CN113680555A - Method for spraying upper surface and outer side surface of workpiece - Google Patents
Method for spraying upper surface and outer side surface of workpiece Download PDFInfo
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- CN113680555A CN113680555A CN202111154554.3A CN202111154554A CN113680555A CN 113680555 A CN113680555 A CN 113680555A CN 202111154554 A CN202111154554 A CN 202111154554A CN 113680555 A CN113680555 A CN 113680555A
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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
- B05B13/0278—Arrangement or mounting of spray heads
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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
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
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- Spray Control Apparatus (AREA)
Abstract
The invention relates to a method for spraying the upper surface and the outer side surface of a workpiece, which comprises the workpiece, a conveying line for conveying the workpiece, a three-dimensional scanning system for scanning the length, the width and the height of the conveyed workpiece, a control system for processing the scanning information of the three-dimensional scanning system, and a first spraying support and a second spraying support for planning a spraying path through the control system; the first spraying support and the second spraying support respectively slide and move up and down along the conveying direction of the workpiece under the control of the control system; the first spraying support and the second spraying support are respectively provided with four spraying guns; in the process of conveying the workpiece once, the four spray guns of the first spraying support and the four spray guns of the second spraying support respectively spray the upper side, the lower side, the upper surface, the front side and the rear side of the workpiece. The invention can improve the spraying efficiency and quality of work, and can meet the requirement of spraying workpieces with the height of more than 5cm, thereby having strong practicability.
Description
Technical Field
The invention relates to a method for spraying the upper surface and the outer side surface of a workpiece.
Background
Currently, the surface of the wood workpiece, including the upper surface and the outer side surface, is usually sprayed by manual or mechanical equipment.
Artifical spraying needs the handheld paint gun of staff to operate, and its spraying is inefficient, and the spraying is not even enough, adopts the nature to dry after the spraying, leads to the dust piece to fall on the surface of paint, is difficult to clear up to the paint surface after the drying plays the package easily, and the quality is relatively poor, and the paint has toxicity, and long-time work can cause the threat to workman's healthy.
The spraying of mechanical equipment adopts a robot to realize automatic operation, but is influenced by a mechanical structure, the spraying can only meet the requirement of workpieces with the height of less than or equal to 5cm, but for the workpieces with the height of more than 5cm, the problem of uneven spraying height exists on the upper surface and the outer side surface of the workpiece.
For example, chinese patent document No. CN107262321A discloses a spraying method capable of automatically generating a spraying track in 2017, 10 and 20 months, which includes the following steps; placing a workpiece to be sprayed on a tool platform provided with a transverse coordinatometer X axis and a longitudinal coordinatometer Y axis, and placing the workpiece close to a coordinate origin and a coordinate axis during placement; reading the maximum value of the workpiece on the X axis and the maximum value of the workpiece on the Y axis, calling a system program of the robot by the main control cabinet, inputting the two values into a system program parameter input table, and setting the spraying speed and the fan width, namely generating a spraying track program; thirdly, setting the initial point of a spray gun controlled by the robot at the origin of coordinates, and then operating the robot to perform spraying operation by using the spraying track program generated in the second step; and step four, after the spraying operation is finished, the spray gun returns to the standby position again, and then the operation is finished. Namely, the above method can finish the spraying of the upper surface of the workpiece, and at the same time, considering the effective spraying diameter of the spray gun, the above method can also finish the spraying of the outer side surface of the workpiece with a small height, but the spraying cannot be performed well for the workpiece with a large height, and the spraying effect is poor.
Therefore, further improvements are necessary.
Disclosure of Invention
The invention aims to provide a method for spraying the upper surface and the outer side surface of a workpiece, so as to overcome the defects in the prior art.
The method for spraying the upper surface and the outer side surface of the workpiece comprises the workpiece and a conveying line for conveying the workpiece, and is characterized in that: the device also comprises a three-dimensional scanning system for scanning the length, the width and the height of the workpiece during conveying, a control system for processing the scanning information of the three-dimensional scanning system, and a first spraying support and a second spraying support which plan spraying paths through the control system.
The first spraying support and the second spraying support respectively slide and move up and down along the workpiece conveying direction under the control of the control system.
And the first spraying support and the second spraying support are respectively provided with four spraying guns.
The workpiece is in a conveying process, and the four spray guns of the first spraying support and the four spray guns of the second spraying support respectively spray the upper side, the lower side, the upper surface, the front side and the rear side of the workpiece.
The four spray guns of the first spraying support are respectively a first spray gun, a second spray gun, a third spray gun and a fourth spray gun.
The four spray guns of the second spraying bracket are respectively a fifth spray gun, a sixth spray gun, a seventh spray gun and an eighth spray gun.
