CN116329041A - Robot automatic spraying method and system - Google Patents
Robot automatic spraying method and system Download PDFInfo
- Publication number
- CN116329041A CN116329041A CN202310292212.0A CN202310292212A CN116329041A CN 116329041 A CN116329041 A CN 116329041A CN 202310292212 A CN202310292212 A CN 202310292212A CN 116329041 A CN116329041 A CN 116329041A
- Authority
- CN
- China
- Prior art keywords
- controller
- workpiece
- sprayed
- spraying
- spraying 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 111
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 239000007921 spray Substances 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims description 5
- 230000007723 transport mechanism Effects 0.000 claims description 4
- 238000010422 painting Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009776 industrial production Methods 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
- 231100000614 poison Toxicity 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000003440 toxic substance Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
-
- 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
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
-
- 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
-
- 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
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a robot automatic spraying method and a system, which particularly relate to the technical field of spraying and comprise the following operation steps: fixing a workpiece to be sprayed on a fixing mechanism; the controller controls the conveying mechanism to drive the workpiece to be sprayed to move to the scanning area; the controller controls the scanning gun to scan the workpiece to be sprayed, and determines the space position coordinates of the workpiece to be sprayed; the controller reads the scanning gun data and generates a spraying robot identifiable program; the controller controls the conveying mechanism to drive the workpiece to be sprayed to move to the spraying area; the controller transmits information to the spraying robot controller, and the spraying robot controller controls the spraying robot to spray the workpiece to be sprayed according to the identifiable program of the spraying robot. The invention takes the identifiable program of the spraying robot generated by scanning the workpiece to be sprayed by the scanning gun as the spraying program, can spray different products, has high automation degree, reduces labor cost and has high spraying efficiency and accuracy.
Description
Technical Field
The invention relates to the technical field of spraying, in particular to an automatic spraying method and system for a robot.
Background
In the industrial production process, various products are sprayed with paint, coating, etc. The spraying mode can be manual spraying or automatic spraying through a robot. Manual spraying can be detrimental to the health of workers because workers are exposed to toxic substances and even to explosive substances. The robot automatic spraying can be safer. However, in general, robot automatic spraying sprays specific products with a fixed spraying track, if the products are slightly different, or the spraying position or angle is changed, the robot needs to be reprogrammed, such automatic spraying mode is not flexible enough, the automation degree of spraying operation needs to be improved, and the spraying progress needs to be focused on manually at any time, and the workpiece or the spraying robot needs to be properly adjusted to meet the spraying requirement, consume labor cost, and have low spraying efficiency and accuracy.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks of the prior art, embodiments of the present invention provide a robot automatic spraying method and system, so as to solve the above-mentioned problems in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the automatic spraying method of the robot comprises the following operation steps:
s1, fixing a workpiece to be sprayed on a fixing mechanism, and transmitting information to a controller by the fixing mechanism after the fixing is completed;
s2, the controller controls the conveying mechanism to drive the workpiece to be sprayed to move to a scanning area, the first infrared sensor detects the workpiece to be sprayed and transmits information to the controller, and the controller controls the conveying mechanism to stop moving;
s3, the controller controls the scanning gun to scan the workpiece to be sprayed, the space position coordinates of the workpiece to be sprayed are determined, and the scanning gun transmits data to the controller;
s4, the controller reads the scanning gun data, generates a spraying robot identifiable program and transmits the spraying robot identifiable program to the spraying robot controller;
s5, the controller controls the conveying mechanism to continue to move, the workpiece to be sprayed is driven to move to the spraying area, the second infrared sensor detects the workpiece to be sprayed, information is transmitted to the controller, and the controller controls the conveying mechanism to stop moving;
s6, the controller transmits the information to a spraying robot controller, and the spraying robot controller controls the spraying robot to spray the workpiece to be sprayed according to a spraying robot identifiable program;
and S7, after the spraying is finished, the controller controls the conveying mechanism to move to drive the sprayed workpiece to move out of the spraying area.
