CN110369195A - A kind of robot automatic spraying system - Google Patents
A kind of robot automatic spraying system Download PDFInfo
- Publication number
- CN110369195A CN110369195A CN201910597662.4A CN201910597662A CN110369195A CN 110369195 A CN110369195 A CN 110369195A CN 201910597662 A CN201910597662 A CN 201910597662A CN 110369195 A CN110369195 A CN 110369195A
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- China
- Prior art keywords
- spraying
- line
- plc controller
- travelling bogie
- described image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 118
- 239000007921 spray Substances 0.000 claims abstract description 41
- 230000006698 induction Effects 0.000 claims abstract description 26
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 3
- 230000002463 transducing effect Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000007306 turnover Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B05B13/0235—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 the movement of the objects being a combination of rotation and linear displacement
-
- 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
- B05B13/0442—Installation or apparatus for applying liquid or other fluent material to separate articles rotated during spraying operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
-
- 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
Abstract
The present invention relates to automatic spraying technology fields, and in particular to a kind of robot automatic spraying system, comprising: PLC controller runs on travelling bogie on rotary track, image capture device, spraying sensor and spray robot；Image Acquisition line and the spraying line of induction are provided on the rotary track, described image acquisition equipment is set on the extended line of described image gathering line, the spraying sensor is set on the spraying line of induction, and the spray robot is set on the extended line of the spraying line of induction；The travelling bogie is equipped with driving assembly and spraying platform, and the spraying platform drives the travelling bogie level run for carrying workpiece, the control instruction that the driving component is used to respond the PLC controller；The PLC controller is communicated to connect with the driving component, image capture device, spraying sensor and spray robot respectively, and the present invention saves labour turnover, and improves spray efficiency and accuracy.
Description
Technical field
The present invention relates to automatic spraying technology fields, and in particular to a kind of robot automatic spraying system.
Background technique
With flourishing for China's science and technology, the application of machine vision and industrial robot will become more and more extensive,
Under the be combineding with each other of industrial robot and machine vision, spraying can be made to become more intelligent.It is extracted using industrial camera
The texture and profile of workpiece carries out image recognition, to provide the foundation for automatic spray based on image recognition.
In spraying industry, for the ease of automation control and influence to operator is reduced, generally passes through spraying
Robot carries out spraying operation.Specifically, being spray gun to be arranged in the end of the spray coating mechanical hand of automation control, then pass through spray
Rifle sprays workpiece to be sprayed.
In the prior art, usually by conveyer belt by workpiece transport to area to be sprayed, using industrial machinery arm to workpiece
It is sprayed, however traditional spraying operation the degree of automation need to be improved, and generally requires artificial moment concern spraying progress,
And appropriate adjustment is carried out to workpiece or spray robot, to meet spraying demand, labor intensive cost, and spray efficiency and accurate
It spends low.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is intended to save labour turnover, improve spray efficiency and standard
Exactness.
To achieve the above object, the present invention provides following schemes:
A kind of robot automatic spraying system, the system comprises: PLC controller, travelling bogie, image capture device,
Spray sensor and spray robot；
The travelling bogie is run on rotary track, and Image Acquisition line and spraying induction are provided on the rotary track
Line, described image gathering line and the spraying line of induction are vertical with the preceding line direction of the travelling bogie；
Described image acquisition equipment is set on the extended line of described image gathering line, and the spraying sensor is set to institute
It states on the spraying line of induction, the spray robot is set on the extended line of the spraying line of induction；
The travelling bogie is equipped with driving assembly and spraying platform, and the spraying platform is located at the top of the travelling bogie, and
It is parallel to the horizontal plane, the spraying platform is for carrying workpiece；The control that the driving component is used to respond the PLC controller refers to
It enables and drives the travelling bogie level run；
Described image acquires equipment and acquires the figure of the workpiece for responding the image capture instruction of the PLC controller
Picture；
The spraying sensor, for detecting whether the travelling bogie reaches the spraying line of induction；
The spray robot, the spraying for responding the PLC controller, which instructs, carries out spraying operation；
The PLC controller is logical with the driving component, image capture device, spraying sensor and spray robot respectively
Letter connection.
Further, the driving component include first servo motor, the first servo for being connect with the first servo motor
Driver, the first servo motor are connect with the wheel drive of the travelling bogie, and the first servo motor is for responding
The control signal of the PLC controller drives travelling bogie level run.
Further, wherein one side vertical direction is fixedly connected with rotary shaft to the spraying platform, and the rotary shaft is set to institute
It states on the car body of travelling bogie.
Further, the driving component further includes the second servo-driver, the second servo motor and speed reducer, the PLC
Controller is sequentially connected with second servo-driver, the second servo motor and speed reducer, and the speed reducer is for responding institute
The control instruction for stating PLC controller drives the rotary shaft rotation, so that the spraying platform be driven to rotate horizontally.
Further, described image acquisition equipment is equipped with infrared sensor, the first industrial camera and the second industrial camera, described
Infrared sensor and the second industrial camera are vertically downward towards described image gathering line, first industrial camera and described image
Gathering line is parallel and towards the rotary track；
Whether the infrared sensor has object arrival for detecting described image gathering line, first industrial camera and
Second industrial camera is used to carry out Image Acquisition to the object in described image gathering line.
Further, the PLC controller is separately connected first servo-driver, infrared sensor, the first industrial phase
Machine, the second industrial camera, first servo-driver connect the first servo motor；The PLC controller is also connected with
Interchanger, the interchanger are separately connected industrial personal computer and the spraying sensor, and the industrial personal computer connects the spray robot,
The interchanger is used to the transducing signal of the spraying sensor acquisition passing to the PLC controller, and by the PLC
The control instruction that controller is sent passes to the industrial personal computer, and the industrial personal computer is used to control the spray according to the control instruction
Apply robot work.
The beneficial effects of the present invention are: the present invention discloses a kind of robot automatic spraying system, comprising: PLC controller, fortune
Row is in travelling bogie, image capture device, spraying sensor and spray robot on rotary track；It is set on the rotary track
It is equipped with Image Acquisition line and the spraying line of induction, described image acquisition equipment is set on the extended line of described image gathering line, institute
It states spraying sensor to be set on the spraying line of induction, the spray robot is set to the extended line of the spraying line of induction
On；The travelling bogie is equipped with driving assembly and spraying platform, and the spraying platform is for carrying workpiece, and the driving component is for ringing
The control instruction of the PLC controller is answered to drive the travelling bogie level run；The PLC controller respectively with the driving
Component, image capture device, spraying sensor and spray robot communication connection.The present invention saves labour turnover, and improves spraying
Efficiency and accuracy.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram of robot automatic spraying system of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of travelling bogie of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of image capture device of the embodiment of the present invention；
Fig. 4 is a kind of circuit block diagram of robot automatic spraying system of the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
With reference to FIG. 1 to FIG. 4, the embodiment of the present invention provides a kind of robot automatic spraying system, comprising: PLC controller
100, rotary track 200, travelling bogie 300, image capture device 400, spraying sensor 500 and spray robot 600；
The travelling bogie 300 is run on rotary track 200, is provided with Image Acquisition line on the rotary track 200
210 and the spraying line of induction 220, described image gathering line 210 and the spraying line of induction 220 it is forward with the travelling bogie 300
Direction is vertical；
Described image acquisition equipment 400 is set on the extended line of described image gathering line 210, the spraying sensor
500 are set on the spraying line of induction 220, and the spray robot 600 is set to the extended line of the spraying line of induction 220
On；
The travelling bogie 300 has driving assembly and spraying platform 301, and the spraying platform 301 is located at the travelling bogie 300
Top, and be parallel to the horizontal plane, the spraying platform 301 is for carrying workpiece；The driving component is for responding the PLC control
The control signal of device 100 processed drives 300 level run of travelling bogie；
Described image acquires equipment 400 and acquires the work for responding the image capture instruction of the PLC controller 100
The image of part；
The spraying sensor 500, for detecting whether the travelling bogie 300 reaches the spraying line of induction 220；
The spray robot 600, the spraying for responding the PLC controller 100, which instructs, carries out spraying operation；
The PLC controller 100 respectively with the driving component, image capture device 400, spraying sensor 500 and spray
Robot 600 is applied to communicate to connect.
In one embodiment, in use, the PLC controller 100, detects that the travelling bogie 300 arrives for working as
When up to described image gathering line 210, the instruction of triggering collection workpiece image, and match the corresponding spraying journey of the workpiece image
Sequence；And for when detecting that the travelling bogie 300 reaches the spraying line of induction 220, triggering spraying operation to be instructed；
In one embodiment, the rotary track 200 is divided into loading and unloading region 201, spraying area 202 and drying
Region 203, when the travelling bogie 300 runs on loading and unloading region 201, by workpiece handling to spraying platform 301, or by workpiece
It is carryed down from spraying platform 301, when the travelling bogie 300 runs on spraying area 202, spraying operation is carried out to workpiece, when
When the travelling bogie 300 runs on arid region 203, workpiece is dried.By the loading and unloading region 201 and spraying area
The boundary line in domain 202 is set to prolonging for described image gathering line 210 as Image Acquisition line 210, described image acquisition equipment 400
On long line, the spraying line of induction 220 is set to spraying area 202, and the spraying sensor 500 is set to the spraying induction
On line 220, the spray robot 600 is set on the extended line of the spraying line of induction 220.The spraying sensor 500
Including but not limited to limit switch, optoelectronic switch.
In use, carrying workpiece by the travelling bogie 300, adopted along the rotary track 200 operation to described image
Line concentration 210, described image acquisition equipment 400 acquire the image of the workpiece, match the work by the PLC controller 100
The corresponding spray procedure of part image, when detecting that the travelling bogie 300 reaches the spraying line of induction 220, according to described
The corresponding spray procedure of workpiece image carries out spraying operation.
In spraying process, is participated in without artificial, save cost of labor, compare manual operation, the spray of automation
System has higher spray efficiency and accuracy.
In a preferred embodiment, the driving component includes first servo motor 310 and first servo electricity
The first servo-driver 311 that machine 310 connects, the first servo motor 310 is for driving the horizontal fortune of the travelling bogie 300
Row.
In use, the PLC controller 100 sends control instruction to first servo-driver 311, described first is watched
It takes driver 311 and responds the control instruction control operation of first servo motor 310, to pass through the first servo electricity
Machine 310 is for driving 300 level run of travelling bogie.Facilitate 300 level run of travelling bogie described in automation control.
In a preferred embodiment, the travelling bogie 300 is additionally provided with spraying platform 301, and the spraying platform 301 is located at
The top of the travelling bogie 300, and be parallel to the horizontal plane, wherein one side vertical direction is fixedly connected with the spraying platform 301
Rotary shaft 302, the rotary shaft 302 are set on the car body of the travelling bogie 300.
Workpiece is carried by the spraying platform 301 and rotary shaft 302 that are separately provided, can be replaced according to the model of workpiece
Platform 301 and rotary shaft 302 are sprayed, various types of workpiece are adapted to.
In a preferred embodiment, the driving component further includes the second servo-driver 320, the second servo motor
321 and speed reducer 322, the PLC controller 100 and second servo-driver 320, the second servo motor 321 and slow down
Machine 322 is sequentially connected, and the control instruction that the speed reducer 322 is used to respond the PLC controller 100 drives the rotary shaft
302 rotations, so that the spraying platform 301 be driven to rotate horizontally.
In use, the PLC controller 100 sends control instruction to second servo-driver 320, described second is watched
It takes driver 320 and responds the control instruction control operation of the second servo motor 321, to pass through the second servo electricity
Machine 321 is for driving the speed reducer 322 to rotate, and the speed reducer 322 drives the rotary shaft 302 to rotate, to drive institute
Spraying platform 301 is stated to rotate horizontally.Workpiece described in automation control is facilitated to rotate horizontally, without human intervention.
In a preferred embodiment, described image acquisition equipment 400 is equipped with the industrial phase of infrared sensor 410, first
Machine 420 and the second industrial camera 430, the infrared sensor 410 and the second industrial camera 430 are vertically downward towards described image
Gathering line 210, first industrial camera 420 are parallel with described image gathering line 210 and towards the rotary track 200；
The infrared sensor 410 is for detecting whether described image gathering line 210 has object arrival, first industry
Camera 420 and the second industrial camera 430 are used to carry out Image Acquisition to the object in described image gathering line 210.
By the way that the orientation of infrared sensor 410, the first industrial camera 420 and the second industrial camera 430 is rationally arranged, improve
Accuracy to workpiece sensing.
In a preferred embodiment, the PLC controller 100 is separately connected first servo-driver 311, red
Outer sensor 410, the first industrial camera 420, the second industrial camera 430, first servo-driver 311 connect described first
Servo motor 310；The PLC controller 100 is also connected with interchanger 700, and the interchanger 700 is separately connected industrial personal computer 610
With the spraying sensor 500, the industrial personal computer 610 connects the spray robot 600, and the interchanger 700 is used for institute
It states the transducing signal that spraying sensor 500 acquires and passes to the PLC controller 100, and the PLC controller 100 is sent out
The control instruction sent passes to the industrial personal computer 610, and the industrial personal computer 610 is used to control the spraying according to the control instruction
Robot 600 works.
In use, being established between the PLC and the industrial personal computer 610, spraying sensor 500 by the interchanger 700
Communication connection, thus establish the PLC controller 100 respectively with spraying sensor 500, spray robot 600 information hand over
Mutually, spray efficiency is improved.
The above, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as
It reaches technical effect of the invention with identical means, all should belong to protection scope of the present invention.
Claims (6)
1. a kind of robot automatic spraying system characterized by comprising PLC controller, travelling bogie, image capture device,
Spray sensor and spray robot；
The travelling bogie is run on rotary track, and Image Acquisition line and the spraying line of induction are provided on the rotary track,
Described image gathering line and the spraying line of induction are vertical with the preceding line direction of the travelling bogie；
Described image acquisition equipment is set on the extended line of described image gathering line, and the spraying sensor is set to the spray
It applies on the line of induction, the spray robot is set on the extended line of the spraying line of induction；
The travelling bogie is equipped with driving assembly and spraying platform, and the spraying platform is located at the top of the travelling bogie, and and water
Plane is parallel, and the spraying platform is for carrying workpiece；The control instruction that the driving component is used to respond the PLC controller is driven
Move the travelling bogie level run；
Described image acquires equipment and acquires the image of the workpiece for responding the image capture instruction of the PLC controller；
The spraying sensor, for detecting whether the travelling bogie reaches the spraying line of induction；
The spray robot, the spraying for responding the PLC controller, which instructs, carries out spraying operation；
The PLC controller respectively with the driving component, image capture device, spraying sensor and spray robot communication link
It connects.
2. a kind of robot automatic spraying system according to claim 1, which is characterized in that the driving component includes the
One servo motor, the first servo-driver being connect with the first servo motor, the first servo motor and the transport
The wheel drive of trolley connects, and the control signal driving transport that the first servo motor is used to respond the PLC controller is small
Vehicle level run.
3. a kind of robot automatic spraying system according to claim 2, which is characterized in that the spraying platform wherein one side
Vertical direction is fixedly connected with rotary shaft, and the rotary shaft is set on the car body of the travelling bogie.
4. a kind of robot automatic spraying system according to claim 3, which is characterized in that the driving component further includes
Second servo-driver, the second servo motor and speed reducer, the PLC controller are watched with second servo-driver, second
It takes motor and speed reducer to be sequentially connected, the control instruction that the speed reducer is used to respond the PLC controller drives the rotation
Axis rotation, so that the spraying platform be driven to rotate horizontally.
5. a kind of robot automatic spraying system according to claim 4, which is characterized in that described image acquisition equipment is set
There are infrared sensor, the first industrial camera and the second industrial camera, the infrared sensor and the second industrial camera are vertically downward
Towards described image gathering line, first industrial camera is parallel with described image gathering line and towards the rotary track；
The infrared sensor is for detecting whether described image gathering line has object arrival, first industrial camera and second
Industrial camera is used to carry out Image Acquisition to the object in described image gathering line.
6. a kind of robot automatic spraying system according to claim 5, which is characterized in that the PLC controller difference
Connect first servo-driver, infrared sensor, the first industrial camera, the second industrial camera, first servo-drive
Device connects the first servo motor；The PLC controller is also connected with interchanger, the interchanger be separately connected industrial personal computer and
The spraying sensor, the industrial personal computer connect the spray robot, and the interchanger is for adopting the spraying sensor
The transducing signal of collection passes to the PLC controller, and the control instruction that the PLC controller is sent is passed to the work
Control machine, the industrial personal computer are used to control the spray robot according to the control instruction and work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910597662.4A CN110369195A (en) | 2019-07-04 | 2019-07-04 | A kind of robot automatic spraying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910597662.4A CN110369195A (en) | 2019-07-04 | 2019-07-04 | A kind of robot automatic spraying system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110369195A true CN110369195A (en) | 2019-10-25 |
Family
ID=68251847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910597662.4A Pending CN110369195A (en) | 2019-07-04 | 2019-07-04 | A kind of robot automatic spraying system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110369195A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| 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 |
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