CN109453928A - Spraying equipment based on multi-freedom electric motor - Google Patents
Spraying equipment based on multi-freedom electric motor Download PDFInfo
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- CN109453928A CN109453928A CN201910016693.6A CN201910016693A CN109453928A CN 109453928 A CN109453928 A CN 109453928A CN 201910016693 A CN201910016693 A CN 201910016693A CN 109453928 A CN109453928 A CN 109453928A
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- Prior art keywords
- electric motor
- freedom
- freedom electric
- workpiece
- spraying
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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
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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
Abstract
The present invention provides a kind of spraying equipment based on multi-freedom electric motor, is related to spraying equipment technical field.It mainly include frame body, three-dimensional motion mechanism, multi-freedom electric motor, spray head, rotation working platform and control system；Three-dimensional motion mechanism is connected with multi-freedom electric motor, and multi-freedom electric motor is connected with spray head, and controller includes camera；Three-dimensional motion mechanism drives multi-freedom electric motor, and multi-freedom electric motor drives spray head to do multi-angle spraying along workpiece to be sprayed in space and moves, workpiece range has been determined by image recognition, has adjusted nozzle angle according to workpiece surface space radian and is sprayed.That present invention mainly solves sprayings existing in the prior art is coarse, has that spraying dead angle, waste material, spraying effect are bad, control error is big, the low problem low with spray efficiency of deposition accuracies, it is high, high-quality, high-efficient with deposition accuracies, save material the features such as.
Description
Technical field
The present invention relates to spraying equipment technical fields.
Background technique
Current Workpiece painting field generallys use hand spray or a wide range of vertical spraying for the spraying of workpiece.
It not only wastes material but also spraying effect is bad, particularly with the more complicated curved surface spraying of contour structures, it is coarse to there is spraying
There is the problems such as spraying dead angle.It can not achieve the higher automatic spraying of degree of intelligence to spray with the tracing property to curved-surface structure, deposit
It is low in deposition accuracies, the problems such as spray efficiency is not high.
Summary of the invention
Present invention mainly solves it is existing in the prior art spraying it is coarse, have spraying dead angle, waste material and also spraying effect
Fruit is bad, control error is big, the low problem low with spray efficiency of deposition accuracies, provides a kind of spraying based on multi-freedom electric motor
Equipment is automatically positioned by image recognition and is sprayed under the coordinated of multiple degrees of freedom spray head and three-axis moving mechanism, has spray
The features such as painting precision is high, high-quality, high-efficient, saves material.
In order to reach the goals above, the technical solution adopted by the present invention is that: a kind of spraying based on multi-freedom electric motor is set
It is standby, it is characterised in that: mainly to include frame body, three-axis moving mechanism, multi-freedom electric motor, spray head, rotation working platform and control
System；Three-dimensional motion mechanism is on frame body, and three-dimensional motion mechanism is connected with multi-freedom electric motor, multi-freedom electric motor and spray head
Connection, controller includes camera；Three-dimensional motion mechanism drives multi-freedom electric motor, and multi-freedom electric motor drives spray head in space
Multi-angle spraying is done along workpiece to be sprayed to move, and workpiece range has been determined by image recognition, according to workpiece surface space radian
Adjustment nozzle angle is sprayed.
Preferably, the three-dimensional motion mechanism is 3 d-line motor group, and 3 d-line motor group includes, on the right side of frame body
It is placed longitudinally on top beam to have linear motor A, it is mounted on laterally disposed linear motor B on linear motor A mover, in linear motor B
It is vertically installed with linear motor C on mover, collectively forms three-dimensional motion mechanism；The mover and multi-freedom electric motor of linear motor C
Connection.
Further, a kind of spraying equipment based on multi-freedom electric motor is additionally provided with top beam on the left of frame body, described
Left side top beam on, synchronous sliding track is installed, the mover of linear motor A passes through the synchronous sliding track in connection structure and left side top beam
It is connected, sensing grating ruler is installed on the inside of sliding rail.
Preferably, the camera includes the wide mesh camera of wide-angle and short distance camera；The wide mesh camera installation of wide-angle
In the crossbeam bottom of linear motor B, the outline identification of workpiece is carried out, it is determined that working range；Short distance camera is mounted on spray head
On fixed frame, guarantees that camera visual angle can be synchronous with spray head holding at any time, carry out workpiece surface figure using short distance camera
As identification, by identifying the space radian of workpiece surface, spray head spray angle is adjusted using multi-freedom electric motor, guarantees spraying dress
It sets perpendicular to spray-coating surface, guarantees spraying effect.