In a preferred embodiment, the securing means is mounted on the transport means.
In a preferred embodiment, the first infrared sensor in the step S2 is disposed in the scanning area.
In a preferred embodiment, the second infrared sensor in the step S5 is provided in the painting area.
A robotic automatic spray coating system, comprising:
and (3) a controller: for controlling an automatic spray system;
scanning gun: the scanning gun is connected with the controller and is used for scanning the workpiece to be sprayed and confirming the space position coordinates of the workpiece to be sprayed;
and (3) a spraying robot controller: the spraying robot controller is connected with the controller and is used for receiving the spraying robot identifiable program generated by the controller;
spraying robot: the spraying robot is connected with the spraying robot controller, and the spraying robot sprays the workpiece to be sprayed according to a spraying robot identifiable program transmitted by the spraying robot controller;
the fixing mechanism comprises: the fixing mechanism is connected with the controller and is used for fixing a workpiece to be sprayed;
and (3) a transport mechanism: the conveying mechanism is connected with the controller and drives the workpiece to be sprayed to move;
a first infrared sensor: the first infrared sensor is connected with the controller and is used for detecting the position of a workpiece to be sprayed;
the second infrared sensor is connected with the controller and used for detecting the position of the workpiece to be sprayed.
Compared with the prior art, the invention has the technical effects and advantages that:
according to the invention, the workpiece to be sprayed is scanned through the scanning gun, the space position coordinates of the workpiece to be sprayed are determined, the data are transmitted to the controller, the controller generates the spraying robot identifiable program, the spraying robot identifiable program is transmitted to the spraying robot controller, the spraying robot controller controls the spraying robot to spray the workpiece to be sprayed according to the spraying robot identifiable program, and the spraying robot identifiable program generated by scanning the workpiece to be sprayed through the scanning gun is used as the spraying program, so that different products can be sprayed, the automation degree is high, the labor cost is reduced, and the spraying efficiency and accuracy are high.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
The reference numerals are: 1. a controller; 2. a scanning gun; 3. a spray robot controller; 4. a spraying robot; 5. a fixing mechanism; 6. a transport mechanism; 7. a first infrared sensor; 8. and a second infrared sensor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to a robot automatic spraying method shown in fig. 1, the method comprises the following operation steps:
s1, fixing a workpiece to be sprayed on a fixing mechanism, and transmitting information to a controller by the fixing mechanism after the fixing is completed;
s2, the controller controls the conveying mechanism to drive the workpiece to be sprayed to move to a scanning area, the first infrared sensor detects the workpiece to be sprayed and transmits information to the controller, and the controller controls the conveying mechanism to stop moving;
s3, the controller controls the scanning gun to scan the workpiece to be sprayed, the space position coordinates of the workpiece to be sprayed are determined, and the scanning gun transmits data to the controller;
s4, the controller reads the scanning gun data, generates a spraying robot identifiable program and transmits the spraying robot identifiable program to the spraying robot controller;
s5, the controller controls the conveying mechanism to continue to move, the workpiece to be sprayed is driven to move to the spraying area, the second infrared sensor detects the workpiece to be sprayed, information is transmitted to the controller, and the controller controls the conveying mechanism to stop moving;
s6, the controller transmits the information to a spraying robot controller, and the spraying robot controller controls the spraying robot to spray the workpiece to be sprayed according to a spraying robot identifiable program;
and S7, after the spraying is finished, the controller controls the conveying mechanism to move to drive the sprayed workpiece to move out of the spraying area.
In a preferred embodiment, the securing means is mounted on the transport means.
In a preferred embodiment, the first infrared sensor in the step S2 is disposed in the scanning area.
In a preferred embodiment, the second infrared sensor in the step S5 is provided in the painting area.
