CN105983502B - Intelligent automobile lacquering and stoving varnish integrated robot - Google Patents
Intelligent automobile lacquering and stoving varnish integrated robot Download PDFInfo
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- CN105983502B CN105983502B CN201510120152.XA CN201510120152A CN105983502B CN 105983502 B CN105983502 B CN 105983502B CN 201510120152 A CN201510120152 A CN 201510120152A CN 105983502 B CN105983502 B CN 105983502B
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Abstract
The invention discloses a kind of intelligent automobile lacquering and stoving varnish integrated robot, including main control workstation, laser scan unit, ccd image acquisition process unit, exhausting-dusting constant temperature system unit, paint spraying mechanical arm unit, spray painting Automatic guided vehicle unit, baking vanish manipulator unit, baking vanish Automatic guided vehicle unit, wireless network, electric supply system unit.Automatic guided vehicle moves in orbit, and the paint spraying and baking intellectual technology of " nobody, untethered, wireless " using the lacquering and stoving varnish method of mobile double-manipulator collaboration, is realized using rail powering mode, wireless communication pattern；Laser scanner technique and graph image modeling technique have been merged, motor vehicle repair has been digitized；Local paint-spraying, part baking are carried out, maintenance efficiency is substantially increased, has saved human cost, reduces injury of the coating cloud to human body, the Intelligent unattended lacquering and stoving varnish for the realizing local motor vehicle repair integration of real meaning.
Description
Technical field
Auto repair position is carried out by three-dimensional laser scanning technique and image procossing identification technology the present invention relates to one kind
Computer digital Accurate Model and matching, by being advised to the trivector data analysis of automobile modular repair position and boundary locus
It draws, is painted by the autonomous manipulator of two distributions on the same track, the integrated automobile part metal plate of baking vanish
Lacquering and stoving varnish technology more particularly to a kind of intelligent automobile lacquering and stoving varnish integrated robot.
Background technology
Automobile industry is the important pillar industry in China, and especially into 21 century, China has become world car life
Production and consumption big country.It is shown according to China Automobile Industry market survey report, the volume of production and marketing of Chinese automobile in 2001 is only more than 200 ten thousand
, but breaking through 7,000,000 in pairs in volume of production and marketing in 2006, Ministry of Industry and Information issues annual auto industry economical operation feelings in 2014
Condition, data show, 2349.19 ten thousand, China's cumulative sale automobile in 2014, increase by 6.9% on a year-on-year basis, and volume of production and marketing keeps the world the
One.The end of in August, 2011, China's car ownership break through 100,000,000 for the first time, it is contemplated that the year two thousand twenty, China's car ownership will break through 2
Hundred million.
The prosperity and development of car industry are and modern science technological progress is inseparable.With science and technology progress,
The development of robot technology, it is very ripe by the production line of manipulator progress vehicle spray painting in automobile production field, such as run quickly
It speeds, the paint-spray robot of ABB AB's production that BMW, most of automobile production manufacturer such as Audi use carries out vehicle and batch vapour
The flowing water wire spraying of vehicle component.Spray robot has the following advantages for other method for paint spraying：First, spray robot
It is not influenced, therefore can be worked under various working conditions by workshop toxic gas；Second, robot has after carrying out teaching
Higher repetitive positioning accuracy, the identical action of progress that can be tirelessly, therefore the quality after painting is more reliable and more stable,
Can have more uniform film thickness and glossiness；Third can obtain the spray painting of different workpieces by robot teaching
Program, paint-spray robot can be applied to various painting applications, and therefore, paint-spray robot plays especially in auto manufacturing
The effect that can not be substituted；4th, paint-spray robot can substitute manually, greatly improve spray efficiency, save a large amount of manpowers into
This.
Foreign countries' Control During Paint Spraying by Robot technology has approached maturation and in application stage, pervious automatic Spray-Painting at present
Painting line based on spray robot is converted in order to quickly be applicable in turn of the market.Foreign countries' production spray robot
Company mainly have：ABB, FANUC, YASKAWA, KAWASAKI etc..The spray robot of more than company production is applied at home
It is very wide, most of programming mode for using on-line teaching.It does not need in real time carry out vehicle environment sensing and modeling, entire machinery
Hand running orbit carries out the sequencing pipelining of repeatability, and the big portion of object sprayed by way of online pilot teaching
It is divided into the spraying of vehicle or batch automobile component.
