BE1029313B1 - Automatic spray system with integrated visual inspection - Google Patents

Abstract

The present invention discloses an automatic spraying system with integrated visual inspection, comprising a closed spraying room, a workpiece lifting mechanism installed at the intermediate position of the top of the inner cavity of the closed spraying room, and a nozzle positioning device, a mobile spraying device, a missing spraying checking device and a mobile auxiliary spraying device, which are arranged one after the other in the closed spray space along the length direction. When the workpiece moves to the spray station with the lifting rope, the position of the workpiece to be sprayed is visually detected; at the spraying station, the workpiece moves with the lifting rope, and the spraying moving mechanism moves with it and sprays the workpiece. When the workpiece moves and reaches the inspection work position, the missing spraying inspection device detects the position with gaps of spraying or missing spraying; According to the position with gaps of spraying or missing spraying, the array spraying device at the auxiliary spraying station opens the corresponding nozzle to carry out supplementary spraying for the workpiece.

Description

DESCRIPTION

Automatic spray system with integrated visual inspection

TECHNICAL FIELD

The present invention relates to the technical field of intelligent

Manufacturing, particularly an integrated system for spraying, testing and supplementary spraying of furniture manufacturing components.

STATE OF THE ART

In furniture manufacturing there are many parts that need to be sprayed. The

Quality of spraying, the level of automation, production efficiency and the operating environment are the key indicators that determine the level of

Determine spraying technology for furniture products and parts. Currently, almost all furniture manufacturers use manual or semi-automatic

Operating mode that has both low production efficiency and high

Work intensity of the operators as well as poor consistency

spray quality, which is mainly reflected in uneven spraying,

Gaps in spraying, lack of spraying and poor operating environment. In addition, the manual operating mode hinders the

Automation and intelligentization of furniture manufacturing and affects the process of high-quality development of enterprises.

Therefore, furniture manufacturers urgently need an integrated spraying and visual inspection control method and system that can replace the current manual or semi-automatic operation mode, which is not only the

Improve production efficiency and manufacturing quality, but also the important link of automatic intelligent production lines for the

Furniture production can compensate.

CONTENT OF THE PRESENT INVENTION

The purpose of the present invention is for

Furniture manufacturing industry an integrated based on machine vision

To provide methods for spraying, testing and supplemental spraying of components and supporting automatic equipment.

The present invention relates to an integrated system for spraying and for

Visual inspection, comprising a closed spray room, one at the

Intermediate position of the top of the inner cavity of the closed

Workpiece lifting mechanism installed in the spray room as well as a

Nozzle positioning device, a mobile spraying device, a missing spraying checking device and a mobile auxiliary spraying device, which are arranged one after the other in the closed spraying room along the length direction. The workpiece lifting mechanism is used to lift a workpiece to be sprayed

To lift the workpiece and drive it one after the other through the

Nozzle positioning device, the mobile spray device, the missing spray check device and the mobile auxiliary spray device. The mobile spray device is used to carry out a spraying operation on a workpiece to be sprayed; wherein the mobile additional spray device is used to move the non-sprayed area to the area to be sprayed

Spray workpiece.

The nozzle positioning device and the missing spray checking device have the same structure and include two each

Image capture components. The two image capture components are each arranged on the two sides of the movement path of the workpiece. The

Image capture component includes a support, a housing, a

protection device and a visual inspection device; wherein the support is fixed in the closed spray space; and the housing is detachable

Top of the support is connected. One side of the housing facing the path of movement of the workpiece is provided with an opening. The

Visual inspection device includes a camera and a light source; where the

Camera and the light source are mounted in the housing and face the path of movement of the workpiece. The protective device includes one

Protective cover. The protective cover is close to the path of movement of the

The side of the housing lying on the workpiece is slidably connected and can be placed underneath

Close the opening of the housing using the drive element.

The protective cover preferably closes the opening of the housing when the mobile

Spray device and the mobile additional spray device carry out the spraying process.

The housing is preferably provided with a plurality of air flow openings; wherein the respective air flow openings are each connected to the air source through the air duct.

The air source preferably passes through the inner air flow openings

Cavity of the housing under pressure in a state that the protective cover

The opening of the housing is not covered.

