CN106527238A - Automobile intelligent paint spraying system based on cloud computing - Google Patents
Automobile intelligent paint spraying system based on cloud computing Download PDFInfo
- Publication number
- CN106527238A CN106527238A CN201611252738.2A CN201611252738A CN106527238A CN 106527238 A CN106527238 A CN 106527238A CN 201611252738 A CN201611252738 A CN 201611252738A CN 106527238 A CN106527238 A CN 106527238A
- Authority
- CN
- China
- Prior art keywords
- spray
- auto parts
- server
- data
- cloud computing
- 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
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention provides an automobile intelligent paint spraying system based on cloud computing, relating to the field of spray painting process. The problems of large paint loss, poor quality consistency, the affection of the health of operating personnel, serious pollution, low efficiency, and high cost in existing artificial painting are solved. The system comprises a cloud computing platform, multiple city service platforms, and a plurality of spraying and baking rooms. The cloud computing platform comprises a large server, a data memory, a double-wire-access type Gigabit network, a router, a switch, a data management system, an automobile spare part 3D model database, and an automobile spare part spraying program database. Each of the city service platforms comprises a high performance server, a 3D scanning device, a 3D scanning device control system, a spray piece point cloud database, an automobile spare part spraying program database, a quality inspection database, an automobile spare part spraying path planning system, and a double-wire-access type Gigabit network. Electric shutter doors are used to divide the spraying and baking rooms into spraying rooms and baking rooms. The system has the advantages of good quality consistency, no pollution, high efficiency and low cost.
Description
Technical field
The present invention relates to lacquer spraying technique technical field, and in particular to a kind of automobile intelligent paint spraying system based on cloud computing.
Background technology
With continuous development, the continuous improvement of labor cost and the continuous enhancing of environmental consciousness of automobile industry, pass
System industry is needed a series of technological means such as automatization, informationization, intellectuality badly and is equiped with arms, and is that technology is red from demographic dividend transition
Profit, lifts the product competitiveness of China's traditional industries.In recent years, China's automobile pollution is substantially increased, the demand urgency to resource
Increase severely and add, while the air pollution for causing is also increasingly serious.Benefit from the release of energy-conserving and environment-protective policy, it is following energy-conserving and environment-protective, new
Energy automobile and related components industry will be new increase in investment points, and future automobile industrial expansion direction.
At present, both at home and abroad for the painting process of automobile is mainly all manually completing, but this artificial spray painting
Mode there is many deficiencies：1) paint waste is serious, and loss is big, high cost；2) as the mode of artificial spray painting differs, in spray
It is difficult to ensure that the uniformity coefficient of japanning amount is so as to causing painting quality concordance poor during paint；3) due to not entering to coating cloud
Row is processed, and working environment is severe, and spray painting house dust greatly, has a strong impact on the health of operator, easily suffers from operator
Upper pneumoconiosis；4) severe contamination is caused to environment；5) efficiency is low, is not suitable for large batch of do mechanization operation；6) need more
Operator, increased operating cost and management cost.
Cloud computing is another great change after the big change of the eighties mainframe computer to client-server,
It is based on the increase of the Internet related service, uses and delivery mode, dynamic easily extension is provided by the Internet and Jing is normal
It is virtualized resource.It is distributed on substantial amounts of distributed computer by making calculating, rather than local computer or remote service
In device, the operation of enterprise data center will be more like with the Internet, and this enables enterprise by resource switch to the application for needing
On, computer and storage system are accessed according to demand, as long as obtaining all kinds of services by connection the Internet, can be large-scale
Reduces cost.Therefore, " cloud " with the unprecedented ratio of performance to price, user can enjoy the low-cost advantage of " cloud " to the full.
Up to the present, the technology that cloud computing is be combined with each other with automotive lacquer technique is had not been reported.
The content of the invention
In order to overcome, the paint loss that existing artificial spray painting is present is big, quality conformance is poor, affect operator's health, dirt
Dye is serious, efficiency is low, high cost problem, and the present invention provides a kind of automobile intelligent paint spraying system based on cloud computing.
The present invention is as follows by solving the technical scheme that technical problem is adopted：
The automobile intelligent paint spraying system based on cloud computing of the present invention, including：Cloud computing platform, multiple urban services are put down
Platform, multiple spray barns；
The cloud computing platform includes large server, the exchanger being connected with large server, is connected with exchanger
Data storage, the router being connected with exchanger, data management system, the auto parts three-dimensional mould in embedding data memorizer
Type data base and auto parts spray procedure data base；The large server passes through router and two-wire access type gigabit networking
Data communication is carried out with each urban service platform, the data management system is used to manage auto parts threedimensional model and automobile
The download and upload of part spray procedure, the auto parts three-dimensional modeling data storehouse are used to store the various of automobile vendor's offer
The auto parts threedimensional model of model and each urban service platform are by scanning the auto parts threedimensional model for uploading, the vapour
Car part spray procedure data base be used for storage according to auto parts threedimensional model generate auto parts spray procedure and each
The auto parts spray procedure of the reality that urban service platform is uploaded, also stores by urban service platform in the data storage
Spray gun pose track data after the optimization of upload；
The urban service platform includes server, the 3D scanning devices being connected with server, is connected with 3D scanning devices
3D scanning device control systems, be embedded in server in 3D scanning device control systems, spray piece cloud data storehouse, automobile zero
Part spray procedure data base, quality testing data base and auto parts spraying path planning system；The server passes through two-wire
Access type gigabit networking carries out data communication with large server, and the server is used for data storage and sprays barn with each
Data transfer, the 3D scanning devices control system is used to control 3D scanning devices and be scanned auto parts and model,
The spray piece cloud data storehouse is used for the cloud data for storing auto parts, and the auto parts spray procedure data base is used for
The auto parts spray procedure that path Programming Design is sprayed according to auto parts is stored, the quality testing data base is used to store
The quality inspection result uploaded by spray barn, the auto parts spraying path planning system are used to plan auto parts spraying path；
The spray barn is used to realize that automobile intelligent paints.
Further, the spray barn includes：Between the dope room being divided into using electric rolling door and baking vanish, spray coating mechanical
Hand system, quality detecting system；
The dope room includes：Explosion-proof illuminating lamp on dope room side wall and top, it is separately positioned on dope room
The air inlet at top and the air outlet of bottom, the pressure fan connected on the external walls of dope room and with air inlet, installation
The exhaust blower connected on the external walls of dope room and with air outlet, the environmental-protection box being fixed on the ground of dope room, installed in spray
The top drainage screen of air inlet between paint, pond, the water pump in pond, installed in dope room one end side and by leading
The overflow launder that flow tube is communicated with pond, is evacuated to the water in pond in the overflow launder in dope room by water pump, makes water in overflow
Overflow in groove forms moisture film curtain；
Include between the baking vanish：Explosion-proof illuminating lamp installed between baking vanish on side wall and top,
The photographic head of side wall upper part, the far infrared transmission installed between baking vanish on two side and top installed between baking vanish
Plate, installed between baking vanish top variable-frequency fan；
The spray coating mechanical hand system includes：Gantry truss-like spray coating mechanical hand of five-axle linkage, control system, paint vehicle
Box, double turntable；Gantry truss-like spray coating mechanical hand includes：Two X-axis being separately fixed on spray barn two side
Y-axis sliding platform that sliding platform, two ends are separately fixed on two X-axis sliding platforms, one end are fixed in Y-axis sliding platform
Between position Z-axis lifting mechanism, be fixed on the first rotary shaft of the Z-axis lifting mechanism other end, to be fixed on Z-axis lifting mechanism another
End and the second rotary shaft under the first rotary shaft, the spray gun being fixed in the second rotary shaft, first rotary shaft
The diameter parallel of axis and Z-axis lifting mechanism, the axis of second rotary shaft are vertical with the axis of Z-axis lifting mechanism；It is described
Control system for from the auto parts spray procedure data base of server download auto parts spray procedure, from server
Cloud data is downloaded in spray piece cloud data storehouse and spray gun pose track is optimized according to cloud data, taken from higher level
Various car model three-dimensional part models are downloaded in business device and quality detecting system is fed back to according to actual spraying situation；It is described
Paint vehicle box is placed on the ground of dope room and by being connected on spray gun by expects pipe；Described double turntable one end is arranged on spray
Between paint, the other end is arranged between baking vanish, painted auto parts is transferred between baking vanish by dope room by double turntable；
The quality detecting system includes ccd image collecting unit and the quality testing control system being attached thereto, and passes through
Quality testing control system configures sampling face, and controls the high-definition image that ccd image collecting unit shoots sampling face, by quality
Detecting and controlling system is processed to the high-definition image in face of sampling, and assesses coating quality, and quality inspection result is uploaded onto the server
Quality testing data base in, according to the relevant parameter in quality inspection result adjusting and optimizing auto parts spray procedure generating process,
Optimization auto parts spray procedure.
