CN113663835A - Spraying equipment for door and window machining and forming - Google Patents
Spraying equipment for door and window machining and forming Download PDFInfo
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- CN113663835A CN113663835A CN202111072526.7A CN202111072526A CN113663835A CN 113663835 A CN113663835 A CN 113663835A CN 202111072526 A CN202111072526 A CN 202111072526A CN 113663835 A CN113663835 A CN 113663835A
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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
- 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
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention relates to spraying equipment for door and window machining and forming, which comprises a control end, a top conveying line, a first spraying mechanical arm, a second spraying mechanical arm, a first shooting device and a second shooting device, wherein the first shooting device is arranged on the top conveying line; the top conveying line is provided with a plurality of hooks, and the door and the window are hoisted through the hooks and move forward at a constant speed along the path of the top conveying line; the first shooting device compares the first image with a preset door and window image in the storage module and sends the first image to the control end; the second shooting device generates spraying path data according to the second image, sends the spraying path data to the control end, and processes the spraying path data through the processing module to obtain converted spraying path data; the first spraying mechanical arm receives the spraying path data to perform spraying operation on the front side of the door and window; the second spraying manipulator receives and converts the spraying path data and carries out spraying operation to the door and window back, and this application has automatic generation spraying path data, is fit for the door and window of multiple model, need not the manual work and programs, has improved machining efficiency.
Description
Technical Field
The invention relates to the technical field of door and window processing, in particular to spraying equipment for door and window processing and forming.
Background
The existing doors and windows are hung and conveyed into a spraying bin when being sprayed, and are sprayed or manually sprayed by a CMA robot, the spraying mode of the former is mostly in a large-scale factory, the manual spraying is widely in a small-scale processing factory, the CMA robot has the advantages of high spraying efficiency and high processing efficiency, the spraying of the manual spraying completely looks at the service level of workers, the spraying efficiency is low, and the processing quality can not be ensured, so the spraying mode of the CMA robot is gradually mainstream, but the CMA robot is very dependent on the processing program, completely different spraying methods are needed for various types of doors and windows, additional programming operation is needed for each type of doors and windows, the work load of technicians is greatly increased, the requirement threshold for the technicians is high, and most factories adopt a set of universal spraying mode, resulting in poor spraying effect, serious waste of spraying materials and low spraying efficiency.
Therefore, a spraying device for door and window machining and forming, which can automatically adapt to the door and window models, is urgently needed.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides spraying equipment for processing and forming doors and windows.
In order to realize the purpose of the invention, the invention adopts the following technical scheme: the spraying equipment for door and window machining and forming comprises a control end, a top conveying line, a first spraying mechanical arm, a second spraying mechanical arm, a first shooting device and a second shooting device, wherein the top conveying line, the first spraying mechanical arm, the second spraying mechanical arm, the first shooting device and the second shooting device are in communication connection with the control end;
the control end at least comprises a storage module, a processing module, a communication module and a human-computer interaction interface;
the top conveying line is provided with a plurality of hooks, and the door and the window are hoisted through the hooks and move forwards at a constant speed along the path of the top conveying line;
the first shooting device is used for shooting a first image of the door and window, comparing the first image with a preset door and window image in the storage module and sending a comparison result to the control end;
the second shooting device generates a second image by scanning along the outline of the door and window in sequence, generates spraying path data according to the second image, sends the spraying path data to the control end, and processes the spraying path data through the processing module to obtain converted spraying path data;
the first spraying mechanical arm receives the spraying path data and carries out spraying operation on the front face of the door and window;
the second spraying manipulator receives the data of the converted spraying path and carries out spraying operation on the back of the door and window;
when the similarity between the first image and the preset door and window image is greater than or equal to a preset threshold value, the control end binds and records the spraying path data and the door and window model corresponding to the preset door and window image for calling next time; and when the similarity of the first image and the preset door and window image is lower than a preset threshold value, taking the first image as the preset door and window image of the door and window and binding a record with the model corresponding to the door and window for calling next time.
