CN112337678A - Automatic spraying system and method of robot spray gun based on vision deviation rectifying technology - Google Patents
Automatic spraying system and method of robot spray gun based on vision deviation rectifying technology Download PDFInfo
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- CN112337678A CN112337678A CN202011131338.2A CN202011131338A CN112337678A CN 112337678 A CN112337678 A CN 112337678A CN 202011131338 A CN202011131338 A CN 202011131338A CN 112337678 A CN112337678 A CN 112337678A
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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
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- 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
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
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Abstract
The invention relates to the field of robot spraying, and discloses a robot spray gun automatic spraying system and a method based on a vision deviation rectifying technology, wherein the robot spray gun automatic spraying system comprises a movable operating platform, and a vision deviation rectifying system, a robot system, an automatic spraying system, a conveying system and a control system are arranged on the movable operating platform; the conveying system is used for conveying the workpieces; the robot system is connected with the automatic spraying system; and the control system is respectively connected with the vision deviation rectifying system, the robot system, the automatic spraying system and the conveying system. According to the invention, the spray gun is carried by the robot, and the vision deviation correction system is adopted to assist the spraying precision, so that not only can batch fine spraying be carried out on workpieces with smaller sizes, but also automatic conveying, calibration, color changing, spraying and real-time monitoring of a plurality of workpieces can be realized.
Description
Technical Field
The invention relates to the field of robot spraying, in particular to a robot spray gun automatic spraying system and method based on a vision deviation rectifying technology.
Background
In the field of robot spraying, the robot spraying system and the reciprocating machine automatic spraying system are divided according to different execution mechanisms; according to different carried spraying tools, the spraying device is divided into a spray gun automatic spraying system and a rotary cup automatic spraying system; the electrostatic spraying system and the non-electrostatic spraying system are classified according to whether electricity is applied or not. However, in the actual production process, a spray gun or a rotary cup spraying system is adopted, the fan width and the flow rate are large (generally, the spray width is more than or equal to 200mm, and the flow rate is more than or equal to 100 cc/min), and the spray gun or the rotary cup spraying system is mainly used for large-sized coated workpieces such as automobiles, bumpers, refrigerator door panels, furniture and the like. When the spraying method is adopted on smaller workpieces (such as toys, handcrafts, mobile phone shells, small aeromodelling and the like), the problems of paint waste, low coating efficiency (coating efficiency multiplied by coating efficiency), serious pollution and the like exist. In addition, the robot spraying does not adopt a vision deviation rectifying system to assist the spraying precision, so that the robot spraying system is not suitable for batch fine spraying of workpieces with smaller sizes in some occasions.
Disclosure of Invention
The invention provides a robot spray gun automatic spraying system and method based on a vision deviation rectifying technology, and therefore the problems in the prior art are solved.
In a first aspect, the invention provides a robot spray gun automatic spraying system based on a vision deviation rectifying technology, which comprises a movable operation platform, wherein a vision deviation rectifying system, a robot system, an automatic spraying system, a conveying system and a control system are arranged on the movable operation platform; the conveying system is used for conveying the workpieces; the robot system is connected with the automatic spraying system; and the control system is respectively connected with the vision deviation rectifying system, the robot system, the automatic spraying system and the conveying system.
Furthermore, the vision deviation correcting system comprises a light source, a lens, a vision camera and a vision processor; the light source is connected with a light source controller, and the light source controller is used for adjusting the brightness of the light source; the lens is directly arranged at the front end of the vision camera, the vision camera exchanges data with the vision processor through a network cable, and the vision processor is connected with the control system; the vision camera is used for shooting the workpiece; the vision processor is used for carrying out image vision processing on the workpiece image shot by the vision camera and generating image deviation correction data.