Further, operation button and malfunction coefficient lamp on spray barn external walls are also included, it is described explosion-proof
Illuminating lamp, pressure fan, exhaust blower, water pump, photographic head, far infrared transmission plate, variable-frequency fan are connected with operation button, by behaviour
Make button control explosion-proof illuminating lamp, pressure fan, exhaust blower, water pump, photographic head, far infrared transmission plate, the unlatching of variable-frequency fan and
Close；The explosion-proof illuminating lamp, pressure fan, exhaust blower, water pump, photographic head, far infrared transmission plate, variable-frequency fan are aobvious with failure
Show that lamp is connected, shown by malfunction coefficient lamp when said modules break down.
Further, the control system includes：Arm processor, the dsp processor being connected with arm processor and DSP
The host computer that processor is connected, the slave computer being connected with host computer, the guidance panel being connected with host computer；The host computer passes through
The network equipment connects the Internet and carries out data communication with server, the slave computer respectively with two X-axis sliding platforms, Z axis
Elevating mechanism, Y-axis sliding platform, the first rotary shaft, the second rotary shaft are connected；Sprayed from the auto parts of server by host computer
Auto parts spray procedure is downloaded in applying program data base, is downloaded from the spray piece cloud data storehouse of server by host computer
Cloud data, and spray gun pose track being optimized according to cloud data, the host computer to slave computer transmitting control commands,
Slave computer is counted as corresponding time sequence signal further according to this control command solution and directly controls gantry truss-like spray coating mechanical hand being sprayed
Operation, reads gantry truss-like spray coating mechanical hand status data in real time by slave computer, and changes into digital signal and feed back to
Position machine, downloads various car model three-dimensional part models from server by host computer and the network equipment, and according to actual spray
Painting situation feeds back to quality detecting system in time.
Further, the paint vehicle box is constituted using multiple pressure vessels, and one of pressure vessel is painted equipped with expects pipe
Abluent, is respectively provided with a kind of color paint vehicle in remaining pressure vessel, each pressure vessel is connected to spray gun by expects pipe
On, each pressure vessel passes through switch valve and air pump controls the circulation of paint vehicle.
Further, the X-axis sliding platform, Z-axis lifting mechanism, Y-axis sliding platform are linear motion axis, and described
One rotary shaft, the second rotary shaft are rotary motion axle.
Further, the X-axis sliding platform, Y-axis sliding platform, the stroke of Z-axis lifting mechanism are respectively 3.5 meters, 3 meters
With 1.45 meters；The stroke of first rotary shaft and the second rotary shaft is -90 degree to+90 degree, and the spray gun is apart from ground
Minimum range is 0.28 meter.
Further, lacquer mist coagulant is placed with the pond.
The invention has the beneficial effects as follows：The overall goal of the present invention is to avoid that artificial spray painting causes to the workman that paints
Health hazards, reduces harm of the lacquering and stoving varnish process to surrounding enviroment, fundamentally avoids the technical ability maneuver due to operator
The discordance of lacquer painting quality caused by difference, auto spray painting baking vanish integration of the research design of the present invention based on cloud computing
Distributed " machine substitute human labor " solution, using the technical advantage of cloud computing platform, is melted with automotive automation touch-up paint spraying depth
Close, innovate automobile touch-up paint new service mode.
The present invention's is had the advantage that based on the automobile intelligent paint spraying system of cloud computing：
1) intelligent paint spraying mechanical arm paint loss is little, reduces enterprise's production capacity；
2) coating quality is stable, and mechanical hand spraying method ensure that the stability of the uniformity coefficient and quality of japanning amount；
3) by processing to coating cloud, the health of Automobile operation personnel is protected, reduces pollution on the environment；
4) production efficiency is high, is adapted to produce in enormous quantities；
5) manpower is reduced in a large number, reduce enterprise's production capacity and management cost.
6) present invention for auto parts and components are complex-shaped, coating quality and required precision is high and painting environments are severe etc.
Problem, based on the technologies such as Based Intelligent Control, dynamic optimization design, modularized design, R ＆ D design auto parts and components intelligence
Spray barn.Required with working environment according to surface of automobile part spraying coating process, planned intelligent spray barn topology layout, independently
R ＆ D design spray barn environmental control system, five axle spray robot of gantry truss-like and its auxiliary device, finally realize vapour
The spray painting of car component surface is unmanned, intelligent with repair process, provides technical guarantee for the sector.
Description of the drawings
Fig. 1 is the overall structure diagram of the automobile intelligent paint spraying system based on cloud computing of the present invention.
Fig. 2 is the structured flowchart of the automobile intelligent paint spraying system based on cloud computing of the present invention.
Fig. 3 is the workflow diagram of the automobile intelligent method for paint spraying based on cloud computing of the present invention.
Fig. 4 is the structural representation for spraying barn.
In figure：1st, cloud computing platform, 1-1, large server, 1-2, data storage, 1-3, two-wire access type kilomega network
Network, 1-4, router, 1-5, exchanger, 1-6, data management system, 1-7, auto parts three-dimensional modeling data storehouse, 1-8, automobile
Part spray procedure data base, 2, urban service platform, 2-1, server, 2-2,3D scanning device, 2-3,3D scanning device control
System processed, 2-4, spray piece cloud data storehouse, 2-5, auto parts spray procedure data base, 2-6, quality testing data base, 2-
7th, auto parts spraying path planning system, 3, spray barn, X-axis sliding platform 3-1, Z-axis lifting mechanism 3-2, Y-axis sliding platform
3-3, environmental-protection box 3-4, the first rotary shaft 3-5, spray gun 3-6, the second rotary shaft 3-7, double turntable 3-8, guidance panel 3-11,
Operation button 3-12, malfunction coefficient lamp 3-13, photographic head 3-14, explosion-proof illuminating lamp 3-15, Far infrared heating plate 3-16, pressure fan
3-17, moisture film curtain 3-18, exhaust blower 3-19.
Specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
A kind of automobile intelligent paint spraying system based on cloud computing of the present invention utilizes itself powerful storage capacity and data
Disposal ability, manages the three-dimensional modeling data of various spray piece, planning and sprays path, monitoring spray coating operations state, foundation feedback
Data are improved machining path and spraying method to improve efficiency.By building for cloud computing platform 1, be scattered about like the stars each will be currently in
Networking workshop is set up into from the spray barn 3 of the Auto repair shop of independent management, realize information sharing between spray barn 3, excellent
Change resource distribution.Every city is configured with 1-2 seats and is made based on the urban service platform 2 of the model intelligent identification technology of machine vision
For information centre, because its have efficiently, energy-conservation the features such as, therefore it is radiation-curable, cover bed rearrangement city, turn " community shop " mould into
Formula, remaining spray barn 3 can be used as 1 tip of cloud computing platform, before carrying out operation, from cloud computing platform 1 download model data and
Process data simultaneously carries out small parameter perturbations according to practical situation.
As shown in figure 1, a kind of automobile intelligent paint spraying system based on cloud computing of the present invention, mainly includes：Cloud computing is put down
Platform 1, multiple urban service platforms 2, multiple spray barns 3.
