CN107899814A - A kind of robot spraying system and its control method - Google Patents
A kind of robot spraying system and its control method Download PDFInfo
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- CN107899814A CN107899814A CN201711385710.0A CN201711385710A CN107899814A CN 107899814 A CN107899814 A CN 107899814A CN 201711385710 A CN201711385710 A CN 201711385710A CN 107899814 A CN107899814 A CN 107899814A
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- robot
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Classifications
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- 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
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
Abstract
Present invention is disclosed a kind of robot spraying system, system is equipped with the chain type conveyor line for being used for transporting workpiece to be sprayed, the chain type conveyor line transmitting workpiece is successively by visual scanner field and spraying area, the visual scanner field is equipped with the visual sensor that 3-D scanning is carried out to workpiece, the spraying area is equipped with industrial robot, the end of the industrial robot is fixed with spray gun, the spray gun connects spraying equipment, the visual sensor outputs signal to host computer, the host computer exports spraying profile signal to robot controller, the robot controller driving industrial robot performs spraying profile, the host computer outputs control signals to PLC controller, the PLC controller driving chain type conveyor line and spraying equipment work.The advantage of the invention is that can realize that complex-curved spraying profile is planned automatically, deposition accuracies are improved, using off-line programming technique, robot teaching workload is reduced to greatest extent, can quickly realize productivity.
Description
Technical field
The present invention relates to robot to spray field automatically, and in particular to a kind of integrated vision bootstrap technique, can complete
Complex curve or the offline paint finishing of the intelligent robot of curved surface spraying task.And expansible robot welding is used, assembles, remove
The fields such as fortune, fault detect.
Background technology
Spraying is one of the largest application areas of robot in the industry, be widely used in both at home and abroad automobile, electric appliance and
The paint line of the products such as furniture.
For large enterprise, since its is fully reinforced, life cycle of the product is long, lucrative, these large enterprises
Higher early investment cost can be born, special frock clamp is such as designed, employs a large amount of employees for having technical experience, also may be used
To bear time-consuming and laborious producing line construction period early period.But for substantial amounts of medium-sized and small enterprises, its can not often undertake as
This big early investment cost.And with various new technologies make rapid progress and consumer to personalization of product demand increasingly
Vigorous, the speed that all kinds of consumer goods such as 3C update is getting faster.The product of enterprise's production is often that yield is small, species
More, updating decision, it is desirable to which enterprise carries out the switching of product at faster speed.For enterprise, can not be born as each
The special frock clamp of product auxiliary construction, can not also expend substantial amounts of financial resources and be used for complicated new robot program's teaching work
In work.
Existing paint finishing can mainly include following several：
(1) hand spray.I.e. operating personnel grip spray gun and workpiece are sprayed.
(2) robot teaching sprays.I.e. for operating personnel by teaching machine, manual control machine device people's arrives robot motion
Predetermined position, while the position is recorded, robot afterwards can repeat the spraying task automatically according to instruction.
(3) professional automatic paint spraying apparatus spraying.Often with the right angle coordinates of motion and tooling platform, workpiece is installed on frock
On platform, it is programmed by programmable controller, realizes spraying.
Existing paint finishing, there is following shortcoming：
(1) hand spray inefficiency, labor intensity is big, construction quality can not ensure, and for construction personnel, when long
Between under painting environments work influence health；
(2) robot program's teaching process is complicated, time-consuming longer, has higher requirements to operating personnel's technical ability, and for
Different workpieces or diverse location are required for teaching again；
(3) robot teaching and automatic spraying equipment are required for being equipped with special positioning tooling fixture for different workpieces,
Production cost is added, needs to redesign frock when carrying out product renewing.
The content of the invention
The technical problems to be solved by the invention are to realize that one kind can carry out nozzle automatically, and can be directed to it is complex-curved,
Realize that automatic orbit is planned, and for no small lot, multiple batches of, model-free spraying workpiece, can realize the machine of automatic identification
People's paint finishing.
To achieve these goals, the technical solution adopted by the present invention is：A kind of robot spraying system, system, which is equipped with, to be used
In the chain type conveyor line for transporting workpiece to be sprayed, the chain type conveyor line transmitting workpiece is successively by visual scanner field and spraying
Region, the visual scanner field are equipped with the visual sensor that 3-D scanning is carried out to workpiece, and the spraying area is equipped with industry
Robot, the end of the industrial robot are fixed with spray gun, and the spray gun connects spraying equipment, and system is equipped with host computer, institute
State visual sensor and output signal to host computer, the host computer exports spraying profile signal to robot controller, the machine
Device people controller driving industrial robot performs spraying profile, and the host computer outputs control signals to PLC controller, described
PLC controller drives chain type conveyor line and spraying equipment work.
