CN112387482A - Five-axis manipulator spraying robot based on workpiece pose correction - Google Patents
Five-axis manipulator spraying robot based on workpiece pose correction Download PDFInfo
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- CN112387482A CN112387482A CN202011172257.7A CN202011172257A CN112387482A CN 112387482 A CN112387482 A CN 112387482A CN 202011172257 A CN202011172257 A CN 202011172257A CN 112387482 A CN112387482 A CN 112387482A
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- axis
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- synchronous belt
- axis motor
- belt module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
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- Business, Economics & Management (AREA)
- Entrepreneurship & Innovation (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a five-axis manipulator spraying robot based on workpiece pose correction, which comprises: the machine body, the powder room, the transmission device, the carrier and the pose recognition device; a powder room is arranged at the rear end of the machine body; a transmission device is arranged at the front end of the machine body; a carrier is arranged on the machine body at the rear end of the transmission device; and a pose recognition device is arranged on one side of the machine body, and the position recognition device is matched with the carrier for use. Compared with manual spraying, the device can avoid the harm of powder spraying to human bodies and the explosion caused by the flammability of powder in the air.
Description
Technical Field
The invention relates to the technical field of spraying, in particular to a five-axis manipulator spraying robot based on workpiece pose correction.
Background
With the development of various fields, the requirement for spraying is stronger, but the traditional manual spraying mode has great harm to human bodies, so that the skilled worker is lacked, the possibility of repeated spraying is high, and the possibility of explosion is generated due to the floating of dust. The spraying mode of the reciprocating machine can only spray some simple planes, complex workpieces cannot be sprayed, the six-axis robot spraying system is complicated in teaching and fixed in movement range, the workpieces are placed on the suspension chains to move and can deviate, and therefore the five-axis mechanical spraying robot which is used for correcting and following the position and posture of the workpieces needs to effectively solve the problem.
Disclosure of Invention
The invention aims to provide a five-axis manipulator spraying robot based on workpiece pose correction.
In order to achieve the above object, the present invention employs the following:
a five-axis manipulator spraying robot based on workpiece pose correction comprises: the machine body, the powder room, the transmission device, the carrier and the pose recognition device; a powder room is arranged at the rear end of the machine body; a transmission device is arranged at the front end of the machine body; a carrier is arranged on the machine body at the rear end of the transmission device; a pose recognition device is arranged on one side of the machine body, and the position recognition device is matched with the carrier for use;
the transmission device comprises a frame body, a teaching device, an X-axis motor, a Y-axis synchronous belt module, an X-axis synchronous belt module, a Z-axis motor, a P-axis motor, a W-axis motor, a bevel gear and a spray gun; a teaching device is arranged at the upper end of the frame body; x-axis synchronous belt modules are respectively arranged on two sides of the front end of the frame body in the vertical direction; an X-axis motor is arranged above the X-axis synchronous belt module and is matched with the X-axis synchronous belt module for use; a Y-axis synchronous belt module is arranged at the front end of the X-axis synchronous belt module and is driven to move up and down on the X-axis synchronous belt module by the operation of an X-axis motor; a Y-axis motor is arranged on the right side of the Y-axis synchronous belt module and is matched with the Y-axis synchronous belt module for use; a sliding plate is arranged on the Y-axis synchronous belt module and moves left and right on the Y-axis synchronous belt module through a Y-axis motor; the front end of the sliding plate is respectively provided with a Z-axis motor and an electric cylinder, and the Z-axis motor and the electric cylinder are matched to operate; a manipulator is arranged at the front end of the electric cylinder; a P-axis motor and a W-axis motor are respectively arranged on the left side of the manipulator; a spray gun is arranged on the right side of the manipulator, and the spray gun is connected with the manipulator through a bevel gear; the belt of the P-axis motor moves to drive the P-axis of the W-axis motor to rotate, and the W-axis motor drives the shaft gear to rotate by the W-axis.
Preferably, the teaching device comprises a first teaching camera, a second teaching camera, a teaching color sphere, a teaching spray gun, a first camera support and a second camera support; a first camera support and a second camera support are respectively arranged on two sides of the upper end of the frame body; a first teaching camera and a second teaching camera are respectively arranged at the front ends of the first camera support and the second camera support, and a teaching spray gun is arranged between the teaching cameras and the carrier; and a teaching color ball is arranged at the upper end of the teaching spray gun.
Preferably, the pose recognition means includes a pose recognition camera and a pose recognition camera mount; the pose recognition camera is arranged at the top end of the pose recognition camera support.
The invention has the following advantages:
1. compared with manual spraying, the device can avoid the harm of powder spraying to human bodies and the explosion caused by the flammability of powder in the air.
2. The teaching of scribbling of this device is simple, and the motion range is customizable, and the teaching is quick.
3. The spraying process is carried out by a five-axis motor, the repeatability of the spraying action is high, and the operation time is saved.
4. The change of position appearance when can self-adaptation work piece marchs has promoted the spraying effect.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a five-axis manipulator spraying robot based on workpiece pose correction.
Fig. 2 is a schematic structural view of the transmission of the present invention.
FIG. 3 is a schematic view of the structure of the spray gun of the present invention.
FIG. 4 is a schematic view of the teaching apparatus of the present invention.
Fig. 5 is a schematic view of the pose recognition apparatus of the present invention.
In the figures, the various reference numbers are:
1-machine body, 2-powder room, 3-transmission device, 31-frame body, 32-teaching device, 321-teaching camera I, 322-teaching camera II, 323-teaching color sphere, 324-teaching spray gun, 325-camera support I, 326-camera support II, 33-X axis synchronous belt module, 34-X axis motor, 35-Y axis synchronous belt module, 36-Y axis motor, 37-sliding plate, 38-Z axis motor, 39-electric cylinder, 310-P axis motor, 311-W axis motor, 312-bevel gear, 313-mechanical arm, 314-spray gun, 4-carrier, 5-pose recognition device, 51-pose recognition camera and 52-pose recognition camera support.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below in connection with preferred embodiments. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
As shown in fig. 1 to 5, a five-axis manipulator spray robot based on workpiece pose correction includes: the machine body, the powder room, the transmission device, the carrier and the pose recognition device; the powder chamber 2 is arranged at the rear end of the machine body 1, so that spraying raw materials can be conveniently stored in the powder chamber for spraying by the spraying gun 314; a transmission device 3 is arranged at the front end of the machine body 1, and a carrier 4 is arranged on the machine body 1 at the rear end of the transmission device 3; a pose recognition device 5 is arranged on one side of the machine body 1, and the position recognition device 5 is matched with the carrier 4 for use;
the transmission device 3 comprises a frame body 31, a teaching device 32, an X-axis motor 34, a Y-axis motor 36, a Y-axis synchronous belt module 35, an X-axis synchronous belt module 33, a Z-axis motor 38, a P-axis motor 310, a W-axis motor 311, a bevel gear 312 and a spray gun 314; a teaching device 32 is arranged at the upper end of the frame body 1; the two sides of the front end of the frame body 31 are respectively provided with an X-axis synchronous belt module 33 in the vertical direction; an X-axis motor 34 is arranged above the X-axis synchronous belt module 33, and the X-axis motor 34 is matched with the X-axis synchronous belt module 33 for use; a Y-axis synchronous belt module 35 is arranged at the front end of the X-axis synchronous belt module 33, and the Y-axis synchronous belt module 35 is driven to move up and down on the X-axis synchronous belt module 33 through the operation of an X-axis motor 34; a Y-axis motor 36 is arranged on the right side of the Y-axis synchronous belt module 35, and the Y-axis motor 36 is matched with the Y-axis synchronous belt module 35 for use; a sliding plate is arranged on the Y-axis synchronous belt module 35, and the sliding plate 37 runs on the Y-axis synchronous belt module 35 through a Y-axis motor 36 to move left and right; a Z-axis motor 38 and an electric cylinder 39 are respectively arranged at the front end of the sliding plate 37, and the Z-axis motor 38 and the electric cylinder 39 are matched to run; a manipulator 313 is arranged at the front end of the electric cylinder 39; a P-axis motor 310 and a W-axis motor 311 are respectively arranged on the left side of the manipulator 313; a spray gun 314 is arranged on the right side of the manipulator 313, and the spray gun 314 is connected with the manipulator 313 through a bevel gear 312; the belt of the P-axis motor 310 moves to drive the W-axis motor 311 to rotate on the P axis, and the W-axis motor 311 drives the shaft gear 312 to rotate on the W axis.
Teaching device 32 comprises a first teaching camera 321, a second teaching camera 322, a teaching color sphere 323, a teaching spray gun 324, a first camera support 325 and a second camera support 326; a first camera support 325 and a second camera support 326 are respectively arranged on two sides of the upper end of the frame body 31; a first teaching camera 321 and a second teaching camera 322 are respectively arranged at the front ends of the first camera support 325 and the second camera support 326, and a teaching spray gun 324 is arranged between the teaching cameras and the carrier 4; a teaching color ball 323 is provided at the upper end of the teaching torch 324.
