CN117206099A - Spraying control system, device and method based on switching of multiple actuators of robot - Google Patents
Spraying control system, device and method based on switching of multiple actuators of robot Download PDFInfo
- Publication number
- CN117206099A CN117206099A CN202311011798.5A CN202311011798A CN117206099A CN 117206099 A CN117206099 A CN 117206099A CN 202311011798 A CN202311011798 A CN 202311011798A CN 117206099 A CN117206099 A CN 117206099A
- Authority
- CN
- China
- Prior art keywords
- spraying
- quick
- change
- assembly
- robot
- 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 578
- 238000000034 method Methods 0.000 title claims abstract description 124
- 239000007921 spray Substances 0.000 claims abstract description 176
- 239000003973 paint Substances 0.000 claims abstract description 134
- 238000004140 cleaning Methods 0.000 claims abstract description 31
- 210000001503 joint Anatomy 0.000 claims description 81
- 230000008569 process Effects 0.000 claims description 80
- 239000013307 optical fiber Substances 0.000 claims description 28
- 230000008859 change Effects 0.000 claims description 23
- 238000000429 assembly Methods 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 16
- 239000002904 solvent Substances 0.000 claims description 13
- 238000013459 approach Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 6
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 238000010926 purge Methods 0.000 claims 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000003032 molecular docking Methods 0.000 description 36
- 230000001276 controlling effect Effects 0.000 description 22
- 238000010586 diagram Methods 0.000 description 8
- 230000036544 posture Effects 0.000 description 8
- 238000012795 verification Methods 0.000 description 6
- 239000000835 fiber Substances 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 239000007788 liquid Substances 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000010422 painting Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000009472 formulation Methods 0.000 description 2
- 230000015654 memory Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000007590 electrostatic spraying Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000004092 self-diagnosis Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a spraying control system, a device and a method based on switching of multiple actuators of a robot, wherein the system comprises a spraying robot, a paint supply device, a control device, a cleaning device, a spraying plate assembly and an actuator quick-change assembly; the control device drives the touch screen to display a program setting interface and generates a spraying program according to spraying control information sent to the program setting interface; determining a corresponding target atomizer/spray gun according to the selected spraying control information, and controlling the robot body to move to the position of a quick-change tool end assembly corresponding to the target atomizer/spray gun on the actuator quick-change table assembly, so that the quick-change robot end assembly is fixedly butted with the quick-change tool end assembly; and controlling the robot body to move in the spraying area according to the spraying program, and spraying paint on the spraying plate according to the corresponding spraying mode and the corresponding spraying parameters. The invention realizes the technical effects of flexible and convenient adjustment of various spraying modes and spraying parameters.
Description
Technical Field
The invention relates to the field of laboratory spraying devices, in particular to a spraying control system, a spraying control device and a spraying control method based on switching of multiple actuators of a robot.
Background
The spraying reciprocator is spraying equipment which atomizes paint by utilizing the high-speed rotation of a rotary cup of an atomizer and sprays a workpiece coated object by adopting electrostatic high-pressure control. The painting robot is a kind of painting equipment that performs painting work by using a robot.
The existing spraying robot equipment mainly aims at the determined formula product to carry out production line spraying operation, lacks the spraying equipment for experimental verification, cannot adjust spraying parameters, spraying modes and the like according to different requirements, and lacks the wide applicability and flexibility of spraying.
The existing laboratory spraying reciprocator mainly aims at laboratory flat spraying, cannot meet the spraying verification requirements of various workpiece placement modes and curved surfaces, and cannot meet the requirements of more actuators matched at the same time.
Disclosure of Invention
The invention provides a spraying control system, a spraying control device and a spraying control method based on switching of multiple actuators of a robot, so as to solve the problems.
In order to solve the technical problems, the invention adopts a technical scheme that: provided is a robot multi-actuator switching-based spray control system, including: the device comprises a spraying robot, a paint supply device, a control device, a cleaning device and a spraying plate assembly; further comprises: an actuator quick-change assembly; the spraying robot comprises a robot body, a spraying quick-change actuator and a robot base; the control device consists of a robot control cabinet and a system control cabinet; a first control unit is arranged in the robot control cabinet, and is respectively in communication connection with the robot body and the spraying quick-change actuator, and is used for controlling the robot body to drive the spraying quick-change actuator to move in a spraying area and drive the spraying actuator to spray paint on a spraying plate of the spraying plate assembly; the first control unit includes: the spraying system comprises a robot control module, a spraying quick-change control module and a spraying control module; the system control cabinet is internally provided with a second control unit and a touch screen, a keyboard and a control switch which are respectively connected with the second control unit; the second control unit is respectively in communication connection with the robot control cabinet, the paint supply device, the cleaning device and the actuator quick-change assembly; the second control unit includes: a spraying program setting module, a spraying mode switching module and a paint spraying module; the spraying program setting module is used for driving the touch screen to display a program setting interface and generating a spraying program according to the spraying control information sent by the touch screen, the keyboard or the control switch and received by the program setting interface; the spraying program comprises a plurality of groups of spraying control information, wherein each group of spraying control information comprises a spraying formula, spraying parameters, a spraying mode and a spraying posture; the spraying mode switching module is used for selecting a group of spraying control information in the spraying program according to the input of the touch screen, the keyboard or the control switch; the spraying quick-change control module is used for determining a corresponding target atomizer/spray gun according to the spraying control information, controlling the robot body to move to the position of a quick-change tool end assembly corresponding to the target atomizer/spray gun on the actuator quick-change table assembly in a spraying area, and controlling the quick-change robot end assembly to fixedly butt-joint the quick-change tool end assembly corresponding to the target atomizer/spray gun; the paint spraying module is used for controlling the robot body to move in a reachable movement area according to the spraying formula, the spraying mode, the spraying parameter value and the spraying gesture, controlling the paint supply device to select a corresponding paint tank, and supplying paint to the spraying executor through a pipeline so as to spray paint on the spraying plate according to the corresponding spraying mode and the spraying parameter.
Wherein, the spraying quick change executor includes: a quick change robot end assembly and a quick change tool end assembly; the quick-change robot end assembly includes: the system comprises a first air path butt joint assembly, a quick-change male disc assembly, a first paint pipeline butt joint assembly, a first optical fiber butt joint assembly and a first high-pressure butt joint assembly; the quick-change tool end assembly comprises: the spraying actuator, the second gas circuit butt joint assembly, the quick-change female seat assembly, the second paint pipeline butt joint assembly, the second optical fiber butt joint assembly and the second high-pressure butt joint assembly; the robot body is a six-axis robot, one end of the robot body is fixed on the robot base through bolts, and the other end of the robot body is detachably connected with the quick-change robot end assembly.
Wherein, the spraying quick change control module is used for: analyzing the spray control information to determine a corresponding target atomizer/spray gun; driving the robot body to move in an accessible movement area, so as to drive the spraying quick-change actuator to move to the position of the quick-change tool end assembly corresponding to the target atomizer/spray gun on the actuator quick-change platform assembly; the manipulator quick-change platform assembly carries a plurality of quick-change tool end assemblies, and point position coordinates of the robot body corresponding to each quick-change tool end assembly are preset and stored; and controlling the robot body to rotate on six shafts so as to adjust the quick-change male disc assembly of the quick-change robot end assembly, so that the quick-change male disc assembly is inserted into the quick-change female seat assembly of the quick-change tool end assembly corresponding to the target atomizer/spray gun to be fixed, and the butt joint of the first high-pressure butt joint assembly and the second high-pressure butt joint assembly, the butt joint of the first air path butt joint assembly and the second air path butt joint assembly, the butt joint of the first paint pipeline butt joint assembly and the second paint pipeline butt joint assembly and the butt joint of the first optical fiber butt joint assembly and the second optical fiber butt joint assembly are completed.
The second control unit further comprises an equipment cleaning module, and the equipment cleaning module is used for controlling the cleaning device to pump the cleaning solvent to the pipeline after the paint supply device finishes spraying.
The second control unit further comprises a dynamic adjusting module, wherein the dynamic adjusting module is used for dynamically adjusting the process parameters in real time according to the spraying parameters fed back by the sensors arranged in the robot body and the system control cabinet in the spraying process and the spraying parameters preset by the spraying program setting module according to the process requirements.
Wherein, the spraying procedure setting module is further used for: dividing a plurality of rotating speed grades in advance, and carrying out actual no-load calibration on each rotating speed grade; fitting a smooth curve of the rotating speed and the opening of the proportional valve according to the calibration value of the no-load calibration; setting required rotation speed parameters in advance according to process requirements; the dynamic adjustment module is further configured to: obtaining a corresponding proportional valve opening according to the established rotating speed and proportional valve opening curve, and controlling the proportional valve according to the proportional valve opening to enable the system to reach a set rotating speed corresponding to the proportional valve opening as soon as possible; comparing the actual rotating speed fed back by the optical fiber amplifier with a preset value, and performing fine closed-loop control on the opening of the proportional valve again; and the actual rotating speed gradually approaches to a preset value by adjusting the opening of the proportional valve, so that closed-loop control is realized.