Furthermore, the automatic spraying system comprises an air compressor, a pneumatic control cabinet, a spray gun, a valve bank, a pipeline, a plurality of air passages and a plurality of pressure tanks, wherein the valve bank comprises a color changing valve and a flow valve, the plurality of pressure tanks comprise a plurality of paint pressure tanks and at least one solvent pressure tank, and the paint color of each paint pressure tank in the plurality of paint pressure tanks is different; the air compressor is respectively connected with the pressure tanks and the spray gun through a plurality of air paths; the pipeline comprises a main pipeline and a plurality of branch pipelines, the plurality of pressure tanks are connected with the color changing valve through the plurality of branch pipelines, and the color changing valve is connected with the spray gun through the main pipeline; the flow valve is positioned on the main pipeline; the automatic spraying system has the function of automatically cleaning the main pipeline; the pneumatic control cabinet is used for controlling the opening and closing of each gas circuit and the pressure; the pneumatic control cabinet is connected with the control system.
Further, the robot system comprises a robot body, a robot system controller, a driver and a demonstrator; the demonstrator is in wired or wireless connection with the robot system controller and is used for inputting a control command and transmitting the control command to the robot system controller; the robot system controller is connected with a driver, the driver is connected with the robot body, the robot system controller calls a corresponding spraying program through analyzing and processing a control command or image deviation correcting data generated in the vision deviation correcting system, and controls the robot to move through the driver; the spray gun is mounted on the robot body.
Furthermore, movable operation platform includes operation panel, movable operation platform frame, emergency exit, safety door lock, work rest and camera support, and the operation panel is located the operation panel frame, the operation panel is equipped with human-computer interface.
The movable operation platform frame and the operation platform frame are both aluminum section frames.
Further, the conveying system comprises a conveying system controller, a conveying belt, a sensor, a motor and a motor driver; the sensor is connected with the conveying system controller, the conveying system controller is connected with the motor driver, the motor driver is connected with the motor, and the motor is used for driving the conveying belt to rotate; when a workpiece is placed on the conveyor belt, an operating device button on the operating platform triggers a transmission signal, the conveying system controller receives the transmission signal and controls the motor to rotate, when the workpiece reaches a specified position, a photoelectric in-place signal is triggered, the sensor feeds the photoelectric in-place signal back to the conveying system controller, and the conveying system controller controls the motor to stop rotating; the conveying system controller is connected with the control system.
Furthermore, the control system comprises a PLC control module, a digital input/output module and an analog input/output module, the digital input/output module and the analog input/output module are respectively connected with the PLC control module, and the control system is used for realizing efficient acquisition and processing of data.
Further, the digital quantity input and output module comprises a digital quantity input module and a digital quantity output module, the digital quantity input module is used for inputting digital quantity signals, and the digital quantity signals comprise an emergency stop signal, a starting stop signal, a conveyor belt position signal and a safety door signal; the digital quantity output module is used for outputting digital quantity signals, and the digital quantity output signals comprise valve group control signals, robot external emergency stop signals, external shaft control signals and system state indicator lamps; the analog quantity input/output module comprises an analog quantity input module and an analog quantity output module, the analog quantity input module is used for inputting analog quantity signals, the analog quantity input signals comprise tank body liquid level and tank pressure signals, and the PLC control module monitors the state of the tank body according to the analog quantity input signals; the analog quantity output module is used for outputting analog quantity signals, the analog quantity output signals comprise spraying flow control signals, and the PLC control module realizes accurate control over spraying flow according to the spraying flow control signals.
Furthermore, the control system further comprises an industrial control all-in-one machine and an OPC server, the PLC control module and the industrial control all-in-one machine establish wireless communication through a router, and the industrial control all-in-one machine and the visual processor establish wired communication through an RJ45 interface.
The input and output information of the industrial control all-in-one machine and the input and output information of the visual processor are transmitted to the OPC server, so that data transmission among the PLC control module, the industrial control all-in-one machine and the visual processor is established, and the data acquisition and processing of the whole system by the PLC are achieved.