The host computer includes segregation reasons unit and vision algorithm unit, and the vision algorithm unit receives visual sensing
The workpiece point cloud of device collection, and the part model after processing and coordinate information are passed into segregation reasons unit by Ethernet,
The segregation reasons unit plans the spraying profile of industrial robot according to part model and coordinate information, and defeated by Ethernet
Send to robot controller.
The segregation reasons unit includes：
The shape handles module：After the curvature portion of workpiece point cloud is handled, and the SURFACES MATCHING in database management module,
Obtain the industrial robot trajectory planning information of corresponding surface after successful match in database；
Parameter setting module：Spraying parameter is obtained according to workpiece point cloud；
Trajectory planning module：Generation can produce the industrial robot track of optimal spraying effect；
Motion-control module：The industrial robot track of production is converted into the movement locus in each joint of robot；
Analyze emulation module：Emulated, obtained optimal according to the movement locus of spraying parameter, each joint of robot
The movement locus in each joint of spraying parameter and robot；
Program generating module：The movement locus for obtaining optimal each joint of spraying parameter and robot is converted into being used for
The command signal of output；
Visual communication module：The workpiece pose and type information of the transmission of vision system are obtained, is used for and database model
Matching.
Database management module：Preserve the parameterized template that part model information, spraying profile program and user establish.
The vision algorithm unit includes：
Image capture module：Gather workpiece three-dimensional point cloud information；
Image processing module：Identify workpiece type and pose；
Calibration and coordinate transferring：The correlation of robot coordinate system and camera coordinates system is demarcated, by the location of workpiece
Transform under robot coordinate system；
Communication module：Information exchange is realized with segregation reasons unit.
Control method based on the robot spraying system：
Step 1, chain type conveyor line carry workpiece motion s to visual scanner field；
Step 2, visual sensor carry out 3-D scanning to workpiece, and workpiece point cloud information are transferred to host computer；
The workpiece point cloud information of acquisition is carried out Model Matching and coordinate transform by step 3, host computer；
Step 4, host computer will handle the model obtained and Coordinate generation spray-coating surface robot trajectory；
Spray-coating surface robot trajectory is imported into robot controller by step 5, host computer；
Step 6, robot controller control robot are moved along spraying profile.
The control signal of collaborative work is delivered to PLC controller, the PLC controller driving spray by the step 5 at the same time
Automatic doubler surface glouer and chain type conveyor line work.
The step 3 is performed by the vision algorithm unit of host computer, and the step 4 is held by the segregation reasons unit of host computer
OK.
The advantage of the invention is that can realize that complex-curved spraying profile is planned automatically, deposition accuracies are improved, are utilized
Off-line programming technique, reduces robot teaching workload, can quickly realize productivity, system integration visual scanning to greatest extent
Technology, can carry out Model Matching and coordinate transform in the case of workpiece model and pose are uncertain, improve system flexibility,
Realize generating process offlineization and automation, the physical impairment that reduction cost of labor and coating are brought.
Brief description of the drawings
The content of every width attached drawing expression in description of the invention and the mark in figure are briefly described below：
Fig. 1 is robot spraying system frame diagram；
Fig. 2 is robot spraying system composition figure；
Fig. 3 is spraying equipment connection figure in robot spraying system；
Fig. 4 is robot spraying system control method flow chart；
Fig. 5 is the module structure drafting of robot spraying system segregation reasons unit；
Fig. 6 is the module structure drafting of robot spraying system vision algorithm unit；
Mark in above-mentioned figure is 1, spray painting room：2nd, chain type conveyor line；3rd, workpiece；4th, visual sensor；5th, robot
Controller；6th, spray gun；7th, industrial robot；8th, host computer.
Embodiment
Robot spraying system is arranged in spray painting room 1, and as shown in Figure 1, 2, system, which is equipped with, to be used to transport workpiece 3 to be sprayed
Chain type conveyor line 2, workpiece 3 delivery vehicles of the chain type conveyor line 2 as system, using suspending way, carry spraying workpiece 3 into
Enter spraying area, after visual scanning and Control During Paint Spraying by Robot, carry workpiece 3 and leave spraying area, complete spraying process.
Visual scanner field is equipped with the visual sensor 4 that 3-D scanning is carried out to workpiece 3, and visual sensor 4 passes through knot
Structure light is scanned workpiece 3, obtains 3 clouds of workpiece, characteristic point information is passed to host computer 8 by Ethernet.
Spraying area is equipped with industrial robot 7, and executing agency of the industrial robot 7 as system, its end is provided with spray
Rifle 6, under the control of the controller, is fixed with according to the track precise motion of planning to specified pose, the end of industrial robot 7
Spray gun 6, spray gun 6 connect spraying equipment, as shown in figure 3, spraying equipment includes the groups such as paint can, air compressor machine, regulating valve, coating
Part.Using the air-flow of compressed air, flow through 6 nozzle bore of spray gun and form negative pressure, negative pressure makes paint vehicle be sucked from suction pipe, sprayed through nozzle
Go out, form coating cloud, coating cloud is ejected into and uniform paint film is formed on covering with paint component surface.
Chain type conveyor line 2 and spraying equipment drive work by PLC controller, and PLC controller is as system distributed AC servo system
Unit, all kinds of I/O of centralized control system and safety signal.PLC is communicated by Ethernet and host computer 8, by live total
All kinds of switches of line traffic control, photoelectric sensor etc..
It is single as robot control to robot controller 5, robot controller 5 that host computer 8 exports spraying profile signal
Member, realizes the control to robot body, and controller receives the spraying profile information after host computer 8 is planned, control robot fortune
Move corresponding pose.
Host computer 8 includes segregation reasons unit and vision algorithm unit, and wherein vision algorithm unit receives visual sensor 4
3 clouds of workpiece of collection, and 3 model of workpiece after processing and coordinate information are passed into segregation reasons unit by Ethernet,
Segregation reasons unit is conveyed according to 3 model of workpiece and the spraying profile of coordinate information planning industrial robot 7 by Ethernet
Extremely arrive robot controller 5.
Segregation reasons unit is the system core, 3 model of workpiece that vision system scanning obtains is received, at model
Reason, it is offline to generate Control During Paint Spraying by Robot track, and motion process can be emulated, the industrial robot 7 of planning is sprayed into rail
Mark is imported into robot controller 5 by Ethernet, realizes robot off-line programming.
3 cloud information of workpiece that vision algorithm unit is obtained according to visual sensor 4, carry out workpiece 3 processing such as denoising,
Effective information is extracted, realizes 3 Model Identification of workpiece and matching, and carries out coordinate transform, model and coordinate information are passed through into ether
Net passes to segregation reasons unit.
As shown in figure 5, Off-line control unit is included with lower module：
(1) the shape handles module, for complex-curved, is handled curved surface using specific process.After treatment, it is
The data of object are just housed in system database, 3 data message of workpiece is provided for vision matching and trajectory planning track.
(2) parameter setting module, there is provided interface inputs spraying parameter for user.As spraying rate, the height of spray gun 6,
External bias, radius of turn, stroke spacing etc..For these parameters, if user is not provided with, can according to the model of standard from
It is dynamic to calculate optimal value.
(3) trajectory planning module, various parameters in data and spraying process which is transmitted according to other modules, pin
The spatial distribution model of coating in spraying process is established using different methods to the workpiece 3 of different shapes and determines spraying operation
Optimization aim, then using the extreme value of appropriate Algorithm for Solving object function, and automatically generate and can produce optimal spraying effect
Spray robot track.The module is integrated with approachability analysis, collision detection, motion planning, trajectory planning scheduling algorithm, is whole
The core of a unit.
(4) motion-control module, the major function of this module is according to Robotic inverse kinematics principle, by upper module institute
The end effector movement locus of generation is converted into the movement locus in each joint of robot, so as to provide machine for analysis emulation module
The exercise data of device people.
(5) emulation module is analyzed, this module is according to 3 data of workpiece, various parameters, machine that above each module is transmitted
The movement locus of people, the coating situation on 3 surface of workpiece when a certain track of graphic software platform Robot sprays, and with tabular form
The average thickness and its deviation data of coating on 3 surface of workpiece are provided, the mode that different color can also be equipped with contour exists
The spatial distribution design sketch of coating is shown on computer screen.User can be with the fortune in each joint of inspection machine people in the process
It is dynamic whether to meet its constraints, if manipulator collision workpiece 3 occurs, to change spray parameters, track repeatedly,
Optimal spraying effect is finally obtained, so as to which the movement locus of robot is write track database, submits robot journey
Sequence generation module.
(6) program generating module, is completed the movement locus (being provided by robot motion's Track Pick-up module) of robot
It is transformed into its program language that can be identified.
(7) visual communication module, obtains 3 pose of workpiece and type information of the transmission of vision system, is used for and database
Model Matching.Trajectory planning can also be carried out by 3 reconstruction model of workpiece that vision system scans.
(8) database management module, preserves the parameterized template that 3 model information of workpiece, spraying profile program and user establish.
For the information matches with vision system, improve program and repeat the property called.
As shown in fig. 6, vision algorithm unit is included with lower module：
(1) image capture module, gathers 3 three-dimensional point cloud information of workpiece.
(2) image processing module, identifies 3 type of workpiece and pose.
(3) calibration and coordinate transferring, demarcate the correlation of robot coordinate system and camera coordinates system, by workpiece 3
Evolution is under robot coordinate system.
(4) communication module, information exchange is realized with segregation reasons unit.
Based on above-mentioned hardware system, as shown in figure 4, realizing that Control During Paint Spraying by Robot step is as follows：
Step 1：2 carry workpiece 3 of chain type conveyor line moves to visual scanner field；
Step 2：Visual sensor 4 carries out 3-D scanning to workpiece 3, and 3 cloud information of workpiece are passed to installed in upper
Vision algorithm unit on the machine 8 of position；
Step 3：Vision algorithm unit carries out Model Matching and coordinate transform to workpiece 3, and model and coordinate are passed to peace
Mounted in the segregation reasons unit of host computer 8；
Step 4：Segregation reasons unit integrates gridding, solves bounding box, section scheduling algorithm, generation spray-coating surface robot rail
Mark；
Step 5：Spraying profile is imported into robot controller 5 by segregation reasons unit；
Step 6：Robot controller 5 controls robot to be moved along spraying profile, meanwhile, spraying equipment is (as sprayed
Rifle 6) coordinated realizes 3 spraying process of workpiece.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements and from aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is employed, or without changing
Other occasions are directly applied into by the design of the present invention and technical solution, within protection scope of the present invention.
Claims (7)
1. a kind of robot spraying system, system is equipped with the chain type conveyor line for being used for transporting workpiece to be sprayed, the chain conveying
For line transmitting workpiece successively by visual scanner field and spraying area, the visual scanner field, which is equipped with, sweeps workpiece progress three-dimensional
The visual sensor retouched, the spraying area are equipped with industrial robot, and the end of the industrial robot is fixed with spray gun, described
Spray gun connects spraying equipment, it is characterised in that：System is equipped with host computer, and the visual sensor outputs signal to host computer, institute
State host computer output spraying profile signal to robot controller, the robot controller driving industrial robot and perform spraying
Track, the host computer output control signals to PLC controller, the PLC controller driving chain type conveyor line and spraying equipment
Work.
2. robot spraying system according to claim 1, it is characterised in that：The host computer includes segregation reasons unit
With vision algorithm unit, the vision algorithm unit receives the workpiece point cloud of visual sensor collection, and by the workpiece after processing
Model and coordinate information pass to segregation reasons unit by Ethernet, and the segregation reasons unit is according to part model and coordinate
The spraying profile of information planning industrial robot, and robot controller is delivered to by Ethernet.
3. robot spraying system according to claim 2, it is characterised in that the segregation reasons unit includes：
The shape handles module：After the curvature portion of workpiece point cloud is handled, with the SURFACES MATCHING in database management module, obtain
In database after successful match corresponding surface industrial robot trajectory planning information；
Parameter setting module：Spraying parameter is obtained according to workpiece point cloud；
Trajectory planning module：Generation can produce the industrial robot track of optimal spraying effect；
Motion-control module：The industrial robot track of production is converted into the movement locus in each joint of robot；
Analyze emulation module：Emulated according to the movement locus of spraying parameter, each joint of robot, obtain optimal spraying
The movement locus in each joint of technological parameter and robot；
Program generating module：The movement locus for obtaining optimal each joint of spraying parameter and robot is converted into being used to export
Command signal；
Visual communication module：The workpiece pose and type information of the transmission of vision system are obtained, for being matched with database model.
Database management module：Preserve the parameterized template that part model information, spraying profile program and user establish.
4. the robot spraying system according to Claims 2 or 3, it is characterised in that：The vision algorithm unit includes：
Image capture module：Gather workpiece three-dimensional point cloud information；
Image processing module：Identify workpiece type and pose；
Calibration and coordinate transferring：The correlation of robot coordinate system and camera coordinates system is demarcated, the location of workpiece is converted
To under robot coordinate system；
Communication module：Information exchange is realized with segregation reasons unit.
5. the control method based on robot spraying system described in claim 1-4, it is characterised in that：
Step 1, chain type conveyor line carry workpiece motion s to visual scanner field；
Step 2, visual sensor carry out 3-D scanning to workpiece, and workpiece point cloud information are transferred to host computer；
The workpiece point cloud information of acquisition is carried out Model Matching and coordinate transform by step 3, host computer；
Step 4, host computer will handle the model obtained and Coordinate generation spray-coating surface robot trajectory；
Spray-coating surface robot trajectory is imported into robot controller by step 5, host computer；
Step 6, robot controller control robot are moved along spraying profile.
6. control method according to claim 5, it is characterised in that：The step 5 at the same time believes the control of collaborative work
Number it is delivered to PLC controller, the PLC controller driving spraying equipment and chain type conveyor line work.
7. the control method according to claim 5 or 6, it is characterised in that：The step 3 by host computer vision algorithm list
Member performs, and the step 4 is performed by the segregation reasons unit of host computer.
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| CN201711385710.0A CN107899814A (en) | 2017-12-20 | 2017-12-20 | A kind of robot spraying system and its control method |
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