The working principle and the beneficial effects are as follows: 1. compared with the prior art, the method can detect the passing door and window through the first shooting device, and is matched with the preset door and window images in the storage module, then the second shooting device is used for scanning the passing door and window, because the doors and windows are rectangular frames, only the outlines of the doors and windows need to be installed for scanning, the spraying path data corresponding to the door and window can be quickly generated, when the door and window moves to a position between the first paint spraying mechanical arm and the second paint spraying mechanical arm, the first paint spraying mechanical arm and the second paint spraying mechanical arm can spray paint for doors and windows with names of any type, each door and window has unique spraying path data, so that paint waste can be greatly reduced, the spraying quality and the spraying efficiency can be improved, and technicians do not need to independently program the spraying paths of the doors and windows of each type;
2. compared with the prior art, the method has the advantages that a new door and window preset image can be input even if the door and window preset image is not identified, and when a factory processes products such as doors and windows, the models or numbers of the processed products are bound inevitably, otherwise account settlement cannot be carried out, and statistics cannot be carried out, so that the door and window preset image can be bound by means of the bound data, the preset image and the spraying path data are bound, the spraying path data can be directly called when the door and window of the model is identified next time, meanwhile, the model of the door and window can be conveniently input through a man-machine interaction interface of a control end, the door and window can also be input through a communication module of the control end by using other equipment, a storage module of the control end can store various data, and the processing module can process various data;
3. the door and window is simple in shape and structure and basically rectangular, so that the calculation amount is small no matter in the comparison calculation process of the first shooting device, the scanning process of the second shooting device and the conversion process of the processing module, the hardware requirement is low, data can be processed in milliseconds according to the existing computer hardware level, the result is obtained, the scanning process of the second shooting device is additionally calculated and moves along with the door and window, and the conveying of the door and window is not influenced.
Furthermore, the first shooting device comprises a three-axis driving mechanism and a visual recognition device, the three-axis driving mechanism comprises a Y-axis linear module fixed on the ground, an X-axis linear module connected with a driving slide block of the Y-axis linear module, and a Z-axis linear module connected with a driving slide block of the X-axis linear module, and the visual recognition device is connected with the driving slide block of the Z-axis linear module.
This sets up, and three-axis drive mechanism's structure can realize that the visual identification device scans along door and window's profile fast, and it is more than enough to follow the moving speed of door and window, and three-axis drive mechanism is not only the motion precision height moreover, and the execution speed is fast moreover, and the motion stability can not rock, can show the discernment rate of accuracy that improves the visual identification device.
The control end further comprises a quality feedback module, the quality feedback module is used for receiving spraying quality feedback data of corresponding doors and windows, corresponding spraying path data are refreshed according to the spraying quality feedback data, old spraying path data are backed up, the spraying path data are stored in sequence according to version numbers, and the spraying path data and the spraying quality feedback data of each version number are in one-to-one correspondence.
This setting, no matter manual quality control or machine quality control, can both obtain the quality feedback data of spraying paint, and just can feed back out the quality state according to current spraying path data according to this quality feedback data of spraying paint, thereby can all preserve the spraying path data of every version and classify according to door and window's model, the door and window of every model all has the spraying path data of a plurality of versions, consequently as long as select the best spraying path data that just can find out every model door and window of spraying quality feedback, only there is a spraying path data or all doors and windows of every model of prior art all use a general spraying path data to compare, this application can constantly optimize and obtain best spraying path data, thereby show promotion spraying quality and spraying efficiency, it is extravagant to reduce the spraying.
And further, dividing version numbers according to time periods, and in each time period, when the current spraying quality feedback data is greater than the spraying quality feedback data of the last version number, adopting the spraying path data corresponding to the current spraying quality feedback data for production.
According to the arrangement, because the spraying quality feedback data is not real-time, the version number is required to be divided according to time periods, after the subsequent spraying quality feedback data is fed back, the spraying path data corresponding to each model of door and window can be found according to time and the version number, so that the spraying quality feedback data can be compared in each time period, the version number of the spraying path data corresponding to the optimal spraying quality feedback data is selected, and the current optimal effect can be obtained by selecting the spraying path data with the version number.
