CN112058559B - Coating robot and vehicle body coating method - Google Patents
Coating robot and vehicle body coating method Download PDFInfo
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- CN112058559B CN112058559B CN202011068433.2A CN202011068433A CN112058559B CN 112058559 B CN112058559 B CN 112058559B CN 202011068433 A CN202011068433 A CN 202011068433A CN 112058559 B CN112058559 B CN 112058559B
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- 238000000576 coating method Methods 0.000 title claims abstract description 218
- 239000011248 coating agent Substances 0.000 title claims abstract description 199
- 239000012744 reinforcing agent Substances 0.000 claims abstract description 101
- 239000013527 degreasing agent Substances 0.000 claims abstract description 73
- 238000005237 degreasing agent Methods 0.000 claims abstract description 72
- 238000001514 detection method Methods 0.000 claims abstract description 55
- 210000000707 wrist Anatomy 0.000 claims abstract description 12
- 230000002787 reinforcement Effects 0.000 claims description 12
- 239000003351 stiffener Substances 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 23
- 238000000034 method Methods 0.000 description 13
- 238000012937 correction Methods 0.000 description 6
- 238000007689 inspection Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 241001270131 Agaricus moelleri Species 0.000 description 4
- 238000004026 adhesive bonding Methods 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002904 solvent Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
-
- 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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
- B05D7/14—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials to metal, e.g. car bodies
Abstract
The invention relates to the technical field of automatic coating and discloses a coating robot and a vehicle body coating method, wherein the coating robot comprises a body, a coating gun valve assembly and an industrial personal computer, the coating gun valve assembly is arranged on the body, and the coating gun valve assembly is electrically connected with the industrial personal computer; the body comprises a base, a waist seat, a big arm, a small arm and a mechanical wrist which are connected in sequence; the coating gun valve assembly comprises a first support, a detection device, a degreasing agent coating gun valve and a reinforcing agent coating gun valve, wherein the first support is fixed on the mechanical wrist, the detection device, the degreasing agent coating gun valve and the reinforcing agent coating gun valve are respectively connected with the first support, and the detection device is electrically connected with the industrial computer. By adopting the coating robot and the vehicle body coating method, the coating of the degreasing agent and the reinforcing agent of the vehicle body can be synchronously performed, the automatic detection of the coating quality is realized through the detection device, the production takt occupied by the coating process is reduced, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of automatic coating, in particular to a coating robot and a vehicle body coating method.
Background
The automotive body coating process includes degreasing agent coating and reinforcing agent coating. The vehicle body degreasing agent is a solvent which volatilizes rapidly, mainly cleans a vehicle frame, and has no quality requirement on the coating width; the vehicle body reinforcing agent is a solvent for bonding the windshield and the vehicle body frame, and has quality requirements on the coating width, the coating track and the coating uniformity. Currently, a circle of degreasing agent and reinforcing agent are required to be coated on the front fender of the largest vehicle type for about 7s and 19s respectively. At the time of processing in the 70JPH tact time, the vehicle body is stationary for about 33s, the vehicle body vision alignment is required for about 12s, and the coating is required to be performed while the vehicle body is stationary and after the vision alignment. The degreasing agent and the reinforcing agent are sequentially coated separately, so that the production takt of the existing vehicle model 70JPH cannot be met, and the production efficiency is low.
Disclosure of Invention
The invention aims to solve the technical problems that: the degreasing agent and the reinforcing agent are coated separately, which takes a long time and affects the production efficiency.
In order to solve the technical problems, the invention provides a coating robot which comprises a body, a coating gun valve assembly and an industrial personal computer, wherein the coating gun valve assembly is arranged on the body and is electrically connected with the industrial personal computer; the body comprises a base, a waist seat, a big arm, a small arm and a mechanical wrist which are connected in sequence; the coating gun valve assembly is mounted on the mechanical wrist;
the coating gun valve assembly comprises a first support, a detection device, a degreasing agent coating gun valve and a reinforcing agent coating gun valve, wherein the first support is fixed on the mechanical wrist, the detection device, the degreasing agent coating gun valve and the reinforcing agent coating gun valve are respectively connected with the first support, and the detection device is electrically connected with the industrial control computer.