The system control cabinet further comprises a proportional valve and a flow sensor which is correspondingly arranged; the spraying program setting module is also used for driving the touch screen to display a program setting interface and generating a spraying program according to spraying control information sent by the touch screen, a keyboard or a control switch and received by the program setting interface; the spraying control information is set to spraying parameters, such as rotating speed parameters, namely the expected coating spraying flow according to the process requirements; the dynamic adjusting module is also used for automatically adjusting the opening of the proportional valve according to the rotating speed set by the spraying program setting module according to the process requirement and the air path flow fed back by the sensor so as to realize the expected flow.
The robot body and the system control cabinet also comprise a plurality of spraying sensors, wherein the spraying sensors are used for monitoring spraying parameters such as spraying pressure, spraying flow and the like in the spraying process and feeding measured data back to the control device in real time; the spraying program setting module is used for driving the touch screen to display a program setting interface and generating a spraying program according to spraying control information sent by the touch screen, a keyboard or a control switch and received by the program setting interface; wherein, the spraying control information is the setting of the spraying parameters, such as the spraying speed, the spraying pressure, the spraying distance, etc., according to the technological requirements; the dynamic adjusting module is also used for automatically adjusting the spraying control parameters according to the spraying parameters fed back by the spraying sensor and the spraying parameters set by the spraying program setting module according to the process requirements 。
The spraying program setting module is used for driving the touch screen to display a program setting interface and generating a spraying program according to spraying control information sent by a touch screen, a keyboard or a control switch and received by the program setting interface; the spraying control information is to set parameters of a spraying flow interval, such as minimum flow and maximum flow, according to process requirements; the dynamic adjusting module is also used for automatically adjusting the rotating speed of the gear pump according to the spraying parameters set by the spraying program setting module according to the process requirements and the flow feedback of the gear pump of the paint supply device, so as to achieve the set flow interval.
Wherein, the spray plate assembly includes: the device comprises a spray plate, an angle adjusting device, a position fool-proof device and a spray plate bracket; the position fool-proof device is arranged on the angle adjusting device and used for preventing the spray plate from accidentally moving or deviating from a preset position in the using process; the spray plate is arranged on the spray plate bracket through an angle adjusting device; the angle adjusting device allows adjustment of the rotation angle of the spray plate, thereby changing the posture of the spray plate.
The invention adopts another technical scheme that: the spraying control device based on the switching of the multiple actuators of the robot is provided, and the control device consists of a robot control cabinet and a system control cabinet; the interior of the robot control cabinet is provided with a first control unit which is respectively in communication connection with the robot body of the spraying robot and the spraying quick-change actuator and is used for controlling the robot body to drive the spraying quick-change actuator to move in a spraying area and drive the spraying actuator to spray paint on a spraying plate; the first control unit includes: the spraying system comprises a robot control module, a spraying quick-change control module and a spraying control module; the system control cabinet is internally provided with a second control unit and a touch screen, a keyboard and a control switch which are respectively connected with the second control unit; the second control unit is respectively in communication connection with the robot control cabinet and the actuator quick-change platform assembly; the second control unit includes: a spraying program setting module, a spraying mode switching module and a paint spraying module; the spraying program setting module is used for driving the touch screen to display a program setting interface and generating a spraying program according to the spraying control information sent by the touch screen, the keyboard and the control switch and received by the program setting interface; the spraying program comprises a plurality of groups of spraying control information, wherein each group of spraying control information comprises a spraying formula, spraying parameters, a spraying mode and a spraying posture; the spraying mode switching module is used for selecting a group of spraying control information in the spraying program according to the input of the touch screen, the keyboard or the control switch; the spraying quick-change control module is used for determining a corresponding target atomizer/spray gun according to the spraying control information, controlling the robot body to move to the position of a quick-change tool end assembly corresponding to the target atomizer/spray gun on the actuator quick-change table assembly in a spraying area, and controlling the quick-change robot end assembly to fixedly butt-joint the quick-change tool end assembly corresponding to the target atomizer/spray gun; the paint spraying module is used for controlling the robot body to move in a reachable movement area according to the spraying formula, the spraying mode, the spraying parameter value and the spraying gesture, controlling the paint supply device to select a corresponding paint tank, and supplying paint to the spraying executor through a pipeline so as to spray paint on the spraying plate according to the corresponding spraying mode and the spraying parameter.
The invention adopts another technical scheme that: there is provided a spray control method based on robot multi-actuator switching, applied to a spray control system as described above, the method comprising: the control device drives the touch screen to display a program setting interface, and generates a spraying program according to spraying control information sent by the touch screen, a keyboard or a control switch and received by the program setting interface; the spraying program comprises a plurality of groups of spraying control information, wherein each group of spraying control information comprises a spraying formula, spraying parameters, a spraying mode and a spraying posture; the control device selects a group of spraying control information in the spraying program according to the input of the touch screen, the keyboard or the control switch; the control device determines a corresponding target atomizer/spray gun according to the spraying control information, controls the robot body to move to the position of a quick-change tool end assembly corresponding to the target atomizer/spray gun on an actuator quick-change table assembly in a spraying area, and controls the quick-change robot end assembly to fixedly butt-joint the quick-change tool end assembly corresponding to the target atomizer/spray gun; the control device controls the robot body to move in an accessible movement area according to the spraying formula, the spraying mode, the spraying parameter value and the spraying gesture, controls the paint supply device to select a corresponding paint can, and supplies paint to the spraying executor through a pipeline; the control device controls the robot body to drive the spraying quick-change actuator to move in a spraying area according to the corresponding spraying mode and spraying parameters, and drives the spraying actuator to spray paint on a spraying plate of the spraying plate assembly.
The method for controlling the spraying control device to automatically spray the spraying control information comprises the steps of determining a corresponding target atomizer/spray gun according to the spraying control information, controlling a robot body to move to a position of a quick-change tool end assembly corresponding to the target atomizer/spray gun on an actuator quick-change table assembly in a spraying area, and controlling the quick-change robot end assembly to fixedly butt-joint the quick-change tool end assembly corresponding to the target atomizer/spray gun, wherein the method comprises the following specific steps: the control device analyzes the spraying control information to determine a corresponding target atomizer/spray gun; the control device drives the robot body to rotate and move through six axes in an accessible movement area, so that the quick-change robot end assembly is driven to move to a first station where the quick-change tool end assembly corresponding to the target atomizer/spray gun on the actuator quick-change platform assembly is located; the quick-change tool end assembly comprises an actuator quick-change table assembly, a plurality of quick-change tool end assemblies, a plurality of atomizer/spray guns and a plurality of robot body point location coordinates corresponding to the quick-change tool end assemblies, wherein the point location coordinates of the robot body corresponding to the quick-change tool end assemblies are preset and stored; the control device controls the robot body to rotate on six shafts so as to adjust the quick-change male disc assembly of the quick-change robot end assembly to be inserted into the quick-change female seat assembly of the quick-change tool end assembly corresponding to the target atomizer/spray gun to complete fixation, and complete the butt joint of the first high-pressure butt joint assembly and the second high-pressure butt joint assembly, the butt joint of the first air path butt joint assembly and the second air path butt joint assembly, the butt joint of the first paint pipeline butt joint assembly and the second paint pipeline butt joint assembly and the butt joint of the first optical fiber butt joint assembly and the second optical fiber butt joint assembly; wherein, the spraying quick change executor includes: a quick change robot end assembly and a quick change tool end assembly; the quick-change robot end assembly includes: the system comprises a first air path butt joint assembly, a quick-change male disc assembly, a first paint pipeline butt joint assembly, a first optical fiber butt joint assembly and a first high-pressure butt joint assembly; the quick-change tool end assembly includes: the spraying actuator, the second gas circuit butt joint assembly, the quick-change female seat assembly, the second paint pipeline butt joint assembly, the second optical fiber butt joint assembly and the second high-pressure butt joint assembly; the robot body is a six-axis robot, one end of the robot body is fixed on the robot base through bolts, and the other end of the robot body is detachably connected with the quick-change robot end assembly.
The method comprises the steps that after the control device controls the robot body to drive the spraying quick-change actuator to move in a spraying area according to a corresponding spraying mode and spraying parameters and drive the spraying actuator to spray paint on a spraying plate of the spraying plate assembly, the method further comprises the following steps: and the control device controls the cleaning device to pump the cleaning solvent to the pipeline after the paint supply device finishes spraying.
The method comprises the steps that after the control device controls the robot body to drive the spraying quick-change actuator to move in a spraying area according to a corresponding spraying mode and spraying parameters and drive the spraying actuator to spray paint on a spraying plate of the spraying plate assembly, the method further comprises the following steps: the control device dynamically adjusts the technological parameters in real time according to the spraying parameters in the spraying process fed back by the sensors arranged in the robot body and the system control cabinet and the preset spraying parameters according to the technological requirements.
The control device dynamically adjusts the technological parameters in real time according to the spraying parameters in the spraying process fed back by the sensors arranged in the robot body and the system control cabinet and preset spraying parameters according to the technological requirements, and specifically comprises the following steps: the control device divides a plurality of rotating speed grades in advance to carry out actual no-load calibration on each rotating speed grade, and a smooth curve of the rotating speed and the opening of the proportional valve is fitted according to the calibration value of the no-load calibration; the control device sets required rotation speed parameters in advance according to process requirements; the control device obtains the corresponding proportional valve opening according to the established smooth curve of the rotating speed and the proportional valve opening, and controls the proportional valve according to the proportional valve opening to enable the system to reach the set rotating speed corresponding to the proportional valve opening as soon as possible; the control device compares the actual rotating speed fed back by the optical fiber amplifier with a preset value, and performs fine closed-loop control on the opening of the proportional valve again; and the control device realizes closed-loop control by adjusting the opening of the proportional valve to gradually approach the actual rotating speed to a preset value.
