CN104759379A - Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology - Google Patents
Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology Download PDFInfo
- Publication number
- CN104759379A CN104759379A CN201510177390.4A CN201510177390A CN104759379A CN 104759379 A CN104759379 A CN 104759379A CN 201510177390 A CN201510177390 A CN 201510177390A CN 104759379 A CN104759379 A CN 104759379A
- Authority
- CN
- China
- Prior art keywords
- dimensional
- spray painting
- robot
- tri patch
- coating objective
- 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.)
- Granted
Links
Abstract
The invention provides an intelligent full-process closed-loop spray painting robot based on the spray painting target three-dimensional imaging technology. The robot conducts three-dimensional topography measurement on a spray painting target through the three-dimensional imaging technology, a three-dimensional model of the spray painting target is established, the route of the spray painting robot is planned through the measured three-dimensional topography and the three-dimensional model, and closed-loop online detection and feedback in the spray painting process are conducted. By directly conducting three-dimensional topography measurement on the spray painting target and conducting three-dimensional solid modeling through the robot, the conventional field teaching process and the like of the spray painting robot are avoided, the robot is high in applicability and production efficiency, good in spray painting quality and quite high in economic value, the route of the spray painting robot can be efficiently and accurately planned, the problems in the spray painting process can be found in time, and the spray painting quality and spray painting efficiency are remarkably improved.
Description
Technical field
The present invention relates to spray automation technical field, particularly relate to a kind of whole process closed loop based on coating objective 3 Dimension Image Technique intelligence spray robot.
Background technology
Spray robot as one of the typical apply of industrial robot, promoting coating quality, reduce spraying cost, improve working environment, meet environmental requirement etc. in there is the huge advantage that artificial or semi-automatic spraying hardly matches.Along with the iterative method of China's manufacturing industry transition and upgrade and machine replace artificial continuing to carry out, advanced manufacturing technology is to informationization, automation and intelligentized future development, and the intelligence manufacture artificially represented with machine has become the important content of development of manufacturing of future generation.
Current spray robot mostly is artificial teaching type and off-line programing type.So-called artificial teaching, refer to and complete teaching and the record of the information such as job space tracing point position and dependent velocity by operator by the teach box people that operates machine, then utilize robot language order to carry out the editor of user job program by operation keyboard, and be stored in training data district.During reproduction, the computer control system of robot takes out teaching order and position data automatically one by one, carries out understanding, computing judging, and various control signal is delivered to corresponding drive system or port, makes robot verily reproduce teaching action.Off-line programing is then the robot model by using calculator memory storage, do not require robot actual motion, to carrying out robot motion's emulation on the basis of teaching result, thus determine teaching contents whether appropriate and robot whether move according to expection mode.
Existing spray robot has the following disadvantages:
1. it is flexible poor to produce.For different coating objective, different relative positions, different poses, all needs to reprogram.Whole spraying process is rigidity flow process, bad adaptability.
2. path planning efficiency is low.No matter be on-line teaching or off-line programing, all need workman rule of thumb to carry out point-to-point teaching, efficiency is low, and quality differs, the knowhow of heavy dependence staff and spraying experiment.
3. spraying process is opened loop control.Fail in spraying process to monitor in real time spray robot state, coating objective, can not problem in Timeliness coverage spraying process and accident, spraying process difficult quality guarantee.
Summary of the invention
For above-mentioned deficiency, the present invention aims to provide a kind of strong adaptability, production efficiency is high, the intelligence of the whole process closed loop based on the coating objective 3 Dimension Image Technique spray robot that coating quality is good, production for solving the existence of existing spray robot is flexible poor, path planning efficiency is low, and coating quality is difficult to the defect ensured.