In a second aspect, the invention provides a robot spray gun automatic spraying method based on a vision deviation rectifying technology, which comprises the following steps:
s1) placing the workpiece to be sprayed on the conveyor belt, triggering a transmission signal through an operating device button on the operating platform, and receiving the transmission signal and controlling the motor to rotate by the conveying system controller; triggering a photoelectric in-place signal when the workpiece reaches an operation area, feeding the photoelectric in-place signal back to a conveying system controller by a sensor, controlling a motor to stop rotating by the conveying system controller, and sending a shooting trigger signal to a vision deviation correcting system;
s2) the vision deviation rectifying system receives the shooting trigger signal, the vision camera is used for shooting the workpiece, the vision processor obtains the three-dimensional coordinate of the workpiece according to the workpiece image shot by the vision camera, and compares the three-dimensional coordinate of the workpiece with the pre-stored three-dimensional standard coordinate of the workpiece to generate image deviation rectifying data, wherein the image deviation rectifying data comprises three-dimensional angle deviation data;
s3) the robot system controller controls the robot to move according to the image deviation correcting data, and the control system calls a spraying program corresponding to the workpiece;
s4) spraying the workpiece by the automatic spraying system according to the spraying program, and when color changing is needed, controlling the robot to move to the color changing area by the robot system controller, starting the automatic cleaning function of the main pipeline, and changing color through the color changing valve;
s5) after color changing is finished, the robot system controller controls the robot to move to an operation area, and the automatic spraying system continues to spray the workpiece according to the spraying program;
s6) finishing spraying of the workpieces, controlling the motor to rotate by the conveying system controller, conveying the sprayed workpieces to a blanking area, triggering a photoelectric in-place signal of the blanking area when the workpieces reach the blanking area, feeding the photoelectric in-place signal of the blanking area back to the conveying system controller by the sensor, and controlling the motor to stop rotating by the conveying system controller.
The invention has the beneficial effects that: the automatic spray painting system comprises a vision deviation correcting system, a robot system, an automatic spray painting system, a conveying system, a control system and a movable operation platform, wherein the robot carries a spray gun, and the vision deviation correcting system is adopted to assist the spray painting precision, so that the batch fine spray painting of workpieces with smaller sizes can be realized, and the automatic conveying, calibration, color changing, spray painting and real-time monitoring of a plurality of workpieces can be realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments are briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic perspective view of an automatic spraying system of a robot spray gun based on a vision deviation rectifying technology according to this embodiment.
Fig. 2 is a schematic diagram of a position of a pressure tank in the robot spray gun automatic spraying system based on the vision deviation rectifying technology according to the first embodiment.
Fig. 3 is a schematic diagram of the operation of the vision deviation correcting system according to the first embodiment.
Fig. 4 is a schematic diagram of the operation of the robot system according to the first embodiment.
1. A safety door; 2. a human-machine interface; 3. an operation table; 4. a vision camera; 5. a robot body; 6. a conveyor belt; 7. a motor; 8. a workpiece storage area; 9. an electrical control box; 10. an air compressor; 11, a movable operation platform; 12. a robot control box; 13. an air box; 14. a first paint pressure canister; 15. a second paint pressure canister; 16. a solvent pressure tank.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order, and it should be understood that the terms so used are interchangeable under appropriate circumstances and are merely used to describe the distinguishing manner in which the embodiments of the present invention distinguish between similar elements. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
In the first embodiment, a robot spray gun automatic spraying system based on a vision deviation rectifying technology, as shown in fig. 1 and fig. 2, includes a movable operation platform 11, wherein the movable operation platform 11 is provided with a vision deviation rectifying system, a robot system, an automatic spraying system, a conveying system and a control system; the conveying system is used for conveying the workpieces; the robot system is connected with the automatic spraying system; and the control system is respectively connected with the vision deviation rectifying system, the robot system, the automatic spraying system and the conveying system. Movable operation platform 11 includes operation panel 3, movable operation platform frame, emergency exit 1, safe lock, work rest and camera support, and operation panel 3 is located the operation panel frame, and operation panel 3 is equipped with human-computer interface 2. The movable operation platform frame and the operation platform frame are both aluminum section frames. The movable operating platform 11 mainly comprises an aluminum profile frame, a safety fence, a safety door lock, a workpiece frame, a camera support and the like, and mainly provides a platform for hardware installation and stable work of the whole system. The whole operation platform is formed by splicing 2040 aluminum profiles, the weight of the whole system is reduced under the condition of meeting the strength requirement, and meanwhile, other parts can be installed by means of an aluminum profile T-shaped groove, so that the whole platform has high flexibility. The automatic spraying system of the robot spray gun based on the vision deviation rectifying technology provided by the embodiment further comprises a workpiece storage area 8, an electric control box 9, a robot control box 12 and an air box 13 (including a valve group). The invention has small total weight, is movable, does not damage the ground fixation and is convenient for equipment transfer; a T-shaped mounting groove is formed in the table top of the movable operating platform 11, and other parts can be conveniently mounted.