The control device dynamically adjusts the technological parameters in real time according to the spraying parameters in the spraying process fed back by the sensors arranged in the robot body and the system control cabinet and preset spraying parameters according to the technological requirements, and specifically comprises the following steps: the control device drives the touch screen to display a program setting interface and generates a spraying program according to spraying control information sent by a touch screen, a keyboard or a control switch and received by the program setting interface; the system control cabinet further comprises a proportional valve and a flow sensor which is correspondingly arranged; the spraying control information is set for spraying parameters according to the process requirements; and the control device automatically adjusts the opening degree of the proportional valve according to the rotating speed set by the process requirement and the air path flow fed back by the flow sensor so as to realize the expected flow.
The control device dynamically adjusts the technological parameters in real time according to the spraying parameters in the spraying process fed back by the sensors arranged in the robot body and the system control cabinet and preset spraying parameters according to the technological requirements, and specifically comprises the following steps: the control device drives the touch screen to display a program setting interface and generates a spraying program according to spraying control information sent by a touch screen, a keyboard or a control switch and received by the program setting interface; wherein, the spraying control information is the setting of the spraying parameters according to the technological requirements; the control device automatically adjusts spraying control parameters according to the spraying parameters fed back by the spraying sensor and the spraying parameters set according to the process requirements; the robot body and the system control cabinet further comprise a plurality of spraying sensors, wherein the spraying sensors are used for monitoring spraying parameters in a spraying process and feeding measured data back to the control device in real time.
The control device dynamically adjusts the technological parameters in real time according to the spraying parameters in the spraying process fed back by the sensors arranged in the robot body and the system control cabinet and preset spraying parameters according to the technological requirements, and specifically comprises the following steps: the control device drives the touch screen to display a program setting interface and generates a spraying program according to spraying control information sent by a touch screen, a keyboard or a control switch and received by the program setting interface; the spraying control information is used for setting parameters of a spraying flow interval according to process requirements; the control device automatically adjusts the rotating speed of the gear pump according to the spraying parameters set by the process requirements and the flow feedback of the gear pump of the paint supply device, so that the set flow interval is reached.
The beneficial effects of the embodiment of the invention are as follows: compared with the prior art, the technical scheme disclosed by the embodiment of the invention has the advantages that the spraying parameters and the spraying movement mode are set through the control device, the spraying quick-change actuator is controlled to select the matched spraying actuator according to the spraying parameters and the spraying movement mode, and the robot body is driven to move to generate displacement, so that the paint sprayed on the spraying backboard generates corresponding tracks, various spraying modes are realized, the technical effects of flexible and convenient adjustment of the spraying parameters can be achieved, and the ever-increasing verification requirements of a laboratory can be met.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a spraying control system based on switching of multiple actuators of a robot in an embodiment of the invention;
FIG. 2 is a schematic view of the spray plate assembly of FIG. 1;
FIG. 3 is a schematic view of the actuator quick-change assembly of FIG. 1;
FIG. 4 is a schematic view of the spray quick-change actuator of FIG. 1;
FIG. 5 is a functional block diagram of the control device shown in FIG. 1;
FIG. 6 is a functional block diagram of the first control unit shown in FIG. 5;
FIG. 7 is a schematic diagram of a functional module of the second control unit shown in FIG. 5;
fig. 8 is a schematic flow chart of a spraying control method based on switching of multiple actuators of a robot in the first embodiment of the invention;
FIG. 9 is a flowchart illustrating a specific implementation method of step S63 shown in FIG. 8;
Fig. 10 is a schematic flow chart of a spraying control method based on switching of multiple actuators of a robot in a second embodiment of the application;
fig. 11 is a schematic flow chart of a spraying control method based on switching of multiple actuators of a robot in a third embodiment of the application;
fig. 12 is a flowchart of a specific implementation method of the first embodiment of step S86 shown in fig. 11;
fig. 13 is a flowchart illustrating a specific implementation method of the second embodiment of step S86 shown in fig. 11;
fig. 14 is a flowchart illustrating a specific implementation method of the third embodiment of step S86 shown in fig. 11;
fig. 15 is a flowchart illustrating a specific implementation method of the fourth embodiment of step S86 shown in fig. 11.
Detailed Description
In order that the above objects, features and advantages of the present application may be more clearly understood, a technical solution of an embodiment of the present application will be clearly and completely described below with reference to the accompanying drawings of the embodiment of the present application. The embodiments of the present application and the features in the embodiments may be combined with each other without collision.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, and the described embodiments are merely some, rather than all, embodiments of the present application. All other embodiments, based on the embodiments of the application, which a person of ordinary skill in the art would achieve without inventive faculty, are within the scope of the application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
It is noted that when one component is considered to be "connected" to another component, it may be directly connected to the other component or intervening components may also be present.
Fig. 1 is a schematic structural diagram of a spray control system based on switching of multiple actuators of a robot according to an embodiment of the invention.
The spraying control system 1 adopts a robot with an atomizer or a spray gun structure to realize electrostatic spraying experiments of paint. Specifically, the spray control system 1 includes: the spray coating robot 10, the actuator quick-change station assembly 20, the paint supply device 30, the control device 40, the cleaning device 50 and the spray plate assembly 60. The spraying robot 10 comprises a robot body 11, a spraying quick-change actuator 12 and a robot base 13. The control device 40 is composed of a robot control cabinet 41 and a system control cabinet 42. The control device 40 is used for controlling the spraying robot 10 to drive the atomizer or the spray gun to move in the spraying area so as to drive the atomizer or the spray gun to spray paint on the spray board of the spray board assembly 60. The control device 40 is also used for controlling the paint supply device 30 to pump paint to the spraying actuator of the spraying robot 10 during spraying, and controlling the cleaning device 50 to pump cleaning solvent to the pipeline after spraying is completed.
Referring to fig. 2, a schematic structure of a spray plate assembly 60 according to an embodiment of the invention is shown. The spray plate assembly 60 includes: a spray plate 61, an angle adjusting device 62, a position fool-proof device 63 and a spray plate bracket 64. The position fool-proof device 63 is provided on the angle adjusting device 62 to ensure the position stability of the shower plate 61. The position assurance device 63 may employ various mechanical or electronic means, such as springs, locking means, etc., to prevent the spray plate 61 from accidentally moving or deviating from a predetermined position during use. The spray plate 61 is mounted on a spray plate holder 64 by means of an angle adjusting device 62. The angle adjusting device 62 allows the rotation angle of the spray plate 61 to be adjusted, so that the posture of the spray plate 61 is changed, and through the adjustment of the rotation angle, the spray plate 61 can realize different spraying postures of flat spraying, vertical spraying, 45-degree spraying and the like, so that the spray plate assembly 60 can adapt to different spraying requirements, and can be applied to spraying operation with a profiling curved surface.
In this embodiment, the specification of the back plate of the spraying plate 61 is 800×800mm, so that spraying in three placement modes of flat spraying, vertical spraying and inclined angle can be realized, and 50 base tracks are preset.
Fig. 3 is a schematic structural diagram of a spray quick-change actuator according to an embodiment of the invention. The spray quick-change actuator 12 includes a quick-change robot end assembly 121 and a quick-change tool end assembly 122. The quick-change tool end assembly 122 is designed to carry atomizers or spray guns of different gauges. The spray quick-change actuator 12 can realize the requirements of the spray robot 10 for quickly switching various atomizers or spray guns, and various butting parts adopt a modularized design, so that the spray robot can be quickly replaced and maintained. Specifically, the quick-change robot end assembly 121 includes: a first gas circuit docking assembly 1211, a quick change male disc assembly 1212, a first paint line docking assembly 1213, a first fiber optic docking assembly 1214, a first high pressure docking assembly 1215; the quick-change tool end assembly 122 includes: a spray actuator 1221, a second gas circuit docking assembly 1222, a quick change female mount assembly 1223, a second paint line docking assembly 1224, a second fiber optic docking assembly 1225, and a second high pressure docking assembly 1226. Further, the quick-change robot end assembly 121 is also connected and mounted with the robot body 11, and is electrically connected.
Further, as shown in fig. 1, the spraying robot 10 is a six-axis robot, one end of the robot body 11 is fixed on the robot base 13 by bolts, and the other end is detachably connected with the spraying quick-change actuator 12; the spray quick-change actuator 12 includes a quick-change tool end assembly 122 (see specifically fig. 3 and corresponding text) of a variety of different atomizers/spray guns. The control device 40 controls the robot body 11 to move in an accessible movement area through six-axis rotation according to a preset track, so as to drive the spraying quick-change actuator 12 to move in a spraying area, and drive the spraying actuator 1221 to spray paint on the spraying plate 61.
