abstract description 28
- 230000008569 process Effects 0.000 claims abstract description 24
- 230000000903 blocking effect Effects 0.000 claims abstract description 17
- 230000008859 change Effects 0.000 claims abstract description 11
- 230000000153 supplemental effect Effects 0.000 claims description 6
- 230000008439 repair process Effects 0.000 claims description 2
- 230000008021 deposition Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 5
- 230000006378 damage Effects 0.000 abstract description 4
- 238000004891 communication Methods 0.000 description 8
- 238000011084 recovery Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a dynamic supplementary spraying control system of a spraying robot, which comprises a spraying robot and a spraying target, wherein the spraying robot comprises a spray gun for spraying, a pressure sensor is arranged in a spray gun pipeline, and a data acquisition module is used for acquiring real-time pressure data of the spray gun pipeline; the calculation module is used for obtaining the real-time spraying sectional area of the spray gun nozzle; calculating the change relation of the paint film thickness on a spraying target along with time; calculating the moving distance of the spraying robot in the process of blocking the spray gun; the control module is used for controlling the spraying robot to stop spraying and controlling the spraying robot after blockage removal to move to an initial position where blockage occurs for compensation spraying. When the spray gun is blocked, the spray gun can be automatically closed, so that the phenomena of damage to a spray pipeline and spray leakage caused by overlarge pressure are avoided, and the overall spray effect is improved. And obtaining the spraying target spraying thickness according to the pressure data of the spray gun pipeline, so as to dynamically carry out the supplementary spraying and improve the spraying quality of the spray gun at the clogging position.
Description
Technical Field
The invention relates to ship building auxiliary equipment, in particular to a dynamic supplementary spraying control system and method for a spraying robot and a breakpoint reply control system and method.
Background
At present, the spraying of large ship sections is mostly carried out by manually constructing a scaffold, and a plurality of problems are exposed by adopting a manual spraying method, such as: low operation efficiency, uneven thickness of the sprayed paint film, high labor intensity of operators, harm to physical and mental health of operators and the like. As such, manual spraying has been gradually replaced by a wide variety of spray robots.
For large ship segment spraying, the trajectory required by the spray gun at the tail end of the spraying robot is mainly generated by two modes: manual teaching programming and off-line programming. Both of these methods now face a problem in that manual unblocking is required during the spraying process when the spray gun encounters a blockage. In the spraying process, the position of the spray gun blocked in the track is arbitrary, and the position of the spray gun for the operator to remove the blockage is also arbitrary, so that the spray gun is not only required to be returned to the breakpoint position according to the original path after the blockage removal of the operator is finished. And simultaneously, a problem is faced that when the spray gun starts to be blocked, a certain time is required until the spray gun is completely blocked and reaches the trigger pressure sensor, but the spray gun still moves along the track in the process, and due to the blocking of the spray gun, the spray gun sprays paint, the spray gun is completely different from the spray gun without the blocking, and the thickness of a formed paint film also continuously changes with time, so that the quality of the spraying effect is greatly reduced.
Disclosure of Invention
The invention aims to: aiming at the defects, the invention provides a spraying robot dynamic spray compensating control system and method for improving the effect quality of spraying and a breakpoint recovery control system and method.
The technical scheme is as follows: in order to solve the problems, the invention adopts a dynamic spray compensating control system of a spray robot, which comprises a spray robot and a spray target, wherein the spray robot comprises a spray gun for spraying, and a pressure sensor is arranged in a spray gun pipeline;
the data acquisition module is used for acquiring real-time pressure data of a spray gun pipeline when a spray gun of the spraying robot is subjected to a clogging process;
the calculation module is used for obtaining the real-time spraying sectional area of the spray gun nozzle according to the pressure data; calculating according to the real-time spraying sectional area to obtain the change relation of the paint film thickness on a spraying target along with time in the process of clogging of the spray gun; calculating the moving distance of the spraying robot in the process of blocking the spray gun;
the control module is used for controlling the spraying robot blocked by the spray gun to stop spraying and controlling the spraying robot after blocking removal to move to an initial position where blocking occurs on the spray gun; and controlling the spraying robot to carry out compensation spraying according to the thickness of the paint film on the spraying target.
Furthermore, the calculation module normalizes the real-time spraying sectional area of the spray gun nozzle.
