CN105415382A - Intelligent automobile body paint-spraying manipulator for automobile maintenance - Google Patents
Intelligent automobile body paint-spraying manipulator for automobile maintenance Download PDFInfo
- Publication number
- CN105415382A CN105415382A CN201510961082.0A CN201510961082A CN105415382A CN 105415382 A CN105415382 A CN 105415382A CN 201510961082 A CN201510961082 A CN 201510961082A CN 105415382 A CN105415382 A CN 105415382A
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- CN
- China
- Prior art keywords
- automobile
- spraying
- paint
- manipulator
- maintenance
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses an intelligent automobile body paint-spraying manipulator for automobile maintenance. The existing automobile body paint-spraying working in the field of automobile maintenance is basically manually completed; a paint-spraying effect is directly influenced by personal proficiency, physical state and working attitude, and standardized operation based on paint-spraying standards (flow rate, gas pressure, spraying movement speed and the like) is quite difficult to ensure; the defect of 'varying with each individual' of the manual paint-spraying can be improved by virtue of an intelligently-controlled manipulator, and an automobile body paint-spraying process is furthest accurately controlled; however, a finished automobile paint-spraying manipulator for automobile works cannot be directly used for meeting the need of random automobile type paint-spraying in the field of automobile maintenance. The invention aims at providing an intelligent automobile body paint-spraying manipulator device for the field of automobile maintenance. According to the invention, a manipulator is taken as a working main body, and matched with three-dimensional imaging equipment, an automatic automobile-feeding traction device and a U-shaped guide rail to complete the random automobile type paint-spraying working in automobile maintenance.
Description
Technical field
The present invention is the intelligent vehicle body paint spraying mechanical arm device for field of automobile repair.
Background technology
Vehicle body in existing field of automobile repair sprays paint work, relies on manually complete substantially completely.Individual qualification, condition and working attitude directly affect effect of spraying paint, and are difficult to ensure by the standard of spraying paint (flow, air pressure, spraying movement velocity etc.) standard operation.
Adopt the manipulator of intelligentized control method can improve the defect of manually spray paint " varying with each individual ", farthest accurately control vehicle body painting process.The needs but the randomness vehicle that the car load paint spraying mechanical arm of automobile making station-service cannot be directly used in field of automobile repair is sprayed paint.
Summary of the invention
The object of this invention is to provide a kind of intelligent vehicle body paint spraying mechanical arm device for field of automobile repair.It is operative body with manipulator, coordinates with Three-dimensional imager, automatically enters car draw-gear, U-shaped guide rail, and the randomness vehicle vehicle body completed in auto repair sprays paint work.
Accompanying drawing explanation
Fig. 1 is complete unit integral planar schematic layout pattern.A is U-shaped guide rail, B is paint spraying mechanical arm, C is vehicle hitch frame parking plate, D is parking plate position regulator, L is parking plate position adjustment pull bar, and E is hitch frame driver, and F is hitch frame guide rail, T1 is left side excusing from death waves vehicle front wheel positions sensor, and T2 is right side excusing from death waves vehicle front wheel positions sensor.
Fig. 2 is paint spraying mechanical arm main body outside drawing.In figure, G is manipulator base slide unit, and H is manipulator turntable, and M is detection and the work package that sprays paint.
Fig. 3 is detection and the work package M plane figure schematic diagram that sprays paint.I is that compressed air blows rifle, and J is the three-dimensional imaging laser scanner with automatic shutter protective cover, and K is spray gun for paint.
Detailed description of the invention
1, as shown in Figure 1, after vehicle front-wheel reaches hitch frame parking plate H, ultrasonic type front wheel positions sensor T1, T2 of hitch frame both sides detect front wheel positions, result of detection is delivered to control computer, just whether stopped by control computer for analysis headstock, parking plate position regulator D action is controlled again by System control computer, parking plate is pulled by parking plate position adjustment pull bar about L, until the position signalling that front wheel positions sensor T1, T2 of both sides receive is identical, thus ensureing that vehicle is when being drawn to parking spot, car load is put between two parties.