The protective device preferably comprises an electromagnet, a spring

cylinder, a protective cover and a piston rod; whereby the cylinder is fixed in the closed spray chamber. These are inside the cylinder

Electromagnet and spring attached; wherein the piston rod is made of ferromagnetic material and is slidably connected to the cylinder; and wherein the two ends of the spring respectively abut the bottom surface of the inner cavity of the cylinder and the bottom of the piston rod.

The protective cover is attached to the upper end of the piston rod.

The two image capture components are preferred

Nozzle positioning device or the checking device for missing spraying is arranged offset along the direction of movement of the workpiece to be sprayed.

Preferably, the workpiece lifting mechanism includes a lifting rope and a

Movement mechanism. The movement mechanism includes a rail and a traverse carriage. The crossing car moves along the rail under power from the engine. The upper end of the lifting rope is connected to the

Crossing trolley attached and the lower end is with the one to be sprayed

Workpiece attached.

The mobile spray device and the mobile are preferred

Additional spray device has the same structure and includes one each

spray frame and a spray movement mechanism; wherein the spray frame includes a side frame and a support frame; and wherein the bottoms of the two side frames are respectively attached to the two sides of the support frame. The two spray movement mechanisms are installed on the two side frames and are located on the two respectively

Sides of the workpiece's trajectory. The spray movement mechanism includes a spray mechanism and a movement mechanism. The

Spray mechanism is slidably connected to the interior of the spray frame. The movement mechanism is installed on the side frame to allow the spray mechanism to move back and forth on the side

drive frame. The spray mechanism includes an array

nozzle installation plate and nozzles; wherein the array nozzle installation plate is slidably connected to the corresponding side frame. At one of the

The side surface of the array facing the path of movement of the workpiece

Nozzle installation plate has several nozzles installed.

The spray mechanism preferably further comprises a guide roller and a

Support roller. U-shaped sliding grooves are provided on the top and bottom of the side frame, the openings of which are arranged opposite one another. Several guide rollers are supported on the top and bottom of the array nozzle installation plate, the axes of which are arranged vertically. The guide rollers are arranged in the U-shaped sliding grooves and are in contact with the side surfaces of the U-shaped sliding grooves. At the

The bottom of the array nozzle installation plate is supported by several support rollers

Axes are arranged horizontally. The support rollers are in the U-shaped

Sliding grooves are arranged on the bottom of the side frame and are connected to the

Bottom surfaces of the U-shaped sliding grooves come into contact.

The movement mechanism preferably comprises a servo motor

lead screw and a nut; wherein the nut is on an outer side surface of the

Array nozzle installation plate is attached. The lead screw is rotatably connected to the outside of the side frame; where the lead screw and the nut form a spiral pair. The output shaft of the servo motor is with one end of the

Lead screw attached.

The present invention has the following advantages: with the arrangement of an integrated spraying and visual inspection system consisting of a spray moving mechanism, an array sprayer and a visual inspection device, etc., an integrated spraying, inspection and supplementary method based on machine vision is achieved

Spraying components provided to solve the problem with the

Automation technology for spraying products and components in the

To solve furniture manufacturing industry, the long-term manual or semi-automatic operation mode is replaced by fully automatic equipments, which not only reduces the labor intensity of operators, the

Production environment improved, but also the spray quality and

Production efficiency improved. It is the key equipment of automatic intelligent production line of furniture manufacturing. Because of this, there are significant economic, social and environmental benefits.

BRIEF DESCRIPTION OF THE DRAWINGS

Figure 1 shows a schematic diagram of an overall structure of the present

invention (top view);

Figure 2 shows a schematic diagram of a spray movement mechanism according to the present invention (step section view of the A-A section according to

Figure 1);

Figure 3 shows a schematic diagram of an array sprayer and spray movement mechanism according to the present invention (sectional view of the B-B section of Figure 1);

Figure 4 shows a first schematic diagram of a visual inspection device according to the present invention (sectional view of the C-C section according to Figure 1);

Figure 5 shows a second schematic diagram of a visual inspection device according to the present invention (sectional view of the D-D section according to Figure 1).

DETAILED DESCRIPTION

The present invention is explained in more detail below in connection with figures.

