CN107020230A - A kind of ray cast type electrostatic spraying restorative procedure - Google Patents
A kind of ray cast type electrostatic spraying restorative procedure Download PDFInfo
- Publication number
- CN107020230A CN107020230A CN201710257687.0A CN201710257687A CN107020230A CN 107020230 A CN107020230 A CN 107020230A CN 201710257687 A CN201710257687 A CN 201710257687A CN 107020230 A CN107020230 A CN 107020230A
- Authority
- CN
- China
- Prior art keywords
- point
- spraying
- model
- target
- mask
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D5/00—Processes for applying liquids or other fluent materials to surfaces to obtain special surface effects, finishes or structures
- B05D5/005—Repairing damaged coatings
Landscapes
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention discloses a kind of ray cast type electrostatic spraying restorative procedure, comprise the following steps：S1, carry out laser detection to the workpiece for completing electrostatic powder coating, and will the underproof workpiece of detection as repairing damage target；S2, will repair damage target with it is default spraying model be compared, according to comparative result mark absent region；S3, absent region is divided into and multiple repairs interval；S4, the default light-emitting device of driving, one by one to the interval light projector of each reparation；S5, by hand-held electrostatic powder paint gun light projector scope is sprayed.Under illumination guide, path is dusted clearly, be conducive to avoiding repeating to dust, can also overcome workman to be slipped up caused by repeated work after-vision fatigue is carried out for a long time, advantageously ensure that repair is carried out smooth, it is ensured that repairing quality.
Description
Technical field
The present invention relates to electrostatic powder coating technical field, more particularly to a kind of ray cast type electrostatic spraying reparation side
Method.
Background technology
Electrostatic powder coating is one of major reform of coating process, is obtained with pollution-free, resource-saving and efficient feature
Fast development is arrived, electrostatic powder coating is to utilize powdery paints induction charging under high-pressure electrostatic effect, in the work of electric field force
With lower uniform adsorption by the surface of painting workpiece.
At present, electrostatic spraying is completed by workman's manual grip spray gun mostly.After long-time is engaged in repetitive operation, work
People easily produces vision and cranial nerve fatigue, so that, it is difficult to ensure coating quality.
The content of the invention
The technical problem existed based on background technology, the present invention proposes a kind of ray cast type electrostatic spraying reparation side
Method.
A kind of ray cast type electrostatic spraying restorative procedure proposed by the present invention, comprises the following steps：
S1, carry out laser detection to the workpiece for completing electrostatic powder coating, and will the underproof workpiece of detection as repairing damage
Target；
S2, will repair damage target with it is default spraying model be compared, according to comparative result mark absent region；
S3, absent region is divided into and multiple repairs interval；
S4, the default light-emitting device of driving, one by one to the interval light projector of each reparation；
S5, by hand-held electrostatic powder paint gun light projector scope is sprayed.
Preferably, step S1 specifically includes following steps：
S11, default three-dimensional system of coordinate, and the foundation spraying model in three-dimensional system of coordinate；
S12, extraction spraying model top layer coordinate points synthetic model mask；
S13, laser scanning is carried out to workpiece, and physical model is set up in three-dimensional system of coordinate according to scanning result；
S14, mask is moved to mask central point overlapped with physical model central point；
S15, whether overlapped with physical model top layer according to mask, judge whether workpiece is qualified.
Preferably, step S1 specifically includes following steps：
S11A, default three-dimensional system of coordinate, and the foundation spraying model in three-dimensional system of coordinate；
S12A, laser scanning is carried out to workpiece, and physical model is set up in three-dimensional system of coordinate according to scanning result；
S13A, in physical model surface picking no less than three characteristic points, calculate each characteristic point to physical model central point
Distance；
S14A, corresponding with each characteristic point point of selection is used as reference point on spraying model, calculates a reference point to spraying
The distance of model center point；
S15A, by the distance of characteristic point to physical model central point and corresponding reference point to spraying model center point
Distance is contrasted；
S16A, if at least one pair of distance value it is unequal, then judge that detection target is unqualified, and by underproof detection
Target is as repairing damage target.