Wherein, any one or more of the first to eighth spray guns can spray the upper side, the lower side, the upper surface, the front side and the rear side of the workpiece individually or in combination.
And the first spraying support and the second spraying support respectively spray the front side and the back side of the workpiece through at least one spray gun when moving up and down.
The first spraying support and the second spraying support are respectively sprayed on the upper side surface, the lower side surface and the upper surface of the workpiece through at least one spray gun when transversely sliding.
The first spray gun and the second spray gun are respectively used for spraying the upper side surface, the lower side surface and the upper surface of the workpiece when the first spraying support transversely slides.
And the third spray gun and the fourth spray gun respectively spray the rear side surface of the workpiece when the first spray support moves up and down.
And the fifth spray gun and the sixth spray gun respectively spray the front side surface of the workpiece when the second spray support moves up and down.
And the seventh spray gun and the eighth spray gun respectively spray the upper side surface, the lower side surface and the upper surface of the workpiece when the second spray bracket slides transversely.
The first spray gun, the second spray gun, the third spray gun, the fourth spray gun, the fifth spray gun, the sixth spray gun, the seventh spray gun and the eighth spray gun can carry out angle adjustment according to the positions of the upper side, the lower side, the upper surface, the front side and the rear side of the workpiece.
A paint spraying chamber is also arranged above the conveying line; and the top of the spray booth is respectively provided with a front driving device and a rear driving device along the conveying direction of the workpiece.
The first spraying support is in driving connection with the front driving device and slides transversely and moves up and down along the conveying direction of the workpiece under the driving of the front driving device.
The second spraying support is in driving connection with the rear driving device and slides transversely and moves up and down along the conveying direction of the workpiece under the driving of the rear driving device.
The three-dimensional scanning system comprises a box body; the box body is a lightproof closed box body, and a laser used for emitting laser lines and a camera used for shooting are arranged on the box body.
And a photoelectric sensor for detecting the position of the workpiece and an encoder for calculating the conveying distance of the workpiece are arranged on the conveying line.
The control system comprises a PLC controller and an upper computer.
The PLC is electrically connected with the photoelectric sensor, the encoder and the upper computer respectively; the upper computer is electrically connected with the laser and the camera respectively and receives the image data of the laser and the camera.
The three-dimensional scanning system utilizes the laser to emit laser lines and form laser triangles to realize three-dimensional scanning on a workpiece so as to obtain three-dimensional point cloud data of the workpiece, and then utilizes the camera to shoot the scanned workpiece so as to obtain a length, a width and a height map of the workpiece; and the upper computer performs image processing on the three-dimensional point cloud data and extracts characteristic data of length, width and height images, so that spraying paths of the first spraying support and the second spraying support are planned.
The spraying method comprises the following steps:
the method comprises the following steps that firstly, a workpiece is placed on a conveying line and conveyed towards the direction of a box body through the conveying line, and the workpiece enters the box body through a photoelectric sensor during conveying, so that a laser and a camera confirm the feeding position of the workpiece;
step two, the laser projects a long and thin light-emitting straight line according to the feeding position of the workpiece, the light-emitting straight line is a laser line and irradiates the surface and the side face of the workpiece, the surface and the side face of the workpiece are continuously reconstructed in the conveying process of the laser line, the camera shoots the laser line projected to the surface and the side face of the workpiece, contour images with different lengths, widths and heights of the workpiece are obtained, and the upper computer performs image processing according to the contour images and sends image processing information to the PLC;
thirdly, the PLC receives the image processing information, analyzes and calculates the image processing information, and generates a three-dimensional image of the workpiece, and the PLC plans the transverse sliding distance and the up-down moving distance of the first spraying support and the second spraying support according to the three-dimensional image;
conveying the workpiece out of the box body through the conveying line, and enabling the workpiece to enter the paint spraying chamber; when the workpiece enters the working range of the first spraying support, the PLC controls the first spraying support to transversely slide, wherein the first spraying gun and the second spraying gun respectively spray the upper side surface, the lower side surface and the upper surface of the workpiece when the first spraying support transversely slides;
after the upper side surface, the lower side surface and the upper surface of the workpiece are sprayed, the PLC controls the first spraying support to move downwards, wherein the third spraying gun and the fourth spraying gun respectively spray the rear side surface of the workpiece when the first spraying support moves downwards;
step six; when the workpiece enters the working range of a second spraying support, the PLC controls the second spraying support to move downwards, wherein the fifth spray gun and the sixth spray gun respectively spray the front side surface of the workpiece when the second spraying support moves downwards;
step seven; after the spraying of the leading flank of work piece was accomplished, PLC controller control the second spraying support makes the rebound, controls again afterwards the second spraying support makes lateral sliding, wherein, the seventh spray gun with the eighth spray gun is in respectively when second spraying support lateral sliding is right again the spraying is carried out to last side, downside, the upper surface of work piece, in order to accomplish finally the upper surface and the lateral surface spraying of work piece.