Further, the spray quality feedback data comprises the processed amount per unit time, the paint score and the paint consumption, wherein the spray quality feedback data is 0.5+ 0.3+ 0.2.
According to the setting, the processing amount in unit time, the paint spraying score and the paint spraying consumption are weighted and calculated, the spraying quality feedback data of the spraying path data of each version number can be obtained, the processing amount in unit time (processing efficiency), the paint spraying score (paint spraying quality) and the paint spraying consumption (paint spraying waste degree) are fully referred to by the data, the spraying quality feedback data of the spraying path data of each version number can be fed back more comprehensively, and therefore the best spraying path data can be obtained through continuous optimization.
Further, when the current spraying quality feedback data is less than or equal to the spraying quality feedback data of the previous version number, the top conveying line is controlled by the control end to increase or decrease the conveying speed of the first-gear door and window and correspondingly adjust the speeds of the first spraying manipulator, the second spraying manipulator and the first shooting device, and each gear of the conveying speed is 1% of the reference speed.
This setting can constantly try to control door and window functioning speed, is equivalent to control input speed, adjusts the speed of first spraying manipulator, second spraying manipulator and first shooting device adaptively as long as can follow door and window functioning speed and normally accomplish work can to can look over whether can obtain best spraying path data under the unchangeable condition of other regulations according to subsequent quality feedback data that sprays paint.
Further, the time period includes every year, every quarter, every month, every week and every day, the version number of the spraying quality feedback data with the highest score is selected every day, and then the version numbers of the spraying quality feedback data with the highest score are sequentially obtained every week to every year.
With the arrangement, the production data of the day can be obtained by a common factory before work every day, and the production data, namely the spraying quality feedback data, can be obtained at the slowest in each week or month or even quarterly, so that the best version number of the spraying quality feedback data in the time period can be obtained by correspondingly dividing the time period according to the factory condition.
Further, when spraying quality feedback data having the same score value appears in two consecutive quarters, any one of version numbers corresponding to the spraying quality feedback data corresponding to the score value is taken as the current year standard spraying path data.
According to the setting, the version number can be used as the current standard spraying path data, the optimal spraying path data is obviously obtained through the optimization in two seasons, the standard spraying path data is only needed to be directly called to process the corresponding door and window, the optimization is not needed, and the calculation process can be saved.
Further, when the second shooting device scans the door and window, the upper left corner of the door and window is firstly scanned, the door and window outline is scanned clockwise or anticlockwise until the door and window outline returns to the upper left corner of the door and window to complete scanning, the size of the door and window is recorded, and the spraying path data is generated according to the size and the moving speed of the door and window.
This setting, because door and window is generally all the rectangle, consequently only need find one of them angle, then according to clockwise or anticlockwise scanning can, as for the concrete algorithm of scanning be prior art, this application only need scan obtain the door and window the size can, also need not change different spraying material according to different door and window, the key point of this application lies in how to adjust different paths of spraying paint according to different door and window to reach the best path of spraying paint, contain the functioning speed of door and window, the speed of spraying paint of painting robot etc..
Furthermore, the first shooting device compares the similarity between the first image and a preset door and window image in the storage module through a saliency map algorithm.
According to the arrangement, the similarity between the first image and the preset door and window image can be accurately identified by utilizing the existing saliency map algorithm, a threshold value is set to allow certain errors, the most accurate structure can be obtained, and after certain similarity is achieved, two doors and windows are actually almost in size, so that the excellent paint spraying effect can be achieved even if the same paint spraying path is used.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is another schematic view of FIG. 1;
fig. 3 is a control flow diagram of the present invention.
In the figure, 1, a control end; 2. a top conveyor line; 3. a first spray manipulator; 4. a second spraying manipulator; 5. a first photographing device; 6. a second photographing device; 7. hooking; 8. a three-axis drive mechanism; 9. a visual recognition device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above terms should not be construed as limiting the present invention.