The basis of automobile intelligent spray painting is cloud computing platform 1, and the major function of the cloud computing platform 1 is to realize and subordinate
The data sharing of each urban service platform 2.Cloud computing platform 1 is mainly realized by hardware components and software section collective effect
's.As shown in Fig. 2 cloud computing platform 1 mainly including high performance large server 1-1, jumbo data storage 1-2,
Reliable and stable two-wire access type gigabit networking 1-3, router 1-4 and exchanger 1-5 and data management system 1-6, automobile
Three-dimensional part model data base 1-7, auto parts spray procedure data base 1-8.High performance large server 1-1 and exchanger
1-5 is connected by cable, and exchanger 1-5 is connected by cable with data storage 1-2, and exchanger 1-5 is by cable and route
Device 1-4 is connected, and high performance large server 1-1 is each with subordinate by router 1-4 and two-wire access type gigabit networking 1-3
Individual urban service platform 2 carries out data communication, completes the shared of data and docks.Data management system 1-6, auto parts are three-dimensional
In model database 1-7, the equal embedding data memorizer 1-2 of auto parts spray procedure data base 1-8, data management system 1-6
The download and upload of auto parts threedimensional model and auto parts spray procedure, auto parts threedimensional model number are responsible for mainly
It is mainly used in storing the auto parts threedimensional model and each urban service platform of the various models that automobile vendor provides according to storehouse 1-7
2 by scanning the auto parts threedimensional model for uploading；Auto parts spray procedure data base 1-8 is mainly used in storage according to automobile
The auto parts spraying of the reality that the auto parts spray procedure and each urban service platform 2 that three-dimensional part model is generated is uploaded
Program.The spray gun pose track data optimization that by subordinate urban service platform 2 uploaded after is stored in data storage 1-2 also.
Automobile intelligent paint spraying system needs to arrange urban service platform 2 in each city.Urban service platform 2 mainly by
What hardware components and software section collective effect were realized.As shown in Fig. 2 urban service platform 2 mainly includes high performance service
Device 2-1,3D scanning device 2-2,3D scanning device control system 2-3, spray piece cloud data storehouse 2-4, auto parts spraying journey
Sequence data base 2-5, quality testing data base 2-6, auto parts spraying path planning system 2-7, two-wire access type gigabit networking
1-3.Server 2-1 is connected by cable with 3D scanning devices 2-2.3D scanning device control systems 2-3, spray piece cloud data
Storehouse 2-4, auto parts spray procedure data base 2-5, quality testing data base 2-6 and auto parts spraying path planning system 2-
In 7 embedded server 2-1.3D scanning devices 2-2 are a kind of model intelligent identification equipments based on machine vision, by configuring 3D
Scanning device 2-2 is scanned to auto parts, and sets up auto parts threedimensional model.High performance server 2-1 is by double
Line access type gigabit networking 1-3 carries out data communication with high performance large server 1-1, completes the shared of data and docks,
Meanwhile, high performance server 2-1 is used for data storage and the data transfer with each spray barn 3 of subordinate.3D scanning devices
Control system 2-3 is scanned to auto parts and is modeled for controlling 3D scanning devices 2-2, spray piece cloud data storehouse 2-4
It is mainly used in storing the cloud data of auto parts, auto parts spray procedure data base 2-5 is mainly used in storage according to automobile
Part sprays the auto parts spray procedure of path Programming Design, and quality testing data base 2-6 is used for storage by spray barn 3
The quality inspection result that quality detecting system is uploaded, auto parts spraying path planning system 2-7 are used to plan auto parts spraying road
Footpath.
Spray barn 3 provides good conditions warrant for high-quality spraying operation.3 points of barn is sprayed using electric rolling goalkeeper
It is segmented into 3-10 between dope room 3-9 and baking vanish.Dope room 3-9 mainly undertakes the spray painting operation of auto parts.In order to ensure that surface is sprayed
Paint working environment requires that dope room 3-9 should possess illumination, ventilation, purification of air, paint mist treatment and fault alarm function.Such as Fig. 4
It is shown, it is mainly provided with inside the 3-9 of dope room：Explosion-proof illuminating lamp 3-15, air inlet, air outlet, moisture film curtain 3-18, drainage screen,
Overflow launder, is mainly provided with pressure fan 3-17, exhaust blower 3-19, environmental-protection box 3-4, water pump, pond, water conservancy diversion outside the 3-9 of dope room
Pipe.The luminaire of dope room 3-9 is according to GB14444-2006《Paint spray booth's safe practice regulation》Require to install, luminaire is complete
Portion adopts explosion-proof illuminating lamp 3-15, explosion-proof illuminating lamp 3-15 to be arranged on dope room 3-9 sides wall and top.Air inlet is arranged on spray
Between paint at the top of 3-9, air outlet is arranged on dope room 3-9 bottoms, and pressure fan 3-17 is connected with air inlet, exhaust blower 3-19 and air-out
Mouth connection, pressure fan 3-17 and exhaust blower 3-19 are installed on the 3-9 external walls of dope room.Dope room 3-9 pressure is negative pressure,
Outdoor air sprays 3 top air inlet of barn into inside the 3-9 of dope room by pressure fan 3-17 Jing, is formed around auto parts
Air curtain, makes the residual coating cloud after spray painting not decline to surrounding disperse with air-flow, and in the presence of exhaust blower 3-19, air-flow is orderly
Ground purifies heel row to outdoor by dope room 3-9 bottoms air outlet Jing environmental-protection boxes 3-4, and environmental-protection box 3-4 is fixed on dope room 3-9 ground
On face.At the top of the 3-9 of dope room, air inlet needs to install drainage screen (filter cotton, activated carbon etc.), for purify air.Using water
Film curtain 3-18 process residual coating clouds, that is, when painting, be evacuated to the water in pond in the overflow launder in the 3-9 of dope room using water pump,
Water overflow in overflow launder is made to form moisture film curtain 3-18, overflow launder is arranged on dope room 3-9 one end sides, and water pump is arranged on pond
In, overflow launder is communicated with pond by mozzle；When residual coating cloud meets moisture film curtain 3-18, will be adsorbed with water, sewage leads to
Cross mozzle to be back in pond, in pond, be placed with lacquer mist coagulant, condensation and drainage screen of the sewage by lacquer mist coagulant
Filtration, purification after again by water pump suction spray barn 3, the organic solvent in coating cloud is diluted reaching Jing rows after discharge standard
Blower fan 3-19 is discharged into outdoor.
As shown in figure 4,3-10 mainly undertakes the baking operation of lacquered surface between baking vanish, in order to reach surface paint baking ring
Border requires that 3-10 should possess the functions such as illumination, heating, heat exchange and fault alarm between baking vanish.Between baking vanish, 3-10 mainly includes：Take the photograph
As head 3-14, explosion-proof illuminating lamp 3-15, far infrared transmission plate 3-16, variable-frequency fan.Between baking vanish, the lighting lamp group of 3-10 is all adopted
Use explosion-proof illuminating lamp 3-15, voltage is 220V, explosion-proof illuminating lamp 3-15 is arranged between baking vanish on 3-10 sides wall and top.Photographic head
3-14 is arranged on 3-10 side wall upper parts between baking vanish, can monitor spray 3 inner case of barn by photographic head 3-14, go wrong
When can process in time.Between baking vanish, 3-10 is heated using far infrared transmission plate 3-16, and voltage is 220V, and temperature is up to 60～80
Degree, temperature rising-time are less than 40 minutes, and far infrared transmission plate 3-16 is arranged between baking vanish on 3-10 two sides and top, adopt and divide
Group control.Heat exchange realizes that by variable-frequency fan be provided with variable-frequency fan two between baking vanish at the top of 3-10, the variable-frequency fan can be real
Existing automatic frequency-conversion control, while requirement of explosion proof will be met.
The execution unit of automobile intelligent spray painting is spray coating mechanical hand system.The spray coating mechanical hand system mainly includes：Five axles
Gantry truss-like spray coating mechanical hand of linkage, control system, paint vehicle box, double turntable 3-8.
Required according to auto parts spraying coating process, carry out gantry truss-like spray coating mechanical hand body Preliminary design.Customization is opened
Gantry truss-like spray coating mechanical hand of five-axle linkage is sent out, gantry truss-like spray coating mechanical hand body and its key components and partss are carried out
Kinetics and statics Analysis, with structure lightened, raising system stiffness, reduce mode fundamental frequency and optimization dynamic property as mesh
Mark, designs each axle stroke and paint vehicle box, realizes the structure optimization of mechanical hand.According to setting for gantry truss-like spray coating mechanical hand body
Meter scheme and kinetics, statics analysis results, carry out detailed structure design to gantry truss-like spray coating mechanical hand body.Five
Gantry truss-like spray coating mechanical hand of axle linkage mainly slides including two X-axis sliding platform 3-1, Z-axis lifting mechanism 3-2, Y-axis
Platform 3-3, the first rotary shaft 3-5, the second rotary shaft 3-7, spray gun 3-6.Two X-axis sliding platform 3-1 are separately fixed at spray and bake
On 3 two side of room, the two ends of Y-axis sliding platform 3-3 are separately fixed on two X-axis sliding platform 3-1, Z-axis lifting mechanism 3-2
One end is fixed on Y-axis sliding platform 3-3 middle parts, and the first rotary shaft 3-5 is fixed on the Z-axis lifting mechanism 3-2 other ends, and second
Rotary shaft 3-7 is also secured at the Z-axis lifting mechanism 3-2 other ends and is located under the first rotary shaft 3-5, the first rotary shaft 3-5
Axis and Z-axis lifting mechanism 3-2 diameter parallel, the axis of the second rotary shaft 3-7 hung down with the axis of Z-axis lifting mechanism 3-2
Directly.X-axis sliding platform 3-1, Z-axis lifting mechanism 3-2, Y-axis sliding platform 3-3 are linear motion axis, the first rotary shaft 3-5,
Second rotary shaft 3-7 is rotary motion axle.X-axis sliding platform 3-1, Y-axis sliding platform 3-3, the row of Z-axis lifting mechanism 3-2
Journey is respectively 3.5 meters, 3 meters and 1.45 meters.The stroke of the first rotary shaft 3-5 and the second rotary shaft 3-7 is -90 degree to+90 degree.
Spray gun 3-6 is fixed in the second rotary shaft 3-7, and minimum ranges of the spray gun 3-6 apart from ground is 0.28 meter.
Control system is the core of gantry truss-like spray coating mechanical hand, and its main task is exactly to control gantry truss-like spray
Time of movement position of the mechanical hand in the 3-9 of dope room, attitude and track, operation order and action etc. is applied, with programming letter
The features such as operation of single, menu, friendly human-computer interaction interface, on-line operation are pointed out and are easy to use.Control system master
Including：Dsp processor, arm processor, host computer, slave computer, guidance panel 3-11, the network equipment.Dsp processor and ARM
Processor is connected, and dsp processor is connected with host computer, and host computer is connected with slave computer, and host computer is connected with guidance panel 3-11,
Host computer by the network equipment connect the Internet, and with the urban service platform 2 of higher level in server 2-1 carry out data lead to
News.Slave computer respectively with two X-axis sliding platform 3-1, Z-axis lifting mechanism 3-2, Y-axis sliding platform 3-3, the first rotary shaft 3-
5th, the second rotary shaft 3-7 is connected.The software platform of the control system adopts modular upper and lower machine access structure, motion control
Slave computer is made as, it is host computer to perform the functions such as motion control instruction, man-machine interaction, decoding, is carried out by guidance panel 3-11
Operation, performs the functions such as operation, programming, teaching by host computer.
The control system adopts damascene structures, with high-performance arm processor and dsp processor as core, makes full use of
Its own resource and powerful processing capability in real time, it is easy to accomplish gantry truss-like spray coating mechanical hand is real-time, multitask control
Require.Auto parts spray procedure data by the host computer in control system from the server 2-1 of urban service platform 2
Associated vehicle part spray procedure is downloaded in the 2-5 of storehouse, operator can be sprayed to the auto parts after download according to practical situation
Program is modified.Spray piece point cloud number by the host computer in control system from the server 2-1 of urban service platform 2
According to cloud data is downloaded in the 2-4 of storehouse, and spray gun pose track is optimized according to cloud data.Host computer is sent to slave computer
Control command, slave computer are counted as corresponding time sequence signal further according to this control command solution and directly control gantry truss-like spray coating mechanical hand
Spraying operation is carried out, gantry truss-like spray coating mechanical hand status data is read in real time by slave computer, and is changed into digital signal
Feed back to host computer.Spray barn 3 passes through host computer and the network equipment downloads various car model parts from parent server 2-1
Threedimensional model, and quality detecting system is fed back in time according to actual spraying situation, recommendation on improvement is proposed, ring-closed spraying is constituted
Modification solution.
In order to ensure coating quality, it is necessary to build a set of quality detecting system.The quality detecting system is arranged on spray barn 3
In.The quality detecting system is the real time image collection and identifying system based on computer vision system.The quality testing
System mainly includes ccd image collecting unit and quality testing control system.Operator can match somebody with somebody in quality testing control system
The sampling face of putting, and the high-definition image that ccd image collecting unit shoots sampling face is controlled, quality testing control system is to face of sampling
High-definition image is processed, and assesses coating quality, and quality inspection result is uploaded to the matter in 2 server 2-1 of urban service platform
In amount Test database 2-6, and according to the relevant parameter in quality inspection result adjusting and optimizing auto parts spray procedure generating process,
Optimization auto parts spray procedure, improves coating quality.Its detailed process is as follows：After painting dressing automobiles terminate, to car paint film
Defect carries out online automatic detection, obtains the position coordinateses and pattern class of defect, and counts the quantity of all kinds of defects；This is
The core of system is image procossing and pattern recognition, and the main task of image procossing is denoising, image enhaucament and image segmentation,
Often disturbed by noise in image acquisition process, the noise, impulse disturbances, transmission such as during photoelectric conversion is missed
Error and industry spot electromagnetic interference in difference, A/D transformation processs etc., it is therefore necessary to which the image to collecting carries out denoising
At utmost slice-of-life image is obtained；Afterwards in order to part interested in prominent image, it is necessary to which image is entered
Row enhancement process, finally in order to extract the eigenvalue of interesting part, in addition it is also necessary to cutting operation, the standard of segmentation are carried out to image
Be then the feature or attribute of each intra-zone be same or analogous.These features can be grey scale pixel value, edge contour
Curve, textural characteristics, shape and color etc., or spatial frequency spectrum or rectangular histogram etc..The main task of pattern recognition is right
The image that input is come in is classified, and determines shown defect type in image, and pattern recognition mainly uses BP refreshing
Jing network schemer recognizers, through the training of substantial amounts of defect image data, the algorithm can be accurately be shown in process decision chart picture
The defect type for showing.
Paint vehicle box is placed on the 3-9 ground of dope room.Paint vehicle box is constituted using multiple pressure vessels, and one of pressure holds
Device paints abluent equipped with expects pipe, and a kind of color paint vehicle is respectively provided with remaining pressure vessel, and each pressure vessel passes through
Expects pipe is connected on spray gun 3-6, and each pressure vessel passes through switch valve and air pump controls the circulation of paint vehicle.
Double turntable 3-8 one end is arranged on dope room 3-9, and the other end is arranged on 3-10 between baking vanish, is turned by double
Painted auto parts are transferred to 3-10 between baking vanish by dope room 3-9 by platform 3-8.Operation button 3-12 and malfunction coefficient lamp 3-
13 be installed in spray 3 external walls of barn on, spray barn 3 in explosion-proof illuminating lamp 3-15, pressure fan 3-17, exhaust blower 3-19,
Water pump, photographic head 3-14, far infrared transmission plate 3-16, variable-frequency fan are connected with operation button 3-12, by operation button 3-
12 control explosion-proof illuminating lamp 3-15, pressure fan 3-17, exhaust blower 3-19, water pump, photographic head 3-14, far infrared transmission plate 3-16,
The opening and closing of variable-frequency fan；Explosion-proof illuminating lamp 3-15, pressure fan 3-17, exhaust blower 3-19 in spray barn 3, water pump, take the photograph
It is as head 3-14, far infrared transmission plate 3-16, variable-frequency fan are connected with malfunction coefficient lamp 3-13, equal when said modules break down
Shown by malfunction coefficient lamp 3-13, facilitate operator to solve failure problems in time.
As shown in figure 3, a kind of automobile intelligent method for paint spraying based on cloud computing of the present invention, is based on cloud using above-mentioned
What the automobile intelligent paint spraying system of calculating was realized, mainly include the following steps that：
Step one, infrastructure are built
Build cloud computing platform 1, multiple urban service platforms 2, multiple spray barns 3.