Fig. 4 is a schematic structural diagram of an actuator quick-change module according to an embodiment of the invention. The actuator quick-change station assembly 20 includes: a positioning table 21 for carrying a plurality of quick change tool end assemblies 122, and an automatic shield assembly 22 for shielding the quick change tool end assemblies 122. The positioning table 21 carries and positions a plurality of quick-change tool end assemblies 122, providing a stable platform that enables the quick-change tool end assemblies 122 to be precisely mounted and positioned in a designated location. The automatic shield assembly 22 includes: a guard plate 221 and a cylinder 222; the shield 221 is a removable protective cover for covering and protecting the quick-change tool end assembly 122. The cylinder 222 is configured to control the opening and closing states of the shielding plate 221 in response to the driving of the control device 40: when the quick-change tool end assembly 122 needs to be operated or replaced, the control device 40 controls the air cylinder 222 to open the protection plate 221, so that the spraying robot or an operator can conveniently access the quick-change tool end assembly 122; when operation is not required, the control device 40 controls the cylinder 222 to close the protection plate 221, thereby providing protection functions of dust prevention, smashing prevention, etc. of the quick-change tool end assembly 122.
In use, an operator places the quick-change tool end assembly 122 with atomizers or spray guns of different specifications onto the positioning table 21 of the actuator quick-change table assembly 20 in advance, and then adjusts the quick-change robot end assembly 121 through six-axis rotation of the robot body 11, so that the quick-change male disc assembly 1212 on the quick-change robot end assembly 121 is inserted into the quick-change female seat assembly 1223 on the target quick-change tool end assembly 122 to complete fixation, and simultaneously, the first high-pressure docking assembly 1215 and the second high-pressure docking assembly 1226, the first air path docking assembly 1211 and the second air path docking assembly 1222, the first paint path docking assembly 1213 and the second paint path docking assembly 1224, and the first optical fiber docking assembly 1214 and the second optical fiber docking assembly 1225 are completed.
The paint supply device 30 includes: a tank, a gear pump and a cabinet of a paint supply device; wherein different paint cans are used to store different paints, and the gear pump is used to pump paint from the paint cans to the spray actuator 1221 during the spraying process.
In this embodiment, each device adopts a structure of feeding paint by a plurality of groups of independent servo motors and gear pumps, each group of paint feeding devices 30 can completely and independently supply the execution end of each spraying actuator 1221, and water and oil can be switched; the paint supply meets the spraying requirements of various paint processes of the paint (special process with a Tric-coat pearlescence layer); the gear pump adopts inlet equipment, and the flow control precision error is less than or equal to 2 percent.
Further, the control device 40 comprises a positive pressure explosion-proof system, and the positive pressure explosion-proof system comprises a positive pressure explosion-proof control unit, a pressure sensor and an explosion-proof pressure relief valve. The paint supply device 30 is installed on the robot body 11, shortens the paint pipeline, and saves verification paint. The charged components are isolated by the positive pressure explosion-proof system, so that paint is prevented from entering the system to generate explosion. When the pressure in the explosion-proof cabinet body is larger than the pressure of the explosion-proof relief valve, the explosion-proof relief valve is opened; and the positive pressure explosion-proof control unit is used for supplementing compressed air when the pressure sensor detects that the pressure in the explosion-proof cabinet body is smaller than the set pressure, and maintaining the pressure stable.
The cleaning device 50 has a stainless steel solvent tank with a liquid level display for storing the cleaning solvent and a gear pump for pumping the cleaning solvent in the solvent tank to the pipeline after the spraying is completed. The cleaning and color changing are quick and convenient, two paths of independent cleaning systems are built in, two different cleaning solvents are provided for different paint types, and a one-key quick waste liquid discharging function is set.
Fig. 5 is a schematic functional block diagram of a control device according to an embodiment of the invention. The robot control cabinet 41 is internally provided with a first control unit 410 (not shown). The first control unit 410 establishes communication connection with the robot body 11 and the spraying quick-change actuator 12 respectively. The first control unit 410 is configured to control the robot body 11 to drive the quick-change spraying actuator 12 to move on the spraying area, and drive the spraying actuator 1221 to spray paint on the spraying board 61.
The system control cabinet 42 is internally provided with a second control unit 420 (not shown), and a touch screen 421, a keyboard 422 and a control switch 423 respectively connected to the second control unit 420. The second control unit 420 establishes communication connection with the robotic control cabinet 41, the paint supply device 30, the cleaning device 50, and the actuator quick-change assembly 20, respectively. The second control unit 420 is configured to control the paint supply device 30 to pump paint to the quick-change spray actuator 12 during spraying, so that the spray actuator 1221 sprays paint on the spray plate 61, and control the cleaning device 50 to pump cleaning solvent to the pipeline after spraying is completed. In this embodiment, the system control cabinet 42 is provided with a totally enclosed protection room, and a sliding door is provided on the front surface, so that the operation is convenient and safe, and the light display is performed in a working state.
Referring to fig. 6 and 7, the first control unit 410 includes: the robot control module 4101, the spray quick change control module 4102, and the spray control module 4103.
The second control unit 420 includes: a spray program setting module 4201, a spray mode switching module 4202, a paint spraying module 4203, and a device cleaning module 4204.
The spraying program setting module 4201 is configured to drive the touch screen 421 to display a program setting interface, and generate a spraying program according to spraying control information sent by the touch screen 421, the keyboard 422, or the control switch 423 and received by the program setting interface; the spraying program comprises a plurality of groups of spraying control information, and each group of spraying control information comprises a spraying formula, spraying parameters, a spraying mode and a spraying posture. The spraying formula comprises a paint can number and a corresponding volume; the spraying mode comprises horizontal spraying, vertical spraying and triangular movement spraying; the spraying parameters comprise atomizer/spray gun selection, jump grid degree, working range, X-axis speed, Y-axis speed, spraying distance, rotating cup rotating speed, forming air, electrostatic high pressure, paint flow and continuous spraying selection; the spraying gesture comprises flat spraying, vertical spraying, angular spraying and profiling spraying.
The spraying mode switching module 4202 is configured to select a set of spraying control information in the spraying program according to the input of the touch screen 421 or the keyboard 422 or the control switch 423, and send the selected set of spraying control information to the first control unit 410.
The spray quick-change control module 4102 of the first control unit 410 is configured to determine a corresponding target atomizer/spray gun according to the spray control information, and control the robot body 11 to move to the position of the target quick-change tool end assembly 122 on the actuator quick-change table assembly 20 in a reachable movement area, and control the quick-change robot end assembly 121 to fixedly butt against the target quick-change tool end assembly 122.
Specifically, the spray quick-change control module 4102 is configured to:
analyzing the spray control information to determine a corresponding target atomizer/spray gun;
driving the robot body 11 to rotate through six axes thereof in an accessible movement area, so as to drive the quick-change robot end assembly 121 to move to a first station where a quick-change tool end assembly 122 corresponding to the target atomizer/spray gun on the actuator quick-change station assembly 20 is located; wherein the actuator quick-change table assembly 20 carries a plurality of quick-change tool end assemblies 122, and the point coordinates of the robot body 11 corresponding to the quick-change tool end assemblies 122 corresponding to each atomizer/spray gun are preset and stored; and
The six-axis rotation of the robot body 11 is controlled to adjust the quick-change male disc assembly 1212 of the quick-change robot end assembly 121 to be inserted into the quick-change female seat assembly 1223 corresponding to the target atomizer/spray gun to complete fixation, and the butt joint of the high-voltage assembly, the air path assembly, the paint pipeline assembly and the optical fiber assembly is completed.
After the first control unit 410 completes the selection and installation of the target atomizer/spray gun, the paint spraying module 4203 of the second control unit 420 is configured to control the robot body 11 to move in the spraying area according to the spraying formulation, the spraying manner and the spraying parameter value, and control the paint supply device 30 to select a corresponding paint can, and supply paint to the spraying actuator 1221 through a pipeline, so as to spray paint on the spraying board 61 according to the corresponding spraying manner and the spraying parameter.
The equipment cleaning module 4204 is configured to control the cleaning device 50 to pump cleaning solvent to the pipeline after the paint supply device 30 finishes spraying.
The touch screen 421 is further configured to display spraying information of the current spraying action in response to the display driving command sent by the second control unit 420. The spraying information comprises the current spraying position, the actual spraying speed, the setting error, the operation error, the alarm information and the self-diagnosis information.
Further, the spraying program setting module 4201 may also set a spraying program and its operation authority.
Further, the spraying program setting module 4201 further has an editing function: for example, program segment retrieval, program number retrieval, program protection and backup; and setting a backup period during backup, and backing up the spraying program according to the backup period. The backup period refers to that all spraying programs are automatically backed up to a USB flash disk or other memories every week or every month (according to the setting), and the purpose is data backup, so that accidental deletion or loss is prevented.
The second control unit 420 further includes a dynamic adjustment module 4205, configured to dynamically adjust the process parameters in real time according to the spray parameters fed back by the sensors disposed on the robot body 11 and the system control cabinet 42 and the spray parameters preset by the spray program setting module 4201 according to the process requirements. The specific working principle is as follows.
(1) And (3) rotating cup rotating speed control:
in the same spraying program, according to the process setting rotating speed parameter, automatic adjustment can be realized through controlling the opening of the proportional valve, and the opening of the proportional valve is adjusted again through comparing the difference value between the actual rotating speed fed back by the optical fiber amplifier and the actual preset value, so that closed-loop control is finally realized.
a. The control mode for realizing the quick response of the rotating speed of the rotary cup is as follows:
(1) the spraying program setting module 4201 divides a plurality of rotation speed classes in advance, and performs actual no-load calibration on each rotation speed class. Through no-load calibration, the corresponding relation between the opening of the proportional valve and the actual rotation speed under different rotation speed grades can be obtained.