The paint-spray robot in China is also very big with external level disparity in terms of commercial Application, and main gap shows production
Moral character energy, technical merit, quality, new product development etc..Beijing Machinery Industry Automation Inst. developed China in 1991
First robot automatic spraying production line, and successfully apply the painting line in Dongfeng series driver's cabin, subsequent north
Capital all priorities of mechanical industry automation research have developed PJ series electro-hydraulic servo spray robots and the electronic spray painting of EP series
Robot.Then there are many universities all to develop respective spray robot model machine, but major part is not applied to industrial life
In production, such as Harbin Institute of Technology, Shanghai Communications University etc..Therefore, the spray robot in China is in the elementary step, many
Critical issue and technology need gradually to go to solve and perfect.Teaching online programming is the main side of robotic programming technology at present
Method, and research of the spray robot for off-line programming technique, most of technology using foreign countries is to spray gun Path Planning Technique
The research studied and established to spray gun modeling.The spray-painting production line research of Hubei Automotive College combination Dong Feng Auto Corporation
The identification technology of part on robot control system and paint line, grinds the spray-painting production line of paint-spray robot and automation
For studying carefully, mechanical industry automation research has carried out deep research and has achieved certain achievement in this respect.But
China's research in terms of spray robot adapts to small lot production and flexible manufacturing is still in the starting stage.
The development of automobile industry bring auto repair safeguard industry prosperity, national 4S shops emerge rapidly in large numbersBamboo shoots after a spring rain as hair
The automobile maintenance repair of exhibition, predominantly later stage provides safeguard, while the motor vehicle repair StoreFront of various private scale is smallers
Also occupy larger market, since the maintenance cost in 4S shops is higher so that car owner after the guarantee period gradually leave 4S shop securitys
Maintenance vehicle is supported, alternative costs are relatively low, and service is preferable, have the Automobile Service shops that certain mass ensures to carry out maintaining and repair.
Vehicle maintenance is repaired other than machine maintenance, maintenance, decoration beauty, and the repairing of metal plate spray painting is in motor vehicle repair caused by automobile scratches
Occupy very big proportion, the spray painting of this part metal plate paint repair and car manufacturer has different processing modes, automobile
Manufacturer metal plate spray painting belongs to vehicle spray painting, belong to pipelining, can by the automatic production lines such as manipulator into
The processing of row rapid batch, and the automobile of each model is using same lacquering and stoving varnish processing routine, this lacquering and stoving varnish processing
Program can ensure that spray painting effect is very good by the accurate painting trajectory of manipulator, but paint and tie up in our daily metal plates
During repairing, either the 4S shops of famous brand or smaller motor vehicle repair shops are to use manually to paint, and baking vanish can
Specially to be toasted to the automobile after having painted by dedicated combined padding and drying system.It is this to carry out metal plate repairing by manually painting
Method mainly due to most of vehicle be part scratch, progress is local repair, therefore there is presently no automations
Repair scheme.
Patent of the present invention is proposed according to background below demand.
First, what patent of the present invention proposed is proposed based on the automobile part integrated demand of metal plate lacquering and stoving varnish, with
The vehicle spray painting of existing car manufacturer and baking vanish have a larger difference, vehicle only need on assembly line manipulator according to
The program of reservation sprays the automobile component of same model, is identified without the part to automobile.It is and this
Occupy very big ratio in the locally sprayed later maintenance after automobile manufacture.
Second, manual work sprays car surface, when worker carries out spraying process, can generate a large amount of coating clouds and make
Into environmental pollution, the pernicious gas of health is endangered such as benzene, amine, aldehydes, to the health and feelings of in-situ spraying worker
Thread all has a great impact, therefore the factors such as the spraying level of worker, labour mood are affected to the coating quality of product.This
The maintenance mode that kind has human body larger harm promotes it is proposed that a kind of research and development of local paint-spraying robot.