As shown in fig. 3, the vision deviation correcting system includes a light source, a lens, a vision camera 4 and a vision processor; the light source is connected with a light source controller, and the light source controller is used for adjusting the brightness of the light source; the lens is directly arranged at the front end of the vision camera 4, the vision camera 4 exchanges data with the vision processor through a network cable, and the vision processor is connected with the control system; the vision camera 4 is used for shooting the workpiece; the vision processor is used for carrying out image vision processing on the workpiece image shot by the vision camera 4 and generating image deviation correction data.
The automatic spraying system comprises an air compressor 10, a pneumatic control cabinet, a spray gun, a valve bank, a pipeline, a plurality of air paths and a plurality of pressure tanks, wherein the valve bank comprises a color changing valve and a flow valve, the plurality of pressure tanks comprise a plurality of paint pressure tanks and at least one solvent pressure tank, and the paint color of each paint pressure tank in the plurality of paint pressure tanks is different; the air compressor is respectively connected with the pressure tanks and the spray gun through a plurality of air paths; the pipeline comprises a main pipeline and a plurality of branch pipelines, the plurality of pressure tanks are connected with the color changing valve through the plurality of branch pipelines, and the color changing valve is connected with the spray gun through the main pipeline; the flow valve is positioned on the main pipeline; the automatic spraying system has the function of automatically cleaning the main pipeline; the pneumatic control cabinet is used for controlling the opening and closing of each gas circuit and the pressure; the pneumatic control cabinet is connected with the control system.
In this embodiment, the plurality of pressure cans include 2 paint pressure cans and 1 solvent pressure can 16, and the 2 paint pressure cans are first paint pressure can 14 and second paint pressure can 15, respectively.
The robot system comprises a robot body 5, a robot system controller, a driver and a demonstrator; the demonstrator is in wired or wireless connection with the robot system controller and is used for inputting a control command and transmitting the control command to the robot system controller; the robot system controller is connected with the driver, the driver is connected with the robot body, the robot system controller calls a corresponding spraying program through analyzing and processing a control command or image deviation correcting data generated in the vision deviation correcting system, and controls the robot to move through the driver (see fig. 4). The spray gun is mounted on the robot body 5.
The conveying system comprises a conveying system controller, a conveying belt 6, a sensor, a motor 7 and a motor driver; the sensor is connected with the conveying system controller, the conveying system controller is connected with the motor driver, the motor driver is connected with the motor, and the motor is used for driving the conveying belt to rotate; when a workpiece is placed on the conveyor belt, an operating device button on the operating platform triggers a transmission signal, the conveying system controller receives the transmission signal and controls the motor to rotate, when the workpiece reaches a specified position, a photoelectric in-place signal is triggered, the sensor feeds the photoelectric in-place signal back to the conveying system controller, and the conveying system controller controls the motor to stop rotating; the conveying system controller is connected with the control system.
The control system comprises a PLC control module, a digital input/output module and an analog input/output module, the digital input/output module and the analog input/output module are respectively connected with the PLC control module, and the control system is used for realizing efficient acquisition and processing of data.
The digital quantity input and output module comprises a digital quantity input module and a digital quantity output module, the digital quantity input module is used for inputting digital quantity signals, and the digital quantity signals comprise an emergency stop signal, a starting stop signal, a conveyor belt position signal and a safety door signal; the digital quantity output module is used for outputting digital quantity signals, and the digital quantity output signals comprise valve group control signals, robot external emergency stop signals, external shaft control signals and system state indicator lamps; the analog quantity input/output module comprises an analog quantity input module and an analog quantity output module, the analog quantity input module is used for inputting analog quantity signals, the analog quantity input signals comprise tank body liquid level and tank pressure signals, and the PLC control module monitors the state of the tank body according to the analog quantity input signals; the analog quantity output module is used for outputting analog quantity signals, the analog quantity output signals comprise spraying flow control signals, and the PLC control module realizes accurate control over spraying flow according to the spraying flow control signals.
The control system further comprises an industrial control all-in-one machine and an OPC server, the PLC control module and the industrial control all-in-one machine establish wireless communication through a router, and the industrial control all-in-one machine and the vision processor establish wired communication through RJ45 interfaces.
The input and output information of the industrial control all-in-one machine and the input and output information of the visual processor are transmitted to the OPC server, so that data transmission among the PLC control module, the industrial control all-in-one machine and the visual processor is established, and the data acquisition and processing of the whole system by the PLC are achieved. The states of the robot, the sensor and the like are processed by the PLC control module and then transmitted to the OPC server, and the industrial personal computer realizes interface monitoring, camera starting control and the like by reading information of the OPC server. Operation control and visual camera photographing results in the industrial control all-in-one machine are transmitted to the OPC server, and the PLC control module reads data information through communication with the OPC server.
In this embodiment, the industrial control all-in-one machine is provided with LabVIEW software, and system operation and state monitoring, spraying data storage, parameter setting and spray gun cleaning are completed through configuration and programming. The control system interface comprises a system state module, a work management module, a manual/automatic switching module, an alarm management module and an administrator option module. And the system state module is used for monitoring the liquid level of the pressure tank, the state of the valve group, the states of the robot and the camera, the positions of the workpieces and the quantity of the workpieces. And the work management module is used for setting the model and the color number of the workpieces in the stack area by an operator and spraying the workpieces in batches by starting the system. And the manual/automatic switching module is used for manual and automatic switching by an operator, and switching into a manual mode to manually open or close the valve bank and manually clean, change colors, move a maintenance position and the like by a robot. And the alarm management module is used for checking system alarm by an operator so as to quickly process faults. And the administrator option module is used for the operator to check log management (login records of users), user management (addition, modification, deletion and the like of the users) and data management (history records of sprayed workpieces).
In a second aspect, the invention provides a robot spray gun automatic spraying method based on a vision deviation rectifying technology, which comprises the following steps:
s1) placing the workpiece to be sprayed on the conveyor belt, triggering a transmission signal through an operating device button on the operating platform, and receiving the transmission signal and controlling the motor to rotate by the conveying system controller; triggering a photoelectric in-place signal when the workpiece reaches an operation area, feeding the photoelectric in-place signal back to a conveying system controller by a sensor, controlling a motor to stop rotating by the conveying system controller, and sending a shooting trigger signal to a vision deviation correcting system;
s2) the vision deviation rectifying system receives the shooting trigger signal, the vision camera is used for shooting the workpiece, the vision processor obtains the three-dimensional coordinate of the workpiece according to the workpiece image shot by the vision camera, and compares the three-dimensional coordinate of the workpiece with the pre-stored three-dimensional standard coordinate of the workpiece to generate image deviation rectifying data, wherein the image deviation rectifying data comprises three-dimensional angle deviation data;
s3) the robot system controller controls the robot to move according to the image deviation correcting data, and the control system calls a spraying program corresponding to the workpiece;
s4) spraying the workpiece by the automatic spraying system according to the spraying program, and when color changing is needed, controlling the robot to move to the color changing area by the robot system controller, starting the automatic cleaning function of the main pipeline, and changing color through the color changing valve;
s5) after color changing is finished, the robot system controller controls the robot to move to an operation area, and the automatic spraying system continues to spray the workpiece according to the spraying program;
s6) finishing spraying of the workpieces, controlling the motor to rotate by the conveying system controller, conveying the sprayed workpieces to a blanking area, triggering a photoelectric in-place signal of the blanking area when the workpieces reach the blanking area, feeding the photoelectric in-place signal of the blanking area back to the conveying system controller by the sensor, and controlling the motor to stop rotating by the conveying system controller.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained:
the automatic spray painting system comprises a vision deviation correcting system, a robot system, an automatic spray painting system, a conveying system, a control system and a movable operation platform, wherein the robot carries a spray gun, and the vision deviation correcting system is adopted to assist the spray painting precision, so that the batch fine spray painting of workpieces with smaller sizes can be realized, and the automatic conveying, calibration, color changing, spray painting and real-time monitoring of a plurality of workpieces can be realized.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (10)
1. A robot spray gun automatic spraying system based on a vision deviation rectifying technology is characterized by comprising a movable operation platform, wherein a vision deviation rectifying system, a robot system, an automatic spraying system, a conveying system and a control system are arranged on the movable operation platform; the conveying system is used for conveying workpieces; the robot system is connected with the automatic spraying system; the control system is respectively connected with the vision deviation rectifying system, the robot system, the automatic spraying system and the conveying system.
2. The automatic spraying system of a robot spray gun based on vision deviation rectifying technology of claim 1, wherein the vision deviation rectifying system comprises a light source, a lens, a vision camera and a vision processor; the light source is connected with a light source controller, and the light source controller is used for adjusting the brightness of the light source; the lens is directly arranged at the front end of the vision camera, the vision camera exchanges data with the vision processor through a network cable, and the vision processor is connected with the control system; the vision camera is used for shooting the workpiece; the vision processor is used for carrying out image vision processing on the workpiece image shot by the vision camera and generating image deviation correction data.
3. The automatic spraying system of a robot spray gun based on the vision deviation rectifying technology of claim 1, wherein the automatic spraying system comprises an air compressor, a pneumatic control cabinet, a spray gun, a valve group, a pipeline, a plurality of air paths and a plurality of pressure tanks, the valve group comprises a color changing valve and a flow valve, the plurality of pressure tanks comprise a plurality of paint pressure tanks and at least one solvent pressure tank, and the paint color of each paint pressure tank in the plurality of paint pressure tanks is different; the air compressor is respectively connected with the pressure tanks and the spray gun through a plurality of air paths; the pipeline comprises a main pipeline and a plurality of branch pipelines, the plurality of pressure tanks are connected with the color changing valve through the plurality of branch pipelines, and the color changing valve is connected with the spray gun through the main pipeline; the flow valve is positioned on the main pipeline; the automatic spraying system has the function of automatically cleaning the main pipeline; the pneumatic control cabinet is used for controlling the opening and closing and the pressure of each gas circuit; the pneumatic control cabinet is connected with the control system.
4. The automatic spraying system of the robot spray gun based on the vision deviation rectifying technology as claimed in claim 1 or 3, characterized in that the robot system comprises a robot body, a robot system controller, a driver and a demonstrator; the demonstrator is in wired or wireless connection with the robot system controller and is used for inputting a control command and transmitting the control command to the robot system controller; the robot system controller is connected with a driver, the driver is connected with the robot body, the robot system controller calls a corresponding spraying program through analyzing and processing a control instruction or image deviation rectifying data generated in the vision deviation rectifying system, and controls the robot to move through the driver; the spray gun is mounted on the robot body.
5. The automatic spraying system of robot spray gun based on vision deviation rectifying technology of claim 1, characterized in that the movable operation platform comprises an operation table, a movable operation platform frame, a safety door lock, a workpiece holder and a camera support, the operation table is located on the operation table frame, and the operation table is provided with a human-computer interface.
6. The vision deviation rectification technology-based automatic spraying system for the robot spray gun as claimed in claim 5, wherein the conveying system comprises a conveying system controller, a conveyor belt, a sensor, a motor and a motor driver; the sensor is connected with the conveying system controller, the conveying system controller is connected with the motor driver, the motor driver is connected with the motor, and the motor is used for driving the conveying belt to rotate; when a workpiece is placed on the conveyor belt, an operating device button on the operating platform triggers a transmission signal, the conveying system controller receives the transmission signal and controls the motor to rotate, when the workpiece reaches a specified position, a photoelectric in-place signal is triggered, the sensor feeds the photoelectric in-place signal back to the conveying system controller, and the conveying system controller controls the motor to stop rotating; the conveying system controller is connected with the control system.
7. The automatic spraying system of a robot spray gun based on the vision deviation rectifying technology as claimed in claim 1 or 6, wherein the control system comprises a PLC control module, a digital input and output module and an analog input and output module, the digital input and output module and the analog input and output module are respectively connected with the PLC control module, and the control system is used for realizing efficient collection and processing of data.
8. The automatic spraying system of a robot spray gun based on the visual deviation rectifying technology of claim 7, wherein the digital input and output module comprises a digital input module and a digital output module, the digital input module is used for inputting digital signals, and the digital signals comprise an emergency stop signal, a start stop signal, a conveyor belt position signal and a safety door signal; the digital quantity output module is used for outputting digital quantity signals, and the digital quantity output signals comprise valve group control signals, robot external emergency stop signals, external shaft control signals and system state indicator lamps; the analog quantity input/output module comprises an analog quantity input module and an analog quantity output module, the analog quantity input module is used for inputting analog quantity signals, the analog quantity input signals comprise tank body liquid level and tank pressure signals, and the PLC control module monitors the state of the tank body according to the analog quantity input signals; the analog quantity output module is used for outputting analog quantity signals, the analog quantity output signals comprise spraying flow control signals, and the PLC control module realizes accurate control of spraying flow according to the spraying flow control signals.
9. The automatic spraying system of the robot spray gun based on the visual deviation rectifying technology as claimed in claim 7 or 8, wherein the control system further comprises an industrial personal computer and an OPC server, the PLC control module and the industrial personal computer establish wireless communication through a router, and the industrial personal computer and the visual processor establish wired communication through an RJ45 interface.
10. The automatic spraying method of the robot spray gun based on the vision deviation rectifying technology is suitable for the automatic spraying system of the robot spray gun based on the vision deviation rectifying technology according to any one of claims 1 to 9, and is characterized by comprising the following steps:
s1) placing the workpiece to be sprayed on the conveyor belt, triggering a transmission signal through an operating device button on the operating platform, and receiving the transmission signal and controlling the motor to rotate by the conveying system controller; triggering a photoelectric in-place signal when the workpiece reaches an operation area, feeding the photoelectric in-place signal back to a conveying system controller by a sensor, controlling a motor to stop rotating by the conveying system controller, and sending a shooting trigger signal to a vision deviation correcting system;
s2) the vision deviation rectifying system receives the shooting trigger signal, the vision camera is used for shooting the workpiece, the vision processor obtains the three-dimensional coordinate of the workpiece according to the workpiece image shot by the vision camera, and compares the three-dimensional coordinate of the workpiece with the pre-stored three-dimensional standard coordinate of the workpiece to generate image deviation rectifying data, wherein the image deviation rectifying data comprises three-dimensional angle deviation data;
s3) the robot system controller controls the robot to move according to the image deviation correcting data, and a control system calls a spraying program corresponding to the workpiece;
s4) spraying the workpiece by the automatic spraying system according to the spraying program, and when color changing is needed, controlling the robot to move to a color changing area by the robot system controller, starting the automatic cleaning function of the main pipeline, and changing color through a color changing valve;
s5), after color changing is finished, the robot system controller controls the robot to move to an operation area, and the automatic spraying system continues to spray the workpiece according to the spraying program;
s6) finishing spraying of the workpiece, controlling the motor to rotate by the conveying system controller, conveying the sprayed workpiece to a blanking area, triggering a photoelectric in-place signal of the blanking area when the workpiece reaches the blanking area, feeding the photoelectric in-place signal of the blanking area back to the conveying system controller by the sensor, and controlling the motor to stop rotating by the conveying system controller.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113406924A (en) * | 2021-08-23 | 2021-09-17 | 山东奥卓电气科技发展有限公司 | Control system of tool line with visual deviation correction and implementation method thereof |
| CN115229689A (en) * | 2022-08-02 | 2022-10-25 | 中交第四航务工程局有限公司 | Sheet pile rust removal device and sheet pile treatment system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113406924A (en) * | 2021-08-23 | 2021-09-17 | 山东奥卓电气科技发展有限公司 | Control system of tool line with visual deviation correction and implementation method thereof |
| CN113406924B (en) * | 2021-08-23 | 2021-12-28 | 山东奥卓电气科技发展有限公司 | Control system of tool line with visual deviation correction and implementation method thereof |
| CN115229689A (en) * | 2022-08-02 | 2022-10-25 | 中交第四航务工程局有限公司 | Sheet pile rust removal device and sheet pile treatment system |
| CN115229689B (en) * | 2022-08-02 | 2024-02-13 | 中交第四航务工程局有限公司 | Sheet pile rust cleaning device and sheet pile processing system |
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