The basis of automobile intelligent spray painting is cloud computing platform 1, and the major function of the cloud computing platform 1 is to realize and subordinate
The data sharing of each urban service platform 2.Cloud computing platform 1 is mainly realized by hardware components and software section collective effect
's.Cloud computing platform 1 is mainly including high performance large server 1-1, jumbo data storage 1-2, reliable and stable
Two-wire access type gigabit networking 1-3, router 1-4 and exchanger 1-5 and data management system 1-6, auto parts three-dimensional mould
Type data base 1-7, auto parts spray procedure data base 1-8.High performance large server 1-1 and exchanger 1-5 passes through line
Cable is connected, and exchanger 1-5 is connected by cable with data storage 1-2, and exchanger 1-5 is connected with router 1-4 by cable,
High performance large server 1-1 is by router 1-4 and two-wire access type gigabit networking 1-3 and each urban service of subordinate
Platform 2 carries out data communication, completes the shared of data and docks.Data management system 1-6, auto parts three-dimensional modeling data storehouse
In 1-7, the equal embedding data memorizer 1-2 of auto parts spray procedure data base 1-8, data management system 1-6 is mainly responsible for pipe
The download and upload of reason auto parts threedimensional model and auto parts spray procedure, auto parts three-dimensional modeling data storehouse 1-7 master
It is used to store the auto parts threedimensional model and each urban service platform 2 of the various models that automobile vendor provides by scanning
The auto parts threedimensional model of upload；Auto parts spray procedure data base 1-8 is mainly used in storing three-dimensional according to auto parts
The auto parts spray procedure of the reality that the auto parts spray procedure and each urban service platform 2 that model is generated is uploaded.Number
According to the spray gun pose track data also stored in memorizer 1-2 after the optimization that uploaded by subordinate urban service platform 2.
Automobile intelligent paint spraying system needs to arrange urban service platform 2 in each city.Urban service platform 2 mainly by
What hardware components and software section collective effect were realized.Urban service platform 2 is mainly swept including high performance server 2-1,3D
Retouch equipment 2-2,3D scanning device control system 2-3, spray piece cloud data storehouse 2-4, auto parts spray procedure data base 2-
5th, quality testing data base 2-6, auto parts spraying path planning system 2-7, two-wire access type gigabit networking 1-3.Server
2-1 is connected by cable with 3D scanning devices 2-2.3D scanning device control systems 2-3, spray piece cloud data storehouse 2-4, automobile
Part spray procedure data base 2-5, quality testing data base 2-6 and the embedded services of auto parts spraying path planning system 2-7
In device 2-1.3D scanning devices 2-2 are a kind of model intelligent identification equipments based on machine vision, by configuring 3D scanning devices
2-2 is scanned to auto parts, and sets up auto parts threedimensional model.High performance server 2-1 passes through two-wire access type
Gigabit networking 1-3 carries out data communication with high performance large server 1-1, completes the shared of data and docks, meanwhile, Gao Xing
The server 2-1 of energy is used for data storage and the data transfer with each spray barn 3 of subordinate.3D scanning device control systems 2-
3 are scanned to auto parts and model for controlling 3D scanning devices 2-2, and spray piece cloud data storehouse 2-4 is mainly used in depositing
The cloud data of storage auto parts, auto parts spray procedure data base 2-5 are mainly used in storing according to auto parts spraying road
The auto parts spray procedure of footpath Programming Design, quality testing data base 2-6 are used for the matter that storage is uploaded by quality detecting system
Inspection result, auto parts spraying path planning system 2-7 are used to plan auto parts spraying path.
Spray barn 3 provides good conditions warrant for high-quality spraying operation.3 points of barn is sprayed using electric rolling goalkeeper
It is segmented into 3-10 between dope room 3-9 and baking vanish.Dope room 3-9 mainly undertakes the spray painting operation of auto parts.Between baking vanish, 3-10 is main
Undertake the baking operation of lacquered surface.
Step 2, build auto parts three-dimensional modeling data storehouse
Realize that the first step that automobile intelligent paints is exactly the auto parts three-dimensional modeling data for obtaining various models, for vapour
The scanning of car part adopts 3D scanning devices 2-2,3D scanning devices 2-2 obtain auto parts surface within the extremely short time
High-precision three-dimensional data.3D scanning devices 2-2 are controlled by 3D scanning devices control system 2-3 to sweep auto parts
Retouch, and set up auto parts threedimensional model, auto parts threedimensional model is uploaded in cloud computing platform 1 by server 2-1,
And auto parts threedimensional model is stored in by the three-dimensional mould of the auto parts in data storage 1-2 by data management system 1-6
In type data base 1-7.And auto parts three-dimensional modeling data storehouse 1-7 itself also stores the various models that each automobile vendor provides
Auto parts threedimensional model.
Its detailed process is：(1) 3D scanning devices 2-2 are controlled to auto parts by 3D scanning devices control system 2-3
It is scanned, by rotating vehicle part or the probe of 3D scanning devices 2-2, conversion scanning visual angle, with various visual angles point
The automatic Mosaic technology of cloud, can complete 360 degree of scannings comprehensive to auto parts；(2) after the completion of scanning, on auto parts surface
Some points are taken, the distance between these points and 3D scanning devices 2-2 is calculated, when the point of measurement is enough, a cloud is automatically generated
Data, cloud data are stored in spray piece cloud data storehouse 2-4, can just obtain automobile using the cloud data of auto parts
The profile of piece surface, will set up contact, it becomes possible to obtain the threedimensional model of auto parts, by number between these adjacent points
Auto parts three-dimensional modeling data storehouse auto parts threedimensional model being stored according to management system 1-6 in data storage 1-2
In 1-7；(3) due to error and the anthropic factor of equipment, measure the cloud data for obtaining and noise spot occurs, in point of use cloud number
According to pretreatment will be carried out to which before.Pretreatment mainly includes：Remove exceptional data point to reduce error；By suitable data
The method polishing of interpolation loses point, facilitates subsequent treatment；Select optimum data smoothing to reduce or eliminate measurement noise, improve number
According to precision；Cloud data is compressed, calculating treatmenting time is reduced, efficiency is improved.
Step 3, auto parts spraying path design
Using the cloud data in spray piece cloud data storehouse 2-4 by the auto parts spraying in urban service platform 2
Path planning system 2-7 automatically generates auto parts spraying path.Set according to the auto parts spraying path programming for generating simultaneously
Meter auto parts spray procedure, and auto parts spray procedure is stored in auto parts spray procedure data base 2-5.Automobile
Download during the auto parts spray procedure data base 1-8 from cloud computing platform 1 is also stored in part spray procedure data base 2-5
Auto parts spray procedure.
Auto parts spraying path is the core of whole automobile intelligent method for paint spraying, is directly connected to the quality and effect of spraying
Rate.Auto parts spraying path planning system 2-7 effectively overcomes many defects of artificial lead-through teaching, enhances spraying method
Motility, shortens the off-line programing time of new product spraying, improves the listing speed of new product.
Step 4, spray gun pose track are obtained and are optimized
In order to meet average varnished thickness requirement, that is, require varnished thickness change minimum and while spray efficiency
In the case of highest, just spray gun pose track must be optimized, spray gun pose track is optimized mainly roasting in spray
Carry out in host computer in 3 spray coating mechanical hand system of room.Which mainly includes following two aspects：
(1) the spray gun pose track based on point cloud slicing technology obtains
Due to cloud data, to generate threedimensional model process loaded down with trivial details, so introduction point cloud microtomy, is sprayed using spray barn 3
Host computer in arm-and-hand system is directly processed to the cloud data of auto parts, directly generates equidistant spray gun pose rail
Mark.
Its detailed process is：By setting slice direction and the section number of plies, pretreated cloud data is cut into slices
Process, obtain cut into slices polyline after to its average sample, determine spraying paths of the spray gun 3-6 on auto parts surface, then estimate
The normal vector of all sampled points is calculated, and finally spray gun pose track is obtained using offset algorithm.