A robotic automated spray system comprising
The controller 1: for controlling an automatic spray system;
scanning gun 2: the scanning gun 2 is connected with the controller 1, and the scanning gun 2 is used for scanning a workpiece to be sprayed and confirming the space position coordinates of the workpiece to be sprayed;
the painting robot controller 3: the spraying robot controller 3 is connected with the controller 1, and the spraying robot controller 3 is used for receiving a spraying robot identifiable program generated by the controller 3;
spraying robot 4: the spraying robot 4 is connected with the spraying robot controller 3, and the spraying robot 4 sprays the workpiece to be sprayed according to a spraying robot identifiable program transmitted by the spraying robot controller 3;
fixing mechanism 5: the fixing mechanism 5 is connected with the controller 1, and the fixing mechanism 5 is used for fixing a workpiece to be sprayed;
transport mechanism 6: the conveying mechanism 6 is connected with the controller 1, and the conveying mechanism 6 drives the workpiece to be sprayed to move;
the first infrared sensor 7: the first infrared sensor 7 is connected with the controller 1, and the first infrared sensor 7 is used for detecting the position of a workpiece to be sprayed;
the second infrared sensor 8 is connected with the controller 1, and the second infrared sensor 8 is used for detecting the position of a workpiece to be sprayed.
In summary, the invention has the beneficial effects that: the method comprises the steps of scanning a workpiece to be sprayed through the scanning gun, determining the space position coordinates of the workpiece to be sprayed, transmitting data to the controller, generating a spraying robot identifiable program by the controller, transmitting the spraying robot identifiable program to the spraying robot controller, controlling the spraying robot to spray the workpiece to be sprayed according to the spraying robot identifiable program by the spraying robot controller, taking the spraying robot identifiable program generated by scanning the workpiece to be sprayed through the scanning gun as the spraying program, spraying different products, and being high in automation degree, labor cost and spraying efficiency and accuracy.
The last points to be described are: first, in the description of the present application, it should be noted that, unless otherwise specified and defined, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be mechanical or electrical, or may be a direct connection between two elements, and "upper," "lower," "left," "right," etc. are merely used to indicate relative positional relationships, which may be changed when the absolute position of the object being described is changed;
secondly: in the drawings of the disclosed embodiments, only the structures related to the embodiments of the present disclosure are referred to, and other structures can refer to the common design, so that the same embodiment and different embodiments of the present disclosure can be combined with each other under the condition of no conflict;
finally: the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The automatic spraying method of the robot is characterized by comprising the following operation steps of:
s1, fixing a workpiece to be sprayed on a fixing mechanism, and transmitting information to a controller by the fixing mechanism after the fixing is completed;
s2, the controller controls the conveying mechanism to drive the workpiece to be sprayed to move to a scanning area, the first infrared sensor detects the workpiece to be sprayed and transmits information to the controller, and the controller controls the conveying mechanism to stop moving;
s3, the controller controls the scanning gun to scan the workpiece to be sprayed, the space position coordinates of the workpiece to be sprayed are determined, and the scanning gun transmits data to the controller;
s4, the controller reads the scanning gun data, generates a spraying robot identifiable program and transmits the spraying robot identifiable program to the spraying robot controller;
s5, the controller controls the conveying mechanism to continue to move, the workpiece to be sprayed is driven to move to the spraying area, the second infrared sensor detects the workpiece to be sprayed, information is transmitted to the controller, and the controller controls the conveying mechanism to stop moving;
s6, the controller transmits the information to a spraying robot controller, and the spraying robot controller controls the spraying robot to spray the workpiece to be sprayed according to a spraying robot identifiable program;
and S7, after the spraying is finished, the controller controls the conveying mechanism to move to drive the sprayed workpiece to move out of the spraying area.
2. A robotic auto-spray method according to claim 1, characterized in that: the fixing mechanism is arranged on the conveying mechanism.
3. A robotic auto-spray method according to claim 1, characterized in that: the first infrared sensor in the step S2 is disposed in the scanning area.
4. A robotic auto-spray method according to claim 1, characterized in that: the second infrared sensor in the step S5 is disposed at the spraying area.