Preferably, step S2 specifically includes following steps：
S21, by physical model with spray model central point overlap；
S22, acquisition are present in the point set that spraying model is but not present in physical model；
S23, using Xiu Sun target's centers point as reference, by pointto-set map to repair damage target on formed repair point set；
S24, according to repair point set modeling absent region.
Preferably, step S2 specifically includes following steps：
S21A, the point for extracting spraying model top layer set up target mask, and extract the point on physical model top layer and set up entity
Mask；
S22A, target mask overlapped with entity mask central point, obtain and be located between entity mask and target mask
Point set；
S23A, using Xiu Sun target's centers point as reference, by pointto-set map to repair damage target on formed repair point set；
S24A, according to repair point set modeling absent region.
Preferably, in step S3, each interval of repairing is continuum, and same interval of repairing is interior, and thickness difference is less than
Or equal to predetermined threshold value.
Preferably, in step S4, it is directly proportional for the light projector time for repairing interval to its thickness.
In the present invention, by step S3 to S5, the purpose for instructing workman's spraying to repair by light projector is realized.Workman passes through
Electrostatic powder paint gun is dusted to by the region that light shrouds, in this way, by the transfer in light projector region, completing one by one to each reparation area
Domain is dusted.Under illumination guide, path is dusted clearly, be conducive to avoiding repeating to dust, also workman can be overcome to be carried out for a long time
Slipped up caused by repeated work after-vision fatigue, advantageously ensure that repair is carried out smooth, it is ensured that repairing quality.
In step S2, by modeling, damage target will be repaiied and be compared with default spraying model, marked according to comparative result
Absent region.In the case where not influenceing to judge accuracy, the efficiency of absent region positioning is substantially increased；Especially, realize
The intellectuality and automation of workpiece sensing.
In step S3, absent region is divided according to thickness, is conducive to workman to be instructed to carry out reparation spray according to light projector
The coating thickness of different zones is controlled during painting, so as to improve reparation precision.
Brief description of the drawings
Fig. 1 is a kind of ray cast type electrostatic spraying restorative procedure flow chart that embodiment 1 is proposed；
Fig. 2 is a kind of ray cast type electrostatic spraying restorative procedure flow chart that embodiment 2 is proposed；
Fig. 3 is a kind of ray cast type electrostatic spraying restorative procedure flow chart that embodiment 3 is proposed；
Fig. 4 is another ray cast type electrostatic spraying restorative procedure flow chart that embodiment 3 is proposed；
Embodiment
Embodiment 1
A kind of reference picture 1, ray cast type electrostatic spraying restorative procedure proposed by the present invention, comprises the following steps：
S11, default three-dimensional system of coordinate, and the foundation spraying model in three-dimensional system of coordinate.
S12, extraction spraying model top layer coordinate points synthetic model mask.
S13, laser scanning is carried out to workpiece, and physical model is set up in three-dimensional system of coordinate according to scanning result.
S14, mask is moved to mask central point overlapped with physical model central point.
S15, whether overlapped with physical model top layer according to mask, judge whether workpiece is qualified, and will detect underproof
Workpiece is as repairing damage target.
In this way, by step S11 to S15, carrying out laser scanning modeling to detection target, then passing through master pattern mask
Carry out illiteracy to physical model to cover, contrast judges whether the workpiece sprayed qualified, and will the underproof workpiece of detection as repairing damage
Target.In this way, the underproof workpiece of spraying can be picked out accurately, it is ensured that the quality of final output finished product.
In present embodiment, workpiece is judged by way of the mask extracted by spraying model surface, which is covered, covers physical model
It is whether qualified, in the case where not influenceing to judge accuracy, substantially increase detection efficiency；Especially, workpiece sensing is realized
Intellectuality and automation.
S21, the physical model that will repair damage target are overlapped with the central point of spraying model.
S22, acquisition are present in the point set that spraying model is but not present in physical model.
S23, using Xiu Sun target's centers point as reference, by pointto-set map to repair damage target on formed repair point set.
S24, according to repair point set modeling absent region.