For achieving the above object, the present invention takes following technical scheme:
Based on the whole process closed loop intelligence spray robot of coating objective 3 Dimension Image Technique, comprise control cabinet, manipulator, three-dimensional appearance instrument and computer; The output of three-dimensional appearance instrument is connected with the input of computer, and the output of computer is connected with the input of control cabinet, and the output of control cabinet is connected with manipulator; Three-dimensional appearance instrument is used for carrying out measuring three-dimensional morphology to coating objective, obtains the three-dimensional data points cloud of coating objective; Computer, for receiving and processing the three-dimensional data points cloud that three-dimensional appearance instrument obtains, obtains the movement locus in each joint of spray robot and utilizes robot language to generate user job program; Control cabinet is used for automatically reading order and data one by one, generates various control signal; Manipulator performs spraying process according to user job program; Described spray robot realizes spraying operation and comprises the following steps:
(1) coating objective three-dimensional appearance data are obtained;
By three-dimensional appearance instrument, measuring three-dimensional morphology is carried out to coating objective, obtain the three-dimensional data points cloud of coating objective, realize mock-up digitlization;
(2) three-dimensional entity model of coating objective is reconstructed;
First the three-dimensional data points cloud recorded by three-dimensional appearance instrument on computers uses particle cluster algorithm to carry out triangulation, after the data of acquisition are carried out pretreatment, obtains cloud data; Again by interpolation, approach and fit to SPL or parameter curve, use modeling software instrument to complete patch moulding; Then by surface-edit, the complete surface model of coating objective is obtained; Finally use technology of surface reconstruction, obtain the three-dimensional CAD model of coating objective;
(3) based on partition surface and the online contexture by self in spraying path of geometry topology;
First on computers triangle gridding is carried out to the three-dimensional CAD model of coating objective, generate multiple tri patch; Calculate the normal vector of each tri patch; Be no more than the concatenate rule generation simply connected almost plane sheet of setting threshold value according to the normal vector angle between adjacent triangular faces after, each simply connected almost plane sheet processed, obtains curved surface that is level and smooth and maintenance primary characteristic; Then the evaluation function in spray gun path is set up according to different path mode on each simply connected almost plane sheet and spray gun trend, and be optimization aim to the maximum with evaluation function value, select best path mode and spray gun trend, re-use the spray gun track that border box method generates this dough sheet; Finally utilization Swarm Intelligent Algorithm obtains the path planning in whole coating objective between all dough sheets;
(4) spraying process is implemented;
According to Inverse Kinematics principle, on computers the path planning of generation is converted to the movement locus in each joint of spray robot, and carries out analysis emulation, then utilize robot language order to carry out the editor of user job program; When implementing spraying, control cabinet takes out order and data automatically one by one, generates various control signal control manipulator and performs spraying operation;
(5) spraying process closed loop on-line checkingi and feedback;
Manipulator is in spraying process, by the sextuple space pose of six-dimension force sensor and three-dimensional appearance instrument on line real-time monitoring manipulator, IMAQ is carried out to the sprayed surface quality of coating objective, obtain spraying effect by computing, feed back to control cabinet and control the repairing that manipulator performs spraying operation.
Further, in described step (3), the step of computer " concatenate rule being no more than setting threshold value according to the normal vector angle between adjacent triangular faces generates simply connected almost plane sheet " is specially:
A) set the normal vector angle threshold value between adjacent triangular faces, set any one tri patch as initial tri patch;
B) centered by initial tri patch, the normal vector angle of all tri patch and initial tri patch around it is calculated;
If the angle c) calculated is no more than normal vector angle threshold value, then this tri patch is connected in flakes with initial tri patch, otherwise, find and not yet connect new tri patch in blocks as new initial tri patch, repeated execution of steps a and b, until all tri patch all connect in flakes.
Compared to existing technology, the present invention has following beneficial effect:
Whole process closed loop based on coating objective 3 Dimension Image Technique intelligence spray robot provided by the invention, the present invention has following beneficial effect:
1) this robot is by directly carrying out measuring three-dimensional morphology to coating objective, d solid modeling, and avoid the on-the-spot flow process such as teaching or off-line programing of existing spray robot, strong adaptability, production efficiency is high.
2) this robot can carry out identifying to the coating objective of any attitude and spray, and need not be fixed and demarcation in advance, have and produce flexibility greatly according to certain attitude to coating objective.
3) this robot can based on the autonomous coating objective threedimensional model obtained, and independently carry out spray robot path planning efficiently and accurately, spray efficiency is high, coating quality good.
4) this robot is by visual feedback, realizes spraying process closed-loop control, and the problem in energy Timeliness coverage spraying process, significantly promote coating quality and spray efficiency, there is very high economic worth.
accompanying drawing illustrates:
Fig. 1 is the structural representation of the spray robot of the embodiment of the present invention.
In Fig. 1,1 is control cabinet; 2 is pedestal; 3 is manipulator; 4 is spray gun; 5 is three-dimensional appearance instrument; 6 is coating objective; 7 is computer.
Fig. 2 is the flow chart that the intelligent spray robot of the embodiment of the present invention completes spraying process.
detailed description of the invention:
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.Embodiment:
Based on the whole process closed loop intelligence spray robot of coating objective 3 Dimension Image Technique, as shown in Figure 1, 2, comprise control cabinet 1, manipulator 3, three-dimensional appearance instrument 5 and computer 7; Wherein 2 is pedestal, and 4 is spray gun, and 6 is coating objective.The output of three-dimensional appearance instrument is connected with the input of computer, and the output of computer is connected with the input of control cabinet, and the output of control cabinet is connected with manipulator; Manipulator is installed on the base 2, and the head of manipulator is provided with spray gun 4; Three-dimensional appearance instrument is used for carrying out measuring three-dimensional morphology to coating objective, obtains the three-dimensional data points cloud of coating objective; Computer, for receiving and processing the three-dimensional data points cloud that three-dimensional appearance instrument obtains, obtains the movement locus in each joint of spray robot and utilizes robot language to generate user job program; Control cabinet is used for automatically reading order and data one by one, generates various control signal, various control signal is delivered to corresponding drive system or port; Manipulator performs spraying process according to user job program; Described spray robot realizes spraying operation and comprises the following steps:
(1) coating objective three-dimensional appearance data are obtained;
After relevant device inspection to be sprayed is errorless, by coat to be painted for coating objective 6() be placed on substrate.Then three-dimensional appearance instrument 5(camera, spatial digitizer etc. are opened), use the technology such as machine vision, 3-D scanning based on principles such as mechanics, electronics, optics, acoustics and magnetics, measuring three-dimensional morphology is carried out to coating objective 6, obtain the three-dimensional data points cloud of coating objective 6 and be stored in computer 7, realizing mock-up digitlization.
(2) three-dimensional entity model of coating objective is reconstructed;
First the Scattered Point-Cloud (initial data) recorded three-dimensional shape measuring apparatus 5 on computer 7 uses particle cluster algorithm (PSO algorithm) to carry out triangulation, carry out data sorting again, simplify, denoising, filtering, the pretreatment such as splicing, obtain high-quality cloud data.Then by interpolation, approach and fit to SPL or parameter curve, use modeling software instrument (as imageware, Geomagic studio) complete patch moulding, again by extending, cutting out and the surface-edit such as transition, obtain the complete surface model of coating objective 6, use technology of surface reconstruction, obtain the three-dimensional CAD model of coating objective 6.
(3) based on partition surface and the online contexture by self in spraying path of geometry topology;
Computer 7 carries out triangle gridding to the three-dimensional CAD model of coating objective 6, generates multiple tri patch; Calculate the normal vector of each tri patch, be then no more than according to the normal vector angle between following adjacent triangular faces the concatenate rule setting threshold value and generate larger simply connected almost plane sheet:
A) set the normal vector angle threshold value between adjacent triangular faces, set any one tri patch as initial tri patch;
B) centered by initial tri patch, the normal vector angle of all tri patch and initial tri patch around it is calculated;
If the angle c) calculated is no more than normal vector angle threshold value, then this tri patch is connected in flakes with initial tri patch, otherwise, find and not yet connect new tri patch in blocks as new initial tri patch, repeated execution of steps a and b, until all tri patch all connect in flakes.
Then use 3L algorithm to process each simply connected almost plane sheet, obtain curved surface that is level and smooth and maintenance primary characteristic.Then set up the evaluation function in spray gun path according to different path mode on each simply connected almost plane sheet and spray gun trend, and be optimization aim to the maximum with evaluation function value, select best spray gun path mode and trend.Re-use the spray gun track that border box method (i.e. bounding-box method) generates simply connected almost plane sheet, namely a known dough sheet, is included this dough sheet completely with a box.FRONT direction is the injection direction of spray gun, RIGHT direction is the direction along simply connected almost plane sheet longest edge, the generation of wherein spraying track goes to cut this dough sheet with perpendicular to a series of plane in RIGHT direction, this dough sheet obtains a series of cross spider, every bar cross spider is divided into several parts by some sampled points, between this sampled point, namely distance is in the cutting direction the spacing between adjacent path after coordinates measurement, is finally carried out by sampled point along RIGHT direction connecting the spray gun path that just can obtain on this dough sheet.Finally use the Swarm Intelligent Algorithm such as ant group algorithm, particle swarm optimization algorithm (PSO) to solve all simply connecteds in whole coating objective 6 and be similar to the path planning between dough sheet.
(4) spraying process is implemented;
According to Robotic inverse kinematics principle, the path planning that computer 7 just generates is converted to the movement locus in each joint of manipulator 3, and carry out analysis emulation, to check whether the motion in each joint of manipulator 3 meets constraints, generator mechanical arm encounters the situation of coating objective 6.Then robot language order is utilized to carry out the editor of user job program.When implementing spraying, Closed control case 1 switch, open painting, air supply system, the control cabinet 3 of robot reads order and the data of computer 7 generation automatically one by one, carry out understanding, computing judging, generate various control signal simultaneously, various control signal is delivered to corresponding drive system or port, control manipulator 3 and perform spraying operation.
(5) spraying process closed loop on-line checkingi and feedback;
The sextuple space pose of manipulator 3 relative to coating objective 6 in spraying process directly affects coating quality.Implement in spraying process at spray gun 4, by six-dimensional force (moment) sensor and machine vision (three-dimensional appearance instrument 5), the sextuple space pose of on line real-time monitoring manipulator 3, guarantee at any regional area, robot end's spray gun 4 and coating objective 6 have relatively-stationary sextuple space pose (namely spray gun has relatively-stationary distance with spraying point, and spray gun has relatively-stationary pose with spraying point normal direction) to meet the uniformity of coating quality.