3, as shown in Figure 1, after storing cycle, manipulator with hitch frame parking plate stop place for the origin of coordinates, the three-dimensional imaging laser scanner J being positioned at mechanical arm end is used to carry out vehicle body data scanning by the vehicle body scanning imaging system preset: manipulator is along U-shaped guide rail, around Che Yizhou, scanning afterbody at vehicle tail end with stretching out mechanical arm again, completing 360 degree of full-view images scannings.Generate vehicle appearance profile parameters thereupon, and demonstrate car load spatial coordinate image on control computer monitor.
4, operating personnel are according to the stereo-picture controlled on computer monitor, select the component area needing to spray paint, rower of going forward side by side shows (as: being denoted as trellis state after click), work order is sent again to control computer, control computer according to work order, automatic calculating also generates robot work trajectory coordinates, and namely personnel to be operated start the work of spraying paint after confirming.
5, control conputer controlled manipulator to move along working face by setting track, movement velocity, blow rifle I by the compressed air on work package M and first carry out face surface and dry up, then carry out by spray gun for paint K work of spraying paint, until complete setting program.
Claims (3)
1. the present invention be with along U-shaped guide rail manipulator for operative body, carry out for randomness vehicle work of spraying paint.
2. the present invention is the three-dimensional imaging laser scanner being installed on robot end, does full car profile 3-D scanning, for manipulator provides working trajectory coordinate parameters to randomness vehicle.
3. the present invention uses and automatically enters car hitch frame device, is equipped with ultrasonic type front wheel positions sensor, parking plate position regulator, automatically can adjust storing cycle attitude to middle position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510961082.0A CN105415382A (en) | 2015-12-21 | 2015-12-21 | Intelligent automobile body paint-spraying manipulator for automobile maintenance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510961082.0A CN105415382A (en) | 2015-12-21 | 2015-12-21 | Intelligent automobile body paint-spraying manipulator for automobile maintenance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105415382A true CN105415382A (en) | 2016-03-23 |
Family
ID=55494139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510961082.0A Pending CN105415382A (en) | 2015-12-21 | 2015-12-21 | Intelligent automobile body paint-spraying manipulator for automobile maintenance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105415382A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106312751A (en) * | 2016-11-07 | 2017-01-11 | 华东交通大学 | Automatic coated railway vehicle external wall polishing system |
| CN107029923A (en) * | 2017-05-23 | 2017-08-11 | 李培培 | One kind is used for automobile and processes spray-painting plant |
| CN108745837A (en) * | 2018-08-21 | 2018-11-06 | 麦特汽车服务股份有限公司 | A kind of auto repair auto spray painting implementation method |
| CN110040114A (en) * | 2019-05-16 | 2019-07-23 | 何佰胜 | A kind of automobile intelligent maintenance spray robot and auto repair method |
| 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 |
| CN113578647A (en) * | 2021-08-23 | 2021-11-02 | 张家港市光学仪器有限公司 | Lens blacking equipment capable of limiting range |
-
2015
- 2015-12-21 CN CN201510961082.0A patent/CN105415382A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106312751A (en) * | 2016-11-07 | 2017-01-11 | 华东交通大学 | Automatic coated railway vehicle external wall polishing system |
| CN107029923A (en) * | 2017-05-23 | 2017-08-11 | 李培培 | One kind is used for automobile and processes spray-painting plant |
| CN108745837A (en) * | 2018-08-21 | 2018-11-06 | 麦特汽车服务股份有限公司 | A kind of auto repair auto spray painting implementation method |
| CN110040114A (en) * | 2019-05-16 | 2019-07-23 | 何佰胜 | A kind of automobile intelligent maintenance spray robot and auto repair method |
| 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 |
| CN113578647A (en) * | 2021-08-23 | 2021-11-02 | 张家港市光学仪器有限公司 | Lens blacking equipment capable of limiting range |
| CN113578647B (en) * | 2021-08-23 | 2023-03-10 | 张家港市光学仪器有限公司 | Lens blacking equipment capable of limiting range |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Dai Gang Document name: Notification of Passing Examination on Formalities |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160323 |