CN109290088A - A kind of spraying intelligence control system and automation equipment based on machine vision - Google Patents
A kind of spraying intelligence control system and automation equipment based on machine vision Download PDFInfo
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- CN109290088A CN109290088A CN201810895399.2A CN201810895399A CN109290088A CN 109290088 A CN109290088 A CN 109290088A CN 201810895399 A CN201810895399 A CN 201810895399A CN 109290088 A CN109290088 A CN 109290088A
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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
- 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
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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
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The present invention relates to a kind of spraying intelligence control system and automation equipment based on machine vision, belong to spraying technology field.By the machine vision mechanism and motion controller connecting with computer, vision spray painting control and motion control are carried out；Visual mechanisms shoot product image, and image data is transferred to computer, picture position is identified, modifies spraying profile automatically, generate new motion control data, be sent to motion controller；Workpiece to be put by motion controller to arbitrary shape, arbitrarily sprays.It is an advantage of the current invention that positioning without fixture, solve the problems, such as that conventional spray paint equipment needs to position product using the fixture of fixed position.Production cost is significantly reduced, production efficiency is improved.
Description
Technical field
The present invention relates to a kind of spraying intelligence control system and automation equipment based on machine vision, belong to spraying technology
Field.
Background technique
Currently, with the continuous promotion of industrial automation level, in order to improve the production efficiency, it is ensured that the production of bulk article
Consistency, it is many that the link sprayed is needed to use automatic spraying equipment in industrial processes.Because of traditional automatic spraying
Equipment is to be sprayed by preset track, this mode needs every time to put product in spatial coordinate system by numerical control programming
It is placed on a fixed position, deviation otherwise will occur, in some instances it may even be possible to make scrap of the product.For this reason, it may be necessary to first according to the outer of product
Shape makes a suitable fixture.Before spraying, product is put into fixture, i.e. feeding；After the completion of spraying, take out product, i.e., under
Material.Repeatedly.This mode is very high to the required precision of fixture, if product shape type is more, needs to make correspondingly
Fixture.Production cost is greatly improved, production efficiency is reduced.
And in recent years, with the continuous development of vision technique, to machine plus " eyes ", keep machine more intelligent, has become
One new trend of Current mechanical automatic field.Therefore applicant by the combination of traditional automatic spraying machine and machine vision, is led to
Automatic identification product space is crossed, and corrects spraying profile automatically, solves the problems, such as that product needs fixture fixed.Production can be reduced
Cost improves production efficiency, also provides better solution to be equipped with the spraying equipment of automatic charging feeding.
Summary of the invention
The purpose of the present invention is to provide a kind of spraying intelligence control system and automation equipment based on machine vision, from
And overcome the deficiencies in the prior art.
Spraying includes glue spraying and spray painting, and spraying is dispersed by spray gun or dish-style atomizer by means of pressure or centrifugal force
Uniform and fine droplet is applied over the coating process on coated article surface.Aerial spraying, airless spraying, electrostatic can be divided into
The mode of painting and the various derivations of above-mentioned basic spray form, such as big flow low-pressure atomizing spraying, thermal spraying, automatic spray
Painting, multiple groups spraying etc..Make paint atomizing by spray gun, the processing method coated on body surface.There are compressed-air spraying, high pressure
No air spray painting, electrostatic painting are a variety of.Spray painting operation use containing a large amount of solvents inflammable paint vehicle, require it is quick-drying
Under the conditions of evaporate into the solvent vapour of air, easy formation explosive mixture.Special electrostatic painting is in 60 kilovolts or more high electricity
What pressure carried out, painting nozzle discharges with by lacquerer's part at a distance of flashing i.e. easy within 250 millimeters, and can ignite inflammable steaming
Gas.There are mainly four types of at present: electric arc spraying, flame-spraying, plasma spraying and detonation flame spraying.Utilize spraying technology, Ke Yi
The physics with wear-resisting, anti-corrosion, heat-insulated, conductive, insulation, sealing, lubrication and other special machines is obtained on various matrixes, is changed
Learn the coating of performance.Application range is very extensive, is related to each department of national economy and each including sophisticated technology
A field.Glue spraying understands from literal, refers to as verb and is shot out there is the liquid of certain viscosity to dissipate；Refer to as name
It is a kind of ProductName under present science and technology.Glue or paint are dissipated with full-automatic glue sprayer and projects and is allowed to by certain rule
Restrain the process being attached on another object.