The invention also adopts a dynamic supplementary spraying control method of the spraying robot, which comprises the following steps:
(1) When a spray gun of the spraying robot is subjected to a clogging process, real-time pressure data of a spray gun pipeline are collected, spraying is suspended according to the pressure data, and meanwhile, the real-time spraying sectional area of a spray gun nozzle is obtained;
(2) Calculating according to the real-time spraying sectional area to obtain the change relation of the paint film thickness on a spraying target along with time in the process of clogging of the spray gun;
(3) Calculating the moving distance of the spraying robot in the process of blocking the spray gun;
(4) Controlling the spray robot after the blockage removal to move to an initial position where the spray gun is blocked;
(5) According to the thickness of a paint film on a spraying target, controlling a spraying robot to carry out compensation spraying
Further, the real-time spraying sectional area of the spray gun nozzle in the step (1) is normalized:
wherein ,the normalized spray sectional area; x is x i The real-time spraying cross section area of a spray gun nozzle is x min The spray gun nozzle has the smallest spray cross section; x is x max The spray gun nozzle is the largest spray sectional area.
Further, the calculation formula of the paint film thickness on the spraying target in the step (2) is as follows:
wherein ,qf Paint film thickness on spray target, q l For the thickness of the paint film sprayed on the plane, alpha is the included angle between the surface of the spraying target and the corresponding plane.
Further, the thickness of the sedimentation film of the spray gun is controlled by controlling the flow rate of the hydraulic pump of the spraying robot, and the flow rate q of the hydraulic pump is as follows:
wherein ,h0 S is the sectional area of the spray gun nozzle for the desired film thickness of the spray target.
Further, the calculation formula of the moving path L of the spraying robot in the step (3) is as follows:
L＝Vt 0
wherein V is the moving speed of the spraying robot, t 0 The time for clogging the spray gun of the spraying robot.
Further, the initial position coordinate Y in the step (4) is:
Y＝Y 0 -L
wherein ,Y0 The position coordinates of the break points sprayed by the spraying robot.
The invention also adopts a breakpoint reply control system of the dynamic spray compensating control system of the spraying robot, which comprises a position memory module, a counting module, a path finding module and a return control module, wherein the position memory module is used for recording the position coordinates of the spraying robot in real time after a spray gun of the spraying robot is blocked and closed, the counting module is used for counting the times of recording the position coordinates by the position memory module, the path finding module is used for sequentially returning the spraying robot according to the position coordinates recorded by the position memory module, the counting module counts down at the moment, and the return control module is used for sending a return signal to the path finding module.
The invention also adopts a breakpoint reply control method of the dynamic supplementary spraying control system of the spraying robot, which comprises the following steps:
(1) Closing the spray gun of the spraying robot after the spray gun is blocked, moving the spraying robot to a spray gun blocking clearing position, recording the position coordinates of the spraying robot in real time, and counting the times of recording the position coordinates;
(2) Clearing the blockage of the spray gun, and sending a return signal after the blockage clearing is finished;
(3) And the spraying robot sequentially returns according to the recorded position coordinates, sequentially decrements the count until the zero clearing stop reaches the breakpoint position, and then performs compensation spraying.
The beneficial effects are that: compared with the prior art, the invention has the remarkable advantages that when the spray gun is blocked, the spray process can be automatically stopped and the spray gun is closed, so that the phenomena of damage to a spray pipeline and spray leakage caused by overlarge pressure are avoided, and the integral spray effect is improved. And obtaining the spraying target spraying thickness according to the pressure data of the spray gun pipeline, so that dynamic complementary spraying is performed, the spraying quality from the position where the blockage starts to the position where the blockage is greatly improved, and the expected film thickness requirement is met.
When the spray gun is cleared, and an operator manually moves the spraying robot, the position coordinates of the spraying robot are automatically and sequentially recorded. When the spray gun of the operator is blocked, the operator triggers an external return signal, and the spraying robot can automatically return to the recorded position coordinates in sequence. The occurrence of collision phenomenon of the spraying robot in the moving process is avoided, so that the breakpoint recovery process is safer and more convenient, and an operator can automatically return to the breakpoint position only by triggering an external signal, thereby greatly improving the working efficiency. By automatically detecting whether the breakpoint position is reached, the reached position coordinates are accurate.
Drawings
FIG. 1 is a flow chart of a spray gun breakpoint retrieval and continuous spraying method of a spray robot of the invention;
FIG. 2 is a schematic diagram of the working condition of the large ship sectional spraying robot of the invention;
FIG. 3 is a graph of pressure sensor measurement data over time in accordance with the present invention;
FIG. 4 is a plot of cross-sectional area of a lance nozzle according to the invention over time;
FIG. 5 is a graph of the thickness of a paint film sprayed when the spray gun nozzle of the present invention is not plugged;
FIG. 6 is a graph showing the film thickness over time from the start of clogging to the complete clogging in the present invention;
FIG. 7 is a graph showing the film thickness of the spray gun with time after the output flow of the hydraulic pump is dynamically changed in the invention;
FIG. 8 is a wiring diagram of various hardware connection configurations of the present invention;
FIG. 9 is a schematic diagram of the connection of the modules of the present invention.