As shown in Figure 1, an integrated system for spraying and

Visual inspection according to the present invention, comprising a closed

Spray room 1 (in Figure 1 the top cover is hidden to cover the inner one

structure), one at the intermediate position of the top of the inner

Cavity of the closed spray chamber 1 installed workpiece

Lifting mechanism and a nozzle positioning device 14, a mobile one

Spray device, a missing spray test device 9 and a mobile one

Additional spray device, which is in the closed spray room 1 along the

Length direction are arranged one after the other. The workpiece lifting mechanism is used to lift a workpiece 11 to be sprayed and drive it to be sequentially passed through the nozzle positioning device 14, which is mobile

Spray device, the missing spray test device 9 and the mobile

Additional spray device to go.

The closed spray room 1 and the workpiece lifting mechanism each adopt sophisticated technologies and are customized according to the situation of the workpiece to be sprayed; in the present one

Embodiment, the workpiece lifting mechanism includes a lifting rope 10 and a movement mechanism. The movement mechanism includes a

Rail and a transit car. The crossing car goes under

Driven by the motor along the rail. The upper end of the lifting rope 10 is attached to the traversing trolley and the lower end is attached to the workpiece 11 to be sprayed. During the work process, the workpiece 11 to be sprayed, hanging on the lifting cable 10, continues to move (the spraying and testing process does not stop); the nozzle positioning device 14 is used to check the position, shape and size of the workpiece 11 to be sprayed, so that the mobile

Spraying device automatically sprays the two side surfaces of the workpiece 11 to be sprayed. The missing spraying inspection device 9 is used to inspect the missing spraying location on the workpiece 11 to be sprayed and transmit the inspection data to the mobile auxiliary spraying device to perform supplementary spraying.

The nozzle positioning device 14 and the missing checking device

Sprays 9 have the same structure and include two each

Image capture components. The two image capture components are each arranged on the two sides of the movement path of the workpiece 11 to be sprayed and distributed offset along the direction of movement of the workpiece to be sprayed.

The image capture component includes a support 9-1, a housing 9-2, a

protection device and a visual inspection device; where the support 9-1an the

Bottom surface of the inner cavity of the closed spray space 1 is fixed; and wherein the housing 9-2 is detachably connected to the top of the support 9-1. The support 9-1 and the housing 9-2 have a supporting and protective function for the protection device and the visual inspection device; The guard is used to prevent droplets or dust from being released during the

The spraying process enters the visual inspection device and the visual inspection device becomes dirty or damaged; the visual inspection device is used to recognize the captured images of the workpiece 11 to be sprayed in order to

Determine spray position.

The visual inspection device includes an air flow opening 9-3, a camera 9-4 and a light source 9-5; The trajectory of what is to be sprayed

The front of the housing 9-2 facing the workpiece 11 is open, with the back being closed. The camera 9-4 and the light source 9-5 are attached to the back of the housing 9-2. The camera 9-4 takes the images of the workpiece 11 to be sprayed. The light source 9-5 is used to irradiate the workpiece 11 to be sprayed with light; a plurality of air flow openings 9-3 being provided at the rear of the housing 9-2; and wherein the respective air flow openings 9-3 are arranged in a ring shape around the camera 9-4. The respective air flow openings 9-3 are connected to the light source through an air duct. The light source takes one

Air pump on. When the protective cover 9-10 is open, it sprays

Air flow opening 9-3 directs air flow into the housing 9-2 to increase the air pressure in the housing 9-2, thereby preventing spray droplets or dust from entering the housing 9-2 and the light source 9-5 and the camera 9 -4 damaged.

The protection device includes an electromagnet 9-6, a spring 9-8, a

cylinder 9-7, a protective cover 9-10 and a piston rod 9-9; where the

Cylinders 9-7 on the bottom surface of the inner cavity of the closed

Spray room 1 is attached. Inside the cylinder 9-7, the electromagnet 9-6 and the vertically arranged spring 9-8 are attached; wherein the piston rod 9-9 is made of ferromagnetic material and is slidably connected to the inner wall of the cylinder 9-7; and wherein the two ends of the spring 9-8 are respectively on the bottom surface of the inner cavity of the cylinder 9-7 and the bottom of the

Piston rod 9-9 rests. The protective cover 9-10 is at the top of the

Piston rod 9-9 attached; When the electromagnet 9-6 is not energized, the spring 9-8 is in a compressed state and exerts a vertically upward elastic force on the piston rod 9-9 and the protective cover 9-10, and the protective cover 9-10 covers the front opening of the housing 9-2; when the electromagnet 9-6 is energized, the piston rod 9-9 is sucked downward, which drives the protective cover 9-10 to move downward, exposing the camera 9-4.