When coating is carried out, the coating gun valve component is driven to carry out coating operation activity within a certain range from the surface of the vehicle body through the movement of the body; the degreasing agent coating gun valve is used for coating degreasing agents on the vehicle body, the reinforcing agent coating gun valve is used for coating reinforcing agents on the vehicle body, the detection device is used for measuring the coating quality of the vehicle body, and the industrial personal computer is used for processing detection data obtained by the detection device. According to the coating robot provided by the invention, the coating of the degreasing agent and the reinforcing agent of the vehicle body can be synchronously performed, the automatic detection of the coating quality of the reinforcing agent is realized through the detection device, the production efficiency is improved, and the production tact occupied by the coating and reinforcing agent detection procedures is reduced.
Further, the degreasing agent coating gun valve comprises a second bracket, a first cylinder, a degreasing agent gun head seat and a degreasing agent gun head which are sequentially connected; the second support is connected with the first support.
Further, the reinforcing agent coating gun valve comprises a third bracket, a second cylinder, a reinforcing agent gun head seat and a reinforcing agent gun head which are sequentially connected; the third bracket is connected with the first bracket.
Further, the detection device comprises a fourth support, a camera and a light source, wherein the fourth support is connected with the first support, the camera is fixed on the fourth support in a direction pointing to the lower end of the reinforcing agent coating gun valve, and the light source is arranged at one end of a lens of the camera.
Further, the degreasing agent coating gun valve further comprises a first linear guide rail, a fixed part of the first linear guide rail is connected with the second bracket, and a movable part of the first linear guide rail is connected with the degreasing agent gun head seat.
Further, the reinforcement agent coating gun valve further comprises a second linear guide rail, a fixing piece of the second linear guide rail is connected with the third support, and a movable piece of the second linear guide rail is connected with the reinforcement agent gun head seat.
Further, the light source is a ring flash.
Further, the reinforcing agent coating gun valve is arranged between the detection device and the degreasing agent coating gun valve.
Compared with the prior art, the coating robot provided by the invention has the beneficial effects that: the robot drives the coating gun valve assembly to carry out coating operation, the coating gun valve assembly integrates the detection device, the degreasing agent coating gun valve and the reinforcing agent coating gun valve, the synchronous coating of the degreasing agent and the reinforcing agent of the vehicle body can be realized, the automatic detection of the coating quality of the reinforcing agent is realized through the detection device, the production takt occupied by the coating and reinforcing agent detection procedures is reduced, and the production efficiency is improved.
In another aspect, the present invention provides a vehicle body coating method, the coating method comprising:
controlling a vision device to acquire a vehicle body image;
receiving a vehicle body image sent by the vision device, and calculating vehicle body frame space position data according to the vehicle body image;
calculating the space offset of the space position data of the vehicle body frame and preset template data;
correcting the coating track of the coating robot according to the space offset to obtain an actual coating track of the vehicle body;
according to the actual coating track of the vehicle body, simultaneously coating degreasing agent and reinforcing agent on a vehicle frame of the vehicle body respectively;
and detecting the reinforcing agent on the coated vehicle body frame.
Further, the step of detecting the coated vehicle windshield frame includes:
acquiring an image of a coated vehicle body windshield frame;
identifying a contour of a stiffener in an image of the vehicle body windshield frame;
extracting feature data according to the boundary of the outline;
calculating the width value of the reinforcing agent on the frame of the windshield of the automobile body according to the characteristic data, or calculating the similarity between the image of the frame of the windshield of the automobile body and a preset image template according to the characteristic data;
and comparing the width value or the similarity with a preset value, and judging whether the coating of the reinforcing agent is qualified or not.
According to the vehicle body coating method, the degreasing agent and the reinforcing agent are synchronously coated on the vehicle body automatically according to the position information of the vehicle body and the preset coating track, and the quality of the coated vehicle body is detected automatically, so that the production takt occupied by vehicle body coating is reduced, and the production efficiency is improved.
Drawings
Fig. 1 is a schematic structural view of a coating robot in an embodiment of the present invention;
FIG. 2 is a schematic illustration of the construction of a coating gun valve assembly in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view showing the structure of a degreasing agent coating gun valve in the embodiment of the invention;
FIG. 4 is a schematic diagram of a detection device according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a position distribution of a teaching photographing point on a top view of a vehicle body in an embodiment of the invention;
wherein, 1-body, 2-coating gun valve assembly; 11-a base, 12-a waist seat, 13-a big arm, 14-a small arm and 15-a mechanical wrist; 21-a first bracket, 22-a detection device, 23-a degreasing agent coating gun valve and 24-a reinforcing agent coating gun valve; 231-second bracket, 232-first cylinder, 233-degreasing agent gun head seat, 234-degreasing agent gun head; 235-a first linear guide, 2331-an upper plate, 2332-a support, 2333-a lower plate, 2351-a fixed member, 2352-a movable member; 221-fourth rack, 222-camera, 223-light source.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the present invention as indicated by the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1, the embodiment of the invention provides a coating robot, which comprises a body 1, a coating gun valve assembly 2 and an industrial personal computer, wherein the industrial personal computer is not shown in the figure, and the body 1 comprises a base 11, a waist seat 12, a big arm 13, a small arm 14 and a mechanical wrist 15 which are sequentially connected from the lower part; the coating gun valve assembly 2 is mounted on a robot wrist 15. The body 1 is a multi-joint mechanical arm and is used for driving and adjusting the position of the coating gun valve assembly 2, all parts of the body 1 are connected through rotation, and the position of the coating gun valve assembly 2 can be adjusted in multiple angles and multiple directions so as to adapt to the shape of a vehicle body and the coating of different positions. Therefore, the automatic control of the coating gun valve assembly 2 can be realized only by presetting the motion trail of the body 1 according to the coating position requirement of the coating gun valve assembly 2, and the effects of reducing manpower and material resources and increasing production efficiency are achieved.
The coating gun valve assembly 2 includes a first bracket 21, a detecting device 22, a degreasing agent coating gun valve 23 and a reinforcing agent coating gun valve 24, wherein the first bracket 21 is used for fixing the coating gun valve assembly 2 on the mechanical wrist 15, and meanwhile, the first bracket 21 is also used for installing the detecting device 22, the degreasing agent coating gun valve 23 and the reinforcing agent coating gun valve 24. The degreasing agent application gun valve 23 is used to apply degreasing agent to the vehicle body, the reinforcing agent application gun valve 24 is used to apply reinforcing agent to the vehicle body, and the detection device 22 is used to detect the application quality of the vehicle body. When the automobile body is coated, degreasing agent is coated firstly to remove oil stains, dust and other foreign matters on the automobile body, so that the coating quality of the reinforcing agent is improved; the reinforcing agent is used for bonding the vehicle frame and the windshield, and the coating quality of the reinforcing agent directly influences the water leakage prevention performance and the anti-falling performance of the windshield, so that the detection of the coating quality of the reinforcing agent is necessary. The detecting device 22 is used for detecting the coating quality of the reinforcing agent, and transmitting the obtained detection information to the industrial personal computer, the industrial personal computer processes the detection data and judges whether the coating quality is qualified, the detecting device 22, the degreasing agent coating gun valve 23 and the reinforcing agent coating gun valve 24 are installed together, the purpose of following detection can be achieved, the detection is realized while coating, and thus, the cost of manual detection can be saved, and the time occupied by a coating process can be prolonged.
Based on the above scheme, the robot body 1 drives the gluing gun valve assembly 2 to carry out coating operation, the coating gun valve assembly 2 integrates the detection device 22, the degreasing agent coating gun valve 23 and the reinforcing agent coating gun valve 24, so that the synchronous coating of the degreasing agent and the reinforcing agent of the vehicle body can be realized, the automatic detection of the gluing quality is realized through the detection device 22 and the industrial personal computer, the production takt occupied by a gluing process is reduced, and the production efficiency is improved.
As shown in fig. 3, in some embodiments of the present invention, the degreasing agent application gun valve 23 includes a second bracket 231, a first cylinder 232, a degreasing agent gun head seat 233, and a degreasing agent gun head 244, which are sequentially connected; the second bracket 231 is connected to the first bracket 21 for fixing the degreasing agent application gun valve 23 to the first bracket 21.
Specifically, referring to fig. 3, a cylinder of the first cylinder 232 is fixed on the second bracket 231, a piston rod of the first cylinder 232 is connected with an upper end of the degreasing agent gun head seat 233, the degreasing agent gun head 244 is mounted at a lower end of the degreasing agent gun head seat 233, and the degreasing agent gun head 244 can be driven to move up and down by the expansion and contraction of the first cylinder 232. It is understood that when the automobile body is coated, the distance between the coated gun head and the automobile body is kept to be a constant value in the moving process, so that the coating uniformity is facilitated, and the coating quality is improved; the coating distance is ensured to be a certain value to be complex by setting the motion track of the body 1, and the time consumed by the body 1 in the complex track motion is long, so that the production efficiency is not improved; the degreasing agent gun head 244 moves to adapt to the shape of the change of the vehicle body by setting the expansion and contraction of the first cylinder 232, and the distance between the degreasing agent gun head 244 and the vehicle body is ensured to be at a fixed value, so that the complexity of the movement track of the body 1 can be reduced, the track change of the degreasing agent gun head in a smaller range can be avoided, and the production efficiency can be improved.
Referring to fig. 3, the degreasing agent gun mount 233 includes an upper plate 2331, four columns 2332 and a lower plate 2333, one ends of the four columns 2332 are connected with the upper plate 2331, the other ends are connected with the lower plate 2333, the space of the middle part of the degreasing agent gun mount 233, which is supported by the four columns 2332, is used to pass through a degreasing agent conveying pipeline, the lower plate 2333 has a through hole, the degreasing agent gun 244 is communicated with the through hole, and the degreasing agent conveying pipeline conveys the degreasing agent to the degreasing agent gun 244 through the through hole.
In addition, referring to fig. 3, the degreasing agent coating gun valve 23 further includes a first linear guide 235, a fixed member 2351 of the first linear guide 235 is connected to the second bracket 231, and a movable member 2352 of the first linear guide 235 is connected to an upper plate 2331 of the degreasing agent gun head seat 233. The first linear guide 235 prevents the piston of the first cylinder 232 from rotating when it expands and contracts, so that the degreasing agent gun mount 233 only moves up and down and does not rotate, thus enabling the degreasing agent coating gun valve 23 to move more stably and better and ensuring the coating quality.
In some embodiments of the present invention, the reinforcement applicator gun valve comprises a third bracket, a second cylinder, a reinforcement gun mount and a reinforcement gun head connected in sequence; the third bracket is connected with the first bracket. The third bracket, the second cylinder, the stiffener gun mount and the stiffener gun head are similar to the second bracket 231, the first cylinder 232, the stiffener gun mount 233 and the stiffener gun head 244 in the degreasing agent coating gun valve 23, respectively, and are not repeated herein.
In addition, the reinforcing agent coating gun valve further comprises a second linear guide rail, a fixing piece of the second linear guide rail is connected with the third support, and a movable piece of the second linear guide rail is connected with the reinforcing agent gun head seat. The structure and function of the second linear guide are the same as those of the first linear guide 235, and the connection manner of each part is the same as that of the first linear guide 235, and will not be repeated here.
In some embodiments of the present invention, as shown in fig. 2 and 4, the detecting device 22 includes a fourth bracket 221, a camera 222, and a light source 223, the fourth bracket 221 is connected to the first bracket 21, the camera 222 is fixed to the fourth bracket 221 in a direction pointing to a lower end of the reinforcement agent coating gun valve 24, and the light source 223 is connected to an end of the camera 222 having a head. The detecting device 22 is used for detecting the coating quality of the reinforcing agent, so that the camera 222 thereof is directed to the position of the lower end coating of the reinforcing agent coating gun valve 24. Wherein, the camera 222 is a high-speed high-frame-rate color camera, the light source 223 is a high-brightness stroboscopic light source, and the detection device 22 is mounted on the coating gun valve assembly 2 to realize real-time following detection, so that the detection step does not occupy the production takt, and the production efficiency is improved.
Specifically, since the reinforcing agent is black, when the reinforcing agent is coated on the painted surface of the black vehicle body, the color difference between the reinforcing agent just coated and the vehicle body is not obvious, the photographing inspection mode of the common camera is difficult to distinguish the reinforcing agent from the vehicle body, and quality judgment cannot be performed, in the embodiment, the high-brightness strobe light source 233 is adopted, different gray scales of the color of the black reinforcing agent and the color of the black vehicle body are made by instantly emitting illumination energy several times higher than that of the common normal light, and the color camera 222 performs difference processing through the adjacent pixel mean value method to identify the different gray scales so as to detect the black reinforcing agent, so that coating quality inspection is realized. Of course, when coating other color vehicle bodies, the color difference between the reinforcing agent and the vehicle body is more obvious than that of a black vehicle body, and the inspection of the coating quality can also be realized.
As shown in fig. 4, the light source 223 is an annular flash lamp, and the light source 223 is installed at the head of the camera 222, so that the illumination distribution of the annular light source can be more uniform, which is beneficial to the subsequent image processing.
In addition, the industrial personal computer has the function of internal triggering clock control, can realize high-speed stable graph acquisition, and can reach 90 graphs/s. If the industrial personal computer controls the photographing time sequence according to the external trigger signal, the signal transmission speed is low, and the stable high-speed photographing function cannot be realized.
In some embodiments of the present invention, as shown in fig. 2, a reinforcing agent coating gun valve 24 is provided between the detection device 22 and the degreasing agent coating gun valve 23. In the automobile coating process, degreasing agent coating is firstly carried out, then reinforcing agent coating is carried out, and then the coating quality of the reinforcing agent is detected, so that the coating process more accords with the automobile body.
According to the coating robot provided by the embodiment of the invention, the coating operation is carried out by driving the coating gun valve assembly 2 through the robot body 1, the coating gun valve is integrated with the detection device 22, the degreasing agent coating gun valve 23 and the reinforcing agent coating gun valve 24, the synchronous coating of the degreasing agent and the reinforcing agent of the vehicle body can be realized, the automatic detection of the coating quality is realized through the detection device 22, the production takt occupied by a coating procedure is reduced, and the production efficiency is improved.
In addition, the embodiment of the invention also provides a vehicle body coating method, which uses the coating robot in the embodiment, and comprises the following steps:
s101: controlling a vision device to acquire a vehicle body image;
in the embodiment of the invention, the vision device acquires the car body image in a mode of combining 3D laser scanning and 2D photographing.
Specifically, in the embodiment of the invention, the 3D laser scanning and the 2D camera shooting are matched, and the data are mutually transmitted and compared, so that the positioning data of the vehicle body in space can be measured. In the embodiment of the invention, the visual device is controlled to move to the teaching photographing point position to photograph the vehicle body, wherein the 2D camera photographing is to photograph only two characteristic points (such as hole positions of glass mounting glue nails), and the 3D laser scans at least 3 positions of the vehicle frame (3 positions of each scanning vehicle frame in front and back baffle).
For example, in one embodiment, the flow of the front fender visual positioning is as follows:
as shown in fig. 5, the robot gripper for guiding visual photographing is moved to a teaching photographing point position with 3 visual devices, namely, A, B, C, D characteristic point positions preset on a frame in the figure;
step one: the robot gives out a trigger signal, and the industrial personal computer photographs B, C points 2D (obtains X\Y\rz compensation amount information);
step two: the robot moves to the correction position, a trigger signal is given, and the industrial personal computer performs 3D photographing on A, C, D points (obtaining RX\RY\Z compensation amount information);
step three: the robot moves to the correction position, a trigger signal is given, and the industrial personal computer photographs B, C points in 2D (acquires X\Y\rz compensation quantity information);
step four: the robot moves to the correction position, a trigger signal is given, and the industrial personal computer photographs A, C, D points 3D (obtains RX\RY\Z compensation amount information);
step five: the robot moves to the correction position, a trigger signal is given, and the industrial personal computer photographs B, C points in 2D (acquires X\Y\rz compensation quantity information);
and finally, comprehensively calculating the offset to obtain A, B, C, D space coordinate offset, and outputting the A, B, C, D space coordinate offset to a coating robot for coating position correction.
It should be noted that, as shown in fig. 5, the positioning process of the rear gear is similar to that of the front gear, and the E, F, G point space coordinate offset of the rear gear is finally obtained and output to the coating robot for coating position correction.
S102: receiving a vehicle body image sent by the vision device, and calculating vehicle body frame space position data according to the vehicle body image;
in the embodiment of the invention, further, the vehicle body frame space position data comprises vehicle body front vehicle stop frame space position data and vehicle body rear vehicle stop frame space position data.
According to the embodiment of the invention, the preset vehicle body characteristic holes can be identified from the vehicle body image by calculating the vehicle body frame space position data according to the vehicle body image, the coordinate information of the vehicle body characteristic holes is obtained, and the vehicle body frame space position data is obtained by comprehensively calculating the coordinate information of a plurality of vehicle body characteristic holes, wherein the vehicle body frame space position data comprises the vehicle body front vehicle stop frame space position data and the vehicle body rear vehicle stop frame space position data. In a specific embodiment, the vehicle body image comprises a 2D shot image and a 3D scanning laser imaging, and the precision of the vehicle body frame space position data is improved by adopting a mode of matching 3D laser scanning with 2D shooting.
S103: calculating the space offset of the space position data of the vehicle body frame and preset template data;
in the embodiment of the invention, step S3 is performed with comparison between the vehicle frame space position data and the preset template data to calculate the space offset between the actual vehicle frame positioning and the standard positioning, so that the preset coating track is corrected by the space offset later, and the coating robot executes the coating operation according to the corrected coating track.
S104: and correcting the coating track of the coating robot according to the space offset to obtain the actual coating track of the vehicle body.
The vehicle body coating is performed in a pipeline operation, each vehicle body is stopped at a preset position during coating, but the actual position coordinates of each vehicle body stopping time deviate from the preset theoretical position coordinates, so that the preset vehicle body coating track needs to be adjusted, and the deviation is eliminated to ensure the coating accuracy. The actual position information of the vehicle body frame after the vehicle body stops is obtained, the actual position information is compared with preset theoretical coordinates, and the actual coating track of the vehicle body can be calculated according to the error between the actual coordinates and the theoretical coordinates, so that the error is eliminated.
S105: and respectively and simultaneously coating degreasing agent and reinforcing agent on the vehicle frame of the vehicle body according to the actual coating track of the vehicle body.
The application is performed by the application robot in the above embodiment, and the simultaneous application of the degreasing agent and the reinforcing agent can be realized.
S106: detecting the coated vehicle frame of the vehicle body; by the detection device 22 in the above embodiment, the effect of detection while coating can be achieved, and the detection device 22 detects in real time following the degreasing agent coating gun valve 24.
In addition, in the embodiment of the invention, if the detection is unqualified, the coating alarm is given, the coating robot returns to the original point, the vehicle body moves out of the coating area to the PPA area, and then the manual coating is carried out.
The step S106 specifically includes the following substeps:
s106a: acquiring an image of a coated vehicle body windshield frame;
in this embodiment, the method of capturing a visible light image by a camera, identifying the image, and calculating the width of the reinforcing agent is performed, where the camera 222 is a high-speed high-frame-rate color camera, and the light source 223 is a high-brightness strobe light source, and this method has the following advantages: when the reinforcing agent is coated on the painted surface of the black automobile body, the color difference between the reinforcing agent just coated and the automobile body is not obvious, the two are difficult to distinguish in a photographing inspection mode of a common camera, and quality judgment cannot be performed. Of course, when coating other color vehicle bodies, the color difference between the reinforcing agent and the vehicle body is more obvious than that of a black vehicle body, and the inspection of the coating quality can also be realized.
S106b: identifying a contour of the stiffener in the image;
the contour of the reinforcing agent is identified to confirm the covering area of the reinforcing agent, the width value of the range needing to be identified in the image can be set first, and then the contour boundary of the reinforcing agent is identified in the set range, so that the calculation can be reduced, and the identification speed can be increased. The camera 222 is connected to the industrial personal computer in this embodiment, and the industrial personal computer recognizes after receiving the image of the camera 222, so as to determine the contour of the reinforcing agent.
S106c: extracting feature data according to the boundary of the contour of the reinforcing agent in the image; according to the contour boundaries of the reinforcing agent obtained in step S104b, feature data between the boundaries are extracted, specifically, difference processing is performed on the image information by a neighboring pixel mean method, the region of the reinforcing agent in the image is identified, and the boundary feature data of the reinforcing agent is extracted.
Since the reinforcing agent is black, after the coating, the color difference between the black reinforcing agent and the black vehicle body paint surface is not obvious, and the reinforcing agent area and the vehicle body are difficult to distinguish in a common camera photographing inspection mode, so that quality judgment cannot be performed. In this embodiment, the highlighting strobe light source 223 is adopted, and the color of the black reinforcing agent and the different gray scales of the color of the black vehicle body are obtained by instantly emitting illumination energy several times higher than that of the normal light, and the color camera 222 obtains the image and then performs difference processing through the adjacent pixel mean value method to identify the different gray scales so as to identify the black reinforcing agent.
S106d: calculating the width value of the reinforcing agent on the coated vehicle body windshield frame according to the characteristic data extracted in the step S104c, and calculating the similarity between the image of the vehicle body windshield frame and a preset image template according to the characteristic data extracted in the step S104 c; the method comprises the following steps:
dividing detection intervals of the reinforcing agent areas according to preset measuring point intervals;
calculating the coating width of the reinforcing agent interval of each detection interval according to the boundary characteristic data;
calculating the similarity of the images of the reinforcing agent interval of each detection interval according to the boundary characteristic data;
calculating according to the coating width of each reinforcing agent interval to obtain the coating width of the reinforcing agent;
and comparing each stiffener interval image with a preset image template to calculate and obtain a similarity value.
It should be noted that, the reinforcing agent region is divided into a plurality of segments according to preset measuring point intervals in the image, the measuring point intervals can be set according to the requirement, and the size of the measuring point intervals determines the measuring precision. In quality detection, the application width of the reinforcing agent in a certain stage can be obtained by setting and averaging the application widths of the reinforcing agent in a plurality of stages, and then the application width of the reinforcing agent in the stage is compared with a preset width threshold range to obtain an application quality detection result.
In this embodiment, the detection device 22 detects the spot (the area not coated with the reinforcing agent) coated with the reinforcing agent in addition to the width of the reinforcing agent, and the principle of the spot detection is to compare the coating acquired image photographed by the detection camera with the preset template coating image to obtain the similarity.
S106e: and (4) comparing the width value and the similarity calculated in the step S104d with respective preset values respectively, and judging whether the coating of the reinforcing agent is qualified or not. The width of the vehicle body reinforcing agent coating is an important factor of the coating quality, and different reinforcing agent preset values can be set for different vehicle types so as to adapt to detection of different vehicle types. When one of the width value and the similarity does not reach the standard, that is, it is determined that the coating is not qualified, the next comparison is not required, and the comparison sequence of the width value and the similarity can be set by itself. Of course, if only the width value or the similarity is detected to meet the production requirement, only one of the data may be detected, which is not limited by the embodiment of the present invention.
According to the vehicle body coating method provided by the embodiment of the invention, the degreasing agent and the reinforcing agent are automatically and synchronously coated on the vehicle body according to the position information of the vehicle body and the preset coating track, and the quality detection is automatically carried out on the coated vehicle body, so that the production takt occupied by the vehicle body coating is reduced, and the production efficiency is improved.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (9)
1. The coating robot is characterized by comprising a body, a coating gun valve assembly and an industrial personal computer, wherein the coating gun valve assembly is arranged on the body and is electrically connected with the industrial personal computer; the body comprises a base, a waist seat, a big arm, a small arm and a mechanical wrist which are connected in sequence; the coating gun valve assembly is mounted on the mechanical wrist;
the coating gun valve assembly comprises a first bracket, a detection device, a degreasing agent coating gun valve and a reinforcing agent coating gun valve, wherein the first bracket is fixed on the mechanical wrist;
the reinforcing agent coating gun valve is arranged between the detection device and the degreasing agent coating gun valve;
the system comprises a vehicle body, a visual device, a camera controller and a camera controller, wherein the visual device obtains a vehicle body image in a mode of matching 3D laser scanning and 2D camera shooting, a plurality of teaching shooting points are arranged on the vehicle body, and the teaching shooting points comprise a point A, a point B, a point C and a point D; the visual device is controlled to move to the teaching shooting point positions to shoot the vehicle body, the 2D camera shoots two teaching shooting point positions, and the 3D laser scans at least three teaching shooting point positions;
and identifying preset vehicle body characteristic holes from the vehicle body image, acquiring coordinate information of the vehicle body characteristic holes, and comprehensively calculating according to the coordinate information of a plurality of vehicle body characteristic holes to obtain vehicle body frame space position data.
2. The coating robot of claim 1, wherein the degreasing agent coating gun valve comprises a second bracket, a first cylinder, a degreasing agent gun head seat and a degreasing agent gun head which are sequentially connected; the second support is connected with the first support.
3. The coating robot of claim 1, wherein the reinforcement gun valve comprises a third bracket, a second cylinder, a reinforcement gun head seat and a reinforcement gun head connected in sequence; the third bracket is connected with the first bracket.
4. The coating robot according to claim 1, wherein the detecting device includes a fourth bracket connected to the first bracket, a camera fixed to the fourth bracket in a direction directed to a lower end of the reinforcement coating gun valve, and a light source provided at one end of a lens of the camera.
5. The coating robot of claim 2, wherein the degreaser coating gun valve further comprises a first linear guide, a fixed member of the first linear guide is connected to the second bracket, and a movable member of the first linear guide is connected to the degreaser gun mount.
6. The coating robot of claim 3, wherein the reinforcement gun valve further comprises a second linear guide, a fixed member of the second linear guide is connected to the third bracket, and a movable member of the second linear guide is connected to the reinforcement gun mount.
7. The coating robot of claim 4, wherein the light source is an annular flash.
8. A vehicle body coating method, characterized in that the vehicle body coating method employs the coating robot according to any one of claims 1 to 7, the coating method comprising:
controlling a vision device to acquire a vehicle body image;
receiving a vehicle body image sent by the vision device, and calculating vehicle body frame space position data according to the vehicle body image;
calculating the space offset of the space position data of the vehicle body frame and preset template data;
correcting the coating track of the coating robot according to the space offset to obtain an actual coating track of the vehicle body;
according to the actual coating track of the vehicle body, simultaneously coating degreasing agent and reinforcing agent on a vehicle frame of the vehicle body respectively;
and detecting the reinforcing agent on the coated vehicle body frame.
9. The coating method according to claim 8, wherein the step of detecting the reinforcing agent on the vehicle body frame after the coating comprises:
acquiring an image of a coated vehicle body windshield frame;
identifying a contour of a stiffener in an image of the vehicle body windshield frame;
extracting feature data according to the boundary of the outline;
calculating the width value of the reinforcing agent on the frame of the windshield of the automobile body according to the characteristic data, or calculating the similarity between the image of the frame of the windshield of the automobile body and a preset image template according to the characteristic data;
and comparing the width value or the similarity with a preset value, and judging whether the coating of the reinforcing agent is qualified or not.
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| CN114669441B (en) * | 2022-03-16 | 2023-04-18 | 广汽本田汽车有限公司 | Mounting equipment and assembly line |
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