Manipulator 3 is in spraying process, and gun slot and coating objective 6 surface keep constant distance, and spray gun 4 moves according to path planning.By machine vision (three-dimensional appearance instrument 5) monitoring coating objective 6 in real time, problem in Timeliness coverage spraying process and accident, and IMAQ is carried out to the sprayed surface quality of coating objective, spraying effect (as coating quality associated documents: coating layer thickness extreme value and error, the uniformity etc.) is obtained by computing, feedback spraying control system (computer 7, control cabinet 1), form closed loop feedback.Namely for the region that spraying effect is bad, computer 7 regenerates control command according to spraying effect, and control cabinet 1 and then control manipulator 3 re-start spraying to this region again, complete the repairing of spraying operation, form closed loop feedback.
After coating objective 6 surface spraying completes, computer 7 stops control program running, and the spraying result data obtained by three-dimensional appearance instrument 5 stores, so that follow-up researchs and analyses, disconnect control cabinet 1 switch, stop the supply of painting, air supply system, coating objective 6 withdraws substrate.Spraying process terminates.
This robot is by directly carrying out measuring three-dimensional morphology to coating objective, d solid modeling, and avoid the on-the-spot flow process such as teaching or off-line programing of existing spray robot, strong adaptability, production efficiency is high.This robot can carry out identifying to the coating objective of any attitude and spray in addition, need not be fixed and demarcation in advance, have and produce flexibility greatly according to certain attitude to coating objective.And can based on the autonomous coating objective threedimensional model obtained, independently carry out spray robot path planning efficiently and accurately, spray efficiency is high, coating quality good.This robot is by visual feedback simultaneously, realizes spraying process closed-loop control, and the problem in energy Timeliness coverage spraying process, significantly promote coating quality and spray efficiency, there is very high economic worth.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (2)
1., based on the whole process closed loop intelligence spray robot of coating objective 3 Dimension Image Technique, it is characterized in that, comprise control cabinet, manipulator, three-dimensional appearance instrument and computer; The output of three-dimensional appearance instrument is connected with the input of computer, and the output of computer is connected with the input of control cabinet, and the output of control cabinet is connected with manipulator; Three-dimensional appearance instrument is used for carrying out measuring three-dimensional morphology to coating objective, obtains the three-dimensional data points cloud of coating objective; Computer, for receiving and processing the three-dimensional data points cloud that three-dimensional appearance instrument obtains, obtains the movement locus in each joint of spray robot and utilizes robot language to generate user job program; Control cabinet is used for automatically reading order and data one by one, generates various control signal; Manipulator performs spraying process according to user job program; Described spray robot realizes spraying operation and comprises the following steps:
(1) coating objective three-dimensional appearance data are obtained;
By three-dimensional appearance instrument, measuring three-dimensional morphology is carried out to coating objective, obtain the three-dimensional data points cloud of coating objective, realize mock-up digitlization;
(2) three-dimensional entity model of coating objective is reconstructed;
First the three-dimensional data points cloud recorded by three-dimensional appearance instrument on computers uses particle cluster algorithm to carry out triangulation, after the data of acquisition are carried out pretreatment, obtains cloud data; Again by interpolation, approach and fit to SPL or parameter curve, use modeling software instrument to complete patch moulding; Then by surface-edit, the complete surface model of coating objective is obtained; Finally use technology of surface reconstruction, obtain the three-dimensional CAD model of coating objective;
(3) based on partition surface and the online contexture by self in spraying path of geometry topology;
First on computers triangle gridding is carried out to the three-dimensional CAD model of coating objective, generate multiple tri patch; Calculate the normal vector of each tri patch; Be no more than the concatenate rule generation simply connected almost plane sheet of setting threshold value according to the normal vector angle between adjacent triangular faces after, each simply connected almost plane sheet processed, obtains curved surface that is level and smooth and maintenance primary characteristic; Then the evaluation function in spray gun path is set up according to different path mode on each simply connected almost plane sheet and spray gun trend, and be optimization aim to the maximum with evaluation function value, select best path mode and spray gun trend, re-use the spray gun track that border box method generates this dough sheet; Finally utilization Swarm Intelligent Algorithm obtains the path planning in whole coating objective between all dough sheets;
(4) spraying process is implemented;
According to Inverse Kinematics principle, on computers the path planning of generation is converted to the movement locus in each joint of spray robot, and carries out analysis emulation, then utilize robot language order to carry out the editor of user job program; When implementing spraying, control cabinet takes out order and data automatically one by one, generates various control signal, controls manipulator and performs spraying operation;
(5) spraying process closed loop on-line checkingi and feedback;
Manipulator is in spraying process, by the sextuple space pose of six-dimension force sensor and three-dimensional appearance instrument on line real-time monitoring manipulator, IMAQ is carried out to the sprayed surface quality of coating objective, obtain spraying effect by computing, feed back to control cabinet and control the repairing that manipulator performs spraying operation.
2. as claimed in claim 1 based on the whole process closed loop intelligence spray robot of coating objective 3 Dimension Image Technique, it is characterized in that, in described step (3), the step of computer " concatenate rule being no more than setting threshold value according to the normal vector angle between adjacent triangular faces generates simply connected almost plane sheet " is specially:
A) set the normal vector angle threshold value between adjacent triangular faces, set any one tri patch as initial tri patch;
B) centered by initial tri patch, the normal vector angle of all tri patch and initial tri patch around it is calculated;
If the angle c) calculated is no more than normal vector angle threshold value, then this tri patch is connected in flakes with initial tri patch, otherwise, find and not yet connect new tri patch in blocks as new initial tri patch, repeated execution of steps a and b, until all tri patch all connect in flakes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510177390.4A CN104759379B (en) | 2015-04-15 | 2015-04-15 | Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510177390.4A CN104759379B (en) | 2015-04-15 | 2015-04-15 | Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104759379A true CN104759379A (en) | 2015-07-08 |
| CN104759379B CN104759379B (en) | 2017-05-03 |
Family
ID=53641659
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510177390.4A Expired - Fee Related CN104759379B (en) | 2015-04-15 | 2015-04-15 | Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104759379B (en) |
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106327561A (en) * | 2016-08-31 | 2017-01-11 | 武汉湾流科技股份有限公司 | Intelligent spraying method and system based on machine vision technology |
| CN106423656A (en) * | 2016-08-11 | 2017-02-22 | 重庆大学 | Automatic spraying system and automatic spraying method based on point cloud and image matching |
| CN106466665A (en) * | 2015-08-19 | 2017-03-01 | 福特汽车公司 | Robotic vehicle spray painting instrument including terahertz emission device |
| CN106527238A (en) * | 2016-12-30 | 2017-03-22 | 吉林省天大精益智能制造技术有限公司 | Automobile intelligent paint spraying system based on cloud computing |
| CN106774165A (en) * | 2017-01-22 | 2017-05-31 | 广东工业大学 | A kind of spray robot processes the method and system of workpiece |
| CN106845033A (en) * | 2017-03-13 | 2017-06-13 | 哈尔滨工业大学 | A kind of spray painting spray gun covering of the fan angle of view-based access control model and uniformity modeling method |
| CN107127121A (en) * | 2017-04-13 | 2017-09-05 | 天长市金陵电子有限责任公司 | One kind finishing electrostatic powder spraying method |
| CN107127120A (en) * | 2017-04-13 | 2017-09-05 | 天长市金陵电子有限责任公司 | A kind of electrostatic spraying synergisting method |
| CN107283426A (en) * | 2017-06-28 | 2017-10-24 | 重庆镭宝激光科技有限公司 | A kind of track capturing system and track capturing method for being cut by laser machine people |
| CN107363840A (en) * | 2017-07-25 | 2017-11-21 | 广东加德伟自动化有限公司 | One kind is used for body section spray painting intelligent robot integrated system |
| CN107908152A (en) * | 2017-12-26 | 2018-04-13 | 苏州瀚华智造智能技术有限公司 | A kind of movable robot automatic spray apparatus, control system and method |
| CN107899814A (en) * | 2017-12-20 | 2018-04-13 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot spraying system and its control method |
| CN107983570A (en) * | 2017-12-31 | 2018-05-04 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of steel member paint finishing based on 3D vision technology |
| CN108031588A (en) * | 2017-12-29 | 2018-05-15 | 深圳海桐防务装备技术有限责任公司 | Automatic spray apparatus and use its automatic painting method |
| CN109046901A (en) * | 2018-08-03 | 2018-12-21 | 徐州汉龙智能科技有限公司 | A kind of automobile coating repairing method for planning track |
| CN109317383A (en) * | 2018-10-25 | 2019-02-12 | 佛山市顺德区东亚汽车部件有限公司 | A kind of high-effect spraying production technology and its system for the processing of moulding surface |
| CN109465753A (en) * | 2018-11-21 | 2019-03-15 | 无锡荣恩科技有限公司 | The full-automatic sandblasting paint removal method of aviation components |
| CN109468934A (en) * | 2018-09-30 | 2019-03-15 | 重庆市智翔铺道技术工程有限公司 | A kind of road surface pattern spray equipment |
| CN109590139A (en) * | 2018-12-19 | 2019-04-09 | 航天材料及工艺研究所 | The multi-shaft interlocked spray equipment of special-shaped structure piece surface heat barrier coating and spraying method |
| CN109759254A (en) * | 2019-01-17 | 2019-05-17 | 河北省科学院应用数学研究所 | A kind of system and method for 3 D stereo spraying |
| CN109948247A (en) * | 2019-03-18 | 2019-06-28 | 福州大学 | A kind of handicraft surface in Automatic Optimal spraying direction sprays emulation mode |
| CN109967292A (en) * | 2019-04-18 | 2019-07-05 | 中联西北工程设计研究院有限公司 | A kind of automatic spraying system and its method based on the reconstruct of workpiece profile information three-dimensional |
| CN110013937A (en) * | 2019-04-02 | 2019-07-16 | 清华大学 | The automobile body-in-white paint finishing of 3D vision |
| CN110510888A (en) * | 2019-08-12 | 2019-11-29 | 东旭集团有限公司 | Curved surface spraying equipment and curved surface spraying method |
| CN110665707A (en) * | 2019-10-18 | 2020-01-10 | 马鞍山远荣机器人智能装备有限公司 | Automatic spraying robot |
| CN111330778A (en) * | 2020-04-23 | 2020-06-26 | 合肥毅佰汽车部件有限公司 | Robot and spraying system for spraying automobile sheet metal shell |
| WO2020134254A1 (en) * | 2018-12-27 | 2020-07-02 | 南京芊玥机器人科技有限公司 | Method employing reinforcement learning to optimize trajectory of spray painting robot |
| CN112090619A (en) * | 2020-09-07 | 2020-12-18 | 华中科技大学无锡研究院 | Off-line simulation machining method and system for spraying robot of high-speed rail car body |
| CN113117942A (en) * | 2021-04-16 | 2021-07-16 | 合肥工业大学 | Rigid-flexible coupling parallel robot multicolor spraying experimental device and spraying method |
| CN113663835A (en) * | 2021-09-14 | 2021-11-19 | 兴三星云科技有限公司 | Spraying equipment for door and window machining and forming |
| CN113695109A (en) * | 2021-08-06 | 2021-11-26 | 成都飞机工业（集团）有限责任公司 | Program matching and iterative optimization method for automatic spraying process |
| CN114536362A (en) * | 2022-02-24 | 2022-05-27 | 中国民用航空飞行学院 | Flexible aircraft paint removal robot and use method thereof |
| WO2023248533A1 (en) * | 2022-06-21 | 2023-12-28 | 三菱重工業株式会社 | Film deposition condition generation device, film deposition device, film deposition condition generation method, film deposition method, and film deposition condition generation program |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10328588A (en) * | 1997-05-30 | 1998-12-15 | Hino Motors Ltd | Multicolor small quantity coating system |
| US20100143089A1 (en) * | 2008-12-10 | 2010-06-10 | Southwest Research Institute | System For Autonomously Dispensing Media On Large Scale Surfaces |
| CN102527554A (en) * | 2012-02-29 | 2012-07-04 | 清华大学 | Spray gun track planning method for free-form surface spraying robot |
| CN103480530A (en) * | 2012-06-11 | 2014-01-01 | 通用电气公司 | Spray plume position feeback for robotic motion to optimize coating quality, efficiency, and repeatability |
-
2015
- 2015-04-15 CN CN201510177390.4A patent/CN104759379B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10328588A (en) * | 1997-05-30 | 1998-12-15 | Hino Motors Ltd | Multicolor small quantity coating system |
| US20100143089A1 (en) * | 2008-12-10 | 2010-06-10 | Southwest Research Institute | System For Autonomously Dispensing Media On Large Scale Surfaces |
| CN102527554A (en) * | 2012-02-29 | 2012-07-04 | 清华大学 | Spray gun track planning method for free-form surface spraying robot |
| CN103480530A (en) * | 2012-06-11 | 2014-01-01 | 通用电气公司 | Spray plume position feeback for robotic motion to optimize coating quality, efficiency, and repeatability |
Non-Patent Citations (2)
| Title |
|---|
| 吴翔: "面向再制造的机器人三维视觉检测系统研究", 《中国博士学位论文全文数据库 信息科技辑》 * |
| 曾勇: "大型复杂自由曲面的喷涂机器人喷枪轨迹优化研究", 《中国博士学位论文全文数据库 信息科技辑》 * |
Cited By (44)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106466665A (en) * | 2015-08-19 | 2017-03-01 | 福特汽车公司 | Robotic vehicle spray painting instrument including terahertz emission device |
| CN106423656A (en) * | 2016-08-11 | 2017-02-22 | 重庆大学 | Automatic spraying system and automatic spraying method based on point cloud and image matching |
| CN106423656B (en) * | 2016-08-11 | 2019-04-02 | 重庆大学 | Automatic spraying system and method based on cloud and images match |
| CN106327561A (en) * | 2016-08-31 | 2017-01-11 | 武汉湾流科技股份有限公司 | Intelligent spraying method and system based on machine vision technology |
| CN106527238A (en) * | 2016-12-30 | 2017-03-22 | 吉林省天大精益智能制造技术有限公司 | Automobile intelligent paint spraying system based on cloud computing |
| CN106527238B (en) * | 2016-12-30 | 2019-03-22 | 吉林省天大精益智能制造技术有限公司 | Automobile intelligent paint spraying system based on cloud computing |
| CN106774165A (en) * | 2017-01-22 | 2017-05-31 | 广东工业大学 | A kind of spray robot processes the method and system of workpiece |
| CN106845033A (en) * | 2017-03-13 | 2017-06-13 | 哈尔滨工业大学 | A kind of spray painting spray gun covering of the fan angle of view-based access control model and uniformity modeling method |
| CN106845033B (en) * | 2017-03-13 | 2019-01-18 | 哈尔滨工业大学 | A kind of spray painting spray gun covering of the fan angle of view-based access control model and uniformity modeling method |
| CN107127120A (en) * | 2017-04-13 | 2017-09-05 | 天长市金陵电子有限责任公司 | A kind of electrostatic spraying synergisting method |
| CN107127121A (en) * | 2017-04-13 | 2017-09-05 | 天长市金陵电子有限责任公司 | One kind finishing electrostatic powder spraying method |
| CN107283426A (en) * | 2017-06-28 | 2017-10-24 | 重庆镭宝激光科技有限公司 | A kind of track capturing system and track capturing method for being cut by laser machine people |
| CN107363840A (en) * | 2017-07-25 | 2017-11-21 | 广东加德伟自动化有限公司 | One kind is used for body section spray painting intelligent robot integrated system |
| CN107899814A (en) * | 2017-12-20 | 2018-04-13 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot spraying system and its control method |
| CN107908152A (en) * | 2017-12-26 | 2018-04-13 | 苏州瀚华智造智能技术有限公司 | A kind of movable robot automatic spray apparatus, control system and method |
| CN108031588A (en) * | 2017-12-29 | 2018-05-15 | 深圳海桐防务装备技术有限责任公司 | Automatic spray apparatus and use its automatic painting method |
| CN107983570A (en) * | 2017-12-31 | 2018-05-04 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of steel member paint finishing based on 3D vision technology |
| CN107983570B (en) * | 2017-12-31 | 2019-08-20 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of steel member paint finishing based on 3D vision technology |
| CN109046901A (en) * | 2018-08-03 | 2018-12-21 | 徐州汉龙智能科技有限公司 | A kind of automobile coating repairing method for planning track |
| CN109468934A (en) * | 2018-09-30 | 2019-03-15 | 重庆市智翔铺道技术工程有限公司 | A kind of road surface pattern spray equipment |
| CN109468934B (en) * | 2018-09-30 | 2020-09-04 | 重庆市智翔铺道技术工程有限公司 | Pavement pattern spraying device |
| CN109317383A (en) * | 2018-10-25 | 2019-02-12 | 佛山市顺德区东亚汽车部件有限公司 | A kind of high-effect spraying production technology and its system for the processing of moulding surface |
| CN109317383B (en) * | 2018-10-25 | 2021-07-16 | 佛山市顺德区东亚汽车部件有限公司 | High-efficiency spraying production process and system for surface machining of injection molding part |
| CN109465753A (en) * | 2018-11-21 | 2019-03-15 | 无锡荣恩科技有限公司 | The full-automatic sandblasting paint removal method of aviation components |
| CN109590139A (en) * | 2018-12-19 | 2019-04-09 | 航天材料及工艺研究所 | The multi-shaft interlocked spray equipment of special-shaped structure piece surface heat barrier coating and spraying method |
| WO2020134254A1 (en) * | 2018-12-27 | 2020-07-02 | 南京芊玥机器人科技有限公司 | Method employing reinforcement learning to optimize trajectory of spray painting robot |
| CN109759254A (en) * | 2019-01-17 | 2019-05-17 | 河北省科学院应用数学研究所 | A kind of system and method for 3 D stereo spraying |
| CN109948247B (en) * | 2019-03-18 | 2023-04-07 | 福州大学 | Handicraft surface spraying simulation method capable of automatically optimizing spraying direction |
| CN109948247A (en) * | 2019-03-18 | 2019-06-28 | 福州大学 | A kind of handicraft surface in Automatic Optimal spraying direction sprays emulation mode |
| CN110013937A (en) * | 2019-04-02 | 2019-07-16 | 清华大学 | The automobile body-in-white paint finishing of 3D vision |
| CN109967292A (en) * | 2019-04-18 | 2019-07-05 | 中联西北工程设计研究院有限公司 | A kind of automatic spraying system and its method based on the reconstruct of workpiece profile information three-dimensional |
| CN110510888A (en) * | 2019-08-12 | 2019-11-29 | 东旭集团有限公司 | Curved surface spraying equipment and curved surface spraying method |
| CN110665707B (en) * | 2019-10-18 | 2021-12-14 | 马鞍山远荣机器人智能装备有限公司 | Automatic spraying robot |
| CN110665707A (en) * | 2019-10-18 | 2020-01-10 | 马鞍山远荣机器人智能装备有限公司 | Automatic spraying robot |
| CN111330778A (en) * | 2020-04-23 | 2020-06-26 | 合肥毅佰汽车部件有限公司 | Robot and spraying system for spraying automobile sheet metal shell |
| CN112090619B (en) * | 2020-09-07 | 2022-04-22 | 华中科技大学无锡研究院 | Off-line simulation machining method and system for spraying robot of high-speed rail car body |
| CN112090619A (en) * | 2020-09-07 | 2020-12-18 | 华中科技大学无锡研究院 | Off-line simulation machining method and system for spraying robot of high-speed rail car body |
| CN113117942B (en) * | 2021-04-16 | 2022-03-29 | 合肥工业大学 | Rigid-flexible coupling parallel robot multicolor spraying experimental device and spraying method |
| CN113117942A (en) * | 2021-04-16 | 2021-07-16 | 合肥工业大学 | Rigid-flexible coupling parallel robot multicolor spraying experimental device and spraying method |
| CN113695109A (en) * | 2021-08-06 | 2021-11-26 | 成都飞机工业（集团）有限责任公司 | Program matching and iterative optimization method for automatic spraying process |
| CN113663835A (en) * | 2021-09-14 | 2021-11-19 | 兴三星云科技有限公司 | Spraying equipment for door and window machining and forming |
| CN113663835B (en) * | 2021-09-14 | 2022-04-22 | 兴三星云科技有限公司 | Spraying equipment for door and window machining and forming |
| CN114536362A (en) * | 2022-02-24 | 2022-05-27 | 中国民用航空飞行学院 | Flexible aircraft paint removal robot and use method thereof |
| WO2023248533A1 (en) * | 2022-06-21 | 2023-12-28 | 三菱重工業株式会社 | Film deposition condition generation device, film deposition device, film deposition condition generation method, film deposition method, and film deposition condition generation program |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104759379B (en) | 2017-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104759379B (en) | Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology | |
| CN104841593B (en) | Control method of robot automatic spraying system | |
| US10060857B1 (en) | Robotic feature mapping and motion control | |
| KR102028770B1 (en) | System and method for the automatic generation of robot programs | |
| CN109876968B (en) | Automatic path planning method for steel structure robot spraying | |
| CN110561450B (en) | Robot assembly offline example learning system and method based on dynamic capture | |
| CN109487267A (en) | A kind of Intelligent Laser reproducing method and system | |
| CN102937426B (en) | Measurement method for large and complex parts based on robot visual servo | |
| CN105171745A (en) | Robot off-line programming system | |
| CN104552299A (en) | Robot off-line teaching device and compensation teaching method | |
| Ferreira et al. | A low-cost laser scanning solution for flexible robotic cells: spray coating | |
| CN114289934B (en) | Automatic welding system and method for large structural part based on three-dimensional vision | |
| CN111530671A (en) | Intelligent robot spraying method based on spraying system | |
| CN103713579A (en) | Industrial robot operation method | |
| CN109927031A (en) | A kind of combination joint and cartesian space six-shaft industrial robot paths planning method | |
| Guan et al. | Trajectory planning method based on transitional segment optimization of spray painting robot on complex-free surface | |
| CN208156500U (en) | A kind of movable robot automatic spray apparatus | |
| CN101266479A (en) | Electrode intelligent detection system | |
| Geng et al. | A method of welding path planning of steel mesh based on point cloud for welding robot | |
| CN114347038A (en) | Intersection pipeline double-arm cooperative welding robot and control system | |
| Xia et al. | Paint deposition pattern modeling and estimation for robotic air spray painting on free‐form surface using the curvature circle method | |
| Larsen et al. | Full automatic path planning of cooperating robots in industrial applications | |
| CN110053045A (en) | Workpiece surface contour line acquisition methods, interference detection method and relevant apparatus | |
| CN111113426A (en) | Robot off-line programming system based on CAD platform | |
| CN112090619B (en) | Off-line simulation machining method and system for spraying robot of high-speed rail car body |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170503 Termination date: 20180415 |