Example 1
As shown in fig. 1 and 2, the spraying equipment for door and window processing and forming comprises a control end 1, a top conveying line 2 in communication connection with the control end 1, a first spraying manipulator 3, a second spraying manipulator 4, a first shooting device 5 and a second shooting device 6;
specifically, the control end 1 at least comprises a storage module, a processing module, a communication module and a human-computer interaction interface, wherein the storage module is a common hard disk, the processing module is a common computer motherboard such as an ARM motherboard, the communication module is a common wired network card and a common wireless network card, the wireless network card supports WIFI6E and bluetooth 5.2, high-speed network communication can be realized, network delay is reduced, and the human-computer interaction interface is a common touch screen, keyboard, mouse and the like;
specifically, a plurality of hooks 7 are arranged on the top conveyor line 2, the door and window are hoisted through the hooks 7 and move forward along the path of the top conveyor line 2 at a constant speed, the structure of the top conveyor line 2 is the prior art, the speed can be controlled through the control end 1, and the structure is not described again;
specifically, the first shooting device 5 is used for shooting a first image of a door and window, comparing the first image with a preset door and window image in a storage module and sending the comparison result to the control end 1, the first shooting device 5 comprises a three-axis driving mechanism 8 and a visual identification device 9, the three-axis driving mechanism 8 comprises a Y-axis linear module fixed with the ground, an X-axis linear module connected with a driving slide block of the Y-axis linear module, and a Z-axis linear module connected with a driving slide block of the X-axis linear module, the visual identification device 9 is connected with a driving slide block of the Z-axis linear module, wherein the three-axis driving mechanism 8 is structured to realize that the visual identification device 9 can rapidly scan along the contour of the door and window, the moving speed of the door and window is more than enough, the driving mechanism 8 not only has high motion precision, but also has high execution speed, and can stably move without shaking, the identification accuracy of the visual identification device 9 can be obviously improved, so the outline of the door and window can be easily scanned by the visual identification device 9 which is commercially available, the size of the door and window can be obtained, the movement speed of the door and window can be directly obtained from the top conveying line 2 through the control end 1 without calculation, and the spraying wheel frame data can be calculated before the door and window moves to the spraying manipulator because the spraying wheel frame data is firstly calculated by a basic algorithm, namely, a datum point is firstly jacked, then the height value of the door and window is advanced to the Z axis, then the width value or the length value of the door and window is moved to the Y axis or the X axis, the spraying angle and the spraying speed are set for one circle around the door and window, so that the spraying manipulator can completely cover the door and window and keep up with the speed of the door and window, the addition and subtraction operation is basically carried out, the spraying angle can be a preset value, and the thickness of the door and window is almost as much as well, and all less, the spraying scope of spraying manipulator has been can cover the one side of door and window completely under the default, and the spraying manipulator of both sides spraying just can cover door and window completely simultaneously, need not adjust the spraying angle completely, perhaps current spraying manipulator all has the vision camera, can be according to door and window automatically regulated spraying angle, consequently if adopt this kind of spraying manipulator also can be well with this application scheme structure, show improvement spraying quality and reduce the waste of spraying paint.
Specifically, the second shooting device 6 generates a second image by scanning along the contour of the door and window in sequence, generates spraying path data according to the second image and sends the spraying path data to the control terminal 1, the spraying path data is processed by the processing module to obtain converted spraying path data, the scanning of the contour of the second shooting device 6 to obtain the door and window size is the prior art in the field of visual identification, because the shape and structure of the door and window are very simple and basically rectangular, the calculation amount is very small no matter in the comparison calculation process of the first shooting device 5, the scanning process of the second shooting device 6 and the conversion process of the processing module, the hardware requirement is very low, according to the existing hardware level of the computer, the data can be processed in a few milliseconds to obtain the result, the scanning process of the second shooting device 6 is calculated to move along with the door and window without affecting the transportation of the door and window, therefore, the door and window is on-line, does not need to be suspended, runs at a constant speed in the whole process, formally achieves the effect because the calculated amount is small and the structure is simple, and the control method for other products in the prior art cannot be realized.