Detailed Description
Example 1
As shown in fig. 2, 8 and 9, the dynamic spray compensating control system of the spraying robot in the embodiment comprises a spraying robot and a spraying target, wherein the spraying robot comprises a spray gun for spraying, a pressure sensor is arranged in a spray gun pipeline, and the dynamic spray compensating control system also comprises a data acquisition module, a calculation module and a control module; in the embodiment, the spraying system of the spraying robot adopts a CP505/A controller, a robot controller, a driver, a servo motor and the like, and adopts an Ethercat bus protocol for communication, so that the configuration of the spraying robot system is completed, and a foundation is provided for realizing a method for breakpoint recovery and dynamic spray supplement of a spray gun of the spraying robot.
The configuration steps of the spraying system of the spraying robot are as follows:
s1: the Ethercat communication plate is added in the robot controller, the secret key of the Ethercat communication plate is activated through the corresponding software of the robot, the bottom file of the robot controller is modified, and the purpose that the robot controller can carry out Ethercat bus protocol communication is achieved;
s2: configuring an xml description file conforming to the Ethercat bus protocol communication with the driver and the robot controller so as to read the related information of the driver and the robot controller during configuration, thereby facilitating configuration;
s3: adjusting the Ethernet of the CP (microcomputer) to the same network segment as the CP505/A controller;
s4: configuring by using software of a CP505/A controller, adding the xml file generated in the S2 into a library file and installing the xml file;
s5: the number of drives required is added to be equal to the number of external real drives. Therefore, the virtual drivers can be in one-to-one correspondence with external real drivers, and the configuration of the system is completed.
S6: D-H matrix of the painting robot, limit of each joint, configuration of parameters such as stroke, limit and speed of the additional shaft;
s7: the drive axes are assigned one by one to the actual robot axes and to the external additional axes.
The configuration of the spraying system of the spraying robot is completed through the steps, so that the spray gun can complete a series of actions such as point-to-point, straight line, circular arc and the like, a good foundation is laid for breakpoint reversion and dynamic supplementary spraying of the spray gun of the spraying robot, and the locus of a complex curved surface to be sprayed can be programmed, so that the spraying of the surface to be sprayed is completed through an execution program.
The system comprises a spraying robot spraying system, a data acquisition module, a pressure acquisition module and a pressure acquisition module, wherein the data acquisition module is used for acquiring real-time pressure data of a spray gun pipeline when a spray gun of the spraying robot is subjected to a clogging process; the calculation module is arranged for obtaining the real-time spraying sectional area of the spray gun nozzle according to the pressure data and carrying out normalization treatment on the real-time spraying sectional area of the spray gun nozzle; calculating according to the real-time spraying sectional area to obtain the change relation of the paint film thickness on a spraying target along with time in the process of clogging of the spray gun; calculating the moving distance of the spraying robot in the process of blocking the spray gun; the control module is used for controlling the spraying robot to stop spraying and controlling the spraying robot to move to an initial position where the spray gun is blocked; and controlling the spraying robot to carry out compensation spraying according to the thickness of the paint film on the spraying target. The Ethercat bus communication protocol is used for communication, so that the communication becomes easier during configuration, and the data exchange is more convenient.
Example 2
As shown in fig. 1, a dynamic spray repair control method for a spray robot in this embodiment adopts the spray system configuration and control system in the above embodiment, and the control method includes the following steps:
(1) When the spray gun of the spraying robot is blocked from beginning to being completely blocked, as the output power of the hydraulic pump is constant, the sectional area S of the spray gun nozzle is reduced along with time, the pressure P in the pipeline is continuously increased along with time, the pressure of the pressure sensor arranged in the spray gun pipeline is slowly increased until reaching the critical pressure, the real-time pressure data of the spray gun pipeline are collected when the spray gun of the spraying robot is blocked, the pressure change of the pressure sensor is shown in figure 2, the pressure sensor is triggered to send a signal to the PLC when reaching the critical pressure, the current spraying track program is suspended according to the pressure data, the hydraulic pump of the spray gun is closed, and the real-time spraying sectional area of the spray gun nozzle is obtained; when the spray gun is blocked, the spray process can be automatically suspended and the spray gun is closed, so that the phenomena of damage to a spray pipeline and spray leakage caused by overlarge pressure are avoided, and the overall spray effect is improved.