(2) spray gun pose track optimizing
Spray gun pose track to obtaining is optimized process, the optimization of spray gun pose track mainly include speed-optimization and
Spacing optimizes.During spraying, if keeping spray gun 3-6 translational speeds constant, then the change certainty of the spraying face curvature
The change of varnished thickness can be caused, it is impossible to meet coating layer thickness coherence request.It is certain in auto parts spraying path
In the case of, spray gun pose track is optimized according to the Curvature varying of spray-coating surface, research variable Rate sprays to compensate the spraying face curvature
The concordance of the coating layer thickness of course bearing is prolonged in the impact that change brings, raising.It is when being sprayed on free form surface, freely bent
The face curvature is changing in stroke directions, it is ensured that varnished thickness is in the concordance that this side up, it is necessary to grind
Study carefully change stroke span to compensate the impact that Curvature varying brings.Meanwhile, in order to improve paint vehicle utilization rate and spray efficiency, make excellent
Change spacing as wide as possible.
By the spray gun pose track after the optimization for finally giving by spraying the control system in 3 spray coating mechanical hand system of barn
Upload in the server 2-1 of urban service platform 2, then the data of the cloud computing platform 1 of higher level are uploaded to by server 2-1 and deposit
In reservoir 1-2.Pose, path according to the spray gun 3-6 after optimization, velocity information, generate actual auto parts spray procedure
Be stored in auto parts spray procedure data base 2-5, by the auto parts spray procedure of the reality of generation upload and store to
In auto parts spray procedure data base 1-8 in cloud computing platform 1.
When step 5, spraying, in the spray barn 3 of system end, needs can be downloaded as needed in cloud computing platform 1
Auto parts spray procedure, auto parts spraying path is downloaded in auto parts spraying path planning system 2-7, and five
Associated paint parameter is set in the control system of gantry truss-like spray coating mechanical hand of axle linkage, according under practical situation modification institute
Spray parameters are optimized by the auto parts spray procedure of load, make coincidence factor reach 50%～60%, while according to download
Auto parts spray the spray gun pose track of path and optimization, are sprayed by gantry truss-like spray coating mechanical hand, spray
After to carry out spray roasting, obtain paint film in uniform thickness.
Step 6, spray are baked after completing, and need to test coating quality.Operator are selected in quality detecting system
The sampling face of taking, control ccd image collecting unit carry out image acquisition, the high-definition image that quality testing control system is returned to collection
Processed, assess coating quality, and quality inspection result is uploaded to into the quality testing number in 2 server 2-1 of urban service platform
According to storehouse 2-6, and according to the relevant parameter in quality inspection result adjusting and optimizing auto parts spray procedure generating process, optimize automobile
Part spray procedure, improves coating quality.May choose whether after quality inspection is qualified that generating form achieves.
Present invention achieves automatization and the intellectuality of spray painting whole process is got from model, automobile touch-up paint is improve
Efficiency and quality；The working environment of staff is improved simultaneously；Reduce the technical requirements of staff；Reduce a large amount of behaviour
Make personnel, be that enterprise saves great amount of cost.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (8)
1. the automobile intelligent paint spraying system based on cloud computing, it is characterised in that include：Cloud computing platform (1), multiple urban services
Platform (2), multiple sprays barn (3)；
The cloud computing platform (1) includes large server (1-1), the exchanger (1-5) being connected with large server (1-1),
The data storage (1-2) being connected with exchanger (1-5), the router (1-4) being connected with exchanger (1-5), embedding data is deposited
Data management system (1-6), auto parts three-dimensional modeling data storehouse (1-7) and auto parts spray procedure in reservoir (1-2)
Data base (1-8)；The large server (1-1) by router (1-4) and two-wire access type gigabit networking (1-3) and each
Urban service platform (2) carries out data communication, and the data management system (1-6) is for managing auto parts threedimensional model and vapour
The download and upload of car part spray procedure, the auto parts three-dimensional modeling data storehouse (1-7) are carried for storing automobile vendor
For various models auto parts threedimensional model and each urban service platform (2) it is three-dimensional by scanning the auto parts that upload
Model, the automobile zero that the auto parts spray procedure data base (1-8) is generated according to auto parts threedimensional model for storage
The auto parts spray procedure of the reality that part spray procedure and each urban service platform (2) are uploaded, the data storage (1-
2) the spray gun pose track data after the optimization uploaded by urban service platform (2) is also stored in；
The urban service platform (2) includes server (2-1), the 3D scanning devices (2-2) being connected with server (2-1), with
Connected 3D scanning device control systems (2-3) of 3D scanning devices (2-2), the 3D scanning device controls being embedded in server (2-1)
System (2-3) processed, spray piece cloud data storehouse (2-4), auto parts spray procedure data base (2-5), quality testing data base
(2-6) with auto parts spraying path planning system (2-7)；The server (2-1) is by two-wire access type gigabit networking (1-
3) data communication is carried out with large server (1-1), the server (2-1) sprays barn for data storage and with each
(3) data transfer, the 3D scanning devices control system (2-3) are entered to auto parts for controlling 3D scanning devices (2-2)
Row scanning and model, the spray piece cloud data storehouse (2-4) is for storing the cloud data of auto parts, the auto parts
Spray procedure data base (2-5) sprays the auto parts spray procedure of path Programming Design, institute for storage according to auto parts
State quality testing data base (2-6) and advised by the quality inspection result that barn (3) is uploaded, the auto parts spraying path is sprayed for storage
System (2-7) is drawn for planning auto parts spraying path；
Spray barn (3) is painted for realizing automobile intelligent.
2. the automobile intelligent paint spraying system based on cloud computing according to claim 1, it is characterised in that the spray barn
(3) include：The dope room (3-9) being divided into using electric rolling door (3-10), spray coating mechanical hand system, quality inspection and between baking vanish
Examining system；
The dope room (3-9) includes：Explosion-proof illuminating lamp (3-15), difference on dope room (3-9) side wall and top
The air inlet being arranged at the top of dope room (3-9) and the air outlet of bottom, on dope room (3-9) external walls and with enter
The pressure fan (3-17) of air port connection, the exhaust blower (3- connected on dope room (3-9) external walls and with air outlet
19), be fixed on the environmental-protection box (3-4) on dope room (3-9) ground, installed in the filtration of air inlet at the top of dope room (3-9)
Net, pond, the water pump in pond, communicate installed in dope room (3-9) one end side and by mozzle with pond
Overflow launder, is evacuated to the water in pond in the overflow launder in dope room (3-9) by water pump, is formed water overflow in overflow launder
Moisture film curtain (3-18)；
Between the baking vanish, (3-10) includes：Explosion-proof illuminating lamp (3-15), peace installed between baking vanish on (3-10) side wall and top
It is mounted in the photographic head (3-14) of (3-10) side wall upper part between baking vanish, remote red on (3-10) two side and top installed between baking vanish
Emission plate (3-16), the variable-frequency fan installed between baking vanish at the top of (3-10)；
The spray coating mechanical hand system includes：It is gantry truss-like spray coating mechanical hand of five-axle linkage, control system, paint vehicle box, double
Work position rotation table (3-8)；Gantry truss-like spray coating mechanical hand includes：Two X being separately fixed on spray barn (3) two side
It is solid that axle sliding platform (3-1), two ends are separately fixed at the Y-axis sliding platform (3-3) on two X-axis sliding platforms (3-1), one end
It is scheduled on the Z-axis lifting mechanism (3-2) of Y-axis sliding platform (3-3) middle part, is fixed on Z-axis lifting mechanism (3-2) other end
First rotary shaft (3-5), be fixed on Z-axis lifting mechanism (3-2) other end and be located at the first rotary shaft (3-5) under second rotation
Rotating shaft (3-7), the spray gun (3-6) being fixed in the second rotary shaft (3-7), axis and the Z axis liter of first rotary shaft (3-5)
The diameter parallel of descending mechanism (3-2), the axis of second rotary shaft (3-7) are vertical with the axis of Z-axis lifting mechanism (3-2)；
The control system is sprayed for auto parts are downloaded in auto parts spray procedure data base (2-5) from server (2-1)
Program, downloads cloud data and according to cloud data from the spray piece cloud data storehouse (2-4) of server (2-1) to spray gun
Pose track is optimized, and downloads various car model three-dimensional part models and according to actual spray from parent server (2-1)
Painting situation feeds back to quality detecting system；The paint vehicle box is placed on dope room (3-9) ground and by being connected by expects pipe
To on spray gun (3-6)；Described double turntable (3-8) one end is arranged on dope room (3-9), and the other end is arranged on (3- between baking vanish
10) painted auto parts are transferred between baking vanish by dope room (3-9) by (3-10) by double turntable (3-8),；
The quality detecting system includes ccd image collecting unit and the quality testing control system being attached thereto, by quality
Detecting and controlling system configures sampling face, and controls the high-definition image that ccd image collecting unit shoots sampling face, by quality testing
Control system is processed to the high-definition image in face of sampling, and assesses coating quality, and quality inspection result is uploaded onto the server (2-1)
Quality testing data base (2-6) in, according to the correlation in quality inspection result adjusting and optimizing auto parts spray procedure generating process
Parameter, optimizes auto parts spray procedure.