(2) The spraying program setting module 4201 fits a smooth curve of the rotation speed and the opening of the proportional valve according to the calibration value of the no-load calibration, and establishes an accurate mathematical model to achieve a corresponding relationship between the rotation speed and the opening of the proportional valve as precisely as possible.
(3) The spraying program setting module 4201 sets a required rotation speed parameter according to a process requirement in advance; the dynamic adjustment module 4205 obtains a corresponding proportional valve opening according to the established rotation speed and proportional valve opening curve, and controls the proportional valve according to the proportional valve opening, so that the system reaches the set rotation speed corresponding to the proportional valve opening as soon as possible.
(4) The dynamic adjustment module 4205 compares the actual rotation speed fed back by the optical fiber amplifier with a preset value, and performs fine closed-loop control on the opening of the proportional valve again; the actual rotating speed gradually approaches to a preset value by adjusting the opening of the proportional valve, so that closed-loop control is realized.
b. The functional mode for realizing the accurate control of the rotating speed of the rotary cup comprises the following steps:
(1) recording the set rotating speed and the opening of a proportional valve of the paint in pilot injection;
(2) comparing the recorded rotation speed value with a fitting curve, and judging whether the rotation speed value accords with a pre-fitting rotation speed and proportional valve opening curve or not;
(3) if the opening degree of the proportional valve accords with the curve, controlling the opening degree of the proportional valve corresponding to the curve;
(4) if the curve is not met, calculating a difference value between the curve value and the curve value, and re-fitting a new curve by using the difference value.
(5) And (3) rapidly controlling the proportional valve according to the new curve value, so that the rotating speed can be accurately controlled within a preset value range.
(2) And (3) molding air control:
during the spraying process, the flow rate of the liquid spraying medium in the air path is controlled through the proportional valve. The system control cabinet 42 further includes a proportional valve capable of regulating the flow of fluid in response to a control signal input from the spray control module 4103, and a correspondingly configured flow sensor.
The spraying program setting module 4201 is configured to drive the touch screen 421 to display a program setting interface, and generate a spraying program according to spraying control information sent by the touch screen 421, the keyboard 422, or the control switch 423 and received by the program setting interface; the spraying control information is set to spraying parameters according to technological requirements, such as rotating speed parameters, namely expected coating spraying flow.
The dynamic adjustment module 4205 is configured to automatically adjust the opening of the proportional valve according to the rotation speed set by the spraying program setting module 4201 according to the process requirement and the air path flow fed back by the flow sensor, so as to achieve the desired flow. Specifically, the spray control module 4101 automatically adjusts the opening of the proportional valve to approach or achieve the desired flow setting by comparing the difference between the flow sensor output value and the preset value.
In the process of automatic adjustment, the control device 40 adopts a closed-loop control method to continuously interact with the flow sensor to obtain real-time feedback information, and adjusts the opening of the proportional valve according to the feedback information so as to realize accurate control of flow.
(3) Static high voltage control:
the robot body 11 and the system control cabinet 42 further include a plurality of spraying sensors (not shown) for monitoring spraying parameters such as spraying pressure, spraying flow rate, etc. during spraying and feeding back measured data to the control device 40 in real time.
The spraying program setting module 4201 is configured to drive the touch screen 421 to display a program setting interface, and generate a spraying program according to spraying control information sent by the touch screen 421, the keyboard 422, or the control switch 423 and received by the program setting interface; the spraying control information is set to spraying parameters according to technological requirements, such as spraying speed, spraying pressure, spraying distance and the like.
The dynamic adjustment module 4205 is further configured to automatically adjust the spraying control parameters according to the spraying parameters fed back by the spraying sensor and the spraying parameters set by the spraying program setting module 4201 according to the process requirements, for example, by comparing the difference between the actual measured value and the target value, and automatically adjusting the corresponding parameters to approach or reach the target value.
In the process of automatic adjustment, the control device 40 adopts a closed-loop control method to continuously interact with the sensor to acquire real-time feedback information, and adjusts according to the feedback information to realize accurate control and adjustment of parameters.
(4) Paint flow control:
the gear pump of the paint supply device 30 is a common flow control device, and paint is sucked and pushed out through the gear pump during spraying, so that a certain flow is formed, and thus, metering of liquid can be realized through rotation of gears.
The spraying program setting module 4201 is configured to drive the touch screen 421 to display a program setting interface, and generate a spraying program according to spraying control information sent by the touch screen 421, the keyboard 422, or the control switch 423 and received by the program setting interface; the spraying control information is to set parameters of a spraying flow interval, such as a minimum flow and a maximum flow, according to the process requirements.
The dynamic adjustment module 4205 is further configured to automatically adjust a rotation speed of the gear pump according to the spraying parameters set by the spraying program setting module 4201 according to the process requirements and flow feedback of the gear pump of the paint supply device 30, so as to reach a set flow interval; specifically, by comparing the difference between the actual flow rate and the target flow rate, the control device 40 may automatically adjust the rotational speed of the gear pump to approach or reach the target flow rate.
In the process of automatic adjustment, the control device 40 uses a flow sensor to monitor the flow of the paint in real time, and continuously adjusts the rotation speed of the gear pump according to the fed-back actual flow data so as to realize accurate control of the flow.
Fig. 8 is a schematic flow chart of a spraying control method based on switching of multiple actuators of a robot according to an embodiment of the invention. The spray control method is applied to the spray control system 10 as described above, and includes the steps of:
in step S61, the control device 40 drives the touch screen 421 to display a program setting interface, and generates a spraying program according to the spraying control information sent by the touch screen 421, the keyboard 422 or the control switch 423 and received by the program setting interface.
The spraying program comprises a plurality of groups of spraying control information, and each group of spraying control information comprises a spraying formula, spraying parameters, a spraying mode and a spraying posture.
In step S62, the control device 40 selects a set of spraying control information in the spraying program according to the input of the touch screen 421, the keyboard 422, or the control switch 423.
In step S63, the control device 40 determines a corresponding target atomizer/spray gun according to the spraying control information, and controls the robot body 11 to move to the position of the quick-change tool end assembly 122 corresponding to the target atomizer/spray gun on the actuator quick-change table assembly 20 in the spraying area, and controls the quick-change robot end assembly 121 to fixedly butt-joint the quick-change tool end assembly 122 corresponding to the target atomizer/spray gun.
Referring to fig. 9, step S63, that is, the control device 40 determines a corresponding target atomizer/spray gun according to the spraying control information, and controls the robot body 11 to move to a position of a quick-change tool end assembly 122 corresponding to the target atomizer/spray gun on the actuator quick-change table assembly 20 in a spraying area, and controls the quick-change robot end assembly 121 to fixedly butt against the quick-change tool end assembly 122 corresponding to the target atomizer/spray gun, specifically includes:
In step S631, the control device 40 parses the spray control information to determine the corresponding target atomizer/spray gun.
In step S632, the control device 40 drives the robot body 11 to move in the accessible movement region through six axes of rotation, so as to drive the quick-change robot end assembly 121 to move to the first station of the actuator quick-change station assembly 20 where the quick-change tool end assembly 122 corresponding to the target atomizer/spray gun is located.
The actuator quick-change table assembly 20 carries a plurality of quick-change tool end assemblies 122, and the point coordinates of the robot body 11 corresponding to the quick-change tool end assemblies 122 corresponding to each atomizer/spray gun are preset and stored.
In step S633, the control device 40 controls the six-axis rotation of the robot body 11 to adjust the insertion of the quick-change male disc assembly 1212 of the quick-change robot end assembly 121 into the quick-change female seat assembly 1223 of the quick-change tool end assembly 121 corresponding to the target atomizer/spray gun to complete the fixing, and complete the docking of the first high-pressure docking assembly 1215 and the second high-pressure docking assembly 1226, the docking of the first air path docking assembly 1211 and the second air path docking assembly 1222, the docking of the first paint pipe docking assembly 1213 and the second paint pipe docking assembly 1224, and the docking of the first optical fiber docking assembly 1214 and the second optical fiber docking assembly 1225.
Wherein, the spraying quick-change actuator 12 includes: a quick change robot end assembly 121 and a quick change tool end assembly 122. The quick-change robot end assembly 121 includes: a first gas circuit docking assembly 1211, a quick change male disk assembly 1212, a first paint line docking assembly 1213, a first fiber optic docking assembly 1214, a first high pressure docking assembly 1215. The quick-change tool end assembly 122 includes: a spray actuator 1221, a second gas circuit docking assembly 1222, a quick change female mount assembly 1223, a second paint line docking assembly 1224, a second fiber optic docking assembly 1225, and a second high pressure docking assembly 1226. The robot body 11 is a six-axis robot, one end of the robot body is fixed on the robot base 13 through bolts, and the other end of the robot body is detachably connected with the quick-change robot end assembly 121.
In step S64, the control device 40 controls the robot body 11 to move in the accessible movement area according to the spraying formulation, the spraying mode, the spraying parameter value, and the spraying gesture, and controls the paint supply device 30 to select a corresponding paint can, and supply paint to the spraying actuator 1221 through a pipeline.
In step S65, the control device 40 controls the robot body 11 to drive the quick-change spraying actuator 12 to move in the spraying area according to the corresponding spraying mode and the corresponding spraying parameters, and drives the spraying actuator 1221 to spray paint on the spraying plate 61 of the spraying plate assembly 60.
Fig. 10 is a schematic flow chart of a spraying control method based on switching of multiple actuators of a robot according to a second embodiment of the invention. Specifically, after step S75, that is, after the control device 40 controls the robot body 11 to drive the spraying quick-change actuator 12 to move in the spraying area according to the corresponding spraying manner and the corresponding spraying parameters, and drives the spraying actuator 1221 to spray the paint on the spraying board 61 of the spraying board assembly 60, the method further includes:
in step S76, the control device 40 controls the cleaning device 50 to pump the cleaning solvent to the pipeline after the paint supply device 30 finishes spraying.
Fig. 11 is a schematic flow chart of a spraying control method based on switching of multiple actuators of a robot according to a third embodiment of the invention. Specifically, after step S85, that is, after the control device 40 controls the robot body 11 to drive the spraying quick-change actuator 12 to move in the spraying area according to the corresponding spraying manner and the corresponding spraying parameters, and drives the spraying actuator 1221 to spray the paint on the spraying board 61 of the spraying board assembly 60, the method further includes:
in step S86, the control device 40 dynamically adjusts the process parameters in real time according to the spraying parameters in the spraying process fed back by the sensors set by the robot body 11 and the system control cabinet 42 and the preset spraying parameters according to the process requirements.
Referring to fig. 12, in step S86, the control device 40 dynamically adjusts the process parameters in real time according to the spraying parameters fed back by the sensors set by the robot body 11 and the system control cabinet 42 and the preset spraying parameters according to the process requirements, which specifically includes:
in step S861a, the control device 40 divides a plurality of rotation speed levels in advance to perform actual no-load calibration on each rotation speed level, and fits a smooth curve of rotation speed and proportional valve opening according to the calibration value of the no-load calibration.
In step S862a, the control device 40 sets a required rotation speed parameter in advance according to the process requirement.
In step S863a, the control device 40 obtains a corresponding proportional valve opening according to the established smooth curve of the rotation speed and the proportional valve opening, and controls the proportional valve according to the proportional valve opening to make the system reach the set rotation speed corresponding to the proportional valve opening as soon as possible.
In step S864a, the control device 40 compares the actual rotation speed fed back by the optical fiber amplifier with a preset value, and performs fine closed-loop control on the proportional valve opening again.
In step S865a, the control device 40 adjusts the opening of the proportional valve to gradually approach the actual rotation speed to the preset value, thereby realizing closed-loop control.
Referring to fig. 13, in step S86, the control device 40 dynamically adjusts the process parameters in real time according to the spraying parameters fed back by the sensors set by the robot body 11 and the system control cabinet 42 and the preset spraying parameters according to the process requirements, which specifically includes:
in step S861b, the control device 40 drives the touch screen 421 to display a program setting interface, and generates a spraying program according to the spraying control information sent by the touch screen 421, the keyboard 422 or the control switch 423 and received by the program setting interface.
Wherein, the system control cabinet 42 further comprises a proportional valve and a flow sensor correspondingly arranged; the spraying control information is set for the spraying parameters according to the technological requirements.
In step S862b, the control device 40 automatically adjusts the opening of the proportional valve according to the rotation speed set by the process requirement and the air path flow fed back by the flow sensor, so as to realize the desired flow.
Specifically, the control device 40 automatically adjusts the opening degree of the proportional valve to be close to or to the desired flow rate setting by comparing the difference between the flow sensor output value and the preset value.
Referring to fig. 14, in step S86, the control device 40 dynamically adjusts the process parameters in real time according to the spraying parameters fed back by the sensors set by the robot body 11 and the system control cabinet 42 and the preset spraying parameters according to the process requirements, which specifically includes:
in step S861c, the control device 40 drives the touch screen 421 to display a program setting interface, and generates a spraying program according to the spraying control information sent by the touch screen 421, the keyboard 422 or the control switch 423 and received by the program setting interface.
Wherein, the spraying control information is the setting of the spraying parameters according to the technological requirements; for example, spray speed, spray pressure, spray distance, etc.;
in step S862c, the control device 40 automatically adjusts the spraying control parameters according to the spraying parameters fed back by the spraying sensor and the spraying parameters set according to the process requirements 。
The robot body 11 and the system control cabinet 42 further include a plurality of spraying sensors for monitoring spraying parameters, such as spraying pressure, spraying flow rate, etc., during the spraying process, and feeding back measured data to the control device in real time.
Referring to fig. 15, in step S86, the control device 40 dynamically adjusts the process parameters in real time according to the spraying parameters fed back by the sensors set by the robot body 11 and the system control cabinet 42 and the preset spraying parameters according to the process requirements, which specifically includes:
in step S861d, the control device 40 drives the touch screen 421 to display a program setting interface, and generates a spraying program according to the spraying control information sent by the touch screen 421, the keyboard 422 or the control switch 423 and received by the program setting interface.
The spraying control information is used for setting parameters of a spraying flow interval according to process requirements; such as minimum flow and maximum flow.
In step S862d, the control device 40 automatically adjusts the rotation speed of the gear pump according to the spraying parameters set by the process requirements and the flow feedback of the gear pump of the paint supply device 30, so as to reach the set flow interval.
Specifically, the control device 40 automatically adjusts the rotation speed of the gear pump to approach or reach the target flow rate by comparing the difference between the actual flow rate and the target flow rate.
The beneficial effects of the embodiment of the invention are as follows: compared with the prior art, the spraying device is characterized in that the spraying parameters and the spraying movement modes are set through the control device, the spraying quick-change actuator is controlled to select the matched spraying actuator according to the spraying parameters and the spraying movement modes, and the robot body is driven to move to generate displacement, so that paint sprayed on the spraying backboard generates corresponding tracks, multiple spraying modes are realized, the spraying parameters are flexibly and conveniently adjusted, and the increasing verification requirements of a laboratory can be met.
According to the technical scheme disclosed by the embodiment of the invention, the equipment is reasonable in structural design, and can ensure that the whole machine has enough strength, rigidity and stability; the whole system is compact in layout, shortens the paint pipeline and can save verification paint.
In the embodiments provided in the present invention, the disclosed system, device, terminal and method may be implemented in other manners. For example, the above-described embodiments are illustrative, and the division of the units into a logic function division may be implemented in other ways.
The units described as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform part of the steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that the description of the present invention and the accompanying drawings illustrate preferred embodiments of the present invention, but the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, which are not to be construed as additional limitations of the invention, but are provided for a more thorough understanding of the present invention. The above-described features are continuously combined with each other to form various embodiments not listed above, and are considered to be the scope of the present invention described in the specification; further, modifications and variations of the present invention may be apparent to those skilled in the art in light of the foregoing teachings, and all such modifications and variations are intended to be included within the scope of this invention as defined in the appended claims.
Claims (19)
1. A robot multi-actuator switching based spray control system, comprising: the device comprises a spraying robot, a paint supply device, a control device, a cleaning device and a spraying plate assembly; characterized by further comprising: an actuator quick-change assembly;
the spraying robot comprises a robot body, a spraying quick-change actuator and a robot base;
the control device consists of a robot control cabinet and a system control cabinet;
a first control unit is arranged in the robot control cabinet, and is respectively in communication connection with the robot body and the spraying quick-change actuator, and is used for controlling the robot body to drive the spraying quick-change actuator to move in a spraying area and drive the spraying actuator to spray paint on a spraying plate of the spraying plate assembly; the first control unit includes: the spraying system comprises a robot control module, a spraying quick-change control module and a spraying control module;
the system control cabinet is internally provided with a second control unit and a touch screen, a keyboard and a control switch which are respectively connected with the second control unit; the second control unit is respectively in communication connection with the robot control cabinet, the paint supply device, the cleaning device and the actuator quick-change assembly; the second control unit includes: a spraying program setting module, a spraying mode switching module and a paint spraying module;
The spraying program setting module is used for driving the touch screen to display a program setting interface and generating a spraying program according to the spraying control information sent by the touch screen, the keyboard or the control switch and received by the program setting interface; the spraying program comprises a plurality of groups of spraying control information, wherein each group of spraying control information comprises a spraying formula, spraying parameters, a spraying mode and a spraying posture;
the spraying mode switching module is used for selecting a group of spraying control information in the spraying program according to the input of the touch screen, the keyboard or the control switch;
the spraying quick-change control module is used for determining a corresponding target atomizer/spray gun according to the spraying control information, controlling the robot body to move to the position of a quick-change tool end assembly corresponding to the target atomizer/spray gun on the actuator quick-change table assembly in a spraying area, and controlling the quick-change robot end assembly to fixedly butt-joint the quick-change tool end assembly corresponding to the target atomizer/spray gun;
the paint spraying module is used for controlling the robot body to move in a reachable movement area according to the spraying formula, the spraying mode, the spraying parameter value and the spraying gesture, controlling the paint supply device to select a corresponding paint tank, and supplying paint to the spraying executor through a pipeline so as to spray paint on the spraying plate according to the corresponding spraying mode and the spraying parameter.
2. The robot multi-actuator switching based spray control system of claim 1, wherein the spray quick change actuator comprises: a quick change robot end assembly and a quick change tool end assembly;
the quick-change robot end assembly includes: the system comprises a first air path butt joint assembly, a quick-change male disc assembly, a first paint pipeline butt joint assembly, a first optical fiber butt joint assembly and a first high-pressure butt joint assembly;
the quick-change tool end assembly comprises: the spraying actuator, the second gas circuit butt joint assembly, the quick-change female seat assembly, the second paint pipeline butt joint assembly, the second optical fiber butt joint assembly and the second high-pressure butt joint assembly;
the robot body is a six-axis robot, one end of the robot body is fixed on the robot base through bolts, and the other end of the robot body is detachably connected with the quick-change robot end assembly.
3. The robot multi-actuator switching based spray control system of claim 2, wherein the spray quick change control module is configured to:
analyzing the spray control information to determine a corresponding target atomizer/spray gun;
driving the robot body to move in an accessible movement area, so as to drive the spraying quick-change actuator to move to the position of the quick-change tool end assembly corresponding to the target atomizer/spray gun on the actuator quick-change platform assembly; the manipulator quick-change platform assembly carries a plurality of quick-change tool end assemblies, and point position coordinates of the robot body corresponding to each quick-change tool end assembly are preset and stored; and
The six-axis rotation of the robot body is controlled to adjust the quick-change male disc assembly of the quick-change robot end assembly, so that the quick-change male disc assembly is inserted into the quick-change female seat assembly of the quick-change tool end assembly corresponding to the target atomizer/spray gun to be fixed, and the butt joint of the first high-pressure butt joint assembly and the second high-pressure butt joint assembly, the butt joint of the first air path butt joint assembly and the second air path butt joint assembly, the butt joint of the first paint pipeline butt joint assembly and the second paint pipeline butt joint assembly and the butt joint of the first optical fiber butt joint assembly and the second optical fiber butt joint assembly are completed.
4. The robot multi-actuator switching based spray control system of claim 3, wherein the second control unit further comprises a device purge module for controlling the purge device to pump purge solvent to the piping after the paint supply device completes the spray.
5. The spray control system based on the switching of multiple actuators of claim 1, wherein the second control unit further comprises a dynamic adjustment module for dynamically adjusting the process parameters in real time according to the spray parameters fed back by the sensors disposed in the robot body and the system control cabinet and the spray parameters preset by the spray program setting module according to the process requirements.
6. The robotic multi-actuator switching-based spray control system of claim 5, wherein the spray program setting module is further configured to:
dividing a plurality of rotating speed grades in advance, and carrying out actual no-load calibration on each rotating speed grade;
fitting a smooth curve of the rotating speed and the opening of the proportional valve according to the calibration value of the no-load calibration; and
setting required rotating speed parameters in advance according to process requirements;
the dynamic adjustment module is further configured to:
obtaining a corresponding proportional valve opening according to the established rotating speed and proportional valve opening curve, and controlling the proportional valve according to the proportional valve opening to enable the system to reach a set rotating speed corresponding to the proportional valve opening as soon as possible;
comparing the actual rotating speed fed back by the optical fiber amplifier with a preset value, and performing fine closed-loop control on the opening of the proportional valve again; and
the actual rotating speed gradually approaches to a preset value by adjusting the opening of the proportional valve, so that closed-loop control is realized.
7. The spray control system based on robot multi-actuator switching of claim 5, wherein the system control cabinet further comprises a proportional valve and a correspondingly arranged flow sensor;
The spraying program setting module is also used for driving the touch screen to display a program setting interface and generating a spraying program according to spraying control information sent by the touch screen, a keyboard or a control switch and received by the program setting interface; the spraying control information is set to spraying parameters, such as rotating speed parameters, namely the expected coating spraying flow according to the process requirements;
the dynamic adjusting module is also used for automatically adjusting the opening of the proportional valve according to the rotating speed set by the spraying program setting module according to the process requirement and the air path flow fed back by the sensor so as to realize the expected flow.
8. The robot multi-actuator switching based spray control system of claim 5, wherein the robot body and system control cabinet further comprise a plurality of spray sensors for monitoring spray parameters such as spray pressure, spray flow, etc. during spraying and feeding back measured data to the control device in real time;
the spraying program setting module is used for driving the touch screen to display a program setting interface and generating a spraying program according to spraying control information sent by the touch screen, a keyboard or a control switch and received by the program setting interface; wherein, the spraying control information is the setting of the spraying parameters, such as the spraying speed, the spraying pressure, the spraying distance, etc., according to the technological requirements;
The dynamic adjusting module is also used for automatically adjusting the spraying control parameters according to the spraying parameters fed back by the spraying sensor and the spraying parameters set by the spraying program setting module according to the process requirements.
9. The spraying control system based on the switching of the multiple robots according to claim 5, wherein the spraying program setting module is used for driving a touch screen to display a program setting interface and generating a spraying program according to spraying control information sent by a touch screen, a keyboard or a control switch and received by the program setting interface; the spraying control information is to set parameters of a spraying flow interval, such as minimum flow and maximum flow, according to process requirements;
the dynamic adjusting module is also used for automatically adjusting the rotating speed of the gear pump according to the spraying parameters set by the spraying program setting module according to the process requirements and the flow feedback of the gear pump of the paint supply device, so as to achieve the set flow interval.
10. The robotic multi-actuator switching-based spray control system of claim 1, wherein the spray plate assembly comprises: the device comprises a spray plate, an angle adjusting device, a position fool-proof device and a spray plate bracket;
The position fool-proof device is arranged on the angle adjusting device and used for preventing the spray plate from accidentally moving or deviating from a preset position in the using process;
the spray plate is arranged on the spray plate bracket through an angle adjusting device;
the angle adjusting device allows adjustment of the rotation angle of the spray plate, thereby changing the posture of the spray plate.
11. The spraying control device based on the switching of the multiple actuators of the robot is characterized by comprising a robot control cabinet and a system control cabinet;
the interior of the robot control cabinet is provided with a first control unit which is respectively in communication connection with the robot body of the spraying robot and the spraying quick-change actuator and is used for controlling the robot body to drive the spraying quick-change actuator to move in a spraying area and drive the spraying actuator to spray paint on a spraying plate; the first control unit includes: the spraying system comprises a robot control module, a spraying quick-change control module and a spraying control module;
the system control cabinet is internally provided with a second control unit and a touch screen, a keyboard and a control switch which are respectively connected with the second control unit; the second control unit is respectively in communication connection with the robot control cabinet and the actuator quick-change platform assembly; the second control unit includes: a spraying program setting module, a spraying mode switching module and a paint spraying module;
The spraying program setting module is used for driving the touch screen to display a program setting interface and generating a spraying program according to the spraying control information sent by the touch screen, the keyboard and the control switch and received by the program setting interface; the spraying program comprises a plurality of groups of spraying control information, wherein each group of spraying control information comprises a spraying formula, spraying parameters, a spraying mode and a spraying posture;
the spraying mode switching module is used for selecting a group of spraying control information in the spraying program according to the input of the touch screen, the keyboard or the control switch;
the spraying quick-change control module is used for determining a corresponding target atomizer/spray gun according to the spraying control information, controlling the robot body to move to the position of a quick-change tool end assembly corresponding to the target atomizer/spray gun on the actuator quick-change table assembly in a spraying area, and controlling the quick-change robot end assembly to fixedly butt-joint the quick-change tool end assembly corresponding to the target atomizer/spray gun;
the paint spraying module is used for controlling the robot body to move in a reachable movement area according to the spraying formula, the spraying mode, the spraying parameter value and the spraying gesture, controlling the paint supply device to select a corresponding paint tank, and supplying paint to the spraying executor through a pipeline so as to spray paint on the spraying plate according to the corresponding spraying mode and the spraying parameter.
12. A spray control method based on robot multi-actuator switching, characterized in that the method is applied to a spray control system according to any one of claims 1 to 10, the method comprising:
the control device drives the touch screen to display a program setting interface, and generates a spraying program according to spraying control information sent by the touch screen, a keyboard or a control switch and received by the program setting interface; the spraying program comprises a plurality of groups of spraying control information, wherein each group of spraying control information comprises a spraying formula, spraying parameters, a spraying mode and a spraying posture;
the control device selects a group of spraying control information in the spraying program according to the input of the touch screen, the keyboard or the control switch;
the control device determines a corresponding target atomizer/spray gun according to the spraying control information, controls the robot body to move to the position of a quick-change tool end assembly corresponding to the target atomizer/spray gun on an actuator quick-change table assembly in a spraying area, and controls the quick-change robot end assembly to fixedly butt-joint the quick-change tool end assembly corresponding to the target atomizer/spray gun;
the control device controls the robot body to move in an accessible movement area according to the spraying formula, the spraying mode, the spraying parameter value and the spraying gesture, controls the paint supply device to select a corresponding paint can, and supplies paint to the spraying executor through a pipeline;
The control device controls the robot body to drive the spraying quick-change actuator to move in a spraying area according to the corresponding spraying mode and spraying parameters, and drives the spraying actuator to spray paint on a spraying plate of the spraying plate assembly.
