CN109395941B - Method for adjusting running speed of robot in real time in spraying environment - Google Patents
Method for adjusting running speed of robot in real time in spraying environment Download PDFInfo
- Publication number
- CN109395941B CN109395941B CN201811360243.0A CN201811360243A CN109395941B CN 109395941 B CN109395941 B CN 109395941B CN 201811360243 A CN201811360243 A CN 201811360243A CN 109395941 B CN109395941 B CN 109395941B
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- Prior art keywords
- robot
- rotary encoder
- speed
- running speed
- programmable controller
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/002—Manually-actuated controlling means, e.g. push buttons, levers or triggers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to the field of robot spraying, and discloses a method for adjusting the running speed of a robot in real time in a spraying environment, which is characterized by comprising the following steps: the method comprises the steps of establishing communication between a programmable controller and a robot, connecting the programmable controller with a rotary encoder, enabling the rotary encoder to rotate clockwise and anticlockwise in a stepless mode, correspondingly changing the designated running speed of the robot set on the programmable controller by rotating the rotary encoder, and adjusting the speed of the robot in real time according to the designated running speed. The invention can manually regulate the speed of the robot outside the robot, overcomes the defect that the conventional robot can only move according to the originally set good speed, is flexible to use, can be regulated in real time according to the spraying condition, and effectively improves the spraying effect of the robot.
Description
Technical Field
The invention relates to the field of robot spraying, in particular to a method for adjusting the running speed of a robot in real time in a spraying environment.
Background
In the field of traditional robot spraying, the path and speed of a robot for spraying a workpiece are set in advance and cannot be changed. However, the surface conditions of workpieces are different, especially for workpieces with complex areas to be sprayed and different spraying thicknesses, the high-quality spraying cannot be performed according to the traditional robot spraying mode, the speed of the robot cannot be adjusted in real time according to requirements during spraying, and the robot cannot spray materials with different thicknesses on different parts of the workpiece to be improved.
Disclosure of Invention
In view of the defects of the background art, the technical problem to be solved by the invention is how to adjust the running speed of the robot in the spraying environment in real time and improve the spraying quality.
In order to achieve the technical purpose, the invention provides the following technical scheme:
the method for adjusting the running speed of the robot in real time in the spraying environment is characterized by comprising the following steps:
(1) establishing communication between a programmable controller and a robot, and connecting the programmable controller with a rotary encoder, wherein the rotary encoder can rotate clockwise and anticlockwise in a stepless manner;
(2) setting a designated running speed, a speed upper limit value and a speed lower limit value of the robot on the programmable controller, and setting a change amount of the designated running speed when the rotary encoder rotates clockwise and anticlockwise for one time, wherein the pulse of the rotary encoder changes once when the rotary encoder rotates for one time;
(3) starting the robot, and simultaneously displaying the actual running speed and the designated running speed of the robot on the programmable controller;
(4) an operator observes an image transmitted by a vision camera of the robot during spraying operation, and judges whether the robot should accelerate or decelerate according to the image, when the robot should accelerate, the operator rotates the rotary encoder clockwise, and when the robot should decelerate, the operator rotates the rotary encoder anticlockwise;
(5) the programmable controller judges whether the rotary encoder rotates clockwise or anticlockwise, when the rotary encoder is judged to rotate clockwise, the programmable controller correspondingly increases a change amount every time the programmable controller detects that the pulse of the rotary encoder changes, and the specified running speed does not continue to increase along with the rotation of the rotary encoder after reaching the speed upper limit value; when the rotation is judged to be anticlockwise rotation, the programmable controller correspondingly reduces the specified running speed by a change amount every time the programmable controller detects pulse change of the rotary encoder, and the specified running speed does not continuously reduce along with the rotation of the rotary encoder after being reduced to the speed lower limit value;
(6) and the programmable controller transmits the changed specified running speed to the robot in real time, and the robot adjusts the speed in real time according to the specified running speed.
The rotary encoder emits 20 pulses per revolution.
The upper speed limit value is set to 50mm/s, the lower speed limit value is set to 5mm/s, and the change amount is 0.1 mm/s.
Compared with the prior art, the invention has the beneficial effects that: the robot can be manually regulated in speed outside the robot through the rotary encoder, the defect that the robot can only move according to the originally set good speed is overcome, the use is flexible, the running speed of the robot can be regulated in real time according to the spraying condition, and the spraying effect of the robot is effectively improved.
Detailed Description
The method for adjusting the running speed of the robot in real time in the spraying environment comprises the following steps:
(1) establishing communication between the programmable controller and the robot, and connecting the programmable controller with a rotary encoder, wherein the rotary encoder can rotate clockwise and anticlockwise in a stepless manner without the limitation of the number of turns; in this embodiment, the programmable controller selects the PLC;
(2) setting the designated running speed, the speed upper limit value and the speed lower limit value of the robot on the programmable controller according to the requirements, setting the change quantity of the designated running speed when the rotary encoder rotates clockwise and anticlockwise for one grid, and changing the pulse of the rotary encoder once when the rotary encoder rotates one grid; in the present embodiment, the upper limit value of the speed is set to 50mm/s, the lower limit value of the speed is set to 5mm/s, the amount of change is 0.1mm/s, and the rotary encoder emits 20 pulses per rotation;
(3) starting the robot, and simultaneously displaying the actual running speed and the specified running speed of the robot on the programmable controller for observing whether the robot runs according to the set speed or not and further monitoring the spraying effect of the robot;
(4) an operator observes an image transmitted by a vision camera of the robot during spraying operation, and judges whether the robot should accelerate or decelerate according to the image, when the robot should accelerate, the operator rotates the rotary encoder clockwise, and when the robot should decelerate, the operator rotates the rotary encoder anticlockwise; in the embodiment, the designated running speed on the programmable controller is increased by 0.1mm/s when the operator rotates the rotary encoder clockwise for one grid; when the operator rotates the rotary encoder for one grid in the anticlockwise direction, the designated running speed on the programmable controller is reduced by 0.1 mm/s;
(5) the programmable controller judges whether the rotary encoder rotates clockwise or anticlockwise, when the rotary encoder rotates clockwise, the programmable controller specifies that the running speed is correspondingly increased by a change amount every time the programmable controller detects that the pulse of the rotary encoder changes once, and the specified running speed does not continue to be increased along with the rotation of the rotary encoder after reaching the speed upper limit value; when the rotation is judged to be anticlockwise rotation, the programmable controller correspondingly reduces the designated running speed by a change amount every time the programmable controller detects that the pulse of the rotary encoder changes once, and the designated running speed is not reduced continuously along with the rotation of the rotary encoder after being reduced to a speed lower limit value; so can guarantee the speed control of robot at a suitable within range, the mistake takes place when preventing artifical manual regulation rotary encoder, leads to the robot functioning speed too fast or slow to prevent that the robot from taking place serious spraying error, guarantee the spraying quality.
(6) And the programmable controller transmits the changed specified running speed to the robot in real time, and the robot adjusts the speed in real time according to the specified running speed.
In this embodiment, only need ordinary PLC input interface just can gather rotary encoder's pulse signal, need not additionally purchase the special high-speed pulse input module of PLC, if use resistance-type knob, still need purchase PLC analog input module, so effectively practiced thrift the cost. The adoption of the rotary encoder to adjust the speed of the robot also has the beneficial effects of strong reliability, small interference and stable and reliable numerical value, and the PLC side data processing and receiving are reliable and stable without the phenomenon of pulse loss.
To sum up, can carry out manual regulation at the outside speed of robot through rotary encoder, overcome the defect that the robot can only carry out the motion according to its good speed that originally sets for in the past, use in a flexible way, can be according to the operating speed of spraying condition real-time regulation robot, effectively improve the spraying effect of robot.
