CN110976156A - Positioning system for automobile coating and automobile coating process - Google Patents
Positioning system for automobile coating and automobile coating process Download PDFInfo
- Publication number
- CN110976156A CN110976156A CN201911380830.0A CN201911380830A CN110976156A CN 110976156 A CN110976156 A CN 110976156A CN 201911380830 A CN201911380830 A CN 201911380830A CN 110976156 A CN110976156 A CN 110976156A
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- Prior art keywords
- automobile
- coating
- positioning system
- vertical frame
- carrier
- Prior art date
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- 238000000576 coating method Methods 0.000 title claims abstract description 70
- 239000011248 coating agent Substances 0.000 title claims abstract description 63
- 239000003921 oil Substances 0.000 claims description 14
- 238000010521 absorption reaction Methods 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims description 11
- 230000003014 reinforcing effect Effects 0.000 claims description 9
- 239000010687 lubricating oil Substances 0.000 claims description 7
- 230000001050 lubricating effect Effects 0.000 claims description 4
- 238000007591 painting process Methods 0.000 claims description 2
- 238000005498 polishing Methods 0.000 claims description 2
- 238000010422 painting Methods 0.000 claims 10
- 230000001276 controlling effect Effects 0.000 description 7
- 239000002184 metal Substances 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
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
- 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
Abstract
The invention relates to the technical field of automobile coating, and particularly discloses a positioning system for automobile coating and an automobile coating process, wherein the positioning system comprises a positioning device, the positioning device is provided with an XY truss driving mechanism, six-axis manipulators arranged on the XY truss driving mechanism, an industrial camera arranged at the tail ends of the six-axis manipulators, and a line laser scanner, the industrial camera takes pictures of different parts of an external automobile, and the line laser scanner scans an area to be coated of the automobile according to images shot by the industrial camera; the automobile to be coated is accurately positioned by the industrial camera of the positioning device, and the line laser scanner of the positioning device scans the area to be coated of the automobile according to the image shot by the industrial camera, so that a coating path is set according to the scanning data of the line laser scanner, the automatic accurate coating of the automobile is realized, the automobile coating structure is simplified, the automobile coating cost is reduced, and the coating yield and the coating efficiency of the automobile are improved.
Description
Technical Field
The invention relates to the technical field of automobile coating, and particularly discloses a positioning system for automobile coating and an automobile coating process.
Background
The automobile is one of travel transportation tools that people daily used, and the automobile comprises many spare parts combinations, and wherein the sheet metal component is one of the automobile spare part commonly used, in the production process or the use of automobile, often need carry out the coating operation to the sheet metal component of automobile, and automobile manufacturer all disposes large-scale automatic coating assembly line among the prior art, and large-scale automatic coating assembly line structure is complicated, and the coating cost is very high. The prior art is also favorable for coating the sheet metal part by using an operator to hold a spray gun, the coating efficiency is low, the coating quality is unstable, and the health of the operator is also harmed by long-term contact of the operator with the coating.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention aims to provide a positioning system for automobile coating and an automobile coating process, which can realize automatic and accurate coating of an automobile, simplify an automobile coating structure, reduce the automobile coating cost and improve the coating yield and the coating efficiency of the automobile.
In order to achieve the above object, the present invention provides a positioning system for automobile coating, comprising a positioning device, wherein the positioning device comprises an XY truss driving mechanism, a six-axis manipulator mounted on the XY truss driving mechanism, an industrial camera mounted at the end of the six-axis manipulator, and a line laser scanner, the XY truss driving mechanism and the six-axis manipulator drive the industrial camera to take pictures of different parts of an external automobile, and the line laser scanner scans an area to be coated of the automobile according to images taken by the industrial camera.
Wherein, positioning system still includes controlling means, controlling means and positioner electric connection, and controlling means splices a plurality of images that the industry camera was shot to the different positions of car for whole car image, and line laser scanner scans according to the coating region that whole car image selected, and controlling means converts the data after line laser scanner scans into the coating route.
Furthermore, the tail end of the six-axis manipulator is also provided with a spray gun, and the control device regulates and controls the XY truss driving mechanism and the six-axis manipulator to drive the spray gun to carry out coating operation on the automobile according to a coating path.
The XY truss driving mechanism comprises a first vertical frame, a second vertical frame arranged in parallel with the first vertical frame, a reinforcing rod connected with the first vertical frame and the second vertical frame, a carrier arranged on the first vertical frame and the second vertical frame in a sliding mode, a first driving piece used for driving the carrier to move, a hanging plate arranged on the carrier in a sliding mode, and a second driving piece used for driving the hanging plate to move, wherein a base of the six-axis manipulator is installed on the hanging plate, the automobile is located between the first vertical frame and the second vertical frame, and the automobile is located below the reinforcing rod and the carrier.
Further, first grudging post, second grudging post all are equipped with the rack, and the rack extends the setting along the length direction of grudging post, and first driving piece sets up in the axle spare of carrier, sets up in two gears of axle spare, is used for driving the first motor of axle spare pivoted including rotating, and two gears of axle spare mesh the rack of two grudging posts respectively.
Wherein, be equipped with first extension spring between first grudging post and the carrier, first extension spring is used for eliminating the meshing clearance between gear and the rack.
Furthermore, the second driving piece comprises a ball screw rotatably arranged on the carrier, a screw nut screwed and sleeved on the outer side of the ball screw, and a second motor used for driving the ball screw to rotate, and the hanging plate is connected with the screw nut.
And a second tension spring is arranged between the hanging plate and the carrier and used for eliminating a thread clearance between the ball screw and the screw nut.
Furthermore, the first vertical frame is provided with a first guide rail, the carrier frame is slidably arranged on the first guide rail, the carrier frame is provided with a clamping groove, an oil absorption piece abutting against the first guide rail is arranged in the clamping groove, the oil absorption piece is used for absorbing lubricating oil, and the lubricating oil absorbed by the oil absorption piece is used for lubricating relative sliding between the first guide rail and the carrier frame.
In order to achieve the above object, the present invention provides an automobile coating process, including the above positioning system for automobile coating, further including the following steps:
moving the car after grinding and polishing to the lower part of an XY truss driving mechanism;
the XY truss driving mechanism and the six-axis manipulator drive the industrial camera to move, and the moving industrial camera is used for photographing different parts of the automobile below the XY truss driving mechanism;
splicing images of different parts of an automobile shot by an industrial camera into an entire automobile image;
selecting a region to be coated on a finished automobile image;
the XY truss driving mechanism and the six-axis manipulator drive the line laser scanner to perform area scanning on a selected area to be coated on the automobile;
calculating a coating path according to area scanning data of the line laser scanner;
an external coating mechanism automatically coats the automobile through a coating path.
Has the advantages that: the automobile to be coated is accurately positioned by the industrial camera of the positioning device, and the line laser scanner of the positioning device scans the area to be coated of the automobile according to the image shot by the industrial camera, so that a coating path is set according to the scanning data of the line laser scanner, the automatic accurate coating of the automobile is realized, the automobile coating structure is simplified, the automobile coating cost is reduced, and the coating yield and the coating efficiency of the automobile are improved.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the XY truss driving mechanism of the present invention.
Fig. 3 is a schematic structural view of the first vertical frame, the reinforcing rod, the first tension spring, the rack, the gear, the guide rail, the hanger plate and the oil absorbing member of the present invention.
Fig. 4 is a flow diagram of an automotive painting process of the present invention.
The reference numerals include:
1-positioning device 2-XY truss driving mechanism 3-six-shaft manipulator
4-industrial camera 5-line laser scanner 6-first stand
7-second vertical frame 8-reinforcing rod 9-carrying frame
11-hanger plate 12-rack 13-gear
14-first extension spring 15-first guide rail 16-oil absorption piece.
Detailed Description
The present invention will be further described with reference to the following examples and the accompanying drawings.
Referring to fig. 1 to 4, the positioning system for automobile coating of the present invention comprises a positioning device 1, wherein the positioning device 1 has an XY truss driving mechanism 2, a six-axis manipulator 3 mounted on the XY truss driving mechanism 2, an industrial camera 4 mounted on the end of the six-axis manipulator 3, and a line laser scanner 5, the XY truss driving mechanism 2 is used for driving the six-axis manipulator 3 to move along the X axis direction of a parallel horizontal plane or/and move along the Y axis direction of a parallel horizontal plane, the six-axis manipulator 3 is inversely hung on the XY truss driving mechanism 2, the XY truss driving mechanism 2 and the six-axis manipulator 3 cooperate to drive the industrial camera 4 to take pictures of different parts of an external automobile, the line laser scanner 5 scans a predetermined area to be coated of the automobile according to an automobile image shot by the industrial camera 4, the line laser scanner 5 can scan the whole part of the automobile according to actual needs, but also can scan a certain sheet metal part of the automobile or a local part of a certain sheet metal part.
During the in-service use, the car that the application was treated to industrial camera 4 shoots, the car that the application was treated to the industrial camera 4 that utilizes positioner 1 pinpoints, the line laser scanner 5 that utilizes positioner 1 scans the area that the application was treated to the image scanning car according to industrial camera 4 shoots, thereby set for the application route according to line laser scanner 5's scan data, the realization is to the automatic accurate application of car, simplify the car application structure, reduce car application cost, promote the application yield and the application efficiency of car.
The positioning system also comprises a control device, the control device is provided with a controller unit and is electrically connected with the positioning device 1, the control device splices a plurality of images shot by the industrial camera 4 to different parts of the automobile into an integral automobile image, the line laser scanner 5 scans the coating area selected according to the integral automobile image, when in actual use, the operator can select the required area to be coated on the whole vehicle image through the control device, according to the selected demand area in the whole vehicle image, the control device regulates the XY truss driving mechanism 2 and the six-axis manipulator 3 to drive the line laser scanner 5 to move so as to scan the corresponding part on the vehicle, the control device converts the data scanned by the line laser scanner 5 into a coating path, and then the control device regulates the coating mechanism according to the coating path obtained by conversion so as to automatically coat the corresponding part on the vehicle.
The tail end of the six-axis manipulator 3 is also provided with a spray gun, and the control device regulates the XY truss driving mechanism 2 and the six-axis manipulator 3 to drive the spray gun to carry out coating operation on the automobile according to a coating path. After the control device obtains the coating path according to the data conversion after the scanning of the laser scanner, the control device regulates and controls the XY truss driving mechanism 2 and the six-axis manipulator 3 according to the coating path obtained through the conversion, so that the XY truss driving mechanism 2 and the six-axis manipulator 3 drive the spray gun to automatically coat the automobile according to the coating path.
The XY truss driving mechanism 2 comprises a first vertical frame 6, a second vertical frame 7 which is spaced from the first vertical frame 6 and arranged in parallel, reinforcing rods 8 which are respectively connected with the first vertical frame 6 and the second vertical frame 7, a carrier 9 which is arranged on the first vertical frame 6 and the second vertical frame 7 in a sliding mode, a first driving piece used for driving the carrier 9 to move, a hanging plate 11 which is arranged on the carrier 9 in a sliding mode, and a second driving piece used for driving the hanging plate 11 to move, wherein the vertical frame and the carrier 9 are arranged perpendicular to each other, the left end and the right end of the reinforcing rod 8 are respectively fixedly connected to the two vertical frames, the left end and the right end of the carrier 9 are respectively arranged on the two vertical frames in a sliding mode, a base of the six-axis manipulator 3 is installed on the hanging plate 11, an automobile is located between the first vertical frame 6 and the second vertical frame 7, and the automobile is located below the reinforcing rods 8 and the.
Controlling means and first driving piece, second driving piece electric connection, during the in-service use, controlling means makes hanger plate 11 drive six-axis manipulator 3 at the regional automated movement of XY of parallel horizontal plane through regulation and control first driving piece, second driving piece, and the six-axis manipulator 3 of removal can drive industrial camera 4, line laser scanner 5, spray gun according to required demand automated movement.
All install on first grudging post 6, the second grudging post 7 and be provided with rack 12, rack 12 is roughly the linear bar form, and rack 12 extends the setting along the length direction of grudging post, and first driving piece is including rotating the axle body spare that sets up on carrier 9, install two gears 13 that set up on the axle body spare, be used for driving the pivoted first motor of axle body spare, and two gears 13 of axle body spare mesh rack 12 of two grudging posts respectively.
When the carrier 9 is required to move together with the hanging plate 11 and the six-axis manipulator 3, the control device regulates and controls the first motor to rotate, the first motor drives the shaft parts to rotate the two gears 13, and the rotating gears 13 can drive the carrier 9 to move along the length direction of the racks 12 (namely the length direction of the vertical frame) by means of the meshing of the gears 13 and the racks 12.
Through the meshing of the two gears 13 and the racks 12 of the two stands, the driving force applied to the two ends of the carrier frame 9 is ensured to be approximately balanced, and the situation that the two ends of the carrier frame 9 are stressed unevenly to cause deflection in the moving process is avoided. The same shaft body part is utilized to drive the two gears 13 to synchronously rotate, so that the problem that the two gears 13 are not synchronous to cause poor use is avoided.
A first tension spring 14 is arranged between the first vertical frame 6 and the carrier frame 9, and the meshing clearance between the gear 13 and the rack 12 is eliminated by utilizing the elastic force of the first tension spring 14. When the first driving part drives the carrier 9 to move, the stroke error of the movement of the carrier 9 caused by the meshing clearance between the gear 13 and the rack 12 is avoided, and the accuracy of the movement stroke of the carrier 9 is improved.
The second driving piece comprises a ball screw rotatably arranged on the carrier frame 9, a screw nut sleeved on the outer side of the ball screw in a threaded manner, and a second motor used for driving the ball screw to rotate, and the hanging plate 11 is fixedly connected with the screw nut. The second motor drives the ball screw to rotate, the ball screw is rotated to drive the hanging plate 11 to move along the carrying frame 9 through the screw nut, and the moving hanging plate 11 can drive the six-axis manipulator 3 to move together.
And a second tension spring is arranged between the hanging plate 11 and the carrier 9 and is used for eliminating a thread clearance between the ball screw and the screw nut. In the process that the second driving piece drives the hanging plate 11 to move, the thread clearance between the ball screw and the screw nut is eliminated by the second tension spring, the moving stroke error of the six-axis manipulator 3, the industrial camera 4, the line laser scanner 5 and the spray gun caused by the moving stroke error of the hanging plate 11 is avoided, and the coating yield of an automobile is improved.
The first vertical frame 6 is provided with a first guide rail 15, the first guide rail 15 extends along the length direction of the first vertical frame 6, the carrier 9 is slidably disposed on the first guide rail 15, the carrier 9 is provided with a clamping groove, the clamping groove is formed by recessing the outer surface of the carrier 9, the clamping groove is internally provided with an oil absorption piece 16 abutting against the first guide rail 15, the oil absorption piece 16 is used for absorbing lubricating oil, and the lubricating oil absorbed by the oil absorption piece 16 is used for lubricating the relative sliding between the first guide rail 15 and the carrier 9.
In the sliding process of the first guide rail 15 and the carrier 9, the lubricating oil absorbed by the oil absorption piece 16 is used for lubricating the first guide rail 15 and the carrier 9, so that the abrasion and the friction noise of the first guide rail 15 and the carrier are reduced, and the smoothness of relative sliding between the first guide rail 15 and the carrier is ensured. Preferably, the oil absorbing member 16 is made of sponge. Of course, according to actual needs, the second vertical frame 7 may be provided with a second guide rail, two ends of the carrier 9 are slidably disposed on the first guide rail 15 and the second guide rail respectively, and similarly, the carrier 9 may also be provided with an oil absorbing member 16 abutting against the second guide rail.
The invention relates to an automobile coating process, which comprises the positioning system for automobile coating and also comprises the following steps:
moving the car after being ground and polished to the position below the XY truss driving mechanism 2, so that the car after being ground and polished is positioned between the first vertical frame 6 and the second vertical frame 7, and the car is positioned below the reinforcing rod 8 and the six-axis manipulator 3;
regulating and controlling the XY truss driving mechanism 2 and the six-axis manipulator 3 by using a control device to drive the industrial camera 4 to move, and photographing different parts of the automobile below the XY truss driving mechanism 2 by using the moving industrial camera 4;
the control device splices a plurality of images of different parts of the automobile shot by the industrial camera 4 into an entire automobile image;
selecting a region to be coated on the whole vehicle image by using a control device;
according to the area to be coated selected on the whole vehicle image, the control device regulates the XY truss driving mechanism 2 and the six-axis manipulator 3 to drive the line laser scanner 5 to perform area scanning on the area to be coated selected on the vehicle;
the control unit of the control device calculates a coating path from the area scanning data of the line laser scanner 5;
the control device regulates and controls the XY truss driving mechanism 2 and the six-axis manipulator 3 to drive an external coating mechanism (such as a spray gun) to automatically coat the area to be coated on the automobile according to a coating path.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the invention.
Claims (10)
1. A positioning system for automotive painting, characterized by: the device comprises a positioning device, wherein the positioning device is provided with an XY truss driving mechanism, a six-axis mechanical arm arranged on the XY truss driving mechanism, an industrial camera arranged at the tail end of the six-axis mechanical arm and a line laser scanner, the XY truss driving mechanism and the six-axis mechanical arm drive the industrial camera to take pictures of different parts of an external automobile, and the line laser scanner scans an area to be coated of the automobile according to an image shot by the industrial camera.
2. The positioning system for automobile painting according to claim 1, characterized in that: the positioning system further comprises a control device, the control device is electrically connected with the positioning device, the control device splices a plurality of images shot by different parts of the automobile through the industrial camera into an integral automobile image, the line laser scanner scans the selected coating area according to the integral automobile image, and the control device converts the data scanned by the line laser scanner into a coating path.
3. The positioning system for automobile painting according to claim 2, characterized in that: the tail end of the six-axis manipulator is also provided with a spray gun, and the control device regulates the XY truss driving mechanism and the six-axis manipulator to drive the spray gun to carry out coating operation on the automobile according to a coating path.
4. The positioning system for automobile painting according to claim 1, characterized in that: the XY truss driving mechanism comprises a first vertical frame, a second vertical frame arranged in parallel with the first vertical frame, a reinforcing rod connected with the first vertical frame and the second vertical frame, a carrier arranged on the first vertical frame and the second vertical frame in a sliding mode, a first driving piece used for driving the carrier to move, a hanging plate arranged on the carrier in a sliding mode, and a base of a six-axis manipulator of a second driving piece used for driving the hanging plate to move, wherein the base is installed on the hanging plate, the automobile is located between the first vertical frame and the second vertical frame, and the automobile is located below the reinforcing rod and the carrier.
5. The positioning system for automobile painting according to claim 4, characterized in that: first grudging post, second grudging post all are equipped with the rack, and the rack extends the setting along the length direction of grudging post, and first driving piece sets up in the axle spare of carrier, sets up in two gears of axle spare, is used for driving the first motor of axle spare pivoted including rotating, and two gears of axle spare mesh the rack of two grudging posts respectively.
6. The positioning system for automobile painting according to claim 5, characterized in that: a first tension spring is arranged between the first vertical frame and the carrier frame and used for eliminating a meshing gap between the gear and the rack.
7. The positioning system for automobile painting according to claim 4, characterized in that: the second driving piece comprises a ball screw rotatably arranged on the carrier frame, a screw nut sleeved outside the ball screw in a threaded manner, and a second motor used for driving the ball screw to rotate, and the hanging plate is connected with the screw nut.
8. The positioning system for automobile painting of claim 7, characterized in that: and a second tension spring is arranged between the hanging plate and the carrier frame and used for eliminating a thread clearance between the ball screw and the screw nut.
9. The positioning system for automobile painting according to claim 4, characterized in that: the first vertical frame is provided with a first guide rail, the carrier frame is arranged on the first guide rail in a sliding mode, the carrier frame is provided with a clamping groove, an oil absorption piece which is abutted against the first guide rail is arranged in the clamping groove, the oil absorption piece is used for absorbing lubricating oil, and the lubricating oil absorbed by the oil absorption piece is used for lubricating relative sliding between the first guide rail and the carrier frame.
10. An automobile painting process, characterized by comprising the positioning system for automobile painting according to any one of claims 1 to 9, and further comprising the steps of:
moving the car after grinding and polishing to the lower part of an XY truss driving mechanism;
the XY truss driving mechanism and the six-axis manipulator drive the industrial camera to move, and the moving industrial camera is used for photographing different parts of the automobile below the XY truss driving mechanism;
splicing images of different parts of an automobile shot by an industrial camera into an entire automobile image;
selecting a region to be coated on a finished automobile image;
the XY truss driving mechanism and the six-axis manipulator drive the line laser scanner to perform area scanning on a selected area to be coated on the automobile;
calculating a coating path according to area scanning data of the line laser scanner;
an external coating mechanism automatically coats the automobile through a coating path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911380830.0A CN110976156A (en) | 2019-12-27 | 2019-12-27 | Positioning system for automobile coating and automobile coating process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911380830.0A CN110976156A (en) | 2019-12-27 | 2019-12-27 | Positioning system for automobile coating and automobile coating process |
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| CN110976156A true CN110976156A (en) | 2020-04-10 |
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| CN201911380830.0A Pending CN110976156A (en) | 2019-12-27 | 2019-12-27 | Positioning system for automobile coating and automobile coating process |
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| CN (1) | CN110976156A (en) |
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| CN112916260A (en) * | 2021-01-20 | 2021-06-08 | 合肥工业大学 | Series-parallel robot for linkage spraying of large-scale surface structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112388646A (en) * | 2020-10-13 | 2021-02-23 | 中铭谷智能机器人(广东)有限公司 | Intelligent paint spraying method for single sheet metal robot |
| CN112916260A (en) * | 2021-01-20 | 2021-06-08 | 合肥工业大学 | Series-parallel robot for linkage spraying of large-scale surface structure |
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