13. The method for controlling spraying based on switching between multiple actuators of a robot according to claim 12, wherein the controlling means determines a corresponding target atomizer/spray gun according to the spraying control information, controls the robot body to move to a position of a quick-change tool end assembly corresponding to the target atomizer/spray gun on the actuator quick-change table assembly in a spraying area, and controls the quick-change robot end assembly to fixedly butt-joint the quick-change tool end assembly corresponding to the target atomizer/spray gun, specifically comprising:
the control device analyzes the spraying control information to determine a corresponding target atomizer/spray gun;
the control device drives the robot body to rotate and move through six axes in an accessible movement area, so that the quick-change robot end assembly is driven to move to a first station where the quick-change tool end assembly corresponding to the target atomizer/spray gun on the actuator quick-change platform assembly is located; the quick-change tool end assembly comprises an actuator quick-change table assembly, a plurality of quick-change tool end assemblies, a plurality of atomizer/spray guns and a plurality of robot body point location coordinates corresponding to the quick-change tool end assemblies, wherein the point location coordinates of the robot body corresponding to the quick-change tool end assemblies are preset and stored;
The control device controls the robot body to rotate on six shafts so as to adjust the quick-change male disc assembly of the quick-change robot end assembly to be inserted into the quick-change female seat assembly of the quick-change tool end assembly corresponding to the target atomizer/spray gun to complete fixation, and complete the butt joint of the first high-pressure butt joint assembly and the second high-pressure butt joint assembly, the butt joint of the first air path butt joint assembly and the second air path butt joint assembly, the butt joint of the first paint pipeline butt joint assembly and the second paint pipeline butt joint assembly and the butt joint of the first optical fiber butt joint assembly and the second optical fiber butt joint assembly; wherein, the spraying quick change executor includes: a quick change robot end assembly and a quick change tool end assembly; the quick-change robot end assembly includes: the system comprises a first air path butt joint assembly, a quick-change male disc assembly, a first paint pipeline butt joint assembly, a first optical fiber butt joint assembly and a first high-pressure butt joint assembly; the quick-change tool end assembly includes: the spraying actuator, the second gas circuit butt joint assembly, the quick-change female seat assembly, the second paint pipeline butt joint assembly, the second optical fiber butt joint assembly and the second high-pressure butt joint assembly; the robot body is a six-axis robot, one end of the robot body is fixed on the robot base through bolts, and the other end of the robot body is detachably connected with the quick-change robot end assembly.
14. The method for controlling spraying based on switching of multiple actuators of claim 13, wherein the control device controls the robot body to drive the quick-change actuator to move in the spraying area according to the corresponding spraying mode and the corresponding spraying parameters, and drives the spraying actuator to spray paint on the spraying plate of the spraying plate assembly, the method further comprising:
and the control device controls the cleaning device to pump the cleaning solvent to the pipeline after the paint supply device finishes spraying.
15. The method for controlling spraying based on switching of multiple actuators of claim 13, wherein the control device controls the robot body to drive the quick-change actuator to move in the spraying area according to the corresponding spraying mode and the corresponding spraying parameters, and drives the spraying actuator to spray paint on the spraying plate of the spraying plate assembly, the method further comprising:
the control device dynamically adjusts the technological parameters in real time according to the spraying parameters in the spraying process fed back by the sensors arranged in the robot body and the system control cabinet and the preset spraying parameters according to the technological requirements.
16. The method for controlling spraying based on switching of multiple actuators of a robot according to claim 15, wherein the controlling means dynamically adjusts the process parameters in real time according to the spraying parameters fed back by the sensors disposed in the robot body and the system control cabinet and the preset spraying parameters according to the process requirements, specifically comprising:
the control device divides a plurality of rotating speed grades in advance to carry out actual no-load calibration on each rotating speed grade, and a smooth curve of the rotating speed and the opening of the proportional valve is fitted according to the calibration value of the no-load calibration;
the control device sets required rotation speed parameters in advance according to process requirements;
the control device obtains the corresponding proportional valve opening according to the established smooth curve of the rotating speed and the proportional valve opening, and controls the proportional valve according to the proportional valve opening to enable the system to reach the set rotating speed corresponding to the proportional valve opening as soon as possible;
the control device compares the actual rotating speed fed back by the optical fiber amplifier with a preset value, and performs fine closed-loop control on the opening of the proportional valve again; and
the control device is used for realizing closed-loop control by adjusting the opening of the proportional valve to enable the actual rotating speed to gradually approach to a preset value.
17. The method for controlling spraying based on switching of multiple actuators of a robot according to claim 15, wherein the controlling means dynamically adjusts the process parameters in real time according to the spraying parameters fed back by the sensors disposed in the robot body and the system control cabinet and the preset spraying parameters according to the process requirements, specifically comprising:
the control device drives the touch screen to display a program setting interface and generates a spraying program according to spraying control information sent by a touch screen, a keyboard or a control switch and received by the program setting interface; the system control cabinet further comprises a proportional valve and a flow sensor which is correspondingly arranged; the spraying control information is set for spraying parameters according to the process requirements;
and the control device automatically adjusts the opening degree of the proportional valve according to the rotating speed set by the process requirement and the air path flow fed back by the flow sensor so as to realize the expected flow.
18. The method for controlling spraying based on switching of multiple actuators of a robot according to claim 15, wherein the controlling means dynamically adjusts the process parameters in real time according to the spraying parameters fed back by the sensors disposed in the robot body and the system control cabinet and the preset spraying parameters according to the process requirements, specifically comprising:
The control device drives the touch screen to display a program setting interface and generates a spraying program according to spraying control information sent by a touch screen, a keyboard or a control switch and received by the program setting interface; wherein, the spraying control information is the setting of the spraying parameters according to the technological requirements;
the control device automatically adjusts spraying control parameters according to the spraying parameters fed back by the spraying sensor and the spraying parameters set according to the process requirements; the robot body and the system control cabinet further comprise a plurality of spraying sensors, wherein the spraying sensors are used for monitoring spraying parameters in a spraying process and feeding measured data back to the control device in real time.
19. The method for controlling spraying based on switching of multiple actuators of a robot according to claim 15, wherein the controlling means dynamically adjusts the process parameters in real time according to the spraying parameters fed back by the sensors disposed in the robot body and the system control cabinet and the preset spraying parameters according to the process requirements, specifically comprising:
the control device drives the touch screen to display a program setting interface and generates a spraying program according to spraying control information sent by a touch screen, a keyboard or a control switch and received by the program setting interface; the spraying control information is used for setting parameters of a spraying flow interval according to process requirements;
The control device automatically adjusts the rotating speed of the gear pump according to the spraying parameters set by the process requirements and the flow feedback of the gear pump of the paint supply device, so that the set flow interval is reached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311011798.5A CN117206099A (en) | 2023-08-11 | 2023-08-11 | Spraying control system, device and method based on switching of multiple actuators of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311011798.5A CN117206099A (en) | 2023-08-11 | 2023-08-11 | Spraying control system, device and method based on switching of multiple actuators of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117206099A true CN117206099A (en) | 2023-12-12 |
Family
ID=89034268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311011798.5A Pending CN117206099A (en) | 2023-08-11 | 2023-08-11 | Spraying control system, device and method based on switching of multiple actuators of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117206099A (en) |
-
2023
- 2023-08-11 CN CN202311011798.5A patent/CN117206099A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100714904B1 (en) | Painting robot structure and painting system for painting small objects | |
| CN106391366B (en) | A kind of big component automation paint system of civil aircraft | |
| US6197115B1 (en) | Robot based sealant dispenser | |
| EP0455371A2 (en) | Robotic carrier mechanism for aircraft maintenance | |
| CN111250312B (en) | Spraying reciprocating robot, control device thereof and spraying control method | |
| EP3639936A2 (en) | Methods for applying a liquid coating to a substrate | |
| JP2006528065A (en) | Automatic repair device for powder coating booth | |
| WO2021028672A1 (en) | Fabric maintenance system and method of use | |
| KR100378606B1 (en) | Electro magnetic interference paint or deposition paint automatic coating apparatus | |
| CN117206099A (en) | Spraying control system, device and method based on switching of multiple actuators of robot | |
| JP4705818B2 (en) | Electrostatic coating equipment | |
| US20040003776A1 (en) | Apparatus for simultaneously coating and measuring parts | |
| CN111135986A (en) | Method, apparatus and system for intelligent delivery of coatings | |
| CN112337678A (en) | Automatic spraying system and method of robot spray gun based on vision deviation rectifying technology | |
| JP6981787B2 (en) | Simulation method of trajectory data in a painting robot | |
| CN114856131B (en) | An indoor wall intelligent spraying robot | |
| CN114618720A (en) | Local coating repairing equipment and repairing method for airplane parts | |
| CN220716368U (en) | Spraying control system based on switching of multiple actuators of robot and spraying robot thereof | |
| CN110280413A (en) | A kind of spray painting control method, control device and the control system of high-speed rail car body | |
| EP1728557A1 (en) | Rotary atomization head painting device | |
| CN111804456B (en) | Control system for glue sprayer and glue sprayer using control system | |
| US20010050294A1 (en) | Adhesive dispensing and vision system for an automatic assembly system | |
| CN112354742A (en) | Spraying reciprocating mechanism with control system and spraying control method thereof | |
| JP4176421B2 (en) | Coating method and coating apparatus therefor | |
| EP4052801A1 (en) | Construction surface application apparatus |
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 |