Specifically, first spraying manipulator 3 receives spraying path data and openly carries out the spraying operation to door and window, and second spraying manipulator 4 receives conversion spraying path data and carries out the spraying operation to the door and window back, and in this embodiment, two spraying manipulator symmetries set up, carry out the spraying operation simultaneously, so just can realize the on-line spraying that does not stop of door and window, show improvement spraying efficiency and spraying quality.
When the second shooting device 6 scans the door and window, firstly, the upper left corner of the door and window is scanned, the scanning is completed by scanning the upper left corner of the door and window clockwise or anticlockwise along the outline of the door and window, the size of the door and window is recorded, and the spraying path data is generated according to the size and the moving speed of the door and window.
Preferably, when the similarity between the first image and the preset door and window image is greater than or equal to a preset threshold value, the control end 1 binds the spraying path data and the door and window model corresponding to the preset door and window image for the next call; and when the similarity of the first image and the preset door and window image is lower than a preset threshold value, taking the first image as the preset door and window image of the door and window and binding the record with the model corresponding to the door and window for calling next time.
Preferably, the first photographing device 5 compares the similarity between the first image and the preset door and window image in the storage module through a saliency map algorithm, the similarity between the first image and the preset door and window image can be very accurately identified by using the existing saliency map algorithm, a threshold is further set to allow a certain error, and the most accurate structure can be obtained because after a certain similarity is achieved, it indicates that two doors and windows are almost the same in size, and thus, an excellent painting effect can be achieved even through the same painting path is used.
The working principle is as follows: the application can firstly detect the passing door and window through the first shooting device 5, match the passing door and window image with the preset door and window image in the storage module, then scan the passing door and window through the second shooting device 6, because the doors and windows are rectangular frames, only the outlines of the doors and windows need to be installed for scanning, the spraying path data corresponding to the door and window can be quickly generated, when the door and window moves to a position between the first paint spraying mechanical arm and the second paint spraying mechanical arm, the first paint spraying mechanical arm and the second paint spraying mechanical arm can spray paint for doors and windows with names of any type, and each door and window has unique spraying path data, so that paint waste can be greatly reduced, the spraying quality and the spraying efficiency can be improved, and technicians do not need to independently program the spraying paths of each type of door and window.
Example 2
Referring to fig. 3, in this embodiment, compared with embodiment 1, the control end 1 further includes a quality feedback module, receives the spraying quality feedback data of the corresponding door and window through the quality feedback module, refreshes the corresponding spraying path data according to the spraying quality feedback data, backs up the old spraying path data, sequentially stores the spraying path data according to the version number, and corresponds the spraying path data of each version number to the spraying quality feedback data one to one.
The quality feedback module is actually a port specially used for receiving door and window quality inspection data, each regular factory is provided with a quality inspection part, quality inspection is needed before products leave factory, particularly, assembly line enterprises adopt a machine photographing mode to carry out quality inspection without manual operation, so that spray paint quality feedback data can be obtained no matter whether the quality inspection is carried out manually or the quality inspection is carried out by machines, the quality state according to the current spray paint path data can be fed back according to the spray paint quality feedback data, the spray paint path data of each version can be stored and classified according to the door and window types, each door and window type is provided with a plurality of versions of spray paint path data, the best spray paint path data of each door and window type can be found out as long as the best spray paint quality feedback is selected, compared with the prior art that each door and window type is provided with only one spray paint path data or all doors and windows use one universal spray paint path data, the method and the device can continuously optimize and obtain the best spraying path data, thereby obviously improving the spraying quality and the spraying efficiency and reducing the spraying waste.
Preferably, the version numbers are divided according to time periods, and in each time period, when the current spraying quality feedback data is larger than the spraying quality feedback data of the last version number, the spraying path data corresponding to the current spraying quality feedback data is used for production, wherein the spraying quality feedback data comprises the processing amount per unit time, the spraying score and the paint consumption, and the spraying quality feedback data is 0.5+ 0.3+ 0.2 of the spraying score.