Third, as China human mortality progresses into aging society, recruitment cost gradually increases, and especially has compared with Gao Shui
Technician in terms of flat auto repair services industry is more and more rare, and cost of labor will increase sharply year by year, plates of automobile spray painting dimension
Aspect is repaiied to be badly in need of carrying out automotive lacquer by robot.
Invention content
The object of the present invention is to provide one kind to be carried out by three-dimensional laser scanning technique and image procossing identification technology
Auto repair position computer digital Accurate Model and matching, by the trivector data analysis of automobile modular repair position
It is planned with boundary locus, the autonomous manipulator of two distributions on the same track carries out automobile part metal plate lacquering and stoving varnish one
The intelligent automobile lacquering and stoving varnish integrated robot of body.
The purpose of the present invention is what is be achieved through the following technical solutions.
The intelligent automobile lacquering and stoving varnish integrated robot of the present invention, including：Main control workstation, laser scan unit, CCD
Image acquisition and processing unit, paint spraying mechanical arm unit, spray painting Automatic guided vehicle unit, is baked exhausting-dusting constant temperature system unit
Paint manipulator unit, baking vanish Automatic guided vehicle unit, wireless network, electric supply system unit.
The main control workstation includes：Main control workstation 20, console 21, control room 23, control cabinet 16, personnel's operations chair
22nd, control room door 24；20 inside of main control workstation includes：Vision laser assisted processing platform, touch screen, remote operating
Platform, figure transmitting/receiving module, number transmitting/receiving module, wireless network card, manipulator trajectory planning Processing Algorithm.
The laser scan unit includes：Two dimensional laser scanning instrument 28, scanner holder 29, scanner camera walking rail
Road 12, wireless data transmission module, wherein two dimensional laser scanning instrument 28 are fixed on scanner holder 29, pass through the rolling of translator
Wheel moves on scanner video camera walking track 12, is sent to the data that scanner acquires by wireless data transmission module
Main control workstation.
The ccd image acquisition process unit includes：CCD camera 15, CCD camera holder 14, scanner camera row
Track 12, wireless data transmission module composition are walked, wherein CCD camera 15 is fixed on CCD camera holder 14, passes through translator
Idler wheel moves on scanner camera walking track 12, is sent by the data that wireless data transmission module acquires scanner
To main control workstation.
The exhausting-dusting constant temperature system unit includes：Centrifugal blower 18, ventilation shaft 17, intake stack 19, outlet air
Mouth 13, pressure-air cavity 26, high density filter silk flosssilk wadding 25, illumination heat lamp 27；Centrifugal blower 18 is pacified in 1 outside of paint-spraying baking booth
Dress, ventilation shaft 17 are connected with 1 inside of paint-spraying baking booth, and intake stack 19 is communicated with external environment, ensures that air enters, outlet air
Mouth 13 ensures air-flow outflow on the downside of paint-spraying baking booth, and 25 pressure-air cavity of high density filter silk flosssilk wadding, 26 upside ensures to be harmful to paint
Fog body is spread in external environment, the general frame of these parts and the composition paint-spraying baking booth 1 of hermatic door 5.
The paint spraying mechanical arm unit includes：Spray gun 2, paint spraying mechanical arm 3, paint vehicle box；Wherein lead at 2 feed pipe of spray gun
The shutdown of solenoid valve control spray gun 2 is crossed, paint vehicle box is connect by the conveying pipeline of sealing with spray gun material mouth, mounted on the autonomous shifting of spray painting
Dynamic car interior has air pump, so as to provide pressure-air to spray gun.The paint spraying mechanical arm 3 is mounted on the stepping electricity on chassis
Machine is transmitted motion to after Bevel Gear Transmission on waist column, to realize the rotary motion of waist.Mounted on waist column
The stepper motor on top transmits motion to arm after two-stage Bevel Gear Transmission, with the pitching movement of real arm waist.Installation
Arm parts in addition to motor and bevel gear, using light materials such as aluminium alloys.Stepper motor mounted on arm end
After toothed belt transmission, wrist is transmitted motion to, realizes the pitching movement of wrist.
The spray painting Automatic guided vehicle unit includes：Spray painting traveling module 4, including：Track driving wheel, track
Single driving lorry that universal wheel, left side Universal support wheel, right side Universal support wheel are formed；Driving motor output shaft passes through snail
Worm and gear self-locking mechanism realizes rotation of the track driving wheel on robot ambulation track 11, so as to carry manipulator along machine
People walk track 11 it is free to slide, wheel is walked on fixed track, due to using can self-locking worm and gear auxiliary driving and
There is the stepper motor of holding torque, be not required to additional fixing device.
The baking vanish manipulator unit includes：Heat lamp 8, baking vanish mechanical arm 9；Wherein heat lamp 8 is fixed on baking vanish mechanical arm 9
Front end, other constituted modes and paint spraying mechanical arm 3 are identical.
The baking vanish Automatic guided vehicle unit is identical with spray painting Automatic guided vehicle unit composition.
The wireless network refers to that whole system can realize that single paint-spraying baking booth is roasting to multiple sprays by wireless network
The network interconnection of japanning room.
The electric supply system unit includes：Main control workstation power supply, laser scan unit power supply, ccd image are adopted
Collect processing unit power supply, exhausting-dusting constant temperature system unit power supply, paint spraying mechanical arm power supply, spray painting Automatic guided vehicle unit electricity
Source, baking vanish manipulator unit power supply, baking vanish Automatic guided vehicle unit power supply；Entire power-supply system is largely divided into following several layers
Secondary, wherein main control workstation and exhausting-dusting constant temperature system unit are powered using the AC power being externally supplied, and internal electric source
AC power is provided by robot ambulation track, alternating current by being supplied to by the idler wheel of Automatic guided vehicle with rail contact
The inverter module of trolley and manipulator, so as to provide the electricity of required each voltage class for each joint motor of manipulator
Pressure.The power supply offer of baking vanish manipulator needs great-current inversion module.Laser scan unit power supply and ccd image acquisition process list
First power supply equally provides the pattern of power supply using track.Inner tracks power supply needs to carry out insulation and sealing, prevents coating cloud in electricity
Paint-spraying baking booth is caused to explode under the action of spark.
As seen from the above technical solution provided by the invention, intelligent automobile lacquering and stoving varnish provided in an embodiment of the present invention
Integrated robot carries out auto repair position computer digit by three-dimensional laser scanning technique and image procossing identification technology
Change Accurate Model and matching, by planning the trivector data analysis of automobile modular repair position and boundary locus, two points
The autonomous manipulator of cloth on the same track carries out the metal plate lacquering and stoving varnish integration of automobile part, is truly realized nobody
Change, untethered, autonomous paint spraying and baking plates of automobile paint spraying and baking maintenance process, opened for vehicle maintenance repair intelligentized new
Situation.
Description of the drawings
Fig. 1 is the main structure diagram of intelligent automobile lacquering and stoving varnish integrated robot provided in an embodiment of the present invention.
Fig. 2 is the system function schematic diagram of intelligent automobile lacquering and stoving varnish integrated robot provided in an embodiment of the present invention.
Fig. 3 is the control flow chart of intelligent automobile lacquering and stoving varnish integrated robot provided in an embodiment of the present invention.
In Fig. 1：1st, paint-spraying baking booth, 2, spray gun, 3, paint spraying mechanical arm, 4, spray painting traveling module, 5, hermatic door, 6, slope prevents
Skidding, 7, baking vanish traveling module, 8, heat lamp, 9, baking vanish mechanical arm, 10, automobile, 11, robot ambulation track, 12, scanner takes the photograph
Camera is walked track, 13, air outlet, 14, CCD camera holder, 15, CCD camera, 16, control cabinet, 17, ventilation shaft, 18, from
Heart wind turbine, 19, intake stack, 20, control work station, 21, console, 22, personnel's operations chair, 23, control room, 24, control room
Door, 25, high density filter silk flosssilk wadding, 26, pressure-air cavity, 27, illumination heat lamp, 28, two dimensional laser scanning instrument, 29, scanner
Holder.
Specific embodiment
The embodiment of the present invention will be described in further detail below.The intelligent automobile lacquering and stoving varnish integration of the present invention
Robot, preferable specific embodiment are as described below.
The intelligent automobile lacquering and stoving varnish integrated robot of the present invention, including：Main control workstation, laser scan unit, CCD
Image acquisition and processing unit, paint spraying mechanical arm unit, spray painting Automatic guided vehicle unit, is baked exhausting-dusting constant temperature system unit
Paint manipulator unit, baking vanish Automatic guided vehicle unit, wireless network, electric supply system unit.
The main control workstation is mainly by main control workstation, vision laser assisted processing platform, touch screen, remote operating
Platform, figure transmitting/receiving module, number transmitting/receiving module, wireless network card are formed, and wherein main control workstation has stronger processing capacity, compared with
Big memory and CPU frequency can ensure quickly to handle two dimensional laser scanning instrument scan data, the processing of visual image data and
It calculates, while receives the status data of paint spraying mechanical arm and baking vanish manipulator, analyze and calculate in real time.
The laser scan unit include two dimensional laser scanning instrument, cradle head of two degrees of freedom, tracks travel mechanism, without line number
According to transmitting module.Two dimensional laser scanning instrument is fixed on cradle head of two degrees of freedom, can pass through the lasing area probe vehicle of transmitting
Model data, precision is very high, and cradle head of two degrees of freedom can realize rotation and swing, and ensure that two dimensional laser scanning instrument sweeps automobile
The initial position adjustment retouched.Tracks travel mechanism enables holder free skating along the track of the top layout of paint-spraying baking booth
It is dynamic, while there is auto-lock function, holder, which has, increases steady function.Wireless data transmission module sends the laser scanning data of acquisition
To main control workstation, the automobile threedimensional model structure in later stage is carried out.
The ccd image acquisition process unit include CCD camera, cradle head of two degrees of freedom, tracks travel mechanism, without line number
According to transmitting module.CCD camera is fixed on cradle head of two degrees of freedom, can pass through the image data of CCD detection automobile, two degrees of freedom
Holder can realize rotation and swing, and ensure that CCD adjusts the initial position of automobile shooting image.Tracks travel mechanism causes
Holder can be free to slide along the track of the top layout of paint-spraying baking booth, while has auto-lock function, and holder, which has, increases steady work(
Energy.The CCD of the acquisition image datas acquired are sent to main control workstation by wireless data transmission module, carry out the automobile figure in later stage
As processing.
The exhausting-dusting constant temperature system unit includes centrifugal blower, ventilation shaft, intake stack, air outlet, high pressure
The compositions such as air cavity, high density filter silk flosssilk wadding, illumination heat lamp.Wherein ensure that the air flowing inside paint-spraying baking booth is very must
It wants, especially a negative pressure will be manufactured in paint-spraying baking booth, air stream is flowed at the one of top, flowed out from bottom, so as to
Ensure that paint foam will not splashes, while ensure that there is in paint-spraying baking booth certain pressure, can rapidly will be under paint foam precipitates
Come, be also beneficial to explosion-proof.Paint vehicle preferably adheres to metal plate surface, needs there are one fixed temperature, ensures paint vehicle by machinery
Hand lance is not flowed after spraying, is uniformly adhered to, it is therefore desirable to have illumination heat lamp to ensure temperature appropriate in paint-spraying baking booth, heat lamp also carries
For illuminating effect, ensure there is certain illuminance in paint-spraying baking booth, favorably fed back with the CCD camera of manipulator lacquering and stoving varnish.Paint
Expect that by High Pressure Gun ejection be misty, be diffused into air and easily pollute environment, therefore will be sprayed and baked by high density filter silk flosssilk wadding
Misty paint vehicle in japanning room filters out, and will not cause environmental pollution.
The paint spraying mechanical arm unit includes paint vehicle box, spray gun, chassis, waist joint, shoulder joint, wrist joint.Wherein spray
It is connect, installed with spray gun material mouth by the conveying pipeline of sealing by the shutdown of solenoid valve control spray gun, paint vehicle box at rifle feed pipe
There is air pump inside spray painting Automatic guided vehicle, so as to provide pressure-air to spray gun.Stepper motor warp on chassis
It after crossing Bevel Gear Transmission, transmits motion on waist column, to realize the rotary motion of waist.Mounted on waist column top
Stepper motor after two-stage Bevel Gear Transmission, arm is transmitted motion to, with the pitching movement of real arm waist.Mounted on arm
The parts in portion are in addition to motor and bevel gear, using light materials such as aluminium alloys.Stepper motor mounted on arm end passes through
After toothed belt transmission, wrist is transmitted motion to, realizes the pitching movement of wrist.So as to fulfill manipulator flexible motion.
The spray painting Automatic guided vehicle unit includes track driving wheel, track universal wheel, left side Universal support wheel, the right side
Single driving lorry that side Universal support wheel is formed, driving motor output shaft realize that track drives by worm and gear self-locking mechanism
Driving wheel rotation in orbit, so as to carry manipulator free to slide along track, wheel is walked on fixed track, due to
Using can self-locking worm and gear auxiliary driving and have the stepper motor of holding torque, be not required to additional fixing device.
The baking vanish manipulator unit and baking vanish Automatic guided vehicle unit and paint spraying mechanical arm unit and spray painting are autonomous
Moving trolley unit is similar, and it is spray gun that unique different place, which is paint spraying mechanical arm unit forepart installation, and baking vanish manipulator
The installation of unit forepart is the electronic heat lamp of high power.
The wireless network refers to that whole system can realize that single paint-spraying baking booth is roasting to multiple sprays by wireless network
The network interconnection of japanning room.
The electric supply system unit includes main control workstation power supply, laser scan unit power supply, ccd image acquisition
Processing unit power supply, exhausting-dusting constant temperature system unit power supply, paint spraying mechanical arm power supply, spray painting Automatic guided vehicle unit electricity
Source, baking vanish manipulator unit power supply, baking vanish Automatic guided vehicle unit power supply；Entire power-supply system is largely divided into following several layers
Secondary, wherein main control workstation and exhausting-dusting constant temperature system unit are powered using the AC power being externally supplied, and internal electric source
AC power is provided by robot ambulation track, alternating current by being supplied to by the idler wheel of Automatic guided vehicle with rail contact
The inverter module of trolley and manipulator, so as to provide the electricity of required each voltage class for each joint motor of manipulator
Pressure.The power supply offer of baking vanish manipulator needs great-current inversion module.Laser scan unit power supply and ccd image acquisition process list
First power supply equally provides the pattern of power supply using track.Inner tracks power supply needs to carry out insulation and sealing, prevents coating cloud in electricity
Paint-spraying baking booth is caused to explode under the action of spark.
Advantage and disadvantage of the invention according to various methods in the prior art are right using the lacquering and stoving varnish method of mobile manipulator
It is an important breakthrough that automobile part metal plate, which is repaired using artificial method for paint spraying, in combination with the technical deficiency of existing combined padding and drying system,
It carries out isoperibol locally to toast, substantially increases maintenance efficiency, saved human cost, reduce wound of the coating cloud to human body
Evil, real meaning realize the unmanned lacquering and stoving varnish integration of fully-automatic intelligent.Meanwhile using double-manipulator coordinated,
It is the new try of cooperating robot's technology of current forefront.Using rail powering mode in electric power system, both took into account
Explosion precaution, while the powered communication side of robot for non-transformer cable and communication cable being realized by the form of wireless network
Method so that robot is unlikely to wind between cable during orbiting.Laser scanner technique and graph image are merged
Modeling technique digitizes motor vehicle repair, is realized convenient for the full-automatic repair in later stage.It is believed that the actual development and product of the present invention
Promotion conference brings huge revolution to automotive repair industry.
The above-mentioned intelligent automobile lacquering and stoving varnish integrated robot system of the present invention is as shown in Fig. 2, the intelligent vapour of the present invention
Vehicle lacquering and stoving varnish integrated robot is removed including main control workstation, laser scan unit, ccd image acquisition process unit, air draft
Dirt constant temperature system unit, paint spraying mechanical arm unit, spray painting Automatic guided vehicle unit, baking vanish manipulator unit, baking vanish independently move
Dynamic bogie unit, wireless network, electric supply system unit.
Entire robot paint spraying and baking integrated process control method, as shown in figure 3, including step：It is swept by two-dimensional laser
Instrument and visual pattern CCD gathered datas are retouched, modeling analysis is carried out, by the image processing algorithm of edge analysis, provides to be painted
The position boundary of baking vanish and threedimensional model digitalized data, then Digital Model, parameter setting is carried out by CAD database,
Eventually by manipulator trajectory planning algorithm, the planned trajectory at spray painting position is provided, by geometrical analysis and calculating, in manipulator
Under the restrictions on the parameters such as spray gun and automobile sheet metal surface distance, spray angle, the injection paint conical surface, running space and the spraying of manipulator are analyzed
The reasonability of manipulator running orbit if calculating and analytical conclusions cannot be met the requirements, needs to readjust arrange parameter, then into
Row analysis and calculating until obtaining preferable mechanical hand lance running orbit, then by manipulator track program, carry out
Spray painting performs program, it would be desirable to which Spray Application spraying finishes, if spray painting terminates, is painted by visual pattern parser analysis
Effect whether reach requirement, if spray repair must manually be carried out by remote-controlled operation platform by not reaching requirement, until satisfaction.If machine
The spraying of tool hand is more satisfied, at this moment calls baking vanish manipulator baking vanish program, the trajectory planning of baking vanish manipulator and the machinery of spray painting
Hand running orbit is essentially identical, that is, repeats to call painting trajectory generation program, perform baking vanish process, after confirming baking, lead to
How cross visual pattern parser analysis baking finish result, whole process terminates if satisfied, if manipulator baking finish result is bad,
Roasting benefit is manually carried out by remote-controlled operation platform, until satisfaction.Remote-controlled operation platform is painted by the manual wireless control of handle, is roasting
Paint manipulator and respective Automatic guided vehicle.Figure transmitting/receiving module is used for realizing that the image wireless of video CCD is acquired, passed in real time
Defeated and processing.Number transmitting/receiving module is used for realizing two dimensional laser scanning instrument scan data, paint spraying and baking gripper pose sensor number
According to the transmission of, Automatic guided vehicle operation attitude data, exhausting-dusting constant temperature system environmental sensor data.Whole system can be with
The network interconnection of the single paint-spraying baking booth to multiple paint-spraying baking booths is realized by wireless network.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can readily occur in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (3)
1. a kind of intelligent automobile lacquering and stoving varnish integrated robot, it is characterised in that：Including main control workstation, laser scanning list
Member, ccd image acquisition process unit, exhausting-dusting constant temperature system unit, paint spraying mechanical arm unit, spray painting Automatic guided vehicle list
Member, baking vanish manipulator unit, baking vanish Automatic guided vehicle unit, wireless network, electric supply system unit；
The main control workstation communicates with other each section unit wireless；
The laser scan unit includes two dimensional laser scanning instrument, scanner holder, scanner video camera walking track, wireless
Data transmission module；
Two dimensional laser scanning instrument is fixed on scanner holder, can by the model data of the lasing area probe vehicle of transmitting,
Scanner holder can realize rotation and swing, ensure that two dimensional laser scanning instrument adjusts the initial position of automobile scanning, scanning
Instrument holder can be free to slide along the scanner video camera of the top layout of paint-spraying baking booth walking track, while has self-locking work(
Can, scanner holder, which has, increases steady function, and the laser scanning data of acquisition is sent to master control and worked by wireless data transmission module
It stands, carries out the automobile threedimensional model structure in later stage；