Preferably, the wide mesh camera of wide-angle uses edge following algorithm, carries out whole imaging to object within the vision,
And by carrying out difference comparsion so that it is determined that workpiece profile boundary with background；Short distance camera is acquired for carrying out local identification
The image on spray head alignment pieces surface obtains the curvature on surface, by the curvature measuring algorithm inside processor so as to adjust spray
Brilliance degree.
Preferably, the workbench is rotary (circle) workbench, can drive device to be sprayed with setting speed
It makes rotating motion.
Preferably, a kind of spraying equipment based on multi-freedom electric motor, is additionally provided with workpiece transfer station, and described
Workbench connection；Workbench is equipped with pressure sensor；Frame body is equipped with semiclosed cabinet, is the groundwork of spray head spray painting
Section, the semiclosed box inside are beaten equipped with automatic switch sliding door when pressure sensor has detected that workpiece enters automatically
It opens, is closed automatically when spray coating operations start, spray coating operations are again turned on when completing.
Preferably, the multi-freedom electric motor includes rotor, stator and pedestal, rotor in the inside or outside of stator,
It for internal rotor, external stator or is outer rotor, inner stator, multiple degrees of freedom output shaft is fixed with rotor, there is several poles N and S on rotor
The coil windings that can produce the different poles N and S after several energizations are distributed on stator for the magnetic pole being intervally arranged；It is fixed by changing
Power-up sequence and the time of coil are alternatively arranged on son to control the angle of the yaw motion of rotor or multiple degrees of freedom output shaft.
Preferably, control system is used as core processing using High Performance DSP processing chip (the C6000 chip of such as TI company)
Device, high rate burst communication operation can be completed by having image procossing interface, and be placed in the calculating of image processing algorithm in the chip
Lower output controls signal, and equipment operation is controlled through overdrive circuit；External image in control system handles processing circuit, position
Signal acquisition circuit, system operational monitoring circuit, outside input circuit and driving circuit are set, under the scheduling controlling of primary processor
Real electrical machinery movement position is controlled, to realize the task to workpiece automatic spraying.
Preferably, multi-freedom electric motor includes internal rotor, external stator and pedestal, is inside fixed external stator with pedestal
Internal rotor；External stator includes the Internal Spherical Surface shell that several spaced coil windings are distributed with thereon, and internal rotor includes thereon
The spherical outside surface rotor block for thering is the pole N and S permanent magnet to be intervally arranged；Spherical outside surface rotor block includes interior concave spherical surface, the interior concave spherical surface and solid
The spherical support being scheduled in the support shaft on pedestal is rotatably assorted or branch spherical outside surface rotor block passes through spherical support bearing and fixation
Spring bearing connection on pedestal；Spring bearing is connected by spherical bearing with multiple degrees of freedom output shaft, multiple degrees of freedom output
Axis is fixedly connected with the upper fixed lid of spherical outside surface rotor block；Internal rotor and multiple degrees of freedom output shaft can be around spring bearing or fixed outside
Son deflection, by changing the power-up sequence for being alternatively arranged coil on stator and time to control the angle of internal rotor yaw motion
Degree；Oil film is equipped between the spherical bearing and spring bearing.
Compared with prior art, the beneficial effects of the present invention are: present invention mainly solves sprayings existing in the prior art
It is coarse, have spraying dead angle, waste material and spraying effect is bad, error is big for control, deposition accuracies are low low with spray efficiency
Problem provides a kind of spraying equipment based on multi-freedom electric motor, matches in the collaboration of multiple degrees of freedom spray head and three-axis moving mechanism
It under conjunction, is automatically positioned and is sprayed by image recognition, have deposition accuracies high, high-quality, high-efficient, save material, automate journey
Spend the features such as high.
The present invention have be able to drive spray head space do multi-angle movement multi-freedom electric motor, and can control mostly from
The straight-line electric unit of free three-dimensional motion is done in working space by degree motor.And workpiece is carried out using the wide mesh camera of wide-angle
Outline identification, so that it is determined that working range.The image recognition that workpiece surface is carried out using short distance camera, by identifying work
The space radian on part surface guarantees spray equipment perpendicular to spray-coating surface, to guarantee spraying effect so as to adjust spray angle.
It under the coordinated of multiple degrees of freedom spray head and three-axis moving mechanism, is automatically positioned by image recognition, and completes spraying task,
With the features such as high degree of automation, spraying effect is good, fast response time.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the schematic perspective view of one embodiment of the invention.
Fig. 2 is the main view of Fig. 1.
Fig. 3 is the top view of Fig. 2.
Fig. 4 is uniaxial linear motor side view.
Fig. 5 is multi-freedom electric motor front view.
Fig. 6 is the cross-sectional view of Fig. 4.
Fig. 7 is multi-freedom electric motor and spray head connection schematic diagram.
Fig. 8 outline identification difference arithmetic schematic diagram.
Fig. 9 is curvature measuring algorithm principle schematic diagram.
Figure 10 is outline identification procedure chart.
Figure 11 is working-flow figure.
Figure 12 is controller principle structure chart
Each label meaning in figure: 1-linear motor B, 1a-linear motor stator electric, 1b-(linear motor) mover, 1c-
Limit switch, 1d-(support) sliding rail, 1e-grating sensor, 1f-sensing grating ruler, 2-linear motor A, 3-is semiclosed
Cabinet, the wide mesh camera of 4-wide-angles, 5-support underframes, 6-linear motor C, 7-multi-freedom electric motor connection frames, 8-mostly certainly
By degree motor, 8a-multiple degrees of freedom output shaft, 8b-Internal Spherical Surface shell, 8c-coil windings, 8d-(motor) pedestal, 8e-
(rotor) fixed lid, 8f-spherical support bearing, 8g-spherical outside surface rotor block, 8h-spherical bearing, 8i-spring bearing, 8j-
Spray head connection frame, 8k-short distance camera, 8l-spray head, 9-automatic switch sliding doors, 10-pressure sensors, 11-workpiece
Transfer station, the driven sliding rail of 12-movers, 13-rotation working platforms.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
- Figure 10 refering to fig. 1.It is a kind of based on multi-freedom electric motor as a kind of specific embodiment provided by the invention
Spraying equipment, it is characterised in that: mainly include frame body, three-axis moving mechanism, multi-freedom electric motor 8, spray head 8l, rotary (circle
Shape) workbench 13 and control system；On frame body, three-dimensional motion mechanism and multi-freedom electric motor 8 connect three-dimensional motion mechanism,
Multi-freedom electric motor 8 is connected with spray head 8l, and controller includes camera；Three-dimensional motion mechanism drives multi-freedom electric motor 8, mostly certainly
It drives spray head to do multi-angle spraying along workpiece to be sprayed in space by degree motor to move, workpiece model has been determined by image recognition
It encloses, nozzle angle is adjusted according to workpiece surface space radian and is sprayed.
Present invention mainly solves it is existing in the prior art spraying it is coarse, have spraying dead angle, waste material and also spraying effect
Fruit is bad, control error is big, the low problem low with spray efficiency of deposition accuracies, in multiple degrees of freedom spray head and three-axis moving mechanism
It under coordinated, is automatically positioned and is sprayed by image recognition, have deposition accuracies high, high-quality, high-efficient, save the spies such as material
Point.
As a kind of specific embodiment provided by the invention.Preferably, the three-dimensional motion mechanism is 3 d-line
Motor group, 3 d-line motor group include, placed longitudinally on top beam on the right side of frame body to have linear motor A, and it is dynamic to be mounted on linear motor A
Laterally disposed linear motor B on son, is vertically installed with linear motor C on linear motor B mover, collectively forms three-dimensional motion machine
Structure；The mover and multi-freedom electric motor 8 of linear motor C connects.
Have the characteristics that control and accurate positioning precision.
As a kind of specific embodiment provided by the invention.Further, described one kind is based on multi-freedom electric motor
Spraying equipment, be additionally provided with top beam on the left of frame body, on the left side top beam, synchronous sliding track, the mover of linear motor A be installed
1b is connected by connection structure with the synchronous sliding track on the top beam of left side, is equipped with sensing grating ruler 1f on the inside of sliding rail 1d.Design is steady
Determine good reliability.
As a kind of specific embodiment provided by the invention.Preferably, the camera includes the wide mesh camera shooting of wide-angle
First 4 and short distance camera 8k；The wide mesh camera 4 of wide-angle is installed on the crossbeam bottom of linear motor B1, and the profile for carrying out workpiece is known
Not, it is determined that working range；Short distance camera 8k is mounted on spray head fixed frame, guarantees that camera visual angle can at any time and spray head
It keeps synchronizing, carries out workpiece surface image recognition using short distance camera, by identifying the space radian of workpiece surface, utilize
Multi-freedom electric motor adjusts spray head spray angle, guarantees that spray equipment perpendicular to spray-coating surface, guarantees spraying effect.
The outline identification of workpiece is carried out using the wide mesh camera of wide-angle, so that it is determined that working range.It is taken the photograph using short distance
The image recognition that workpiece surface is carried out as head, so as to adjust spray angle, is guaranteed by identifying the space radian of workpiece surface
Spray equipment is perpendicular to spray-coating surface, to guarantee spraying effect.
As a kind of specific embodiment provided by the invention.Preferably, the wide mesh camera of wide-angle is calculated using frontier tracing
Method carries out whole imaging to object within the vision, and by carrying out difference comparsion so that it is determined that workpiece profile side with background
Boundary；Short distance camera is mounted on spray head fixed frame, is guaranteed that camera visual angle can be synchronous with spray head holding at any time, is utilized short distance
Camera utilizes multi-freedom electric motor tune by identifying the space radian of workpiece surface to carry out the image recognition of workpiece surface
Whole spray head spray angle guarantees spray equipment perpendicular to spray-coating surface, to guarantee spraying effect.Short distance camera is used for carry out office
The image of portion's identification, acquisition spray head alignment pieces surface obtains the song on surface by the curvature measuring algorithm inside processor
Rate, so as to adjust nozzle angle.
As a kind of specific embodiment provided by the invention.Preferably, the workbench is rotary (circle)
Workbench 13 has frosted lines and certain amount location hole on surface, and is located at the center of semiclosed cabinet, can be with
Setting speed drives device to be sprayed to make rotating motion.Be conducive to improve working efficiency.
As a kind of specific embodiment provided by the invention.Preferably, described a kind of based on multi-freedom electric motor
Spraying equipment is additionally provided with workpiece transfer station, connect with the workbench；Workbench is equipped with pressure sensor 10；Frame body
It is equipped with semiclosed cabinet 3, is the groundwork section of spray head spray painting, the semiclosed box inside is equipped with automatic switch sliding door
9, it automatically opens when pressure sensor 10 has detected that workpiece enters, is closed automatically when spray coating operations start, spray coating operations are complete
At when be again turned on.Conducive to environmental protection.
As a kind of specific embodiment provided by the invention.Preferably, the multi-freedom electric motor includes rotor, determines
Son and pedestal, rotor be internal rotor, external stator or be outer rotor, inner stator in the inside or outside of stator, and multiple degrees of freedom exports
Axis 8a is fixed with rotor, the magnetic pole for having several poles N and S to be intervally arranged on rotor, stator；It is alternatively arranged on stator by changing
Coil power-up sequence and the time to control the angle of rotor or the yaw motion of multiple degrees of freedom output shaft 8a.Structure is simple,
Using effect is good.
As a kind of specific embodiment provided by the invention.Preferably, the multi-freedom electric motor include internal rotor,
It is internal rotor inside external stator and pedestal, with the external stator of pedestal fixation；External stator includes that several energizations are distributed with thereon
It can produce the Internal Spherical Surface shell 8b of the coil windings 8c of the different poles N and S afterwards, internal rotor includes having the pole N and S permanent magnet interval thereon
The spherical outside surface rotor block 8g of arrangement；Spherical outside surface rotor block 8g includes interior concave spherical surface, the interior concave spherical surface and the branch being fixed on the base
Spherical support on support axis be rotatably assorted or branch spherical outside surface rotor block 8g by spherical support bearing 8f be fixed on the base
Spring bearing 8i connection；Spring bearing 8i is connected by spherical bearing 8h with multiple degrees of freedom output shaft 8a, multiple degrees of freedom output shaft
8a is fixedly connected with the upper fixed lid 8e of spherical outside surface rotor block 8g；Internal rotor and multiple degrees of freedom output shaft 8a can be around support shaft 8i
Or external stator deflection, if by changing the power-up sequence and the time that are alternatively arranged coil 8c on stator to control internal rotor deflection
The angle of movement.
Preferably, oil film is equipped between the spherical bearing 8h and spring bearing 8i.
Preferably, control system is used as core processing using High Performance DSP processing chip (the C6000 chip of such as TI company)
Device, high rate burst communication operation can be completed by having image procossing interface, and be placed in the calculating of image processing algorithm in the chip
Lower output controls signal, and equipment operation is controlled through overdrive circuit.External image in control system handles processing circuit, position
Signal acquisition circuit, system operational monitoring circuit, outside input circuit and driving circuit are set, under the scheduling controlling of primary processor
Real electrical machinery movement position is controlled, to realize the task to workpiece automatic spraying.
As a kind of specific embodiment provided by the invention, it is described in further detail as follows:
- Fig. 4 refering to fig. 1.The equipment is put down by reading the position paper generated by linear motor come the three-axis moving driven
Platform carries out accurate paint spraying to control spray head, is automatically positioned by image recognition, does spraying campaign along workpiece profile to be sprayed,
And nozzle angle is adjusted according to body surface radian, to complete spraying task.Mainly solve control existing in the prior art
The problem that error processed is big, deposition accuracies are not high has the characteristics that fast response time, control precision height, high production efficiency.Pedestal branch
Rotary circular workbench 13 is installed on frame, has frosted lines on surface, and be located at the center of semiclosed cabinet,
Device to be sprayed can be driven to make rotating motion with setting speed.The profile that workpiece is carried out using the wide mesh camera 4 of wide-angle is known
Not, so that it is determined that working range.Short distance camera 8k is mounted on spray head fixed frame, guarantee camera visual angle can at any time and
Spray head keeps synchronizing, and the image recognition of workpiece surface is carried out using short distance camera, by the space arc for identifying workpiece surface
Degree adjusts spray head spray angle using multi-freedom electric motor, guarantees spray equipment perpendicular to spray-coating surface, to guarantee spraying effect
Fruit.
Refering to Fig. 5-Fig. 7.Its shaft of the multi-freedom electric motor of use 8a can carry out the yaw motion around center axis thereof,
Rotor is to be made of the spherical spinner 8g of N and S interpolar column arrangement, and spherical stator interior is distributed the coil 8c of formula arrangement,
By changing power-up sequence and time to control the angle that rotor completes yaw motion.Used multi-freedom electric motor
There is oil film between its internal spherical bearing 8h and lower support bearing 8i.The spherical support of the smooth of the edge is arranged at spring bearing top
Structure 8f, rotor can be deflected around it.Permanent magnet 8g is installed, and by between its polarity arrangement on the inside of spheric rotor.Ball
Face rotor portions have dome-type inside groove, and rotor is connected by the rotor endcap 8e on rotor top with spherical bearing to move synchronously.Its
Structure optimization, structure is simple, easy to operate.
Refering to Fig. 8.The wide mesh camera of wide-angle is installed on the crossbeam bottom of linear motor B, using the wide mesh camera 4 of wide-angle come
The outline identification of workpiece is carried out, so that it is determined that working range.The recognizer used is difference arithmetic, on the ground close to profile
There is higher value of feedback in side, after binary conversion treatment, its available profile matrix.
The wide mesh camera of wide-angle is used for outline identification, uses edge following algorithm.Object within the vision is carried out
Whole imaging, and by carrying out difference comparsion so that it is determined that workpiece profile boundary with background.
Refering to Fig. 9.Short distance camera 8k is mounted on spray head fixed frame, guarantees that camera visual angle can be protected with spray head at any time
Synchronization is held, the image recognition of workpiece surface is carried out using short distance camera, by identifying the space radian of workpiece surface, is utilized
Multi-freedom electric motor adjusts spray head spray angle, guarantees spray equipment perpendicular to spray-coating surface, to guarantee spraying effect.Pass through place
The curvature measuring algorithm inside device is managed, obtains the curvature on surface, the approximate radian of curved surface is obtained by slope detection, in turn
Control spray head deflection.
Refering to fig. 10.Outline identification is carried out by wide mesh camera, acquired image information is subjected to noise reduction filtering processing,
Image feature value is extracted by " small echo " algorithm, image array carries out difference arithmetic processing, and calculates acquired image
Profile information, and generate Motor execution file.The coding file that three axis mechanisms can identify is generated, Collaborative Control movement is carried out,
And it controls spray painting head and carries out spray painting work.
When system starts, refering to fig. 11.Initial work is carried out first, mainly includes that system three-axis structure carries out machine
Tool origin zero: linear motor B drives linear motor A to be grouped into the surface for installing rotary round table next time, in linear motor C and directly
Under the cooperation of line B, spray head is driven to revert to the origin start bit of rotary round table.Image capturing system initialization: by imputing in advance
Method carries out contour of object detection, and generates position paper, is read out by movement mechanism and controls spray head and carries out spray painting work,
In spraying process, Duo Zidu motor drives spray head to do yaw motion, the moment perpendicular to spraying curved surface, if spray coating operations fail to cover
All spraying points are covered, then repeatedly aforesaid operations.
Refering to fig. 12.To realize better runnability, control system handles chip (such as TI company using High Performance DSP
C6000 chip) be used as core processor, high rate burst communication operation can be completed by having image procossing interface, and in chip
It is built into output control signal under the calculating of image processing algorithm, equipment operation is controlled through overdrive circuit.In control system
External image processing processing circuit, position signal acquisition circuit, system operational monitoring circuit, outside input circuit and driving electricity
Road controls real electrical machinery movement position under the scheduling controlling of primary processor, to realize to workpiece automatic spraying
Task.
The problem of solving that control error existing in the prior art is big, and deposition accuracies are low, or cannot intelligently spraying automatically.?
It under the coordinated of multiple degrees of freedom spray head and three-axis moving mechanism, is automatically positioned by image recognition, and completes spraying task, had
There is the features such as high degree of automation, spraying effect is good, fast response time.
Above-described embodiment is exemplary, and is not considered as limiting the invention.
Above not described part those skilled in the art can implement.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
Above scheme can still be carried out within the scope of the invention without departing from the principle and spirit of the present invention
Variation, modification or equivalent replacement of some of the technical features, improvement etc., should be included in protection model of the invention
Within enclosing.
Claims (10)
1. a kind of spraying equipment based on multi-freedom electric motor, it is characterised in that: mainly include frame body, three-axis moving mechanism, more
Freedom motor (8), spray head (8l), rotation working platform (13) and control system；Three-dimensional motion mechanism is three-dimensional on frame body
Movement mechanism and multi-freedom electric motor (8) connection, multi-freedom electric motor (8) and spray head (8l) connection, controller includes camera；
Three-dimensional motion mechanism drives multi-freedom electric motor (8), and it is polygonal that multi-freedom electric motor drives spray head to do in space along workpiece to be sprayed
Degree spraying movement, has determined workpiece range by image recognition, adjusts nozzle angle according to workpiece surface space radian and is sprayed
It applies.
2. a kind of spraying equipment based on multi-freedom electric motor as described in claim 1, it is characterised in that: three maintenance and operations
Motivation structure is 3 d-line motor group, and 3 d-line motor group includes, placed longitudinally on top beam on the right side of frame body to have linear motor A
(2), laterally disposed linear motor B (1) on linear motor A (2) mover, the right angle setting on linear motor B (1) mover are mounted on
There are linear motor C (6), collectively forms three-dimensional motion mechanism；The mover and multi-freedom electric motor (8) of linear motor C (6) connects.
3. a kind of spraying equipment based on multi-freedom electric motor as claimed in claim 2, it is characterised in that: be additionally provided with a frame body left side
Side top beam on the left side top beam, is equipped with synchronous sliding track, and the mover (1b) of linear motor A (1) passes through connection structure and left
Synchronous sliding track on the top beam of side is connected, and is equipped with sensing grating ruler (1f) on the inside of sliding rail (1d).
4. a kind of spraying equipment based on multi-freedom electric motor as described in claim 1, it is characterised in that: the camera
Including the wide mesh camera (4) of wide-angle and short distance camera (8k)；The wide mesh camera (4) of wide-angle is installed on the cross of (1) linear motor B
Beam bottom portion carries out the outline identification of workpiece, it is determined that working range；Short distance camera (8k) is mounted on spray head fixed frame, is protected
Demonstrate,proving camera visual angle can be synchronous with spray head holding at any time, carries out workpiece surface image recognition using short distance camera, passes through
The space radian for identifying workpiece surface adjusts spray head spray angle using multi-freedom electric motor, guarantees spray equipment perpendicular to spray
Coating surface guarantees spraying effect.
5. a kind of spraying equipment based on multi-freedom electric motor as claimed in claim 4, it is characterised in that: the wide mesh camera shooting of wide-angle
Head uses edge following algorithm, carries out whole imaging to object within the vision, and by with background carry out difference comparsion from
And determine workpiece profile boundary；Short distance camera acquires the image on spray head alignment pieces surface, passes through for carrying out local identification
Curvature measuring algorithm inside processor, obtains the curvature on surface, so as to adjust nozzle angle.
6. a kind of spraying equipment based on multi-freedom electric motor as described in claim 1, it is characterised in that: workbench is rotation
Rotatable (circle) workbench (13) can drive device to be sprayed to make rotating motion with setting speed.
7. a kind of spraying equipment based on multi-freedom electric motor as claimed in claim 6, it is characterised in that: be additionally provided with workpiece biography
Platform is sent, is connect with the workbench；Workbench is equipped with pressure sensor (10)；Frame body is equipped with semiclosed cabinet (3),
It is the groundwork section of spray head spray painting, which works as pressure sensor equipped with automatic switch sliding door (9)
(10) it has detected and has been automatically opened when workpiece enters, has been closed automatically when spray coating operations start, spray coating operations are again turned on when completing.
8. such as a kind of spraying equipment based on multi-freedom electric motor of any of claims 1-7, it is characterised in that: more
Freedom motor includes rotor, stator and pedestal, and rotor is internal rotor, external stator or is outer turn in the inside or outside of stator
Son, inner stator, multiple degrees of freedom output shaft (8a) are fixed with rotor, the magnetic pole for having several poles N and S to be intervally arranged on rotor, stator
On several energizations are distributed with after can produce the coil windings of the different poles N and S；The logical of coil is alternatively arranged on stator by changing
Electric sequence and time are to control the angle of the yaw motion of rotor or multiple degrees of freedom output shaft (8a).
9. a kind of spraying equipment based on multi-freedom electric motor as claimed in claim 8, it is characterised in that: control system uses
High Performance DSP handles chip as core processor, and high rate burst communication operation can be completed by having image procossing interface, and
Built-in chip type enters output control signal under the calculating of image processing algorithm, and equipment operation is controlled through overdrive circuit；Control system
External image processing processing circuit, position signal acquisition circuit, system operational monitoring circuit, outside input circuit and drive in system
Dynamic circuit, controls real electrical machinery movement position under the scheduling controlling of primary processor, automates to realize to workpiece
The task of spraying.
10. a kind of spraying equipment based on multi-freedom electric motor as claimed in claim 8, it is characterised in that: multiple degrees of freedom electricity
Machine includes internal rotor, external stator and pedestal, is internal rotor inside the external stator fixed with pedestal；External stator includes being distributed thereon
There is the Internal Spherical Surface shell (8b) of several spaced coil windings (8c), internal rotor includes having the pole N and S permanent magnet interval thereon
The spherical outside surface rotor block (8g) of arrangement；Spherical outside surface rotor block (8g) includes interior concave spherical surface, the interior concave spherical surface be fixed on the base
Support shaft on spherical support be rotatably assorted or branch spherical outside surface rotor block (8g) is by spherical support bearing (8f) and being fixed on
Spring bearing (8i) connection on pedestal；Spring bearing (8i) passes through spherical bearing (8h) and multiple degrees of freedom output shaft (8a) phase
Even, multiple degrees of freedom output shaft (8a) is fixedly connected with the upper fixed lid (8e) of spherical outside surface rotor block (8g)；Internal rotor and mostly freely
Spending output shaft (8a) can deflect around support shaft (8i) or external stator, be alternatively arranged coil windings (8c) on stator by changing
Power-up sequence and time are to control the angle of internal rotor yaw motion；Between the spherical bearing (8h) and spring bearing (8i)
Equipped with oil film.
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| CN201910016693.6A CN109453928B (en) | 2019-01-08 | 2019-01-08 | Spraying equipment based on multi freedom motor |
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| CN201910016693.6A CN109453928B (en) | 2019-01-08 | 2019-01-08 | Spraying equipment based on multi freedom motor |
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| CN109453928A true CN109453928A (en) | 2019-03-12 |
| CN109453928B CN109453928B (en) | 2020-11-24 |
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| CN113769937A (en) * | 2021-09-03 | 2021-12-10 | 安徽佳力奇先进复合材料科技股份公司 | Surface defect repairing equipment for composite material product |
| CN115055321A (en) * | 2022-08-19 | 2022-09-16 | 如皋市春晟钢构制造有限公司 | Paint spraying apparatus is used in marine facilities processing |
| CN115138512A (en) * | 2022-08-31 | 2022-10-04 | 江苏晟龙精工科技有限公司 | Surface paint spraying equipment for mold manufacturing |
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