When the workpiece 11 to be sprayed reaches the test position, it will

Electromagnet 9-6 immediately energized, the piston rod 9-9 is attracted by the magnetic force and drives the protective cover 9-10 to move downward; When the visual inspection device finishes the inspection, the electromagnet 9-6 is immediately turned off and the magnetic force disappears. Under the action of the elastic force of the spring 9-8, the piston rod 9-9 and the

Protective cover 9-10 driven to move up to the

Cover the visual inspection device to prevent spray droplets or dust from entering the visual inspection device and contaminating or damaging the visual inspection device.

The mobile spraying device and the mobile auxiliary spraying device have the same structure and each include a spray frame and a

spray movement mechanism; wherein the spray frame comprises a side frame 2 and a support frame to form a semi-enclosed spray space

Installation of the spray movement mechanism to form. The bottoms of the two side frames 2 are each attached to the two sides of the support frame 7. The two spray movement mechanisms are each installed on the two side frames 2 and are located on the two sides of the

Trajectory of the workpiece to be sprayed 11. The

Spray moving mechanism can perform mobile spraying for a workpiece 11 to be sprayed having various shapes and sizes as it moves in the mobile spraying device.

As shown in Figures 2 and 3, the spray movement mechanism includes a spray mechanism and a movement mechanism. The

Spray mechanism is slidably connected to the interior of the spray frame. The moving mechanism is installed on the side frame 2 to drive the spray mechanism to move back and forth on the side frame 2.

The spray mechanism includes a guide roller 6, a support roller 13, a

array nozzle installation plate 5 and a nozzle 12; where on the top and

Bottom of the side frame 2 U-shaped sliding grooves are provided, the openings of which are arranged opposite one another. There are several on the top and bottom of the array nozzle installation plate 5

Guide rollers 6 supported, the axes of which are arranged vertically. The

Guide rollers 6 are arranged in the U-shaped sliding grooves and are in contact with the side surfaces of the U-shaped sliding grooves. At the bottom of the

Array nozzle installation plate 5 supports several support rollers 13, whose

Axes are arranged horizontally. The support rollers 13 are in the U-shaped

Sliding grooves are arranged and are connected to the bottom surfaces of the U-shaped

Sliding grooves in contact so that the array nozzle installation plate 5 can slide freely in the corresponding side frame 2. The nozzles 12 are evenly distributed on the array nozzle installation plate 5, and each nozzle 12 is individually controlled by a solenoid valve to open and close.

During the work process, according to the analysis of the

Nozzle positioning device 14 and missing spray checking device 9 data detected drives each nozzle 12 to open and close, and the workpiece 11 to be sprayed is sprayed accurately; the movement mechanism includes a servo motor 8, a lead screw 3 and a nut 4; wherein the nut 4 is on an outer side surface of the array

Nozzle installation plate 5 is attached. The lead screw 3 is rotatably connected to the outside of the side frame 2; where the lead screw 3 and the

Nut 4 form a spiral pair. The output shaft of the servo motor 8 is fixed to one end of the lead screw 3. The servo motor 8 drives the lead screw 3 to rotate to drive the spray mechanism connected to the nut 4 to move horizontally, which ensures that the spray to be sprayed

Workpiece 11 is still sprayed accurately during the movement process.

The working process of the integrated spraying and visual inspection system is as follows:

The workpiece 11 to be sprayed passes one after the other through the nozzle positioning device 14, which is mobile, while being lifted by the lifting rope 10

Spray device, the missing spray test device 9 and the mobile

Additional spray device.

