A method for adjusting the angle of the spray gun of an automatic painting equipment for auto repair

Abstract

The invention discloses a method for adjusting the angle of a spray gun of an automatic paint spraying equipment for auto repair. It is based on a two-axis rotating spray gun module. The two-axis rotating spray gun module includes a first rotating shaft, a second rotating shaft and a spray gun, and the spray gun is fixed on the second rotating shaft. On the above, the second rotating shaft is fixed on the first rotating shaft, and the space coordinate system XYZ and its coordinate zero point O are defined, the X axis is the vertical axis, the Y axis and the Z axis are the horizontal axis, the first axis and the second axis are The intersection point of the axis of the rotating shaft is the rotation zero point O', when the rotation angle of the first rotating shaft is θ 4 , the rotation angle of the second shaft is θ 5 When , the angle of the spray gun coincides with the unit normal vector of the target point, and by constructing the geometric relationship equation, determine θ 4 , θ 5 . Therefore, the method for adjusting the angle of the spray gun of the automatic paint spraying equipment for auto repair of the present invention avoids the problem of complex conversion in multiple coordinate systems, greatly reduces the calculation workload, and improves the work efficiency.

Description

technical field [0001] The invention relates to the field of auto repair, in particular to a method for adjusting the angle of a spray gun of an automatic painting equipment for auto repair. Background technique [0002] In the field of vehicle production, painting robots have completely replaced manual labor, which has greatly improved the production efficiency of automobiles and the quality of vehicle paint spraying. However, in the field of automobile maintenance, painting robots have not been well applied. The reason is that the production of complete vehicles The painting robot used is not only expensive, but also only suitable for fixed-line painting work of specific models and specific parts. In the field of auto repair, the vehicle models and specifications for each repair are different, and the location and scope of spraying are also different each time. Therefore, painting robots in the field of vehicle production cannot meet such a variety of application scenarios...

AI Technical Summary

Problems solved by technology

The current practice is to construct the relationship between multiple joint coordinate systems and perform conversion between different coordinate systems. The process involves a very complicated kinematic model forward solution and inverse solution process. The calculation process is complicated and difficult to understand, and it is easy to appear Errors lead to complex control procedures and very high requirements for maintenance personnel, which in turn leads to high product costs, making it difficult to popularize in actual production

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