5. A robotic automatic spray coating system, comprising:
controller (1): for controlling an automatic spray system;
scanning gun (2): the scanning gun (2) is connected with the controller (1), and the scanning gun (2) is used for scanning a workpiece to be sprayed and confirming the space position coordinates of the workpiece to be sprayed;
spraying robot controller (3): the spraying robot controller (3) is connected with the controller (1), and the spraying robot controller (3) is used for receiving a spraying robot identifiable program generated by the controller (3);
spraying robot (4): the spraying robot (4) is connected with the spraying robot controller (3), and the spraying robot (4) sprays the workpiece to be sprayed according to a spraying robot identifiable program transmitted by the spraying robot controller (3);
fixing mechanism (5): the fixing mechanism (5) is connected with the controller (1), and the fixing mechanism (5) is used for fixing a workpiece to be sprayed;
transport mechanism (6): the conveying mechanism (6) is connected with the controller (1), and the conveying mechanism (6) drives the workpiece to be sprayed to move;
first infrared sensor (7): the first infrared sensor (7) is connected with the controller (1), and the first infrared sensor (7) is used for detecting the position of a workpiece to be sprayed;
the second infrared sensor (8), second infrared sensor (8) are connected with controller (1), second infrared sensor (8) are used for detecting and wait to spray work piece position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310292212.0A CN116329041A (en) | 2023-03-23 | 2023-03-23 | Robot automatic spraying method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310292212.0A CN116329041A (en) | 2023-03-23 | 2023-03-23 | Robot automatic spraying method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116329041A true CN116329041A (en) | 2023-06-27 |
Family
ID=86894442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310292212.0A Pending CN116329041A (en) | 2023-03-23 | 2023-03-23 | Robot automatic spraying method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116329041A (en) |
-
2023
- 2023-03-23 CN CN202310292212.0A patent/CN116329041A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3469974B1 (en) | Cooperative work system formed by mother robot and child robot, and operation method thereof | |
| US10850927B2 (en) | Work system, method for executing work on object, and robot | |
| CN109927047B (en) | Axial tracking system and method for straight butt weld of arc welding robot | |
| KR20190044496A (en) | Automatic apparatus | |
| CN105364927B (en) | The method for rapidly positioning that the robot in vision system is carried is carried for robot | |
| CN109352217A (en) | Robot on-line automatic welding equipment and weld job method are found by a kind of group | |
| WO2022024455A1 (en) | Transport system, control method for transport system, and control program for transport system | |
| WO2018066601A1 (en) | Robot system and operation method therefor | |
| CN116117373A (en) | Intelligent welding method and system for small assembly components in ship | |
| CN116329041A (en) | Robot automatic spraying method and system | |
| CN110695494B (en) | Corrugated plate external shaft tracking system and method thereof | |
| CN110722266B (en) | Manipulator assembly line type workpiece three-dimensional scanning and additive repairing device and method | |
| CN111389623A (en) | Control system and control method of automatic spraying robot | |
| CN111330778A (en) | Robot and spraying system for spraying automobile sheet metal shell | |
| CN105149775B (en) | A kind of at the uniform velocity processing method to special-shaped side | |
| CN111284143A (en) | Laser coding system and method for hot steel blank | |
| CN114147724B (en) | Robot power control shaft hole assembly method and system | |
| JPH1119891A (en) | Handling method for moving object and calibration method in handling device for moving object | |
| CN113909765A (en) | Guide welding system | |
| CN109986238B (en) | Robot linear flexible operation vision fuzzy profiling control method | |
| JPS60221230A (en) | Follow up method | |
| US20220339791A1 (en) | Robot operation for a moving workpiece | |
| JPH06218684A (en) | Instruction device for operation type manipulator/and automatic work by operation type manipulator | |
| CN220730681U (en) | Automatic production line | |
| CN116571852B (en) | Automatic welding method and system for robot stud |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication |