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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- 238000004891 communication Methods 0.000 claims description 6
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- 238000004519 manufacturing process Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000875 corresponding Effects 0.000 claims description 3
- 238000000034 methods Methods 0.000 abstract description 12
- 239000003973 paint Substances 0.000 description 13
- 239000011248 coating agents Substances 0.000 description 8
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- 238000005516 engineering processes Methods 0.000 description 2
- 238000007592 spray painting technique Methods 0.000 description 2
- 210000004279 Orbit Anatomy 0.000 description 1
- 238000010586 diagrams Methods 0.000 description 1
- RTZKZFJDLAIYFH-UHFFFAOYSA-N diethyl ether Chemical compound 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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING LIQUIDS OR OTHER 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING LIQUIDS OR OTHER 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
Abstract
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.
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| CN108636662A (en) * | 2018-05-28 | 2018-10-12 | 盐城工学院 | A kind of robot spray apparatus and method |
| CN108816586A (en) * | 2018-05-28 | 2018-11-16 | 盐城工学院 | A kind of spraying control device and its control method |
| CN109306794A (en) * | 2018-10-19 | 2019-02-05 | 飞码机器人私人有限公司 | A kind of industrial building high-wall external coating System and method for |
| CN109317338A (en) * | 2018-12-21 | 2019-02-12 | 芜湖哈特机器人产业技术研究院有限公司 | Workpiece painting system |
| CN109338354A (en) * | 2018-09-30 | 2019-02-15 | 武汉大学 | A kind of thin-wall construction ultrafast pulsed laser-cold spraying method of surface finish |
| CN109759254A (en) * | 2019-01-17 | 2019-05-17 | 河北省科学院应用数学研究所 | A kind of system and method for 3 D stereo spraying |
| CN109967292A (en) * | 2019-04-18 | 2019-07-05 | 中联西北工程设计研究院有限公司 | A kind of automatic spraying system and its method based on the reconstruct of workpiece profile information three-dimensional |
| CN110052347A (en) * | 2019-04-24 | 2019-07-26 | 佛山科学技术学院 | A kind of automatic painting method and system based on machine vision |
| CN110640754A (en) * | 2019-09-17 | 2020-01-03 | 浙江爱仕达电器股份有限公司 | Cooking utensil spraying method |
| CN110700523A (en) * | 2019-09-30 | 2020-01-17 | 广东博智林机器人有限公司 | Control method and device of spraying robot and spraying robot with control device |
| CN110694828A (en) * | 2019-09-03 | 2020-01-17 | 天津大学 | Robot spraying track planning method based on large complex curved surface model |
| CN110992777A (en) * | 2019-11-20 | 2020-04-10 | 华中科技大学 | Multi-mode fusion teaching method and device, computing equipment and storage medium |
| 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 |
| CN111346755A (en) * | 2020-03-24 | 2020-06-30 | 北京曲线智能装备有限公司 | Spraying control method for spraying robot |
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| CN108636662A (en) * | 2018-05-28 | 2018-10-12 | 盐城工学院 | A kind of robot spray apparatus and method |
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| CN109306794A (en) * | 2018-10-19 | 2019-02-05 | 飞码机器人私人有限公司 | A kind of industrial building high-wall external coating System and method for |
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| CN109967292A (en) * | 2019-04-18 | 2019-07-05 | 中联西北工程设计研究院有限公司 | A kind of automatic spraying system and its method based on the reconstruct of workpiece profile information three-dimensional |
| CN110052347A (en) * | 2019-04-24 | 2019-07-26 | 佛山科学技术学院 | A kind of automatic painting method and system based on machine vision |
| CN110694828A (en) * | 2019-09-03 | 2020-01-17 | 天津大学 | Robot spraying track planning method based on large complex curved surface model |
| CN110640754A (en) * | 2019-09-17 | 2020-01-03 | 浙江爱仕达电器股份有限公司 | Cooking utensil spraying method |
| CN110700523A (en) * | 2019-09-30 | 2020-01-17 | 广东博智林机器人有限公司 | Control method and device of spraying robot and spraying robot with control device |
| CN110992777A (en) * | 2019-11-20 | 2020-04-10 | 华中科技大学 | Multi-mode fusion teaching method and device, computing equipment and storage medium |
| 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 |
| CN111346755A (en) * | 2020-03-24 | 2020-06-30 | 北京曲线智能装备有限公司 | Spraying control method for spraying robot |
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