CN114474044A - Intelligent spraying method for robot of integrally-mounted chair - Google Patents
Intelligent spraying method for robot of integrally-mounted chair Download PDFInfo
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- CN114474044A CN114474044A CN202111563554.9A CN202111563554A CN114474044A CN 114474044 A CN114474044 A CN 114474044A CN 202111563554 A CN202111563554 A CN 202111563554A CN 114474044 A CN114474044 A CN 114474044A
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- 238000005507 spraying Methods 0.000 title claims abstract description 70
- 239000007921 spray Substances 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 17
- 238000000889 atomisation Methods 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 3
- 238000010422 painting Methods 0.000 claims 1
- 238000007665 sagging Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of chair line spraying in the intelligent robot furniture industry, in particular to an intelligent spraying method for a self-contained chair robot, which comprises the following specific steps: s1, the robot runs to the starting point of online tracking teaching, conveying is suspended, and the numerical value of the encoder where the plate is located is recorded; s2, dragging, teaching and programming; s3, the robot runs to a teaching point dragging position, and conveying is suspended; s4, PTP programming; s5, judging whether the track running is proper or not; s6, executing the program; the invention is mainly applied to chair line spraying in the furniture industry, effectively improves sagging and missing spraying in the chair spraying, has stronger pertinence of a sprayed product, and has the key point of increasing the functional advantage of on-line tracking so as to ensure higher working efficiency.
Description
Technical Field
The invention relates to the field of chair line spraying in the intelligent robot furniture industry, in particular to an intelligent spraying method for a self-contained chair robot.
Background
To this kind of complicated plate of chair furniture, what most chair spraying field adopted is still artifical spraying now, and artifical spraying just leads to two problems, first: paint is a harmful gas and has great problems on human health; secondly, the method comprises the following steps: the manual operation efficiency is relatively low, and the problem of non-uniform product quality is solved.
For example, the wireless dragging demonstrator system for the spraying robot and the active teaching method thereof in Chinese patent application number 201810809673.X have the main advantages that the wireless dragging demonstrator system is suitable for being applied to fixed-point spraying; for example, a compound teaching method, a device and an electronic device disclosed in chinese patent No. 202010491041.0 are also mainly applied to fixed-point spray coating, and cannot be changed according to the shape of an object.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent spraying method for a robot of a self-contained chair.
An intelligent spraying method for a robot for a self-contained chair comprises the following specific steps:
s1, the robot runs to the starting point of online tracking teaching, conveying is suspended, and the numerical value of the encoder where the plate is located is recorded;
s2, dragging teaching programming:
2.1, servo on the robot, and carry out the inflation of robot body: the method is characterized in that a two-axis band-type brake of the robot is opened, power is provided by a cylinder, and the robot can be reasonably dragged by adjusting the pneumatic balance parameters of the robot;
2.2, selecting a mode: selecting a robot to enter a teaching mode;
2.3, robot dragging teaching: the robot carries out dragging teaching programming according to a spraying part planned in advance;
s3, the robot runs to a dragging teaching point, and conveying is suspended: the process mainly records the numerical value of an encoder for a second section of PTP fusion program;
s4, PTP programming: the plate is moved to a spraying position, and the numerical value of the encoder where the plate is located is recorded;
4.1, servo power-on of the robot, so that the robot performs PTP programming to obtain power;
4.2, selecting a mode: firstly, selecting a robot to enter a PTP programming mode;
4.3, robot PTP programming: the robot carries out PTP teaching programming according to a spraying part planned in advance;
s5, judging whether the track running is proper or not: continuously verifying a program segment programmed by the PTP program and a program segment dragged for teaching;
s6, the program is executed.
The specific operation steps in step S2, item 2.3, are:
(1) manually dragging the robot to a first spraying point, recording a current position value, marking as [ X, Y, Z, A, B, C ], and writing into a corresponding command;
(2) judging whether the spray gun is in the position, and if the spray gun needs to be opened, setting an output point for controlling the opening of the spray gun as enabling;
(3) the step (1) and the step (2) are completed in a reciprocating way, so that all spraying point positions of a spraying part planned in advance for PTP teaching programming are completed;
(4) a second program segment saved as a teach program.