By step S21-S24, the physical model that damages target will be repaiied and be compared with the default model that sprays, according to comparing
Result queue absent region, absent region includes all spraying models compared to the point that physical model has more.Absent region is pair
Repair damage target physical model supplement, for repair damage target patch work lay a good foundation.
S3, absent region is divided into and multiple repairs interval.In this step, each interval of repairing is continuum, and together
One repairs in interval, and thickness difference is less than or equal to predetermined threshold value.
S4, the default light-emitting device of driving, one by one to the interval light projector of each reparation.Specifically, for repairing interval throwing
It is directly proportional between light time to its thickness, i.e. missing thickness is more, then the light projector time is longer.
S5, by hand-held electrostatic powder paint gun light projector scope is sprayed.
In present embodiment, by step S3 to S5, the purpose for instructing workman's spraying to repair by light projector is realized.Workman
Dusted by electrostatic powder paint gun to by the region that light shrouds, in this way, by the transfer in light projector region, completing one by one to respectively repairing
Answer dusting for region.Under illumination guide, path is dusted clearly, be conducive to avoiding repeating to dust, can also overcome workman long-term
Slipped up caused by repeated work after-vision fatigue, advantageously ensure that repair is carried out smooth, it is ensured that repairing quality.
In step S3, absent region is divided according to thickness, is conducive to workman to be instructed to carry out reparation spray according to light projector
The coating thickness of different zones is controlled during painting, so as to improve reparation precision.
Embodiment 2
In the present embodiment, determine to repair damage target by following steps S11A-S16A.
S11A, default three-dimensional system of coordinate, and the foundation spraying model in three-dimensional system of coordinate.
S12A, laser scanning is carried out to workpiece, and physical model is set up in three-dimensional system of coordinate according to scanning result.
S13A, in physical model surface picking no less than three characteristic points, calculate each characteristic point to physical model central point
Distance.
S14A, corresponding with each characteristic point point of selection is used as reference point on spraying model, calculates a reference point to spraying
The distance of model center point.
S15A, by the distance of characteristic point to physical model central point and corresponding reference point to spraying model center point
Distance is contrasted.
S16A, if at least one pair of distance value it is unequal, then judge that detection target is unqualified, and by underproof detection
Target is as repairing damage target.
In the present embodiment, by put away from contrast, to spray model as with reference to judging physical model so that, judge work
Whether part is qualified.So, it is only necessary to which selected characteristic point and reference point are calculated, physical model and spraying model are simplified
Contrast work, improve operating efficiency；And, by selecting quantity and the position of characteristic point, can also ensure physical model with
Spray the contrast degree of accuracy of model.So, in the present embodiment, the selection characteristic point of use, and character pair point selection reference point,
Then characteristic point and reference point are contrasted, judges the whether qualified mode of workpiece, not only increase operating efficiency, also ensure that inspection
Survey accuracy.
Embodiment 3
The present embodiment and the difference of embodiment 1 or embodiment 2 are, by following steps S21A-S24A to missing area
Domain is modeled.
S21A, the point for extracting spraying model top layer set up target mask, and extract the point on physical model top layer and set up entity
Mask.
S22A, target mask overlapped with entity mask central point, obtain and be located between entity mask and target mask
Point set.
S23A, using Xiu Sun target's centers point as reference, by pointto-set map to repair damage target on formed repair point set.
S24A, according to repair point set modeling absent region.
It is compound by mask in the present embodiment, determine absent region, efficiency high and accurate is conducive to simplifying calculating, improved
Operating efficiency.
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 the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (7)
1. a kind of ray cast type electrostatic spraying restorative procedure, it is characterised in that comprise the following steps：
S1, carry out laser detection to the workpiece for completing electrostatic powder coating, and will the underproof workpiece of detection as repairing damage target；
S2, will repair damage target with it is default spraying model be compared, according to comparative result mark absent region；
S3, absent region is divided into and multiple repairs interval；
S4, the default light-emitting device of driving, one by one to the interval light projector of each reparation；
S5, by hand-held electrostatic powder paint gun light projector scope is sprayed.