A plot of the cross-sectional area of the lance nozzle over time is shown in figure 3. And normalizing the real-time spraying sectional area of the spray gun nozzle:
wherein ,the normalized spray sectional area; x is x i The real-time spraying cross section area of a spray gun nozzle is x min Minimum spray gun nozzleIs a spray cross-sectional area of (2); x is x max The spray gun nozzle is the largest spray sectional area.
(2) Calculating according to the real-time spraying sectional area to obtain the change relation of the paint film thickness on a spraying target along with time in the process of clogging of the spray gun; the film thickness curve when the spray gun is not blocked is shown in fig. 4, and the film thickness change curve from the start of blocking to blocking of the spray gun with time is shown in fig. 5; the calculation formula of the paint film thickness on the spraying target is as follows:
wherein ,qf Paint film thickness on spray target, q l For the thickness of the paint film sprayed on the plane, alpha is the included angle between the surface of the spraying target and the corresponding plane.
(3) Calculating the moving distance of the spraying robot in the process of blocking the spray gun; the calculation formula of the moving path L of the spraying robot is as follows:
L＝Vt 0
wherein V is the moving speed of the spraying robot, t 0 The time for the spray gun of the spraying robot to be blocked.
(4) Subtracting the moving path L from the coordinate value at the breakpoint to obtain the position of the spray gun when the spray gun starts to be blocked, and controlling the spraying robot to move to the initial position of the spray gun when the spray gun is blocked; the initial position coordinate Y is:
Y＝Y 0 -L
wherein ,Y0 The position coordinates of the break points sprayed by the spraying robot.
(5) According to the paint film thickness on the spraying target, controlling the spraying robot to perform compensation spraying until the spraying robot moves to a breakpoint, dynamically controlling the flow of the hydraulic pump to dynamically change the thickness of the deposited film of the spray gun, and thus finishing the paint film thickness compensation spraying from the beginning of the blockage of the spray gun to the complete blockage of the distance; the change curve of the paint film thickness subjected to dynamic compensation along with time is shown in fig. 6, and the thickness of the complementary spraying can meet the expected requirement;
the flow q of the hydraulic pump is:
wherein ,h0 S is the sectional area of the spray gun nozzle for the desired film thickness of the spray target.
(6) When the position of the breakpoint is executed, the spraying robot continues to execute the spraying trajectory program along the breakpoint position, and the flow rate of the hydraulic pump continues to spray before the flow rate is maintained. The spraying quality from the position where the blockage starts to be caused to the position where the blockage starts is greatly improved through dynamic spraying, so that the requirement of expected film thickness is achieved, which is the accuracy which is almost impossible to achieve in the manual spraying operation, and the requirement can be achieved through the dynamic spraying treatment.
Example 3
The breakpoint reply control system of the dynamic supplementary spraying control system of the spraying robot in this embodiment further includes a position memory module, a counting module, a path finding module and a return control module on the basis of the above embodiment 1, wherein the position memory module is used for recording the position coordinates of the spraying robot in real time after the spraying robot spray gun is blocked and closed, the counting module is used for counting the times of recording the position coordinates by the position memory module, the path finding module is used for sequentially returning the spraying robot according to the position coordinates recorded by the position memory module, and at the moment, the counting module counts down, and the return control module is used for sending a return signal to the path finding module.
Example 4
As shown in fig. 1, a breakpoint recovery control method of a dynamic supplemental spray control system of a spray robot in this embodiment includes the following steps:
(1) Suspending the current spraying track program after the critical pressure is reached in the spray gun pipeline, closing a hydraulic pump of the spray gun, and recording the position coordinates of the breakpoint at the moment;
(2) The operator manually moves the spraying robot to a position for clearing blockage of the spray gun, records the position coordinates of the spraying robot in real time, and counts the times for recording the position coordinates;
(2) The spray gun is cleaned, and after the cleaning is completed, an operator triggers a return signal, and in the embodiment, button triggering is adopted;
(3) After receiving the return signal, the spraying robot sequentially returns according to the recorded position coordinates, sequentially decrements the count until the zero clearing stop reaches the breakpoint position, and then performs the dynamic compensation spraying in the above embodiment 2.
Claims (10)
1. The dynamic supplementary spraying control system of the spraying robot comprises a spraying robot and a spraying target, wherein the spraying robot comprises a spray gun for spraying, and a pressure sensor is arranged in a spray gun pipeline;
the data acquisition module is used for acquiring real-time pressure data of a spray gun pipeline when a spray gun of the spraying robot is subjected to a clogging process;
the calculation module is used for obtaining the real-time spraying sectional area of the spray gun nozzle according to the pressure data; calculating according to the real-time spraying sectional area to obtain the change relation of the paint film thickness on a spraying target along with time in the process of clogging of the spray gun; calculating the moving distance of the spraying robot in the process of blocking the spray gun;
the control module is used for controlling the spraying robot blocked by the spray gun to stop spraying and controlling the spraying robot after blocking removal to move to an initial position where blocking occurs on the spray gun; and controlling the spraying robot to carry out compensation spraying according to the thickness of the paint film on the spraying target.
2. The dynamic supplemental spray control system according to claim 1, wherein the calculation module normalizes a spray cross-sectional area of the spray gun nozzle in real time.
3. A dynamic replenishment control method of a dynamic replenishment control system for a spraying robot as claimed in claim 1 or 2, comprising the steps of:
(1) When a spray gun of the spraying robot is subjected to a clogging process, real-time pressure data of a spray gun pipeline are collected, spraying is suspended according to the pressure data, and meanwhile, the real-time spraying sectional area of a spray gun nozzle is obtained;
(2) Calculating according to the real-time spraying sectional area to obtain the change relation of the paint film thickness on a spraying target along with time in the process of clogging of the spray gun;
(3) Calculating the moving distance of the spraying robot in the process of blocking the spray gun;
(4) Controlling the spray robot after the blockage removal to move to an initial position where the spray gun is blocked;
(5) And controlling the spraying robot to carry out compensation spraying according to the thickness of the paint film on the spraying target.
4. The method for controlling dynamic supplemental spraying according to claim 3, wherein the real-time spray sectional area of the spray gun nozzle in the step (1) is normalized:
wherein ,the normalized spray sectional area; x is x i The real-time spraying cross section area of a spray gun nozzle is x min The spray gun nozzle has the smallest spray cross section; x is x max The spray gun nozzle is the largest spray sectional area.
5. The method according to claim 4, wherein the calculation formula of the paint film thickness on the spraying target in the step (2) is:
wherein ,qf Paint film thickness on spray target, q l For the thickness of the paint film sprayed on a plane, alpha is the spraying target surface and the corresponding planeIs included in the bearing.
6. The dynamic supplemental spray control method according to claim 5, wherein the thickness of the deposition film of the spray gun is controlled by controlling the flow rate of the hydraulic pump of the spray robot, the flow rate q of the hydraulic pump being:
wherein ,h0 S is the sectional area of the spray gun nozzle for the desired film thickness of the spray target.
7. The dynamic supplemental spray control method according to claim 3, wherein the calculation formula of the moving path L of the spraying robot in the step (3) is:
L＝Vt 0
wherein V is the moving speed of the spraying robot, t 0 The time for clogging the spray gun of the spraying robot.
8. The dynamic supplemental control method according to claim 7, wherein the initial position coordinate Y in the step (4) is:
Y＝Y 0 -L
wherein ,Y0 The position coordinates of the break points sprayed by the spraying robot.
9. The breakpoint reply control system of the dynamic spray repair control system of the spraying robot according to claim 1 or 2, further comprising a position memory module, a counting module, a path finding module and a return control module, wherein the position memory module is used for recording position coordinates of the spraying robot in real time after a spray gun of the spraying robot is blocked and closed, the counting module is used for counting the times of recording the position coordinates by the position memory module, the path finding module is used for sequentially returning the spraying robot according to the position coordinates recorded by the position memory module, the counting module counts down at the moment, and the return control module is used for sending a return signal to the path finding module.
10. A control method of the breakpoint reply control system according to claim 9, comprising the steps of:
(1) Closing the spray gun of the spraying robot after the spray gun is blocked, moving the spraying robot to a spray gun blocking clearing position, recording the position coordinates of the spraying robot in real time, and counting the times of recording the position coordinates;
(2) Clearing the blockage of the spray gun, and sending a return signal after the blockage clearing is finished;
(3) And the spraying robot sequentially returns according to the recorded position coordinates, sequentially decrements the count until the zero clearing stop reaches the breakpoint position, and then performs compensation spraying.
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| CN114798358A (en) * | 2022-04-28 | 2022-07-29 | 广东博智林机器人有限公司 | Mobile coating method for a spray area and associated device |
| CN115228647B (en) * | 2022-08-01 | 2023-12-05 | 广东博智林机器人有限公司 | Spraying robot, control method and device thereof and storage medium |
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