CN110013937A - The automobile body-in-white paint finishing of 3D vision - Google Patents
The automobile body-in-white paint finishing of 3D vision Download PDFInfo
- Publication number
- CN110013937A CN110013937A CN201910262391.7A CN201910262391A CN110013937A CN 110013937 A CN110013937 A CN 110013937A CN 201910262391 A CN201910262391 A CN 201910262391A CN 110013937 A CN110013937 A CN 110013937A
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- Prior art keywords
- revolute pair
- white
- automobile body
- vision
- shaft
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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
- 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
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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
- B05B13/0278—Arrangement or mounting of spray heads
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of automobile body-in-white paint finishings of 3D vision, it include: that 3D vision detection subsystem uses vision system to carry out modeling and the planning of spraying profile to automobile body-in-white, for carrying out spraying operation to automobile body-in-white, and after completing spraying, the coating quality of automobile body-in-white is detected；Paint subsystem, for detecting the spraying profile that subsystem generates according to 3D vision, completes spraying operation and touch-up paint operation to automobile body-in-white.The system can realize modeling, spray painting, detection and touch-up paint operation, and seamless interfacing between all process steps, have it is full-automatic, without artificial, low cost, efficiently, high flexibility the advantages of.
Description
Technical field
The present invention relates to automotive lacquer technical field, in particular to the automobile body-in-white paint finishing of a kind of 3D vision.
Background technique
In recent years, it is influenced by Macro-policy regulation and inhabitant's consumption level raising, China's New-energy electric vehicle
Industry is showing great vitality, and the development of Domestic Automotive Industry enters a new historic rapid growth period.?
Under this situation, international new-energy automobile enterprise headed by tesla enters Chinese market and constantly expansion new energy one after another
Automobile production scale, domestic BYD, Roewe, Wei Laideng Automobile Self-brand manufacturer also increase research and development and investment power one after another
Degree.It can be seen that the new-energy automobile output in China will continue to increase, and various new models can also measure greatly in the coming years
Existing, demand of the auto industry to the automatic automobiles such as industrial robot production equipment will be continuously increased.
Currently, domestic automobile white body spraying process is separately to carry out spraying operation and detection operation, and detect
Operation is realized by manually spot-check detection.When automobile body-in-white occurs spraying unqualified situation, it is also necessary to by vapour
Vehicle white body is transported back to painting workshop and carries out artificial touch-up paint.Current this technology mode is in the presence of consuming time is long, detection is endless
Entirely, the shortcomings such as cost of labor height.Simultaneously as paint vehicle belongs to volatile toxic liquid, spraying process is manually participated in, to people
With long-term harm.
For above-mentioned status, if the integrated system of a kind of achievable automobile body-in-white spraying and detection can be developed, lead to
It crosses and automatic identification is carried out to automobile body-in-white, automatically generate automobile body-in-white spraying profile.Complete the automatic of automobile body-in-white
After spraying, coating quality and painting rate to automobile body-in-white carry out testing and evaluation, and are carried out according to testing and evaluation result
Automatic touch-up paint.Such a set of automobile body-in-white spraying detection system based on 3D vision will be before with boundless application
Scape.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, it is an object of the invention to propose the automobile body-in-white paint finishing of 3D vision.The system has automobile
The function of white body visual identity, automatic spraying, coating quality detection and automatic touch-up paint, can improving production efficiency, have efficiently,
The advantages of high flexibility.
In order to achieve the above objectives, the invention proposes a kind of automobile body-in-white paint finishings of 3D vision, comprising: three-dimensional
Vision-based detection subsystem, the 3D vision detection subsystem are modeled to automobile body-in-white and are sprayed rail using vision system
The planning of mark, for carrying out spraying operation, and the spray after completing spraying, to the automobile body-in-white to the automobile body-in-white
Quality is applied to be detected；Paint subsystem, for detecting the spraying profile that subsystem generates, completion pair according to the 3D vision
The spraying operation of the automobile body-in-white and touch-up paint operation.
The automobile body-in-white paint finishing of the 3D vision of the embodiment of the present invention can by using three dimensional vision system
Three-dimensional modeling is carried out to automobile body-in-white, automatically generates automobile threedimensional model and spraying profile, paint finishing is instructed to carry out spraying
Operation, while using wall-mounted six axis and spraying hybrid mechanism, the big advantage of serial mechanism working space is had both, and have simultaneously
Online structure rigidity is high, and precision is high, the good advantage of dynamic property, after completing automobile body-in-white spraying operation, can be regarded by three-dimensional
Feel system detects the reflection strip of automobile body-in-white, to judge painting rate and lacquered surface quality, and is directed to and does not conform to
Lattice automobile body-in-white carries out touch-up paint work.
In addition, the automobile body-in-white paint finishing of 3D vision according to the above embodiment of the present invention can also have it is following
Additional technical characteristic:
Further, in one embodiment of the invention, the 3D vision detection subsystem includes: five sets of vision systems
System, semi-circular LED white lamps band, drive system.
Further, in one embodiment of the invention, five sets of vision systems include upper vision system, left view feel
The construction of system, right vision system, anterior optic system and after-vision system, five sets of vision systems is all the same, installs respectively
The top in semi-circular LED white lamps band, the left side, the right, front and back, with to the automobile body-in-white top,
The left side, the right side, front and rear carry out three-dimensional modeling.
Further, in one embodiment of the invention, the semi-circular LED white lamps band is for completing spraying operation
Afterwards, semi-circular LED white lamps band is lighted, by five sets of vision systems to the reflection strip and texture of the automobile body-in-white
It is analyzed, detects the surface coating quality of automobile body-in-white.
Further, in one embodiment of the invention, the drive system is mounted on the semi-circular LED white lamps
Band bottom, for when detecting, driving the semi-circular LED white lamps band to move integrally forward, to cover the white vehicle of the automobile
Body completes three dimensional vision modeling and painting quality detection function, and before starting spraying, drives the semi-circular LED white lamps band
It moves integrally backward, to avoid interference spray painting operation.
Further, in one embodiment of the invention, the spray painting subsystem includes two completely identical in structure
Wall-mounted six axis sprays hybrid mechanism, is asymmetrically distributed on the wall of the two sides of the automobile body-in-white.
Further, in one embodiment of the invention, the wall-mounted six axis spraying hybrid mechanism include pedestal, under
Turntable, waist turntable, upper turntable, the first large arm, the second large arm, the first forearm, the second forearm, transmitting galianconism, the first long connecting rod,
Transmit triangle, the second long connecting rod, spray gun fixture and spray gun.
Further, in one embodiment of the invention, the pedestal is mounted on automobile body-in-white side wall
On, the lower turntable connects the pedestal by the first revolute pair, the waist turntable by the second revolute pair connect it is described under
Turntable, the upper turntable connect the waist turntable by third revolute pair, and first large arm is connected by the 4th revolute pair
The upper turntable, second large arm connect the upper turntable by the 5th revolute pair, and first forearm passes through the 6th rotation
Pair connects first large arm, and second forearm connects second large arm by the 7th revolute pair, and first forearm is logical
It crosses the 8th revolute pair and connects second forearm；The transmitting galianconism connects the upper turntable by the 9th revolute pair, and described the
One long connecting rod transmits the galianconism by the connection of the tenth revolute pair, and the transmitting triangle passes through the 11st revolute pair connection described the
One long connecting rod, second long connecting rod connect the transmitting triangle by the 12nd revolute pair, and the spray gun fixture passes through the tenth
Three revolute pairs connect second long connecting rod, and the spray gun fixture also passes through the 14th revolute pair and connects first forearm, leads to
It crosses the 15th revolute pair and connects second forearm, the spray gun is fixed on the spray gun fixture.
Further, in one embodiment of the invention, the shaft of first revolute pair and second revolute pair
Shaft be mutually perpendicular to, the shaft of the shaft of second revolute pair and the third revolute pair is mutually perpendicular to, the eight revolution
The shaft for moving secondary shaft, the shaft of the 14th revolute pair and the 15th revolute pair is overlapped, the 4th revolute pair
Shaft, the shaft of the 5th revolute pair, the shaft of the 6th revolute pair, the shaft of the 7th revolute pair, described
Turn of the shaft of eight revolute pairs, the shaft of the 9th revolute pair, the shaft of the tenth revolute pair, the 11st revolute pair
Axis, the shaft of the 12nd revolute pair, the shaft of the 13rd revolute pair, the shaft of the 14th revolute pair and described
The shaft of 15th revolute pair is parallel to each other.
Further, in one embodiment of the invention, first revolute pair, second revolute pair, described
Three revolute pairs, the 4th revolute pair, the 5th revolute pair and the 9th revolute pair are that driving is secondary.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the automobile body-in-white paint finishing three dimensional structure diagram according to the 3D vision of the embodiment of the present invention；
Fig. 2 is the three dimensional structure diagram that subsystem is detected according to the 3D vision of the embodiment of the present invention；
Fig. 3 is three dimensional structure diagram when being in spraying operation according to the spray painting subsystem of the embodiment of the present invention；
Fig. 4 is the example structure schematic diagram that hybrid mechanism is sprayed according to wall-mounted six axis of the embodiment of the present invention.
Description of symbols: the automobile body-in-white paint finishing of 10- 3D vision, 1- 3D vision detect subsystem, 11-
The right vision system of upper vision system, 12-, 13- anterior optic system, the left vision system of 14-, 15- after-vision system, 16- semi-circular
LED white lamps band, 2- spray painting subsystem, 20- pedestal, turntable under 21-, 22- waist turntable, the upper turntable of 23-, the first large arm of 24-,
The second large arm of 25-, the first forearm of 26-, the second forearm of 27-, 28- transmitting galianconism, the first long connecting rod of 29-, 210- transmitting triangle,
The second long connecting rod of 211-, 212- spray gun fixture, 213- spray gun and 3- automobile body-in-white.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The automobile body-in-white paint finishing of the 3D vision proposed according to embodiments of the present invention is described with reference to the accompanying drawings.
Fig. 1 is the automobile body-in-white paint finishing three dimensional structure diagram of the 3D vision of one embodiment of the invention.
As shown in Figure 1, the automobile body-in-white paint finishing 10 of the 3D vision includes: 3D vision detection 1 He of subsystem
Paint subsystem 2.
Wherein, 3D vision detection subsystem 1 carries out modeling and spraying profile to automobile body-in-white using vision system
Planning carries out the coating quality of automobile body-in-white 3 for carrying out spraying operation to automobile body-in-white 3, and after completing spraying
Detection.The subsystem 2 that paints is used to detect the spraying profile that subsystem 1 generates according to 3D vision, completes to automobile body-in-white 3
Spraying operation and touch-up paint operation.
As shown in Fig. 2, 3D vision detection subsystem 1 includes: five sets of vision systems (upper vision system 11, right vision system
System 12, anterior optic system 13, left vision system 14 and after-vision system 15), semi-circular LED white lamps band 16, drive system.
Wherein, upper vision system 11 can be two high-definition cameras one comprehensive analysis depth cameras of collocation, or
It is two high-definition cameras collocation, one structure light dot matrix projection camera.
It should be noted that the construction of five sets of vision systems is all the same, it is separately mounted to semi-circular LED white lamps band 16
Top, the left side, the right, front and back, thus realize to the top of automobile body-in-white 3, the left side, the right side, front and rear into
Row three-dimensional modeling.
Specifically, the embodiment of the present invention passes through wireless network, the automobile body-in-white 3 that five sets of vision systems are detected
The three-dimensional modeling data in each orientation is transmitted to computer, synthesizes the three-dimensional digital model of accurate automobile body-in-white 3.
Further, semi-circular LED white lamps band 16 is for lighting semi-circular LED white lamps band after completing spraying operation
16, it is analyzed by reflection strip and texture of five sets of vision systems to automobile body-in-white 3, detects the table of automobile body-in-white 3
Face coating quality.That is, the surface coating quality and painting on surface rate of detection automobile body-in-white 3, whether detection coating quality is closed
Lattice, if need to carry out the processes such as touch-up paint.
Further, drive system is mounted on 16 bottom of semi-circular LED white lamps band, it can be achieved that when detecting, driving is partly
Annular LED white lamps band moves integrally forward, and covering automobile body-in-white 3 completes three dimensional vision modeling and painting quality detects function
Can, and before starting spraying, driving semi-circular LED white lamps band 16 moves integrally backward, avoids interference spray painting operation.
As shown in figure 3, spray painting subsystem 2 includes that two completely identical in structure wall-mounted six axis spray hybrid mechanism, no
It is symmetrically dispersed on the wall of the two sides of automobile body-in-white.
It should be noted that 3D vision detection subsystem 1 is in automobile when the subsystem 2 that paints is in spraying operation
The rear of white body 3 will not impact the spraying operation of spray painting subsystem 2.Painting subsystem 2 can be according to 3D vision
The spraying profile that system 1 generates implements spraying operation to automobile body-in-white 3.
Optionally, as shown in figure 4, in one embodiment of the invention, wall-mounted six axis spraying hybrid mechanism includes base
Seat 20, lower turntable 21, waist turntable 22, upper turntable 23, the first large arm 24, the second large arm 25, the first forearm 26, the second forearm
27, galianconism 28, the first long connecting rod 29, transmitting triangle 210, the second long connecting rod 211, spray gun fixture 212 and spray gun 213 are transmitted.
Specifically, pedestal 20 is mounted on 3 side wall of automobile body-in-white, lower turntable 21 is connected by the first revolute pair
Pedestal 20, waist turntable 22 connect lower turntable 21 by the second revolute pair, and upper turntable 23 connects waist by third revolute pair and turns
Platform 22.The shaft of the shaft of first revolute pair and the second revolute pair is mutually perpendicular to, the shaft and third revolute pair of the second revolute pair
Shaft be mutually perpendicular to.
First large arm 24 connects upper turntable 23 by the 4th revolute pair, and the second large arm 25 in the connection of the 5th revolute pair by turning
Platform 23, the first forearm 26 connect the first large arm 24 by the 6th revolute pair, and the second forearm 27 passes through the 7th revolute pair connection second
Large arm 25, the first forearm 26 connect the second forearm 27 by the 8th revolute pair.Galianconism 28 is transmitted to pass through in the connection of the 9th revolute pair
Turntable 23, the first long connecting rod 29 are connected by the tenth revolute pair connection transmitting galianconism 28, transmitting triangle 210 by the 11st revolute pair
Connect the first long connecting rod 29, for the second long connecting rod 211 by the 12nd revolute pair connection transmitting triangle 210, spray gun fixture 212 passes through the
13 revolute pairs connect the second long connecting rod 211, and spray gun fixture 212 also connects the first forearm 26 by the 14th revolute pair, passes through
15th revolute pair connects the second forearm 27.Spray gun 213 is fixed on spray gun fixture 212.
Eight revolution is moved auxiliary spindle, the 14th rotation auxiliary spindle and the 15th rotation auxiliary spindle and is overlapped.4th rotation auxiliary spindle,
5th rotation auxiliary spindle, the 6th rotation auxiliary spindle, the 7th rotation auxiliary spindle, eight revolution move auxiliary spindle, the 9th rotation auxiliary spindle, the
Ten rotation auxiliary spindles, the 11st rotation auxiliary spindle, the 12nd rotation auxiliary spindle, the 13rd rotation auxiliary spindle, the 14th revolute pair
Shaft and the 15th rotation auxiliary spindle are parallel to each other.
First revolute pair, the second revolute pair, third revolute pair, the 4th revolute pair, the 5th revolute pair and the 9th revolute pair are
Driving is secondary.Pass through the first revolute pair of driving, the second revolute pair, third revolute pair, the 4th revolute pair, the 5th revolute pair and the 9th turn
Secondary synergic rotation is moved, it can be achieved that wall-mounted six axis sprays the six-freedom motion of the spray gun 213 clamped on hybrid mechanism end.
Meanwhile the mechanism all installs the motor of drive shaft on pedestal concentratedly, that is, avoids dispersion from being mounted on forearm, can reduce machine
The external loading of structure reduces cable routing, and explosion-proof dust-proof protection easy to accomplish.Design in this way, can be easy to accomplish whole
The explosion-proof dust-proof processing of a mechanism is easily applied to the spraying scene of bad environments.
To sum up, 10 course of work of automobile body-in-white paint finishing of 3D vision of the embodiment of the present invention is 3D vision inspection
The five sets of vision systems surveyed in subsystem 1 detect the top of automobile body-in-white, the left side, the right side, front and rear, will test
Each orientation three-dimensional modeling data by wireless network transmissions to computer, computer synthesis accurately 3-dimensional digital mould
Type, and cook up spraying profile according to three-dimensional digital model, spray painting subsystem 2 is according to the spraying profile of generation, to the white vehicle of automobile
The spraying operation of body 3, after the completion of spray painting, light semi-circular LED white lamps band 16 to the automobile body-in-white 3 of completion of painting for the first time into
Row irradiation, reuse five sets of vision systems and the reflection strip and texture of automobile body-in-white 3 be acquired, be transmitted to computer into
Row analysis, detects the quality of the spraying of automobile body-in-white surface 3, judges whether to need to carry out the other processes such as touch-up paint process, if
Touch-up paint process is needed, then drive system moves integrally semi-circular LED white lamps band 16 backward, and the subsystem 2 that paints is according to calculating
The touch-up paint track generated after machine analysis carries out touch-up paint to automobile body-in-white surface 3, and next program is identical, until the white vehicle of automobile
Body surface 3 sprays up-to-standard.
The automobile body-in-white paint finishing of the 3D vision proposed according to embodiments of the present invention, by using 3D vision system
System can carry out three-dimensional modeling to automobile body-in-white, automatically generate automobile threedimensional model and spraying profile, paint finishing be instructed to open
Spraying operation is opened up, while using wall-mounted six axis and spraying hybrid mechanism, has had both the big advantage of serial mechanism working space, again
High with parallel institution rigidity, precision is high, and the good advantage of dynamic property can pass through after completing automobile body-in-white spraying operation
Three dimensional vision system detects the reflection strip of automobile body-in-white, to judge painting rate and lacquered surface quality, and needle
To lemon car white body, touch-up paint work is carried out.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of automobile body-in-white paint finishing of 3D vision characterized by comprising
3D vision detects subsystem, and the 3D vision detection subsystem models automobile body-in-white using vision system
It is white to the automobile for carrying out spraying operation to the automobile body-in-white, and after completing spraying with the planning of spraying profile
The coating quality of vehicle body is detected；
Paint subsystem, and the spray painting subsystem is used to detect the spraying rail that subsystem generates according to the 3D vision
Mark completes spraying operation and touch-up paint operation to the automobile body-in-white.
2. the automobile body-in-white paint finishing of 3D vision according to claim 1, which is characterized in that the 3D vision
Detecting subsystem includes: five sets of vision systems, semi-circular LED white lamps band, drive system.
3. the automobile body-in-white paint finishing of 3D vision according to claim 2, which is characterized in that five sets of visions
System includes upper vision system, left vision system, right vision system, anterior optic system and after-vision system, five sets of visions
The construction of system is all the same, is separately mounted to the top of the semi-circular LED white lamps band, the left side, the right, front and back,
Three-dimensional modeling is carried out with the top to the automobile body-in-white, the left side, the right side, front and rear.
4. the automobile body-in-white paint finishing of 3D vision according to claim 2, which is characterized in that the semi-circular
LED white lamps band is for lighting semi-circular LED white lamps band, by five sets of vision systems to institute after completing spraying operation
The reflection strip and texture for stating automobile body-in-white are analyzed, and the surface coating quality of automobile body-in-white is detected.
5. the automobile body-in-white paint finishing of 3D vision according to claim 2, which is characterized in that the drive system
It is mounted on semi-circular LED white lamps band bottom, for when detecting, driving the semi-circular LED white lamps band whole forward
Body is mobile, completes three dimensional vision modeling and painting quality detection function to cover the automobile body-in-white, and before starting spraying,
The semi-circular LED white lamps band is driven to move integrally backward, to avoid interference spray painting operation.
6. the automobile body-in-white paint finishing of 3D vision according to claim 1, which is characterized in that the spray painting subsystem
System includes that two completely identical in structure wall-mounted six axis spray hybrid mechanism, is asymmetrically distributed in the automobile body-in-white
On the wall of two sides.
7. the automobile body-in-white paint finishing of 3D vision according to claim 6, which is characterized in that described wall-mounted six
It includes pedestal, lower turntable, waist turntable, upper turntable, the first large arm, the second large arm, the first forearm, second that axis, which sprays hybrid mechanism,
Forearm, transmitting galianconism, the first long connecting rod, transmitting triangle, the second long connecting rod, spray gun fixture and spray gun.
8. the automobile body-in-white paint finishing of 3D vision according to claim 7, which is characterized in that the pedestal installation
On the wall of the automobile body-in-white side, the lower turntable connects the pedestal, the waist turntable by the first revolute pair
The lower turntable is connected by the second revolute pair, the upper turntable connects the waist turntable by third revolute pair, and described the
One large arm connects the upper turntable by the 4th revolute pair, and second large arm connects the upper turntable by the 5th revolute pair,
First forearm connects first large arm by the 6th revolute pair, and second forearm passes through described in the connection of the 7th revolute pair
Second large arm, first forearm connect second forearm by the 8th revolute pair；The transmitting galianconism passes through the 9th rotation
Pair connects the upper turntable, and first long connecting rod transmits the galianconism by the connection of the tenth revolute pair, and the transmitting triangle is logical
It crosses the 11st revolute pair and connects first long connecting rod, second long connecting rod connects the transmitting three by the 12nd revolute pair
Angle, the spray gun fixture connect second long connecting rod by the 13rd revolute pair, and the spray gun fixture also passes through the 14th turn
Dynamic secondary connection first forearm, connects second forearm by the 15th revolute pair, the spray gun is fixed on the spray gun
On fixture.
9. the automobile body-in-white paint finishing of 3D vision according to claim 8, which is characterized in that first rotation
The shaft of secondary shaft and second revolute pair is mutually perpendicular to, the shaft of second revolute pair and the third revolute pair
Shaft is mutually perpendicular to, the shaft of the 8th revolute pair, the shaft of the 14th revolute pair and the 15th revolute pair
Shaft is overlapped, the shaft of the 4th revolute pair, the shaft of the 5th revolute pair, the shaft of the 6th revolute pair, described
Turn of the shaft of 7th revolute pair, the shaft of the 8th revolute pair, the shaft of the 9th revolute pair, the tenth revolute pair
It is axis, the shaft of the 11st revolute pair, the shaft of the 12nd revolute pair, the shaft of the 13rd revolute pair, described
The shaft of the shaft of 14th revolute pair and the 15th revolute pair is parallel to each other.
10. the automobile body-in-white paint finishing of 3D vision according to claim 8, which is characterized in that described first turn
Dynamic secondary, described second revolute pair, the third revolute pair, the 4th revolute pair, the 5th revolute pair and 9th turn described
Dynamic pair is that driving is secondary.
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