The spraying position of the step S4 needs to track spraying on line.
The specific steps in the 4.3 th step of the step S4 are as follows:
(1) manually operating the robot to a first spraying point, recording a current position value, marking as [ X, Y, Z, A, B, C ], and writing into a corresponding command;
(2) judging whether the spray gun is in the position, if the spray gun needs to be opened, setting an output point for controlling the opening of the spray gun as enabling, then judging the current flow, atomization and fan shape to be proper, and then setting;
(3) the step (1) and the step (2) are completed in a reciprocating way, so that all spraying point positions of a spraying part planned in advance for PTP teaching programming are completed;
(4) saved as the first program segment of the teach program.
The specific operation steps of step S5 are as follows:
(1) switching the robot to an automatic mode, then electrifying the robot, and when the plate runs to the first recorded spraying position, starting the robot to execute a PTP teaching programming program, wherein the program runs stably; when the plate runs to the second recorded spraying position, the robot starts to execute a program for dragging the teaching program, and the program runs stably;
(2) if the program runs properly, the programming result is qualified, otherwise, the program runs improperly, and the operation is started from step S1.
The invention has the beneficial effects that: the invention is mainly applied to chair line spraying in the furniture industry, effectively improves sagging and missing spraying in the chair spraying, has stronger pertinence of a sprayed product, and has the key point of increasing the functional advantage of on-line tracking so as to ensure higher working efficiency.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic diagram of a drag teaching programming flow of the present invention;
FIG. 3 is a schematic view of a PTP programming flow of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1 to 3, an intelligent spraying method for a robot for a self-contained chair comprises the following specific steps:
s1, the robot runs to the starting point of online tracking teaching, conveying is suspended, and the numerical value of the encoder where the plate is located is recorded;
s2, dragging teaching programming:
2.1, servo on the robot, and carry out the inflation of robot body: the method is characterized in that a two-axis band-type brake of the robot is opened, power is provided by a cylinder, and the robot can be reasonably dragged by adjusting the pneumatic balance parameters of the robot;
2.2, selecting a mode: selecting a robot to enter a teaching mode;
2.3, robot dragging teaching: the robot carries out dragging teaching programming according to a spraying part planned in advance;
s3, the robot runs to a dragging teaching point, and conveying is suspended: the process mainly records the numerical value of an encoder for a second section of PTP fusion program;
s4, PTP programming: the plate is moved to a spraying position, and the numerical value of the encoder where the plate is located is recorded;
4.1, servo power-on of the robot, so that the robot performs PTP programming to obtain power;
4.2, selecting a mode: firstly, selecting a robot to enter a PTP programming mode;
4.3, robot PTP programming: the robot carries out PTP teaching programming according to a spraying part planned in advance;
s5, judging whether the track running is proper or not: continuously verifying a program segment programmed by the PTP program and a program segment dragged for teaching;
s6, the program is executed.
The invention realizes the on-line tracking track offset calculation, and the required reading conveying position value; obtaining a teaching track of the robot by using a dragging teaching mode; obtaining a PTP track of the robot by using a PTP programming mode; and fusing the dragging teaching and the PTP programming track.
The upper servo in step S2, 2.1, is to make each motor of the robot obtain the power for operation, and to inflate the body, mainly to provide the power for dragging the robot.
The specific operation steps in step S2, item 2.3, are:
(1) manually dragging the robot to a first spraying point, recording the current position value, marking as [ X, Y, Z, A, B, C ], and writing the position value into a corresponding command;
(2) judging whether the spray gun is in the position, and if the spray gun needs to be opened, setting an output point for controlling the opening of the spray gun as enabling;
(3) the step (1) and the step (2) are completed in a reciprocating way, so that all spraying point positions of a spraying part planned in advance for PTP teaching programming are completed;
(4) a second program segment saved as a teach program.
The spraying position of the step S4 needs to track spraying on line.
The specific steps in the 4.3 th step of the step S4 are as follows:
(1) manually operating the robot to a first spraying point, recording a current position value, marking as [ X, Y, Z, A, B, C ], and writing into a corresponding command;
(2) judging whether the spray gun is in the position, if the spray gun needs to be opened, setting an output point for controlling the opening of the spray gun as enabling, then judging the current flow, atomization and fan shape to be proper, and then setting;
(3) the step (1) and the step (2) are completed in a reciprocating way, so that all spraying point positions of a spraying part planned in advance for PTP teaching programming are completed;
(4) saved as the first program segment of the teach program.
The specific operation steps of step S5 are as follows:
(1) switching the robot to an automatic mode, then electrifying the robot, and when the plate runs to the first recorded spraying position, starting the robot to execute a PTP teaching programming program, wherein the program runs stably; when the plate runs to the second recorded spraying position, the robot starts to execute a program for dragging the teaching program, and the program runs stably;
(2) if the program runs properly, the programming result is qualified, otherwise, the program runs improperly, and the operation is started from step S1.
The invention is mainly applied to chair line spraying in the furniture industry, effectively improves sagging and missing spraying in the chair spraying, has stronger pertinence of a sprayed product, and has the key point of increasing the functional advantage of on-line tracking so as to ensure higher working efficiency.
The online tracking spraying of the invention realizes the online tracking trajectory offset calculation and reads the conveying position value; hardware communication that the robot can acquire the numerical value of the encoder is installed on an X20 DC1196 module of the Begaliy system according to a wiring drawing, so that the acquisition of the data of the encoder is realized; calibrating the encoder value, wherein the only purpose of calibration is to make the data read by the robot module consistent with the data of actual field conveying operation; and converting the obtained encoder value into data which can be operated by the robot.
The data transmitted by the encoder is bit value, and the robot carries out displacement to carry out track calculation by using the following formula: the position value is bit/mm multiplied by bit.
The encoder mainly comprises A \ B \ Z and a power line.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The intelligent spraying method for the robot of the self-contained chair is characterized by comprising the following steps of: the method comprises the following specific steps:
s1, the robot runs to the starting point of online tracking teaching, conveying is suspended, and the numerical value of the encoder where the plate is located is recorded;
s2, dragging teaching programming:
2.1, servo is carried out on the robot, and the robot body is inflated;
2.2, selecting a mode: selecting a robot to enter a teaching mode;
2.3, robot dragging teaching: the robot carries out dragging teaching programming according to a spraying part planned in advance;
s3, the robot runs to a dragging teaching point, and conveying is suspended: the process mainly records the numerical value of an encoder for a second section of PTP fusion program;
s4, PTP programming: the plate is moved to a spraying position, and the numerical value of the encoder where the plate is located is recorded;
s5, judging whether the track running is proper or not: continuously verifying a program segment programmed by the PTP program and a program segment dragged for teaching;
s6, the program is executed.
2. The intelligent robot spraying method for the self-contained chair according to claim 1, wherein the method comprises the following steps: the specific operation steps in step 2.3 of step S2 are:
(1) manually dragging the robot to a first spraying point, recording a current position value, marking as [ X, Y, Z, A, B, C ], and writing into a corresponding command;
(2) judging whether the spray gun is in the position, and if the spray gun needs to be opened, setting an output point for controlling the opening of the spray gun as enabling;
(3) the step (1) and the step (2) are completed in a reciprocating way, so that all spraying point positions of a spraying part planned in advance for PTP teaching programming are completed;
(4) a second program segment saved as a teach program.
3. The intelligent robot spraying method for the self-contained chair according to claim 1, wherein the method comprises the following steps: in the 2.1 of the step S2, the method specifically includes: the mode that the robot two-axle band-type brake is opened is adopted, power is provided by the air cylinder, and the robot can be reasonably dragged by adjusting the pneumatic balance parameters of the robot.
4. The intelligent robot spraying method for the self-contained chair according to claim 1, wherein the method comprises the following steps: the spraying position of the step S4 needs to track spraying on line.
5. The intelligent robot spraying method for the self-contained chair according to claim 1, wherein the method comprises the following steps: the specific method of step S4 is as follows:
4.1, servo power-on of the robot, so that the robot performs PTP programming to obtain power;
4.2, selecting a mode: firstly, selecting a robot to enter a PTP programming mode;
4.3, robot PTP programming: the robot carries out PTP teaching programming according to a spraying part planned in advance.
6. The intelligent robotic painting method for self-contained chairs of claim 5, wherein: the specific steps in the 4.3 th step of the step S4 are as follows:
(1) manually operating the robot to a first spraying point, recording a current position value, marking as [ X, Y, Z, A, B, C ], and writing into a corresponding command;
(2) judging whether the spray gun is in the position, if the spray gun needs to be opened, setting an output point for controlling the opening of the spray gun as enabling, then judging the current flow, atomization and fan shape to be proper, and then setting;
(3) the step (1) and the step (2) are completed in a reciprocating way, so that all spraying point positions of a spraying part planned in advance for PTP teaching programming are completed;
(4) saved as the first program segment of the teach program.
7. The intelligent robot spraying method for the self-contained chair according to claim 1, wherein the method comprises the following steps: the specific operation steps of step S5 are as follows:
(1) switching the robot to an automatic mode, then electrifying the robot, and when the plate runs to the first recorded spraying position, starting the robot to execute a PTP teaching programming program, wherein the program runs stably; when the plate runs to the second recorded spraying position, the robot starts to execute a program for dragging the teaching program, and the program runs stably;
(2) if the program runs properly, the programming result is qualified, otherwise, the program runs improperly, and the operation is started from step S1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111563554.9A CN114474044A (en) | 2021-12-20 | 2021-12-20 | Intelligent spraying method for robot of integrally-mounted chair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111563554.9A CN114474044A (en) | 2021-12-20 | 2021-12-20 | Intelligent spraying method for robot of integrally-mounted chair |
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| Publication Number | Publication Date |
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| CN114474044A true CN114474044A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111563554.9A Pending CN114474044A (en) | 2021-12-20 | 2021-12-20 | Intelligent spraying method for robot of integrally-mounted chair |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07302110A (en) * | 1994-05-09 | 1995-11-14 | Fanuc Ltd | Production of robot operation program |
| JP2006315157A (en) * | 2005-05-16 | 2006-11-24 | Anest Iwata Corp | Teaching method of coating robot |
| CN101327590A (en) * | 2008-07-26 | 2008-12-24 | 河北理工大学 | Glazing robot off-line teaching device and teaching method |
| JP2011045937A (en) * | 2009-08-25 | 2011-03-10 | Denso Wave Inc | Robot system |
| CN110142748A (en) * | 2019-07-15 | 2019-08-20 | 常州固高智能装备技术研究院有限公司 | A kind of quick teaching system of robot suitable for spraying welding profession and method |
| CN110888422A (en) * | 2018-08-21 | 2020-03-17 | 广东大冶摩托车技术有限公司 | Two-dimensional tracking robot spraying programming method |
| JP2021010968A (en) * | 2019-07-05 | 2021-02-04 | 旭サナック株式会社 | Teaching program creation device and teaching program creation method |
| CN112454371A (en) * | 2020-10-23 | 2021-03-09 | 德屹智能科技(扬州)有限公司 | Robot teaching system |
-
2021
- 2021-12-20 CN CN202111563554.9A patent/CN114474044A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07302110A (en) * | 1994-05-09 | 1995-11-14 | Fanuc Ltd | Production of robot operation program |
| JP2006315157A (en) * | 2005-05-16 | 2006-11-24 | Anest Iwata Corp | Teaching method of coating robot |
| CN101327590A (en) * | 2008-07-26 | 2008-12-24 | 河北理工大学 | Glazing robot off-line teaching device and teaching method |
| JP2011045937A (en) * | 2009-08-25 | 2011-03-10 | Denso Wave Inc | Robot system |
| CN110888422A (en) * | 2018-08-21 | 2020-03-17 | 广东大冶摩托车技术有限公司 | Two-dimensional tracking robot spraying programming method |
| JP2021010968A (en) * | 2019-07-05 | 2021-02-04 | 旭サナック株式会社 | Teaching program creation device and teaching program creation method |
| CN110142748A (en) * | 2019-07-15 | 2019-08-20 | 常州固高智能装备技术研究院有限公司 | A kind of quick teaching system of robot suitable for spraying welding profession and method |
| CN112454371A (en) * | 2020-10-23 | 2021-03-09 | 德屹智能科技(扬州)有限公司 | Robot teaching system |
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