When the workpiece 11 to be sprayed enters the nozzle positioning device 14, the nozzle positioning device 14 starts work to check the external characteristics such as shape and size of the workpiece 11 to be sprayed and then transmit the data to the mobile spraying device. After calculating and analyzing the obtained data, the mobile opens

Spray device the corresponding nozzle 12 on the spray mechanism to achieve even spraying while avoiding unnecessary loss of

Spray pigments are reduced, thereby achieving the effect of precise spraying.

When the workpiece 11 to be sprayed enters the mobile spraying device, the nozzle 12 on the spraying device starts working to spray the workpiece 11 to be sprayed continuously, during the spraying process, the mobile device drives the spraying device to a horizontal

Movement so that the nozzle 12 remains static all the time relative to the workpiece 11 to be sprayed, in order to achieve a more complete and effective spraying

To ensure spraying.

If the workpiece 11 to be sprayed is placed in the testing device for missing

Spraying 9 occurs, the missing spraying test device 9 starts with the

Work to check the area of the workpiece 11 to be sprayed that is not sprayed evenly by the mobile spraying device.

When the workpiece 11 to be sprayed enters the mobile auxiliary spraying device, the mobile auxiliary spraying device performs supplementary spraying for the area not uniformly sprayed by the mobile spraying device.

During the working process of the nozzle positioning device 14 or the

Test device for missing spraying 9, the corresponding electromagnet 9-6 is energized, the magnetic force pulls the piston rod 9-9 downwards to drive the protective cover 9-10 to fall off, at the same time the sprays

Air flow opening 9-3 on the visual inspection device directs the air flow to the

to protect the visual inspection device, which prevents spray droplets or dust from entering the housing 9-2 and damaging the light source 9-5 and the camera 9-4; the light source 9-5 is turned on, which is on both sides of the

Lifting rope 10 staggered cameras 9-4 take pictures of the two

Side surfaces of the workpiece 11 to be sprayed.

When the mobile spraying device or the mobile auxiliary spraying device is working, the electromagnets 9-6 in the nozzle positioning device 14 and the missing spraying checking device 9 are all turned off, under the action of the elastic force of the spring 9-8, the protective cover 9-10 rises to the opening of the housing 9-2, thereby achieving the function of protecting the camera.

Claims (10)

Patent claims 1. Integrated system for spraying and visual inspection, comprising a closed spray room (1) and a workpiece lifting mechanism installed at the intermediate position of the top of the inner cavity of the closed spray room (1), characterized in that it further comprises a nozzle positioning device (14), a mobile spraying device, a missing spraying checking device (9) and a mobile auxiliary spraying device arranged one after the other in the closed spraying room (1) along the length direction; wherein the workpiece lifting mechanism is used to lift a workpiece (11) to be sprayed and to drive it to pass successively through the nozzle positioning device (14), the mobile spraying device, the missing spraying checking device (9) and the mobile auxiliary spraying device; and wherein the mobile spraying device is used to carry out a spraying operation on a workpiece (11) to be sprayed; and wherein the mobile auxiliary spray device is used to spray the non-sprayed area on the workpiece (11) to be sprayed; and wherein the nozzle positioning device (14) and the missing spray checking device (9) have a same structure and each includes two image capture components; and wherein the two image capture components are respectively arranged on the two sides of the movement path of the workpiece; and wherein the image capture component comprises a support (9-1), a housing (9-2), a protection device and a visual inspection device; and wherein the support (9-1) is fixed in the closed spray space (1); and wherein the housing (9-2) is detachably connected to the top of the support (9-1); and wherein a side of the housing (9-2) facing the path of movement of the workpiece is provided with an opening; and wherein the visual inspection device comprises a camera (9-4) and a light source (9-5); and wherein the camera (9-4) and the light source (9-5) are mounted in the housing (9-2) and face the movement path of the workpiece; and wherein the protective device comprises a protective cover (9-10); and wherein the protective cover (9-10) is slidably connected to a side of the housing (9-2) that is close to the movement path of the workpiece and can close the opening of the housing under drive by the drive element. 2. Integrated system for spraying and visual inspection according to claim 1, characterized in that the protective cover (9-10) closes the opening of the housing (9-2) when the mobile spraying device and the mobile additional spraying device carry out the spraying process. 3. Integrated spraying and visual inspection system according to claim 1, characterized in that the housing (9-2) is provided with a plurality of air flow openings (9-3); wherein the respective air flow openings (9-3) are each connected to the air source through the air duct. 4. Integrated system for spraying and visual inspection according to claim 3, characterized in that the air source through the air flow openings (9-3) pressurizes the inner cavity of the housing (9-2) in a state that the protective cover (9-10) does not cover the opening of the housing (9-2). 5. Integrated system for spraying and visual inspection according to claim 1, characterized in that the protective device is an electromagnet (9-6), a spring (9-8), a cylinder (9-7), a protective cover (9-10) and a piston rod (9-9); wherein the cylinder (9-7) is fixed in the closed spray space (1); and wherein the electromagnet (9-6) and the spring (9-8) are fixed inside the cylinder (9-7); and wherein the piston rod (9-9) is made of ferromagnetic material and is slidably connected to the cylinder (9-7); and wherein the two ends of the spring (9-8) abut the bottom surface of the inner cavity of the cylinder (9-7) and the bottom of the piston rod (9-9), respectively; and wherein the protective cover (9-10) is attached to the upper end of the piston rod (9-9). 6. Integrated spraying and visual inspection system according to claim 1, characterized in that the two image capture components in the nozzle positioning device (14) or the missing spray checking device (9) are arranged offset along the direction of movement of the workpiece (11) to be sprayed. 7. Integrated spraying and visual inspection system according to claim 1, characterized in that the workpiece lifting mechanism comprises a lifting cable (10) and a moving mechanism; wherein the movement mechanism includes a rail and a traverse carriage; and wherein transit car travels along the rail under propulsion by the engine; and wherein the upper end of the lifting rope (10) is attached to the traversing carriage and the lower end is attached to the workpiece (11) to be sprayed 1st. 8. Integrated spraying and visual inspection system according to claim 1, characterized in that the mobile spraying device and the mobile auxiliary spraying device have a same structure and each include a spray frame and a spray movement mechanism; wherein the spray frame comprises a side frame (2) and a support frame (7), and wherein the bottoms of the two side frames (2) are respectively fixed on the two sides of the support frame (7); and wherein the two spray movement mechanisms are respectively installed on the two side frames (2) and are respectively located on the two sides of the movement path of the workpiece; and wherein the spray movement mechanism includes a spray mechanism and a movement mechanism; and wherein the spray mechanism is slidably connected to the interior of the spray frame; and wherein the moving mechanism is installed on the side frame (2) to drive the spray mechanism to reciprocate on the side frame (2); and wherein the spray mechanism includes an array nozzle installation plate (5) and nozzles (12); and wherein the array nozzle installation plate (5) is slidably connected to the corresponding side frame (2); and wherein a plurality of nozzles (12) are installed on a side surface of the array nozzle installation plate (5) facing the movement path of the workpiece. 9. Integrated spraying and visual inspection system according to claim 8, characterized in that the spraying mechanism further comprises a guide roller (6) and a support roller (13); U-shaped sliding grooves are provided on the top and bottom of the side frame (2), the openings of which are arranged opposite one another; and wherein a plurality of guide rollers (6) are supported on the top and bottom of the array nozzle installation plate (5), the axes of which are arranged vertically; and wherein the guide rollers (6) are disposed in the U-shaped sliding grooves and are in contact with the side surfaces of the U-shaped sliding grooves; and supporting on the bottom of the array nozzle installation plate (5) a plurality of support rollers (13) whose axes are arranged horizontally; and wherein the support rollers (13) are arranged in the U-shaped sliding grooves on the bottom of the side frame (2) and are in contact with the bottom surfaces of the U-shaped sliding grooves. 10. Integrated spraying and visual inspection system according to claim 8, characterized in that the movement mechanism comprises a servo motor (8), a lead screw (3) and a nut (4); wherein the nut (4) is fixed to an outer side surface of the array nozzle installation plate (5); and wherein the lead screw (3) is rotatably connected to the outside of the side frame (2); and wherein the lead screw (3) and the nut (4) form a spiral pair; and wherein the output shaft of the servo motor (8) is fixed to one end of the lead screw (3).