3. the automobile intelligent paint spraying system based on cloud computing according to claim 2, it is characterised in that also include being arranged on
Operation button (3-12) and malfunction coefficient lamp (3-13) on spray barn (3) external walls, the explosion-proof illuminating lamp (3-15), send
Blower fan (3-17), exhaust blower (3-19), water pump, photographic head (3-14), far infrared transmission plate (3-16), variable-frequency fan with operation
Button (3-12) is connected, and controls explosion-proof illuminating lamp (3-15), pressure fan (3-17), exhaust blower (3- by operation button (3-12)
19), water pump, photographic head (3-14), far infrared transmission plate (3-16), the opening and closing of variable-frequency fan；The explosion-proof illuminating lamp
(3-15), pressure fan (3-17), exhaust blower (3-19), water pump, photographic head (3-14), far infrared transmission plate (3-16), frequency conversion wind
Fan is connected with malfunction coefficient lamp (3-13), is shown by malfunction coefficient lamp (3-13) when said modules break down.
4. the automobile intelligent paint spraying system based on cloud computing according to claim 2, it is characterised in that the control system
Including：Arm processor, the dsp processor being connected with arm processor, the host computer being connected with dsp processor, with host computer phase
Slave computer even, the guidance panel (3-11) being connected with host computer；The host computer by the network equipment connect the Internet and with
Server (2-1) carries out data communication, the slave computer respectively with two X-axis sliding platforms (3-1), Z-axis lifting mechanism (3-
2), Y-axis sliding platform (3-3), the first rotary shaft (3-5), the second rotary shaft (3-7) are connected；By host computer from server (2-
1) auto parts spray procedure is downloaded in auto parts spray procedure data base (2-5), by host computer from server (2-1)
Spray piece cloud data storehouse (2-4) in download cloud data, and spray gun pose track is optimized according to cloud data, institute
Host computer is stated to slave computer transmitting control commands, slave computer is counted as corresponding time sequence signal further according to this control command solution and directly controls
Gantry truss-like spray coating mechanical hand carries out spraying operation, reads gantry truss-like spray coating mechanical hand status number in real time by slave computer
According to, and change into digital signal and feed back to host computer, various types are downloaded from server (2-1) by host computer and the network equipment
Number auto parts threedimensional model, and quality detecting system is fed back in time according to actual spraying situation.
5. the automobile intelligent paint spraying system based on cloud computing according to claim 2, it is characterised in that the paint vehicle box is adopted
Constituted with multiple pressure vessels, one of pressure vessel paints abluent equipped with expects pipe, is filled in remaining pressure vessel respectively
There is a kind of color paint vehicle, each pressure vessel is connected on spray gun (3-6) by expects pipe, each pressure vessel is by switch
Valve and air pump control the circulation of paint vehicle.
6. the automobile intelligent paint spraying system based on cloud computing according to claim 2, it is characterised in that the X-axis is slided
Platform (3-1), Z-axis lifting mechanism (3-2), Y-axis sliding platform (3-3) are linear motion axis, the first rotary shaft (3-
5), the second rotary shaft (3-7) is rotary motion axle.
7. the automobile intelligent paint spraying system based on cloud computing according to claim 2, it is characterised in that the X-axis is slided
Platform (3-1), Y-axis sliding platform (3-3), the stroke of Z-axis lifting mechanism (3-2) are respectively 3.5 meters, 3 meters and 1.45 meters；It is described
The stroke of the first rotary shaft (3-5) and the second rotary shaft (3-7) is -90 degree to+90 degree, and the spray gun (3-6) is apart from ground
Minimum range be 0.28 meter.
8. the automobile intelligent paint spraying system based on cloud computing according to claim 2, it is characterised in that put in the pond
It is equipped with lacquer mist coagulant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611252738.2A CN106527238B (en) | 2016-12-30 | 2016-12-30 | Automobile intelligent paint spraying system based on cloud computing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611252738.2A CN106527238B (en) | 2016-12-30 | 2016-12-30 | Automobile intelligent paint spraying system based on cloud computing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106527238A true CN106527238A (en) | 2017-03-22 |
| CN106527238B CN106527238B (en) | 2019-03-22 |
Family
ID=58336050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611252738.2A Active CN106527238B (en) | 2016-12-30 | 2016-12-30 | Automobile intelligent paint spraying system based on cloud computing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106527238B (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994437A (en) * | 2017-05-19 | 2017-08-01 | 武汉康慧然信息技术咨询有限公司 | Automotive paints restorative procedure and equipment based on image recognition technology |
| CN107239065A (en) * | 2017-05-12 | 2017-10-10 | 广东顺德迪峰机械有限公司 | A kind of monitoring system of automation paint equipment |
| CN107544415A (en) * | 2017-09-18 | 2018-01-05 | 上海发那科机器人有限公司 | A kind of positioning compensation system |
| 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 |
| WO2019000221A1 (en) * | 2017-06-27 | 2019-01-03 | 王雪琴 | Multifunctional paint spraying device |
| CN109262599A (en) * | 2018-11-15 | 2019-01-25 | 湖北工业大学 | A kind of integrated form single armed multiaxis touch-up paint robot |
| CN109550614A (en) * | 2018-12-11 | 2019-04-02 | 宁波辰凌自动化科技有限公司 | A kind of control system and its workflow of automatic automobile spray painting |
| CN110040114A (en) * | 2019-05-16 | 2019-07-23 | 何佰胜 | A kind of automobile intelligent maintenance spray robot and auto repair method |
| CN110579181A (en) * | 2019-09-16 | 2019-12-17 | 安徽维德工业自动化有限公司 | three-dimensional scanning method for improving detection of automobile parts |
| CN111013882A (en) * | 2018-10-09 | 2020-04-17 | 上海交通大学 | Automatic truss type spraying system for ship body segmentation |
| CN111163868A (en) * | 2017-09-28 | 2020-05-15 | 杜尔系统股份公司 | Applicator integrated with camera |
| CN111530671A (en) * | 2020-05-07 | 2020-08-14 | 佛山科学技术学院 | Intelligent robot spraying method based on spraying system |
| CN111905951A (en) * | 2020-04-28 | 2020-11-10 | 杭州国辰机器人科技有限公司 | Intelligent powder room based on teaching technology |
| CN112958313A (en) * | 2021-02-04 | 2021-06-15 | 广州优诚网络科技有限公司 | Intelligent area compensation paint spraying parameter control method using distance matrix weighting characteristics |
| CN113359586A (en) * | 2021-06-22 | 2021-09-07 | 筑橙科技(深圳)有限公司 | Real-time monitoring method and system for outer wall construction robot |
| CN113552849A (en) * | 2020-04-24 | 2021-10-26 | 华晨宝马汽车有限公司 | Method, system, medium and device for eliminating coating defects of vehicle |
| 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 |
| CN114515662A (en) * | 2022-02-23 | 2022-05-20 | 佛山市泓玮汽车智能科技有限公司 | Robot spraying system for automobile maintenance sheet metal parts and technological process thereof |
| CN115178398A (en) * | 2022-08-05 | 2022-10-14 | 中铭谷智能机器人(广东)有限公司 | Control method and system of intelligent environment-friendly plate spraying system for automobile maintenance |
| CN116560264A (en) * | 2023-04-21 | 2023-08-08 | 羽航科技发展(北京)有限公司 | On-line monitoring and ventilation linkage control method for aircraft paint spraying operation control area |