Technical principle of the invention is to increase machine vision automatic positioning function in spray automation equipment, then pass through
Intelligence control system sprays workpiece.
The invention is realized by the following technical scheme, passes through the machine vision mechanism connecting with computer and motion control
Device carries out vision spray painting control and motion control；Visual mechanisms shoot product image, and image data is transferred to computer, know
Other picture position, modifies spraying profile automatically, generates new motion control data, is sent to motion controller；To by moving
The workpiece that controller is put to arbitrary shape, arbitrarily sprays.
The present invention includes step control as follows:
Step 1, industrial camera are taken pictures, and carry out the image preprocessing at initial stage, and image data is transmitted to fortune to data/address bus is crossed
Row sprays upper layer software (applications) in the vision of computer；
After step 2, the vision spraying upper layer software (applications) for running on computer receive the image data of tool camera, vision therein is known
Other module carries out identifying processing to image data, accurately searches product profile in the picture, and calculate product according to profile
The data such as current location, rotation angle；
Track conversion module in step 3, vision spraying upper layer software (applications) is according to the calculated product present bit of visual identity module
It sets, rotate the data such as angle, original track is carried out offset transformation, rotation transformation, inside contracts transformation etc., and generate corresponding movement
Control instruction is sent to motion controller；
After step 4, the bottom software for running on motion controller receive motion control instruction, control spraying equipment movement is complete
At spray coating operations.
Spraying profile create-rule of the present invention includes:
Rule one is sprayed by product profile；Visual identity module automatically extracts product outline position point set, and by outline position point
Collection submits to track conversion module, and track conversion module concentrates one position of selection from outline position point according to apart from nearest principle
It sets and to be used as track starting point, first optimization merges the location point of continuous equidirectional, and to reduce data volume, reconvert moves rail at spraying
Mark；
Rule two is sprayed according to customized track-wise；It then first edits spraying profile, then product is taken pictures storage, vision processing
When, according to recognition result, corresponding spraying profile is called from product library automatically；
Rule three, two kind of spraying profile generating mode use simultaneously；In effective identification range, while being put into a variety of different
When product, system is according to recognition result, if there is the customized spraying profile to match with product, the product in product library
It is processed by customized spraying profile；If there is no the customized spraying profiles to match with the product in product library, automatically
Spraying profile is generated by product profile.
The invention also includes product profiles to inside contract technique:
It is sprayed along product profile, but in order to not spill over glue outside profile, need machining locus to transport along on the inside of profile
It is dynamic.The product profile that the present invention can be captured according to vision system, inside contracts value according to setting, machining locus is inside contracted.
The present invention includes including body and spraying mechanism, and spraying mechanism is spray gun, further includes machine vision mechanism, calculates
Machine, motion controller, conveying mechanism, automatic material taking mechanism, charging tray；Visual mechanisms, conveying mechanism, take motion controller automatically
Material mechanism is connect with serial ports of computers；Body further includes spraying area；The top of spraying area is arranged in machine vision mechanism；Spraying
Mechanism is mounted on motion controller；Machine vision mechanism is by being arranged in the industrial camera at the top of spraying area and being mounted on flush coater
The camera of structure is constituted；The conveying mechanism includes conveyer belt and feeder motor；Automatic material taking mechanism includes suction cylinder, suction
Disk, guide rail；Suction cylinder sets up separately at left and right sides of guide rail, and suction cylinder bottom connects two suction disks；Charging tray is placed on conveying
Material inductive pick-up is arranged in the side of device front end, tray bottom, and material inductive pick-up is connect with serial ports of computers.
The spraying area mainly includes aspiration wind-tunnel and processing cover and backlight；Conveyer belt passes through processing cover, and puts down
It is layered on the top of aspiration wind-tunnel, backlight is set to the lower section of aspiration wind-tunnel.