Because the spraying quality feedback data is not real-time, the version numbers are divided according to time periods, after the subsequent spraying quality feedback data is fed back, the spraying path data corresponding to each model of door and window can be found according to time and version numbers, so that the spraying quality feedback data can be compared in each time period, the version number of the spraying path data corresponding to the optimal spraying quality feedback data is selected, the current optimal effect can be obtained by selecting the spraying path data with the version number, the spraying quality feedback data of the spraying path data with each version number can be obtained by performing weighted calculation on the processing amount in unit time, the spraying score and the spraying consumption amount, and the data fully refers to the processing amount in unit time (processing efficiency), the spraying score (spraying quality) and the spraying consumption amount (spraying waste degree), the spraying quality feedback data of the spraying path data of each version number can be fed back more comprehensively, and therefore the best spraying path data can be obtained through continuous optimization.
The time period comprises every year, every quarter, every month, every week and every day, the version number of the spraying quality feedback data with the highest score is selected every day, and the version number of the spraying quality feedback data with the highest score is sequentially obtained every week to every year, so that a general factory can obtain the production data of the day before going off work every day, and can obtain the production data, namely the spraying quality feedback data, every week or every month or even every quarter at the slowest, and therefore, the time period is correspondingly divided according to the factory conditions, and the best version number of the spraying quality feedback data in the time period can be obtained.
In this embodiment, when spraying quality feedback data with the same score in two consecutive quarters appears, any one of the version numbers corresponding to the spraying quality feedback data with the same score in the quarter is taken as current standard spraying path data, and there is a case that the score of the spraying quality feedback data is the same, because the score is obtained by weighted calculation, a new version number, that is, new spraying quality feedback data, is generated only when the score of the spraying quality feedback data is greater than the data of the previous version number, so the version numbers in this step are the same, and the version number can be taken as current standard spraying path data, and after optimization in two quarters, the best spraying path data is obviously obtained, and only the standard spraying path data needs to be directly called to process corresponding doors and windows, and no optimization is needed, the calculation process can be saved.
In this embodiment, when the current spraying quality feedback data is less than or equal to the spraying quality feedback data of the previous version number, the control terminal 1 controls the top conveyor line 2 to increase or decrease the conveying speed of the first door and window and correspondingly adjust the speeds of the first spraying manipulator 3, the second spraying manipulator 4 and the first shooting device 5, wherein each conveying speed is 1%, or 2%, or 0.1% of the reference speed, and is determined according to the actual production situation, but does not exceed the maximum speed and is less than the minimum speed. Can constantly try to come control door and window functioning speed, be equivalent to control input speed, adjust first spraying manipulator 3, second spraying manipulator 4 and first camera 5's speed adaptively, as long as can follow door and window functioning speed and normally accomplish work can, thereby can look over whether can be under the unchangeable condition of other regulations according to subsequent spraying quality feedback data, obtain best spraying path data, because it is not door and window input speed faster, it is better that also not door and window input speed is slower the spraying quality, can obtain best spraying path data through the attempt of this step, this does not exist in prior art.
The present invention is not described in detail in the prior art, and therefore, the present invention is not described in detail.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Although the terms control end 1, top conveyor line 2, first painting robot 3, second painting robot 4, first camera 5, second camera 6, hook 7, three-axis drive mechanism 8, visual recognition device 9, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as those of the present application, fall within the protection scope of the present invention.