2. ray cast type electrostatic spraying restorative procedure as claimed in claim 1, it is characterised in that step S1 specifically include with
Lower step：
S11, default three-dimensional system of coordinate, and the foundation spraying model in three-dimensional system of coordinate；
S12, extraction spraying model top layer coordinate points synthetic model mask；
S13, laser scanning is carried out to workpiece, and physical model is set up in three-dimensional system of coordinate according to scanning result；
S14, mask is moved to mask central point overlapped with physical model central point；
S15, whether overlapped with physical model top layer according to mask, judge whether workpiece is qualified, and by underproof detection target
As repairing damage target.
3. ray cast type electrostatic spraying restorative procedure as claimed in claim 1, it is characterised in that step S1 specifically include with
Lower step：
S11A, default three-dimensional system of coordinate, and the foundation spraying model in three-dimensional system of coordinate；
S12A, laser scanning is carried out to workpiece, and physical model is set up in three-dimensional system of coordinate according to scanning result；
S13A, in physical model surface picking no less than three characteristic points, calculate each characteristic point to physical model central point away from
From；
S14A, corresponding with each characteristic point point of selection is used as reference point on spraying model, calculates a reference point to spraying model
The distance of central point；
S15A, by the distance of characteristic point to physical model central point and corresponding reference point to the distance for spraying model center point
Contrasted；
S16A, if at least one pair of distance value it is unequal, then judge that detection target is unqualified, and by underproof detection target
As repairing damage target.
4. ray cast type electrostatic spraying restorative procedure as claimed in claim 2 or claim 3, it is characterised in that step S2 is specifically wrapped
Include following steps：
S21, the physical model that will repair damage target are overlapped with the central point of spraying model；
S22, acquisition are present in the point set that spraying model is but not present in physical model；
S23, using Xiu Sun target's centers point as reference, by pointto-set map to repair damage target on formed repair point set；
S24, according to repair point set modeling absent region.
5. ray cast type electrostatic spraying restorative procedure as claimed in claim 2 or claim 3, it is characterised in that step S2 is specifically wrapped
Include following steps：
S21A, the point for extracting spraying model top layer set up target mask, and extract the point on physical model top layer and set up entity mask；
S22A, target mask overlapped with entity mask central point, obtain the point set being located between entity mask and target mask；
S23A, using Xiu Sun target's centers point as reference, by pointto-set map to repair damage target on formed repair point set；
S24A, according to repair point set modeling absent region.
6. ray cast type electrostatic spraying restorative procedure as claimed in claim 1, it is characterised in that in step S3, each to repair
Interval is continuum, and same interval of repairing is interior, and thickness difference is less than or equal to predetermined threshold value.
7. ray cast type electrostatic spraying restorative procedure as claimed in claim 6, it is characterised in that in step S4, for repairing
The multiple interval light projector time is directly proportional to its thickness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710257687.0A CN107020230A (en) | 2017-04-19 | 2017-04-19 | A kind of ray cast type electrostatic spraying restorative procedure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710257687.0A CN107020230A (en) | 2017-04-19 | 2017-04-19 | A kind of ray cast type electrostatic spraying restorative procedure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107020230A true CN107020230A (en) | 2017-08-08 |
Family
ID=59527358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710257687.0A Withdrawn CN107020230A (en) | 2017-04-19 | 2017-04-19 | A kind of ray cast type electrostatic spraying restorative procedure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107020230A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123853A (en) * | 2019-11-25 | 2020-05-08 | 浙江明泉工业涂装有限公司 | Control method of robot for detecting and remedying spraying on inner surface of automobile |
| CN112620932A (en) * | 2020-09-14 | 2021-04-09 | 江苏玛吉克工业自动化有限公司 | Three-dimensional five-axis laser cutting system based on 3D vision |