The spraying mechanism includes spray gun, and spray gun is fixed on the motion controller；Camera is mounted on spray gun.
The charging tray is also placed on elevating mechanism, and elevating mechanism is sensed by lifting platform, lifting motor and upper limit
Device, lower limit level sensor, lifting motor control the lifting of lifting platform, and lifting motor is connect with computer；Upper limit sensor, under
Limit sensors are separately positioned on body, and the stroke of lifting platform is limited by upper limit sensor, lower limit level sensor.
It further include the drying mechanism along conveying mechanism setting；Drying mechanism is located at the conveyer belt output end of spraying area.
The present invention includes following process flow:
Step 1, by workpiece block pattern row pattern to be sprayed on lifting platform, starting suction disk moved to above lifting platform from the right side, suction
Cylinder decline, suction disk suction, suction cylinder rise, then material is moved to right above conveyer belt from the left side, and cylinder declines
Material is put on the belt；The stroke of suction disk side-to-side movement is adjustable；
Material is sent into spraying area by step 2, conveyer belt, and vision starts starting and takes pictures, identification material shape and position；
Step 3, automatic spraying system start to spray automatically according to the shaped position of material, and conveyer belt send material after the completion of spraying
It is dried to baking zone；Circulate operation, until this batch work-piece completes the process.
It is an advantage of the current invention that (1) is by machine vision applications into automatic spraying machine；Machine vision has the similar mankind
The real-time navigation capability of eyes, but the positioning of eyes be it is rough, it is general, and machine vision has the function of to measure, and can accomplish
Precise positioning.Machine vision and the combination sprayed automatically, so that workpiece no longer needs fixture to be fixed on some position, Ke Yi
Any position, any rotation angle in identification range are put；Visual identity stablize, in the range of work cannot it is wrong identification and
The phenomenon that leakage identification, occurs.(2) two kinds of spraying profile generating modes can not only be sprayed according to customized track-wise, but also can be by production
The spraying of product profile；Spraying method is flexible and changeable, and operability is high；(3) product profile inside contracts, and prevents outside glue from overflowing to profile；(4)
Arbitrary shape, arbitrarily put, random color, any number of opaque workpiece can be multiple while identifying, degree of intelligence is high, spraying
Ultrahigh in efficiency；(5) it is positioned without fixture, solves what conventional spray paint equipment needed to position product using the fixture of fixed position
Problem.Production cost is significantly reduced, production efficiency is improved.(6) it supports remote operation, facilitates plant maintenance.(7) it supports
Remote operation, facilitates plant maintenance.(8) it can be docked with ERP system.The processing quantity of every kind of material can be uploaded ERP.
Detailed description of the invention
Fig. 1 is schematic diagram.
Fig. 2 is flow chart.
Fig. 3 is main view.
Fig. 4 is the two of main view.
Fig. 5 is side view.
Specific embodiment
1 to 5 pair of the preferred embodiment of the present invention is described further with reference to the accompanying drawing, and the present invention with computer by connecting
The machine vision mechanism and motion controller connect carries out vision spray painting control and motion control；Visual mechanisms shoot product image,
Image data is transferred to computer, picture position is identified, modifies spraying profile automatically, generate new motion control data, is sent out
It is sent to motion controller；Workpiece to be put by motion controller to arbitrary shape, arbitrarily sprays.Effectively identifying
It in range, can be put into simultaneously a variety of different products (cannot be overlapped), random color, any amount, opaque, system can be primary
The product of multiple and different types is identified simultaneously.
The present invention includes step control as follows:
Step 1, industrial camera are taken pictures, and carry out the image preprocessing at initial stage, and image data is transmitted to fortune to data/address bus is crossed
Row sprays upper layer software (applications) in the vision of computer；
After step 2, the vision spraying upper layer software (applications) for running on computer receive the image data of tool camera, vision therein is known
Other module carries out identifying processing to image data, accurately searches product profile in the picture, and calculate product according to profile
The data such as current location, rotation angle；
Track conversion module in step 3, vision spraying upper layer software (applications) is according to the calculated product present bit of visual identity module
It sets, rotate the data such as angle, original track is carried out offset transformation, rotation transformation, inside contracts transformation etc., and generate corresponding movement
Control instruction is sent to motion controller；
After step 4, the bottom software for running on motion controller receive motion control instruction, control spraying equipment movement is complete
At spray coating operations.
Spraying profile create-rule of the present invention includes:
Rule one is sprayed by product profile；Pre-edit spraying profile is not needed, storage of taking pictures, visual identity mould are not needed yet
Block 41 automatically extracts product outline position point set, and outline position point set is submitted to track conversion module 42, track modulus of conversion
Block 42 selects a location point as track starting point, first optimization, which merges, to be connected according to apart from nearest principle from outline position point concentration
Continue location point in the same direction, to reduce data volume, reconvert is at spraying motion profile；
Rule two is sprayed according to customized track-wise；It then first edits spraying profile, then product is taken pictures storage, vision processing
When, according to recognition result, corresponding spraying profile is called from product library automatically；
Rule three, two kind of spraying profile generating mode use simultaneously；In effective identification range, while being put into a variety of different
When product (cannot be overlapped), system is according to recognition result, if there is the customized spraying rail to match with product in product library
Mark, then the product is processed by customized spraying profile；If there is no the customized sprayings to match with the product in product library
Track then generates spraying profile by product profile automatically.
The invention also includes product profiles to inside contract technique: it is sprayed along product profile, but in order to not spill over glue
Outside profile, need machining locus along profile medial motion.The product profile that the present invention can be captured according to vision system, according to
What is be arranged inside contracts value, and machining locus is inside contracted.
Including body 1 and spraying mechanism 2, spraying mechanism 2 is spray gun, further includes machine vision mechanism 3, computer 4, movement
Controller 5, conveying mechanism 6, automatic material taking mechanism 7, charging tray 8；
Machine vision mechanism 3, motion controller 5, conveying mechanism 6, automatic material taking mechanism 7 are connect with 4 serial ports of computer；
Body 1 further includes spraying area 11；The top of spraying area 11 is arranged in machine vision mechanism 3；
Spraying mechanism 2 is mounted on motion controller 5；
Machine vision mechanism 3 is by being arranged in the industrial camera 31 at the top of spraying area and being mounted on 32 structure of camera of spraying mechanism 2
At；
The conveying mechanism 6 includes conveyer belt 61 and feeder motor 62；
Automatic material taking mechanism 7 includes suction cylinder 71, suction disk 72, guide rail 73；Suction cylinder 71 sets up separately in guide rail 73 or so two
Side, 71 bottom of suction cylinder connect two suction disks 72；
Material inductive pick-up 81 is arranged in 8 bottom of charging tray, and material inductive pick-up 81 is connect with 4 serial ports of computer.
Working condition: when the material inductive pick-up 81 in 8 structure of charging tray detects signal, automatic material taking mechanism 7
Suction cylinder 71 is moved to above charging tray 8 under the control of computer 2 along guide rail 73,72 alignment pieces of suction disk, wherein suction disk
Spacing between 72 and guide rail 73 can be set；Suction cylinder 71 declines and makes 72 aspirated materials of suction disk, starts vacuum, suction gas
Cylinder 71 rises, and workpiece is moved to 61 top of conveyer belt by guide rail 73, suction cylinder 71 declines, and closes vacuum, workpiece drops down onto
On conveyer belt 61；The cycle operation when charging tray 8 is contained with workpiece of automatic material taking mechanism 7.
The spraying area 11 mainly includes aspiration wind-tunnel 111 and processing cover 112 and backlight 113；Conveyer belt 61 passes through
Processing cover 112, and it is laid in the top of aspiration wind-tunnel 111, backlight 113 is set to the lower section of aspiration wind-tunnel 111.
When workpiece is moved to spraying area 11 by conveying mechanism 3, backlight 113 and positioning of taking pictures, whole process control are opened
System is completed in 1S, and by motion controller 5 along X after the completion of positioning, Y, Z axis does track movement, spray gun spraying glue；Spraying process
After, conveyer belt 61 continues to move, and inputs subsequent workpiece, exports the workpiece sprayed, and feeder motor 62 is stepper motor, from
And moving distance when settable 61 each stepping of conveyer belt.
The spray gun of the spraying mechanism 2 is fixed on the motion controller 5；Camera 32 is mounted on spray gun.
The charging tray 8 is also placed on elevating mechanism 9, and elevating mechanism 9 is by lifting platform 91, lifting motor 92 and the upper limit
Level sensor 93, lower limit level sensor 94, lifting motor 92 control the lifting of lifting platform 91, and lifting motor 92 and computer 2 connect
It connects；Upper limit sensor 93, lower limit level sensor 94 are separately positioned on body 1, and the stroke of lifting platform 91 is sensed by upper limit
Device 93, lower limit level sensor 94 limit.
The embodiment of elevating mechanism 9 can drive a platform connecting with straight line screw rod to realize charging tray 8 by stepper motor
Move up and down, when limit sensors 94 have signal output instantly lifting platform 91 stop decline, when upper limit sensor 93 has letter
Number when lifting platform 91 stop rise.For material block pattern row pattern in charging tray 8, suction disk 72 often takes a material away when regular event,
Charging tray 8 can all move up the distance of a material thickness in the case where lifting platform 91 and lifting motor 92 act on, until lifting platform 91
Encounter upper limit sensor 93, show that material has taken at this time, lifting motor 92 stops and issue alarm, waits manually material
Material restarting is piled in the reset of disk 8.
It further include the drying mechanism 10 being arranged along conveying mechanism 6；The conveyer belt 61 that drying mechanism 10 is located at spraying area 11 is defeated
Outlet.
The present invention includes following process flow:
Step 1, by workpiece block pattern row pattern to be sprayed on lifting platform, starting suction disk moved to above lifting platform from the right side, suction
Cylinder decline, suction disk suction, suction cylinder rise, then material is moved to right above conveyer belt from the left side, and cylinder declines
Material is put on the belt；The stroke of suction disk side-to-side movement is adjustable；
Material is sent into spraying area by step 2, conveyer belt, and vision starts starting and takes pictures, identification material shape and position；
Step 3, automatic spraying system start to spray automatically according to the shaped position of material, and conveyer belt send material after the completion of spraying
It is dried to baking zone；Circulate operation, until this batch work-piece completes the process.
Claims (10)
1. a kind of spraying intelligence control system based on machine vision, it is characterized in that: passing through the machine vision connecting with computer
Mechanism and motion controller carry out vision spray painting control and motion control；Visual mechanisms shoot product image, and image data is passed
It is defeated to arrive computer, it identifies picture position, modifies spraying profile automatically, generate new motion control data, be sent to motion control
Device；Workpiece to be put by motion controller to arbitrary shape, arbitrarily sprays.
2. a kind of spraying intelligence control system based on machine vision according to claim 1, it is characterized in that including as follows
Rate-determining steps:
Step 1, industrial camera are taken pictures, and carry out the image preprocessing at initial stage, and image data is transmitted to fortune to data/address bus is crossed
Row sprays upper layer software (applications) in the vision of computer；
After step 2, the vision spraying upper layer software (applications) for running on computer receive the image data of tool camera, vision therein is known
Other module carries out identifying processing to image data, accurately searches product profile in the picture, and calculate product according to profile
The data such as current location, rotation angle；
Track conversion module in step 3, vision spraying upper layer software (applications) is according to the calculated product present bit of visual identity module
It sets, rotate the data such as angle, original track is carried out offset transformation, rotation transformation, inside contracts transformation etc., and generate corresponding movement
Control instruction is sent to motion controller；
After step 4, the bottom software for running on motion controller receive motion control instruction, control spraying equipment movement is complete
At spray coating operations.
3. a kind of spraying intelligence control system based on machine vision according to claim 1 or 2, it is characterized in that the spray
Applying track create-rule includes:
Rule one is sprayed by product profile；Visual identity module automatically extracts product outline position point set, and by outline position point
Collection submits to track conversion module, and track conversion module concentrates one position of selection from outline position point according to apart from nearest principle
It sets and to be used as track starting point, first optimization merges the location point of continuous equidirectional, and to reduce data volume, reconvert moves rail at spraying
Mark；
Rule two is sprayed according to customized track-wise；It then first edits spraying profile, then product is taken pictures storage, vision processing
When, according to recognition result, corresponding spraying profile is called from product library automatically；
Rule three, two kind of spraying profile generating mode use simultaneously；In effective identification range, while being put into a variety of different
When product, system is according to recognition result, if there is the customized spraying profile to match with product, the product in product library
It is processed by customized spraying profile；If there is no the customized spraying profiles to match with the product in product library, automatically
Spraying profile is generated by product profile.
4. a kind of spraying intelligence control system based on machine vision according to claim 1 or 2, it is characterized in that further including
Product profile inside contracts technique:
It is sprayed along product profile, but in order to not spill over glue outside profile, need machining locus to transport along on the inside of profile
It is dynamic.The product profile that the present invention can be captured according to vision system, inside contracts value according to setting, machining locus is inside contracted.
5. a kind of spray automation equipment based on machine vision, it is characterized in that: including body (1) and spraying mechanism (2), spraying
Mechanism (2) is spray gun, further includes the machine vision mechanism (3) connecting with computer (4) serial ports, motion controller (5)；
Body (1) further includes spraying area (11)；Machine vision mechanism (3) is arranged in the top of spraying area (11), spraying mechanism (2)
It is mounted on motion controller (5)；
Machine vision mechanism (3) is by being arranged in the industrial camera (31) at the top of spraying area and being mounted on the camera shooting of spraying mechanism (2)
Head (32) is constituted；
The spraying area (11) mainly includes aspiration wind-tunnel (111) and processing cover (112) and backlight (113)；Conveyer belt
(61) processing cover (112) is passed through, and is laid in the top of aspiration wind-tunnel (111), backlight (113) is set to aspiration wind-tunnel
(111) lower section.
6. a kind of spray automation equipment based on machine vision according to claim 5, it is characterized in that:
It further include conveying mechanism (6), automatic material taking mechanism (7), charging tray (8)；Conveying mechanism (6), automatic material taking mechanism (7) and meter
The connection of calculation machine (4) serial ports；The conveying mechanism (6) includes conveyer belt (61) and feeder motor (62)；
Automatic material taking mechanism (7) includes suction cylinder (71), suction disk (72), guide rail (73)；Suction cylinder (71), which sets up separately, is leading
At left and right sides of rail (73), suction cylinder (71) bottom connects two suction disks (72)；
Charging tray (8) is placed on the side of conveying mechanism (6) front end, and material inductive pick-up (81) are arranged in charging tray (8) bottom, material
Inductive pick-up (81) is connect with computer (4) serial ports.
7. a kind of spray automation equipment based on machine vision according to claim 5, it is characterized in that:
The spraying mechanism (2) includes spray gun (21), and spray gun (21) is fixed on the motion controller (5)；Camera (32)
It is mounted on spray gun (21).
8. a kind of spray automation equipment based on machine vision according to claim 5, it is characterized in that:
The charging tray (8) is also placed on elevating mechanism (9), elevating mechanism (9) by lifting platform (91), lifting motor (92) with
And upper limit sensor (93), lower limit level sensor (94), lifting motor (92) control the lifting of lifting platform (91), lifting motor
(92) it is connect with computer (2)；Upper limit sensor (93), lower limit level sensor (94) are separately positioned on body (1), lifting
The stroke of platform (91) is limited by upper limit sensor (93), lower limit level sensor (94).
9. a kind of spray automation equipment based on machine vision according to claim 5, it is characterized in that: further including along defeated
The drying mechanism (10) for sending mechanism (6) to be arranged；Drying mechanism (10) is located at conveyer belt (61) output end of spraying area (11).
10. according to a kind of described in any item spray automation equipment based on machine vision of claim 5 to 9, it is characterized in that
Including following process flow:
Step 1, by workpiece block pattern row pattern to be sprayed on lifting platform, starting suction disk moved to above lifting platform from the right side, suction
Cylinder decline, suction disk suction, suction cylinder rise, then material is moved to right above conveyer belt from the left side, and cylinder declines
Material is put on the belt；The stroke of suction disk side-to-side movement is adjustable；
Material is sent into spraying area by step 2, conveyer belt, and vision starts starting and takes pictures, identification material shape and position；
Step 3, automatic spraying system start to spray automatically according to the shaped position of material, and conveyer belt send material after the completion of spraying
It is dried to baking zone；Circulate operation, until this batch work-piece completes the process.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810895399.2A CN109290088A (en) | 2018-08-08 | 2018-08-08 | A kind of spraying intelligence control system and automation equipment based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810895399.2A CN109290088A (en) | 2018-08-08 | 2018-08-08 | A kind of spraying intelligence control system and automation equipment based on machine vision |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076029A (en) * | 2019-04-18 | 2019-08-02 | 湖南城市学院 | Glue spraying control method, system, computer equipment and computer storage medium |
| CN110237993A (en) * | 2019-06-20 | 2019-09-17 | 珠海格力智能装备有限公司 | A kind of pcb board glue spraying method of view-based access control model detection, spraying colloid system, glue sprayer |
| CN110404715A (en) * | 2019-08-15 | 2019-11-05 | 茂联橡胶制品（深圳）有限公司 | Rubber spray-painting production line control system and method based on robot |
| CN110543714A (en) * | 2019-08-28 | 2019-12-06 | 珠海格力智能装备有限公司 | circuit board glue spraying control method and device, storage medium and electronic equipment |
| CN110961290A (en) * | 2019-12-19 | 2020-04-07 | 浙江明泉工业装备科技有限公司 | Subway part spraying industrial robot system |
| CN111054539A (en) * | 2019-12-19 | 2020-04-24 | 上海骋润高分子材料有限公司 | Automatic spraying method for small workpieces |
| CN111389613A (en) * | 2020-03-06 | 2020-07-10 | 梅卡曼德（北京）机器人科技有限公司 | Glue spraying track information determining method and device |
| CN111530671A (en) * | 2020-05-07 | 2020-08-14 | 佛山科学技术学院 | Intelligent robot spraying method based on spraying system |
| CN112004303A (en) * | 2020-08-24 | 2020-11-27 | 深圳市昊擎科技有限公司 | Intelligent plasma equipment and control method thereof |
| CN112452581A (en) * | 2020-10-13 | 2021-03-09 | 江苏三立液压机械有限公司 | Moving workpiece automatic spraying robot system based on machine vision and working method |
| CN112598967A (en) * | 2020-12-03 | 2021-04-02 | 杭州市中策职业学校 | Photocatalyst spraying detection and scoring system |
| CN112718406A (en) * | 2020-12-22 | 2021-04-30 | 苏州德晓电子科技有限公司 | Automatic dispensing control method and system and automatic dispensing machine |
| CN113680555A (en) * | 2021-09-29 | 2021-11-23 | 广东博硕涂装技术有限公司 | Method for spraying upper surface and outer side surface of workpiece |
| CN114273137A (en) * | 2021-12-17 | 2022-04-05 | 江苏松源机械制造有限公司 | Multifunctional composite coating line and production operation method thereof |
| CN115055301A (en) * | 2022-05-30 | 2022-09-16 | 上海应用技术大学 | Automatic spraying machine with visual positioning function for experiments |
| CN115350834A (en) * | 2022-10-19 | 2022-11-18 | 二重（德阳）重型装备有限公司 | Forging visual collaborative spraying method |
| CN115382685A (en) * | 2022-08-16 | 2022-11-25 | 苏州智涂工业科技有限公司 | Control technology of automatic robot spraying production line |
| CN116871125A (en) * | 2023-09-01 | 2023-10-13 | 广东昭信智能装备有限公司 | Full-automatic sample application production line |
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| CN110076029A (en) * | 2019-04-18 | 2019-08-02 | 湖南城市学院 | Glue spraying control method, system, computer equipment and computer storage medium |
| CN110076029B (en) * | 2019-04-18 | 2023-06-30 | 湖南城市学院 | Glue spraying control method, system, computer equipment and computer storage medium |
| CN110237993A (en) * | 2019-06-20 | 2019-09-17 | 珠海格力智能装备有限公司 | A kind of pcb board glue spraying method of view-based access control model detection, spraying colloid system, glue sprayer |
| CN110404715A (en) * | 2019-08-15 | 2019-11-05 | 茂联橡胶制品（深圳）有限公司 | Rubber spray-painting production line control system and method based on robot |
| CN110543714A (en) * | 2019-08-28 | 2019-12-06 | 珠海格力智能装备有限公司 | circuit board glue spraying control method and device, storage medium and electronic equipment |
| CN110543714B (en) * | 2019-08-28 | 2023-07-28 | 珠海格力智能装备有限公司 | Circuit board glue spraying control method and device, storage medium and electronic equipment |
| CN110961290A (en) * | 2019-12-19 | 2020-04-07 | 浙江明泉工业装备科技有限公司 | Subway part spraying industrial robot system |
| CN111054539A (en) * | 2019-12-19 | 2020-04-24 | 上海骋润高分子材料有限公司 | Automatic spraying method for small workpieces |
| CN111389613A (en) * | 2020-03-06 | 2020-07-10 | 梅卡曼德（北京）机器人科技有限公司 | Glue spraying track information determining method and device |
| CN113996457A (en) * | 2020-03-06 | 2022-02-01 | 梅卡曼德（北京）机器人科技有限公司 | Glue spraying track information determining method and device |
| CN111389613B (en) * | 2020-03-06 | 2022-02-25 | 梅卡曼德（北京）机器人科技有限公司 | Glue spraying track information determining method and device |
| CN113996457B (en) * | 2020-03-06 | 2022-07-01 | 梅卡曼德（北京）机器人科技有限公司 | Glue spraying track information determining method and device |
| CN111530671A (en) * | 2020-05-07 | 2020-08-14 | 佛山科学技术学院 | Intelligent robot spraying method based on spraying system |
| CN112004303A (en) * | 2020-08-24 | 2020-11-27 | 深圳市昊擎科技有限公司 | Intelligent plasma equipment and control method thereof |
| CN112452581A (en) * | 2020-10-13 | 2021-03-09 | 江苏三立液压机械有限公司 | Moving workpiece automatic spraying robot system based on machine vision and working method |
| CN112598967A (en) * | 2020-12-03 | 2021-04-02 | 杭州市中策职业学校 | Photocatalyst spraying detection and scoring system |
| CN112718406A (en) * | 2020-12-22 | 2021-04-30 | 苏州德晓电子科技有限公司 | Automatic dispensing control method and system and automatic dispensing machine |
| CN113680555A (en) * | 2021-09-29 | 2021-11-23 | 广东博硕涂装技术有限公司 | Method for spraying upper surface and outer side surface of workpiece |
| CN114273137A (en) * | 2021-12-17 | 2022-04-05 | 江苏松源机械制造有限公司 | Multifunctional composite coating line and production operation method thereof |
| CN115055301A (en) * | 2022-05-30 | 2022-09-16 | 上海应用技术大学 | Automatic spraying machine with visual positioning function for experiments |
| CN115382685A (en) * | 2022-08-16 | 2022-11-25 | 苏州智涂工业科技有限公司 | Control technology of automatic robot spraying production line |
| CN115350834A (en) * | 2022-10-19 | 2022-11-18 | 二重（德阳）重型装备有限公司 | Forging visual collaborative spraying method |
| CN116871125A (en) * | 2023-09-01 | 2023-10-13 | 广东昭信智能装备有限公司 | Full-automatic sample application production line |
| CN116871125B (en) * | 2023-09-01 | 2023-12-29 | 广东昭信智能装备有限公司 | Full-automatic sample application production line |
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