The pose recognition apparatus 5 includes a pose recognition camera 51 and a pose recognition camera mount 52, and the pose recognition camera 51 is disposed on the tip of the pose recognition camera mount 52.
The workpiece is hung on the carrier 4 and moves along with the carrier, so that the matching among all devices is achieved, and the integration of the whole spraying process is realized. The teaching device 32 firstly records the trajectory of the artificial teaching, the carrier 4 firstly enters the pose recognition device 5, the pose data is recorded and transmitted to the transmission device 3, and the transmission device 3 reproduces the trajectory of the artificial teaching by combining the pose data.
The transmission device 3 comprises 5 motors, two synchronous belt modules and a spray gun 314. The X-axis motor 34 drives the X-axis synchronous belt module 33 to move on the X axis, the Y-axis motor 36 drives the Y-axis synchronous belt module 35 to move on the Y axis, the Z-axis motor 38 drives the electric cylinder 39 to move to achieve the motion on the Z axis, the P-axis motor 310 drives the W-axis motor 311 to rotate on the P axis through belt motion, the W-axis motor 311 drives the bevel gear 312 to achieve the rotation on the W axis, and at the moment, the spray gun 314 is fixed at the tail end of the manipulator 313.
The teaching device 32 comprises a teaching spray gun 324, a first camera support 325, a second camera support 326, a first teaching camera 321, a second teaching camera 322 and a teaching color sphere 323; the first camera mount 325 and the second camera mount 326 are equal in size and parallel to each other; a first teaching camera 321 and a second teaching camera 322 are respectively arranged at the upper ends of the two camera supports, and the two cameras are installed in parallel; a teaching spray gun 324 is arranged at the front end of the two-phase machine support; a teaching color ball 323 is provided at the upper end of the teaching torch 324.
The first teaching camera 321 and the second teaching camera 322 include a stationary workpiece and a teaching color sphere 323 for teaching the upper end of the gun 324.
The pose recognition apparatus 5 includes a pose recognition camera mount 52 and a pose recognition camera 51, the pose recognition camera 51 is provided on the pose recognition camera mount 52, and the pose recognition camera is directed to a workpiece on the carrier 4.
When the vehicle 4 travels to the trigger switch, the attitude recognition device takes a picture to record the workpiece attitude offsets, which include X, Y, Z three-axis directions and rotational offsets around the three axes, and inputs the offsets into the control system in real time.
When the carrier 4 moves, the motor in the Y-axis direction of the transmission device 3 moves, so that the spray gun 314 can spray along with the workpiece when the workpiece moves.
Compared with manual spraying, the device can avoid the harm of powder spraying to human bodies and the explosion caused by the flammability of powder in the air. The spraying teaching is simple, the motion range can be customized, and the teaching is rapid. The spraying process is carried out by five motors, the repeatability of the spraying action is high, and the operation time is saved. The change of position appearance when can self-adaptation work piece marchs has promoted the spraying effect.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.
Claims (3)
1. The utility model provides a five-axis manipulator spraying robot based on work piece position appearance is corrected which characterized in that includes: the machine body, the powder room, the transmission device, the carrier and the pose recognition device; a powder room is arranged at the rear end of the machine body; a transmission device is arranged at the front end of the machine body; a carrier is arranged on the machine body at the rear end of the transmission device; a pose recognition device is arranged on one side of the machine body, and the position recognition device is matched with the carrier for use;
the transmission device comprises a frame body, a teaching device, an X-axis motor, a Y-axis synchronous belt module, an X-axis synchronous belt module, a Z-axis motor, a P-axis motor, a W-axis motor, a bevel gear and a spray gun; a teaching device is arranged at the upper end of the frame body; x-axis synchronous belt modules are respectively arranged on two sides of the front end of the frame body in the vertical direction; an X-axis motor is arranged above the X-axis synchronous belt module and is matched with the X-axis synchronous belt module for use; a Y-axis synchronous belt module is arranged at the front end of the X-axis synchronous belt module and is driven to move up and down on the X-axis synchronous belt module by the operation of an X-axis motor; a Y-axis motor is arranged on the right side of the Y-axis synchronous belt module and is matched with the Y-axis synchronous belt module for use; a sliding plate is arranged on the Y-axis synchronous belt module and moves left and right on the Y-axis synchronous belt module through a Y-axis motor; the front end of the sliding plate is respectively provided with a Z-axis motor and an electric cylinder, and the Z-axis motor and the electric cylinder are matched to operate; a manipulator is arranged at the front end of the electric cylinder; a P-axis motor and a W-axis motor are respectively arranged on the left side of the manipulator; a spray gun is arranged on the right side of the manipulator, and the spray gun is connected with the manipulator through a bevel gear; the belt of the P-axis motor moves to drive the P-axis of the W-axis motor to rotate, and the W-axis motor drives the shaft gear to rotate by the W-axis.
2. The five-axis manipulator spraying robot based on workpiece pose correction according to claim 1, wherein the teaching device comprises a first teaching camera, a second teaching camera, a teaching color sphere, a teaching spray gun, a first camera support and a second camera support; a first camera support and a second camera support are respectively arranged on two sides of the upper end of the frame body; a first teaching camera and a second teaching camera are respectively arranged at the front ends of the first camera support and the second camera support, and a teaching spray gun is arranged between the teaching cameras and the carrier; and a teaching color ball is arranged at the upper end of the teaching spray gun.
3. The five-axis manipulator spraying robot based on workpiece pose correction according to claim 1, wherein the pose recognition device comprises a pose recognition camera and a pose recognition camera support; the pose recognition camera is arranged at the top end of the pose recognition camera support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011172257.7A CN112387482A (en) | 2020-10-28 | 2020-10-28 | Five-axis manipulator spraying robot based on workpiece pose correction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011172257.7A CN112387482A (en) | 2020-10-28 | 2020-10-28 | Five-axis manipulator spraying robot based on workpiece pose correction |
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| Publication Number | Publication Date |
|---|---|
| CN112387482A true CN112387482A (en) | 2021-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011172257.7A Pending CN112387482A (en) | 2020-10-28 | 2020-10-28 | Five-axis manipulator spraying robot based on workpiece pose correction |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175031A (en) * | 2014-08-20 | 2014-12-03 | 北京工业大学 | Welding robot with automatic correction function and welding method employing same |
| CN104626129A (en) * | 2015-02-10 | 2015-05-20 | 上海巨想机器人科技有限公司 | Five-degree-of-freedom robot tail end transmission mechanism |
| CN105741672A (en) * | 2016-04-29 | 2016-07-06 | 杭州丰衡机电有限公司 | Offline teaching device for spraying on workpiece with complicated shape |
| CN106181541A (en) * | 2015-05-29 | 2016-12-07 | 发那科株式会社 | Possesses the production system of the robot having position correction function |
| CN108356451A (en) * | 2018-01-24 | 2018-08-03 | 江苏理工学院 | A kind of Full-automatic welding production line of view-based access control model |
| US20180345484A1 (en) * | 2017-05-30 | 2018-12-06 | Seiko Epson Corporation | Robot Controller and Robot System |
| CN111438022A (en) * | 2020-04-27 | 2020-07-24 | 杭州国辰机器人科技有限公司 | Intelligent paint room based on teaching technology |
| CN111760713A (en) * | 2020-07-10 | 2020-10-13 | 成都驰彩科技有限公司 | Automatic intelligent coating system for vehicle |
-
2020
- 2020-10-28 CN CN202011172257.7A patent/CN112387482A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175031A (en) * | 2014-08-20 | 2014-12-03 | 北京工业大学 | Welding robot with automatic correction function and welding method employing same |
| CN104626129A (en) * | 2015-02-10 | 2015-05-20 | 上海巨想机器人科技有限公司 | Five-degree-of-freedom robot tail end transmission mechanism |
| CN106181541A (en) * | 2015-05-29 | 2016-12-07 | 发那科株式会社 | Possesses the production system of the robot having position correction function |
| CN105741672A (en) * | 2016-04-29 | 2016-07-06 | 杭州丰衡机电有限公司 | Offline teaching device for spraying on workpiece with complicated shape |
| US20180345484A1 (en) * | 2017-05-30 | 2018-12-06 | Seiko Epson Corporation | Robot Controller and Robot System |
| CN108356451A (en) * | 2018-01-24 | 2018-08-03 | 江苏理工学院 | A kind of Full-automatic welding production line of view-based access control model |
| CN111438022A (en) * | 2020-04-27 | 2020-07-24 | 杭州国辰机器人科技有限公司 | Intelligent paint room based on teaching technology |
| CN111760713A (en) * | 2020-07-10 | 2020-10-13 | 成都驰彩科技有限公司 | Automatic intelligent coating system for vehicle |
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Application publication date: 20210223 |