Claims (3)
1. The method for adjusting the running speed of the robot in real time in the spraying environment is characterized by comprising the following steps:
(1) establishing communication between a programmable controller and a robot, and connecting the programmable controller with a rotary encoder, wherein the rotary encoder can rotate clockwise and anticlockwise in a stepless manner;
(2) setting a designated running speed, a speed upper limit value and a speed lower limit value of the robot on the programmable controller, and setting a change amount of the designated running speed when the rotary encoder rotates clockwise and anticlockwise for one time, wherein the pulse of the rotary encoder changes once when the rotary encoder rotates for one time;
(3) starting the robot, and simultaneously displaying the actual running speed and the designated running speed of the robot on the programmable controller;
(4) an operator observes an image transmitted by a vision camera of the robot during spraying operation, and judges whether the robot should accelerate or decelerate according to the image, when the robot should accelerate, the operator rotates the rotary encoder clockwise, and when the robot should decelerate, the operator rotates the rotary encoder anticlockwise;
(5) the programmable controller judges whether the rotary encoder rotates clockwise or anticlockwise, when the rotary encoder is judged to rotate clockwise, the programmable controller correspondingly increases a change amount every time the programmable controller detects that the pulse of the rotary encoder changes, and the specified running speed does not continue to increase along with the rotation of the rotary encoder after reaching the speed upper limit value; when the rotation is judged to be anticlockwise rotation, the programmable controller correspondingly reduces the specified running speed by a change amount every time the programmable controller detects pulse change of the rotary encoder, and the specified running speed does not continuously reduce along with the rotation of the rotary encoder after being reduced to the speed lower limit value;
(6) and the programmable controller transmits the changed specified running speed to the robot in real time, and the robot adjusts the speed in real time according to the specified running speed.
2. The method for adjusting the running speed of the robot in real time in the spraying environment according to claim 1, wherein the method comprises the following steps: the rotary encoder emits 20 pulses per revolution.
3. The method for adjusting the running speed of the robot in real time in the spraying environment according to claim 1, wherein the method comprises the following steps: the upper speed limit value is set to 50mm/s, the lower speed limit value is set to 5mm/s, and the change amount is 0.1 mm/s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811360243.0A CN109395941B (en) | 2018-11-15 | 2018-11-15 | Method for adjusting running speed of robot in real time in spraying environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811360243.0A CN109395941B (en) | 2018-11-15 | 2018-11-15 | Method for adjusting running speed of robot in real time in spraying environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109395941A CN109395941A (en) | 2019-03-01 |
| CN109395941B true CN109395941B (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811360243.0A Active CN109395941B (en) | 2018-11-15 | 2018-11-15 | Method for adjusting running speed of robot in real time in spraying environment |
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| CN201856249U (en) * | 2010-01-15 | 2011-06-08 | 广东工业大学 | Motion planning and performance testing system for industrial robot |
| WO2012107199A3 (en) * | 2011-02-07 | 2012-11-01 | Dürr Systems GmbH | Adapting the dynamics of at least one robot |
| CN104520076A (en) * | 2012-08-08 | 2015-04-15 | Abb技术有限公司 | System and method for determining optimal trajectory for material dispensing robots |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8646404B2 (en) * | 2011-09-26 | 2014-02-11 | Todd E. Hendricks, SR. | Modular system with platformed robot, booth, and fluid delivery system for tire spraying |
| CN108745728A (en) * | 2018-06-27 | 2018-11-06 | 江苏大洋海洋装备有限公司 | A kind of full-automatic outfititem airless spraying equipment robot |
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2018
- 2018-11-15 CN CN201811360243.0A patent/CN109395941B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1734379A (en) * | 2004-08-02 | 2006-02-15 | 发那科株式会社 | Processing program generating device |
| CN101449220A (en) * | 2006-05-19 | 2009-06-03 | Abb股份有限公司 | Improved method for controlling a robot TCP |
| CN101367353A (en) * | 2007-08-14 | 2009-02-18 | 比亚迪股份有限公司 | Apparatus and method for governing display lightness of automobile instrument |
| CN101554672A (en) * | 2009-05-21 | 2009-10-14 | 山东大学 | Detection and control system for container corrugated plate welding track based on laser ranging |
| CN201856249U (en) * | 2010-01-15 | 2011-06-08 | 广东工业大学 | Motion planning and performance testing system for industrial robot |
| WO2012107199A3 (en) * | 2011-02-07 | 2012-11-01 | Dürr Systems GmbH | Adapting the dynamics of at least one robot |
| CN104520076A (en) * | 2012-08-08 | 2015-04-15 | Abb技术有限公司 | System and method for determining optimal trajectory for material dispensing robots |
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| Publication number | Publication date |
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| CN109395941A (en) | 2019-03-01 |
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