| CN115085499A (en) * | 2022-07-11 | 2022-09-20 | 哈尔滨电机厂有限责任公司 | High-voltage motor stator winding corona positioning repair device and method |
| CN115786909A (en) * | 2023-01-09 | 2023-03-14 | 西安国盛激光科技有限公司 | Guide laser cladding repair method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101322071A (en) * | 2005-12-02 | 2008-12-10 | 波音公司 | System for projecting flaws and inspection locations and associated method |
| CN104385590A (en) * | 2014-10-10 | 2015-03-04 | 合肥斯科尔智能科技有限公司 | Product self-inspection method of three dimensions printing system |
| CN104401016A (en) * | 2014-10-20 | 2015-03-11 | 合肥斯科尔智能科技有限公司 | Method for repairing degraded product through three-dimensional printing |
-
2017
- 2017-04-19 CN CN201710257687.0A patent/CN107020230A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101322071A (en) * | 2005-12-02 | 2008-12-10 | 波音公司 | System for projecting flaws and inspection locations and associated method |
| CN104385590A (en) * | 2014-10-10 | 2015-03-04 | 合肥斯科尔智能科技有限公司 | Product self-inspection method of three dimensions printing system |
| CN104401016A (en) * | 2014-10-20 | 2015-03-11 | 合肥斯科尔智能科技有限公司 | Method for repairing degraded product through three-dimensional printing |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123853A (en) * | 2019-11-25 | 2020-05-08 | 浙江明泉工业涂装有限公司 | Control method of robot for detecting and remedying spraying on inner surface of automobile |
| CN111123853B (en) * | 2019-11-25 | 2021-05-14 | 浙江明泉工业涂装有限公司 | Control method of robot for detecting and remedying spraying on inner surface of automobile |
| CN112620932A (en) * | 2020-09-14 | 2021-04-09 | 江苏玛吉克工业自动化有限公司 | Three-dimensional five-axis laser cutting system based on 3D vision |
| CN115085499A (en) * | 2022-07-11 | 2022-09-20 | 哈尔滨电机厂有限责任公司 | High-voltage motor stator winding corona positioning repair device and method |
| CN115786909A (en) * | 2023-01-09 | 2023-03-14 | 西安国盛激光科技有限公司 | Guide laser cladding repair method |
| CN115786909B (en) * | 2023-01-09 | 2023-05-02 | 西安国盛激光科技有限公司 | Guide laser cladding repairing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107020230A (en) | A kind of ray cast type electrostatic spraying restorative procedure | |
| CN107908152A (en) | A kind of movable robot automatic spray apparatus, control system and method | |
| CN104759379B (en) | Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology | |
| CN105983502B (en) | Intelligent automobile lacquering and stoving varnish integrated robot | |
| WO2021103154A1 (en) | Robot control method for smart spray coating of multiple vehicle models | |
| CN109914756A (en) | Indoor wall 3D putty based on indoor construction intelligent robot prints smooth processing method | |
| CN107756408A (en) | A kind of robot trajectory's teaching apparatus and method based on active infrared binocular vision | |
| CN108435713A (en) | A kind of wheel hub paint removal system based on machine vision | |
| CN111123853B (en) | Control method of robot for detecting and remedying spraying on inner surface of automobile | |
| CN109954613A (en) | Spraying method | |
| CN111013857A (en) | Spraying robot control system and control method | |
| CN108745837A (en) | A kind of auto repair auto spray painting implementation method | |
| CN109909092A (en) | Paint film spraying method based on the detection of film thickness real non-destructive | |
| Kumtole et al. | Automatic wall painting robot Automatic wall painting robot | |
| CN106123773A (en) | A kind of industrial robot sole gluing track positioner and localization method thereof | |
| CN110411338A (en) | The welding gun tool parameters 3-D scanning scaling method of robot electric arc increasing material reparation | |
| CN109731708A (en) | Auto repair auto spray painting method based on image recognition | |
| CN209350243U (en) | A kind of artificial teaching system of spraying based on Kinect | |
| CN206425134U (en) | A kind of binocular stereo visual sensor for spray robot | |
| CN105068139B (en) | A kind of characterization processes of piston cooling nozzle installment state | |
| CN208156500U (en) | A kind of movable robot automatic spray apparatus | |
| KR102268579B1 (en) | Apparatus and method for controlling painting robot using motion pattern of painting worker | |
| CN107225075A (en) | A kind of electrostatic powder coating restorative procedure based on three-dimensional modeling | |
| KR20190014176A (en) | Method for simulation of vehicle painting robot | |
| Lee et al. | Implementation of a robotic arm with 3D vision for shoes glue spraying system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170808 |