The ccd image acquisition process unit includes CCD camera, CCD camera holder, scanner video camera walking track, nothing
Line data transmission module, CCD camera are fixed on CCD camera holder, can by the image data of CCD camera probe vehicle,
CCD camera holder can realize rotation and swing, ensure that CCD camera adjusts the initial position of automobile shooting image, CCD camera
Holder can be free to slide along the scanner video camera of the top layout of paint-spraying baking booth walking track, while has auto-lock function,
CCD camera holder, which has, increases steady function, and the image data of the CCD acquisition cameras of acquisition is sent to master by wireless data transmission module
Work station is controlled, carries out the automobile image processing in later stage；
The paint spraying mechanical arm unit includes paint vehicle box, spray gun, chassis, waist joint, shoulder joint, wrist joint, and wherein spray gun is sent
It is connect at expects pipe by the shutdown of solenoid valve control spray gun, paint vehicle box by the conveying pipeline of sealing with spray gun material mouth, spray painting is autonomous
Moving trolley is internally provided with air pump, so as to provide pressure-air to spray gun；
The spray painting Automatic guided vehicle unit includes track driving wheel, track universal wheel, left side Universal support wheel, right side ten thousand
The single driving lorry formed to support wheel, driving motor output shaft realize track driving wheel by worm and gear self-locking mechanism
It is rotated on robot ambulation track, it is free to slide along robot ambulation track so as to carry paint spraying mechanical arm, track driving wheel,
Track universal wheel, left side Universal support wheel, right side Universal support wheel are walked on fixed robot ambulation track, due to using
The Worm Wheel System of energy self-locking and the stepper motor for having holding torque, are not required to additional fixing device；
The baking vanish Automatic guided vehicle unit baking vanish manipulator identical, described with spray painting Automatic guided vehicle cellular construction
Unit and paint spraying mechanical arm unit differ only in the installation of paint spraying mechanical arm unit forepart is spray gun, and baking vanish manipulator list
First forepart installation is the electronic heat lamp of high power.
2. intelligent automobile lacquering and stoving varnish integrated robot according to claim 1, which is characterized in that electric supply system
Unit includes main control workstation power supply, laser scan unit power supply, ccd image acquisition process unit power supply, exhausting-dusting constant temperature
System unit power supply, paint spraying mechanical arm power supply, spray painting Automatic guided vehicle unit power supply, baking vanish manipulator unit power supply, baking vanish
Automatic guided vehicle unit power supply, entire power-supply system are largely divided into following several levels, and wherein main control workstation and air draft removes
Dirt constant temperature system unit is using the AC power power supply being externally supplied, and internal electric source provides exchange by robot ambulation track
Power supply, track driving wheel, track universal wheel, the left side Universal support of paint Automatic guided vehicle and baking vanish Automatic guided vehicle
Wheel, right side Universal support wheel by alternating current with robot ambulation rail contact by being supplied to spray painting Automatic guided vehicle and baking vanish
The inverter module of Automatic guided vehicle, paint spraying mechanical arm and baking vanish manipulator, so as to be paint spraying mechanical arm and baking vanish manipulator
Each joint motor provides the voltage of required each voltage class；
The power supply offer of baking vanish manipulator needs great-current inversion module；
Laser scan unit power supply and ccd image acquisition process unit power supply are equally provided using scanner video camera walking track
The pattern of power supply, internal electric source need to carry out insulation and sealing, prevent coating cloud from causing paint-spraying baking booth quick-fried under the action of electric spark
It is fried.
3. intelligent automobile lacquering and stoving varnish integrated robot according to claim 1, which is characterized in that exhausting-dusting constant temperature
System unit is by centrifugal blower, ventilation shaft, intake stack, air outlet, pressure-air cavity, high density filter silk flosssilk wadding, illumination
Heat lamp is formed；
The wireless network refers to that whole system can realize single paint-spraying baking booth to multiple paint-spraying baking booths by wireless network
The network interconnection.
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| CN201510120152.XA CN105983502B (en) | 2015-03-19 | 2015-03-19 | Intelligent automobile lacquering and stoving varnish integrated robot |
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| CN105983502B true CN105983502B (en) | 2018-06-08 |
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