| CN116714001A (en) * | 2023-08-11 | 2023-09-08 | 星力驰(北京)智能科技有限公司 | Artificial intelligence control system and control method and vehicle coating workstation |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040115359A1 (en) * | 2000-12-19 | 2004-06-17 | Dominique Cebola | Method for controlling a surface coating installation |
| CN104324861A (en) * | 2014-08-12 | 2015-02-04 | 清华大学 | Multi-parameter time-varying robot spraying method |
| CN104759379A (en) * | 2015-04-15 | 2015-07-08 | 重庆大学 | Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology |
| US20160205864A1 (en) * | 2013-03-14 | 2016-07-21 | Agjunction Llc | Machine control system and method |
| CN105983502A (en) * | 2015-03-19 | 2016-10-05 | 何守印 | Intelligent automobile paint spraying and baking integrated robot |
-
2016
- 2016-12-30 CN CN201611252738.2A patent/CN106527238B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040115359A1 (en) * | 2000-12-19 | 2004-06-17 | Dominique Cebola | Method for controlling a surface coating installation |
| US20160205864A1 (en) * | 2013-03-14 | 2016-07-21 | Agjunction Llc | Machine control system and method |
| CN104324861A (en) * | 2014-08-12 | 2015-02-04 | 清华大学 | Multi-parameter time-varying robot spraying method |
| CN105983502A (en) * | 2015-03-19 | 2016-10-05 | 何守印 | Intelligent automobile paint spraying and baking integrated robot |
| CN104759379A (en) * | 2015-04-15 | 2015-07-08 | 重庆大学 | Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107239065A (en) * | 2017-05-12 | 2017-10-10 | 广东顺德迪峰机械有限公司 | A kind of monitoring system of automation paint equipment |
| CN106994437A (en) * | 2017-05-19 | 2017-08-01 | 武汉康慧然信息技术咨询有限公司 | Automotive paints restorative procedure and equipment based on image recognition technology |
| CN106994437B (en) * | 2017-05-19 | 2020-08-04 | 安徽鹰龙工业设计有限公司 | Automobile paint repair method and equipment based on image recognition technology |
| WO2019000221A1 (en) * | 2017-06-27 | 2019-01-03 | 王雪琴 | Multifunctional paint spraying device |
| CN107544415A (en) * | 2017-09-18 | 2018-01-05 | 上海发那科机器人有限公司 | A kind of positioning compensation system |
| CN111163868A (en) * | 2017-09-28 | 2020-05-15 | 杜尔系统股份公司 | Applicator integrated with camera |
| 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 |
| CN111013882A (en) * | 2018-10-09 | 2020-04-17 | 上海交通大学 | Automatic truss type spraying system for ship body segmentation |
| CN109262599A (en) * | 2018-11-15 | 2019-01-25 | 湖北工业大学 | A kind of integrated form single armed multiaxis touch-up paint robot |
| CN109262599B (en) * | 2018-11-15 | 2022-01-14 | 武汉唯车惠科技有限公司 | Integrated single-arm multi-shaft paint repair robot |
| CN109550614A (en) * | 2018-12-11 | 2019-04-02 | 宁波辰凌自动化科技有限公司 | A kind of control system and its workflow of automatic automobile spray painting |
| CN110040114A (en) * | 2019-05-16 | 2019-07-23 | 何佰胜 | A kind of automobile intelligent maintenance spray robot and auto repair method |
| CN110579181A (en) * | 2019-09-16 | 2019-12-17 | 安徽维德工业自动化有限公司 | three-dimensional scanning method for improving detection of automobile parts |
| CN113552849A (en) * | 2020-04-24 | 2021-10-26 | 华晨宝马汽车有限公司 | Method, system, medium and device for eliminating coating defects of vehicle |
| CN111905951A (en) * | 2020-04-28 | 2020-11-10 | 杭州国辰机器人科技有限公司 | Intelligent powder room based on teaching technology |
| CN111530671A (en) * | 2020-05-07 | 2020-08-14 | 佛山科学技术学院 | Intelligent robot spraying method based on spraying system |
| CN112958313B (en) * | 2021-02-04 | 2022-03-04 | 深圳市邦建科技有限公司 | Intelligent area compensation paint spraying parameter control method using distance matrix weighting characteristics |
| CN112958313A (en) * | 2021-02-04 | 2021-06-15 | 广州优诚网络科技有限公司 | Intelligent area compensation paint spraying parameter control method using distance matrix weighting characteristics |
| CN113359586A (en) * | 2021-06-22 | 2021-09-07 | 筑橙科技(深圳)有限公司 | Real-time monitoring method and system for outer wall construction robot |
| 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 |
| CN114515662A (en) * | 2022-02-23 | 2022-05-20 | 佛山市泓玮汽车智能科技有限公司 | Robot spraying system for automobile maintenance sheet metal parts and technological process thereof |
| CN115178398A (en) * | 2022-08-05 | 2022-10-14 | 中铭谷智能机器人(广东)有限公司 | Control method and system of intelligent environment-friendly plate spraying system for automobile maintenance |
| CN116560264A (en) * | 2023-04-21 | 2023-08-08 | 羽航科技发展(北京)有限公司 | On-line monitoring and ventilation linkage control method for aircraft paint spraying operation control area |
| CN116560264B (en) * | 2023-04-21 | 2024-01-26 | 羽航科技发展(北京)有限公司 | On-line monitoring and ventilation linkage control method for aircraft paint spraying operation control area |
| CN116714001A (en) * | 2023-08-11 | 2023-09-08 | 星力驰(北京)智能科技有限公司 | Artificial intelligence control system and control method and vehicle coating workstation |
| CN116714001B (en) * | 2023-08-11 | 2023-10-27 | 星力驰(北京)智能科技有限公司 | Artificial intelligence control system and control method and vehicle coating workstation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106527238B (en) | 2019-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106527238B (en) | Automobile intelligent paint spraying system based on cloud computing | |
| CN106853433A (en) | Automobile intelligent method for paint spraying based on cloud computing | |
| CN108268595B (en) | A kind of building operating facilities status monitoring and Visualized Analysis System based on Internet of Things | |
| CN108733755B (en) | Intelligent inspection method and system based on three-dimensional information of power transmission line | |
| CN104759379B (en) | Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology | |
| CN112163688A (en) | Full-flow intelligent manufacturing system for multi-dosage form Chinese and western medicine products and construction method | |
| CN103394430B (en) | A kind of complex-curved even application manufacture method based on blind area Optimization Technology between sheet | |
| CN106155028B (en) | The control system and control method of flexible paint line | |
| CN1996357A (en) | Dynamic production line modeling system integrated with information system based on real-time data acquisition | |
| CN206373015U (en) | The annular streamline of one kind automation RTV dip-coatings | |
| CN101700517B (en) | Process for automatically cleaning, painting and oiling elevator guide rails | |
| CN104971863B (en) | Four axle robot coating equipment and technology | |
| CN106073622A (en) | A kind of novel glass cleaning intelligent robot | |
| CN112605033A (en) | Photovoltaic panel posture recognition and cleaning regulation and control device and method | |
| CN106112561A (en) | A kind of American transformer oil box assembly line and production method thereof | |
| CN107241392A (en) | A kind of special monitoring system of frequency converter based on 4G mobile Internets | |
| CN111266272B (en) | Multi-robot-based collaborative spraying method and system | |
| CN110967042A (en) | Industrial robot positioning precision calibration method, device and system | |
| CN208824833U (en) | Intelligent spray-painting plant | |
| CN214075655U (en) | Building site raise dust on-line intelligent monitoring and spray integrated device | |
| CN206652662U (en) | A kind of box installed integrated form cold spray apparatus | |
| CN116899797A (en) | Full-automatic paint spray booth and control method thereof | |
| CN108228900A (en) | Power equipment multispectral data center model method for building up based on layered structure | |
| CN209132630U (en) | A kind of intelligent paint line based on unmanned management | |
| CN201522643U (en) | Multi-flat-screen printing machine remote monitoring system based on CAN bus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |