CN112007789A - Prefabricated welding seam coating robot - Google Patents
Prefabricated welding seam coating robot Download PDFInfo
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- CN112007789A CN112007789A CN202010769849.0A CN202010769849A CN112007789A CN 112007789 A CN112007789 A CN 112007789A CN 202010769849 A CN202010769849 A CN 202010769849A CN 112007789 A CN112007789 A CN 112007789A
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- workpiece
- spraying
- agv trolley
- camera
- coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- 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
- 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
- B05B12/124—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 distance between spray apparatus and target
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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)
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a prefabricated welding seam coating robot which comprises a coating manipulator arranged on an AGV trolley; the AGV trolley is self-navigation and can automatically run in a specified range according to system instructions; the coating manipulator is a six-axis robot, and a visual system and a spray gun are arranged on the hand part of the six-axis robot; the vision system comprises a camera and a laser range finder; the camera can identify the direction and the size of a target workpiece, the position information of the workpiece is sent to the AGV trolley through the computer, so that the AGV trolley moves towards the direction of the workpiece, the workpiece can be scanned to find out a spraying reference point, a spraying program is generated by the computer, and the shape, the size and the direction of the workpiece can be random; the laser range finder can measure the distance between the coating manipulator and the workpiece; the spray gun can spray the position of the workpiece to be sprayed according to a spraying program; the invention automatically searches and scans the workpiece and automatically sprays the workpiece, thereby having high spraying efficiency, good effect and lower cost.
Description
Technical Field
The invention relates to the field of coating manipulators, in particular to a prefabricated welding seam coating robot which can automatically find a target workpiece and spray the position of the workpiece to be sprayed according to a spraying program, and has the advantages of high spraying efficiency, good effect and lower cost.
Background
After the workpieces are produced, the workpieces are often required to be painted, the existing painting method is generally to manually paint the workpieces by using a spray gun, the efficiency is low, the painting effect is difficult to control, and the painting method is high in cost because some painting equipment is used for painting the workpieces.
Therefore, a prefabricated welding seam coating machine which can automatically find a target workpiece and spray the position of the workpiece needing to be sprayed according to a spraying program, is high in spraying efficiency, good in effect and low in cost is developed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the prefabricated welding seam coating robot which can automatically find a target workpiece and spray the position of the workpiece to be sprayed according to a spraying program, has high spraying efficiency and good effect and is low in cost.
In order to achieve the purpose, the invention adopts the technical scheme that: a prefabricated welding seam coating robot comprises a coating manipulator; the coating manipulator is arranged on the AGV; the coating manipulator is a six-axis robot, and a visual system and a spray gun are arranged on the hand part of the six-axis robot; the vision system comprises a camera and a laser range finder; the camera can identify the position and the size of a target workpiece, and sends the position information of the workpiece to the AGV trolley through the computer to enable the AGV trolley to move towards the direction of the workpiece, and the camera can also scan the workpiece to find out a spraying reference point and generate a spraying program through the computer; the laser range finder can measure the distance between the coating manipulator and the workpiece; the spray gun is connected with the paint box and can spray the position of the workpiece to be sprayed according to a spraying program.
Preferably, the vision system is located above the spray gun.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
according to the invention, the target workpiece is automatically found by the coating manipulator through the camera, the AGV drives the coating manipulator to reach the workpiece at a specified distance, then the camera scans the workpiece to find out the spraying reference point, the spraying program is generated by the computer, and finally the spray gun sprays the position of the workpiece to be sprayed according to the spraying program, so that the spraying efficiency is high, the effect is good, and the cost is low.
Drawings
The technical scheme of the invention is further explained by combining the accompanying drawings as follows:
FIG. 1 is a schematic view of a precast weld joint coating robot according to the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
wherein: 1. an AGV trolley; 2. a coating manipulator; 3. a vision system; 4. a spray gun; 5. a paint box; 6. a workpiece; 31. a camera; 32. a laser range finder.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the prefabricated weld seam coating robot comprises an AGV trolley 1, wherein the AGV trolley 1 is self-guided and can independently run in a specified range according to system instructions; the AGV comprises an AGV trolley 1, and is characterized in that a coating manipulator 2 is arranged on the AGV trolley 1, the coating manipulator 2 is a six-axis robot, a visual system 3 and a spray gun 4 are arranged on the hand part of the robot, and the spray gun 4 is positioned below the visual system 3; the vision system 3 comprises a camera 31 and a laser range finder 32; the camera 31 can identify the direction and the size of the target workpiece 6, and sends the position information of the workpiece to the AGV trolley through the computer to enable the AGV trolley to move towards the workpiece direction, and the camera 31 can also scan a circle of the workpiece to find out a spraying reference point and generate a spraying program through the computer; the position of the workpiece 6 may be fixed or random; the laser distance measuring device 32 can measure the distance between the coating manipulator 2 and the workpiece 6; the spray gun 4 is connected with the paint box 5 and can spray the position of the workpiece 6 to be sprayed according to a spraying program.
In this embodiment, the spray gun 4 and the paint box 5 may be replaced by a welding gun to perform welding work on the workpiece 6.
The working principle is as follows: firstly, the coating manipulator 2 automatically searches for a target workpiece 6 through the camera 31, after the workpiece 6 is found, workpiece position information is sent to the AGV trolley 1 through the computer, so that the AGV trolley 1 moves towards the workpiece 6, when the laser range finder 32 detects that the coating manipulator 2 reaches a specified distance from the workpiece 6, the AGV trolley 1 stops moving, then the camera 31 scans the workpiece 6, a spraying reference point is found out, a spraying program is generated by the computer, and then the spray gun 4 sprays the position of the workpiece 6 to be sprayed according to the spraying program.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
according to the invention, the target workpiece 6 is automatically found by the coating manipulator 2 through the camera 31, the AGV trolley 1 drives the coating manipulator to reach the workpiece for a specified distance, then the camera 31 scans the workpiece 6, a spraying reference point is found out, a spraying program is generated by a computer, and finally the spray gun 4 sprays the position of the workpiece 6 needing to be sprayed according to the spraying program, so that the spraying efficiency is high, the effect is good, and the cost is low.
The above-mentioned embodiments are merely illustrative of the technical idea and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the scope of the present invention.
Claims (2)
1. The utility model provides a prefabricated welding seam application robot which characterized in that: comprises a coating manipulator; the coating manipulator is arranged on the AGV; the coating manipulator is a six-axis robot, and a visual system and a spray gun are arranged on the hand part of the six-axis robot; the vision system comprises a camera and a laser range finder; the camera can identify the position and the size of a target workpiece, and sends the position information of the workpiece to the AGV trolley through the computer to enable the AGV trolley to move towards the direction of the workpiece, and the camera can also scan the workpiece to find out a spraying reference point and generate a spraying program through the computer; the laser range finder can measure the distance between the coating manipulator and the workpiece; the spray gun is connected with the paint box and can spray the position of the workpiece to be sprayed according to a spraying program.
2. The AGV cart of claim 1, wherein: the vision system is located above the spray gun.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010769849.0A CN112007789A (en) | 2020-08-04 | 2020-08-04 | Prefabricated welding seam coating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010769849.0A CN112007789A (en) | 2020-08-04 | 2020-08-04 | Prefabricated welding seam coating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112007789A true CN112007789A (en) | 2020-12-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010769849.0A Pending CN112007789A (en) | 2020-08-04 | 2020-08-04 | Prefabricated welding seam coating robot |
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| CN (1) | CN112007789A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692837A (en) * | 2021-01-11 | 2021-04-23 | 成都海瑞斯轨道交通设备有限公司 | Welding robot system and welding method for overhauling wagon body of railway wagon |
| CN113600358A (en) * | 2021-07-29 | 2021-11-05 | 五邑大学 | Mobile robot marking device for binocular vision detection of defects |
| CN113814098A (en) * | 2021-09-07 | 2021-12-21 | 邱慎炳 | Automatic perception spraying intelligent robot |
| CN114178158A (en) * | 2021-12-16 | 2022-03-15 | 太仓市天丝利塑化有限公司 | Rapid surface spraying process for automobile steering wheel ornament |
| CN114215313A (en) * | 2021-12-02 | 2022-03-22 | 广东博智林机器人有限公司 | Parapet spraying control method and system and parapet spraying robot |
| CN116099692A (en) * | 2023-02-27 | 2023-05-12 | 山东泰沃昆智能装备有限公司 | Multipurpose intelligent robot based on 3D visual navigation and spraying method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692837A (en) * | 2021-01-11 | 2021-04-23 | 成都海瑞斯轨道交通设备有限公司 | Welding robot system and welding method for overhauling wagon body of railway wagon |
| CN113600358A (en) * | 2021-07-29 | 2021-11-05 | 五邑大学 | Mobile robot marking device for binocular vision detection of defects |
| CN113814098A (en) * | 2021-09-07 | 2021-12-21 | 邱慎炳 | Automatic perception spraying intelligent robot |
| CN114215313A (en) * | 2021-12-02 | 2022-03-22 | 广东博智林机器人有限公司 | Parapet spraying control method and system and parapet spraying robot |
| CN114215313B (en) * | 2021-12-02 | 2023-09-12 | 广东博智林机器人有限公司 | Parapet spraying control method, parapet spraying control system and parapet spraying robot |
| CN114178158A (en) * | 2021-12-16 | 2022-03-15 | 太仓市天丝利塑化有限公司 | Rapid surface spraying process for automobile steering wheel ornament |
| CN116099692A (en) * | 2023-02-27 | 2023-05-12 | 山东泰沃昆智能装备有限公司 | Multipurpose intelligent robot based on 3D visual navigation and spraying method thereof |
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Application publication date: 20201201 |
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