Claims (10)
1. The spraying equipment for door and window machining and forming is characterized by comprising a control end, a top conveying line, a first spraying mechanical arm, a second spraying mechanical arm, a first shooting device and a second shooting device, wherein the top conveying line, the first spraying mechanical arm, the second spraying mechanical arm, the first shooting device and the second shooting device are in communication connection with the control end;
the control end at least comprises a storage module, a processing module, a communication module and a human-computer interaction interface;
the top conveying line is provided with a plurality of hooks, and the door and the window are hoisted through the hooks and move forwards at a constant speed along the path of the top conveying line;
the first shooting device is used for shooting a first image of the door and window, comparing the first image with a preset door and window image in the storage module and sending a comparison result to the control end;
the second shooting device generates a second image by scanning along the outline of the door and window in sequence, generates spraying path data according to the second image, sends the spraying path data to the control end, and processes the spraying path data through the processing module to obtain converted spraying path data;
the first spraying mechanical arm receives the spraying path data and carries out spraying operation on the front face of the door and window;
the second spraying manipulator receives the data of the converted spraying path and carries out spraying operation on the back of the door and window;
when the similarity between the first image and the preset door and window image is greater than or equal to a preset threshold value, the control end binds and records the spraying path data and the door and window model corresponding to the preset door and window image for calling next time; and when the similarity of the first image and the preset door and window image is lower than a preset threshold value, taking the first image as the preset door and window image of the door and window and binding a record with the model corresponding to the door and window for calling next time.
2. The painting apparatus for door and window processing and forming according to claim 1, wherein the first photographing device includes a three-axis driving mechanism and a visual recognition device, the three-axis driving mechanism includes a Y-axis linear module fixed to the ground, an X-axis linear module connected to a driving slider of the Y-axis linear module, and a Z-axis linear module connected to a driving slider of the X-axis linear module, and the visual recognition device is connected to a driving slider of the Z-axis linear module.
3. The spraying equipment for door and window machining and forming according to claim 2, wherein the control end further comprises a quality feedback module, the quality feedback module is used for receiving spraying quality feedback data of corresponding doors and windows, the corresponding spraying path data are refreshed according to the spraying quality feedback data, old spraying path data are backed up, the spraying path data are stored in sequence according to version numbers, and the spraying path data of each version number correspond to the spraying quality feedback data one by one.
4. The spraying equipment for door and window processing and forming as claimed in claim 3, wherein the version numbers are divided according to time periods, and in each time period, when the current spraying quality feedback data is greater than the spraying quality feedback data of the previous version number, the spraying path data corresponding to the current spraying quality feedback data is adopted for production.
5. The coating apparatus for door and window forming according to claim 4, wherein the coating quality feedback data comprises a processed amount per unit time, a paint score and a paint consumption, wherein the coating quality feedback data comprises the processed amount per unit time 0.5+ the paint score 0.3+ the paint consumption 0.2.
6. The spraying equipment for door and window processing and forming as claimed in claim 5, wherein when the current spraying quality feedback data is less than or equal to the spraying quality feedback data of the previous version number, the control end controls the top conveyor line to increase or decrease the conveying speed of the first door and window and correspondingly adjust the speeds of the first spraying manipulator, the second spraying manipulator and the first shooting device, wherein the conveying speed of each gear is 1% of the reference speed.
7. The painting apparatus for door and window processing molding according to claim 6, wherein the time period includes year, quarter, month, week and day, the version number of the painting quality feedback data with the highest score is selected every day, and the version numbers of the painting quality feedback data with the highest score are sequentially acquired every week to year.
8. The painting equipment for door and window processing and forming as claimed in claim 7, wherein when painting quality feedback data having the same score in two consecutive quarters appears, any one of version numbers corresponding to the painting quality feedback data corresponding to the score is taken as current year standard painting path data.
9. The spraying equipment for door and window machining and forming according to claim 1, wherein when the second shooting device scans the door and window, the second shooting device firstly scans the upper left corner of the door and window, and scans the door and window profile clockwise or counterclockwise until the door and window profile returns to the upper left corner of the door and window to complete scanning, records the size of the door and window, and generates the spraying path data according to the size and the moving speed of the door and window.
10. The spraying equipment for door and window processing and forming as claimed in any one of claims 1 to 9, wherein the first shooting device compares the similarity of the first image and the preset door and window image in the storage module through a saliency map algorithm.
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| CN113663835B (en) | 2022-04-22 |
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