And in the fourth step, the encoder calculates the real-time conveying position of the workpiece, and sends the real-time conveying position of the workpiece to the PLC, and the PLC controls the transverse sliding position and the up-down moving position of the first spraying support and the second spraying support according to the real-time conveying position of the workpiece.
In the fifth step, after the spraying of the upper side, the lower side, the upper surface and the rear side of the workpiece is completed, the PLC controller controls the first spraying support to move upwards and reset to the initial position, and waits for the next spraying operation, and the third spray gun and the fourth spray gun are respectively in the process of moving upwards for the first spraying support to spray the rear side of the workpiece again.
And seventhly, spraying the front side surface of the workpiece again by the fifth spray gun and the sixth spray gun when the second spraying support moves upwards respectively.
Through the improvement, the invention only utilizes part of the spray guns to spray the side surface of the workpiece, and increases the coating amount of the side surface of the workpiece under the condition of not increasing the coating amount of the upper surface of the workpiece, so that the coating amounts of a plurality of side surfaces of the workpiece can be independently sprayed and controlled, thereby solving the problem that the coating amounts of the plurality of side surfaces are gradually reduced relative to the coating amount of the upper surface along with the increase of the height of the workpiece when the spray guns in the prior art spray gun spray reciprocally, ensuring the coating amounts of the upper surface and the plurality of side surfaces of the workpiece to be consistent, and improving the qualification rate of finished products.
Meanwhile, the length, the width and the height of the workpiece during conveying are scanned by using a three-dimensional scanning system, scanning information is sent to a control system, the control system plans the spraying paths of the first spraying support and the second spraying support according to the scanning information, and the four spraying guns of the first spraying support and the second spraying support can finish the spraying of the upper side, the lower side, the upper surface, the front side and the rear side of the workpiece in one-time conveying process of the workpiece so as to improve the spraying efficiency of the workpiece.
And because the three-dimensional scanning system can scan the length, the width and the height of the workpiece, the three-dimensional profile image of the workpiece can be accurately obtained, so that the control system can accurately control the transverse sliding position and the up-down moving position of the first spraying bracket and the second spraying bracket, the moving precision of the first spraying bracket and the second spraying bracket and the spraying precision of the spray gun are improved, the working stability and the working precision of the first spraying bracket and the second spraying bracket are ensured, and the requirement of spraying the workpiece with the height larger than 5cm is met.
And moreover, the four spray guns are respectively arranged on the first spray support and the second spray support, the spray work among the spray guns is not interfered with each other, and the labor division is clear, so that the spray efficiency is further improved, and the spray uniformity of the workpiece can be ensured.
Drawings
Fig. 1 is a schematic structural diagram according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a workpiece, a first spray painting holder and a second spray painting holder according to an embodiment of the present invention.
FIG. 3 is a schematic view of a workpiece and multiple spray guns spraying in accordance with one embodiment of the present invention.
Fig. 4 is a schematic structural view of a first spray coating bracket and a front driving device according to an embodiment of the invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
Referring to fig. 1 to 4, the method for spraying the upper surface and the outer side surface of the workpiece includes the workpiece 1, a conveying line 2 for conveying the workpiece 1, a three-dimensional scanning system for scanning the length, the width and the height of the conveyed workpiece 1, a control system for processing scanning information of the three-dimensional scanning system, and a first spraying support a and a second spraying support B for planning a spraying path through the control system.
The first spraying support A and the second spraying support B respectively slide and move up and down along the conveying direction of the workpiece 1 under the control of the control system.
And the first spraying support A and the second spraying support B are respectively provided with four spray guns.
In the process of conveying the workpiece 1 once, the four spray guns of the first spray painting support a and the four spray guns of the second spray painting support B respectively spray the upper side 31, the lower side 32, the upper surface 33, the front side 34 and the rear side 35 of the workpiece 1.
In the embodiment, the three-dimensional scanning system is used for scanning the length, the width and the height of the workpiece 1 in conveying, scanning information is sent to the control system, the control system plans the spraying paths of the first spraying support A and the second spraying support B according to the scanning information, so that the four spraying guns of the first spraying support A and the second spraying support B can finish the spraying of the upper side surface 31, the lower side surface 32, the upper surface 33, the front side surface 34 and the rear side surface 35 of the workpiece 1 in one-time conveying process of the workpiece 1, so as to improve the spraying efficiency of the workpiece 1, and simultaneously, as the workpiece 1 finishes the spraying of the upper side surface 31, the lower side surface 32, the upper surface 33, the front side surface 34 and the rear side surface 35 in one-time conveying process, the coating amounts of the upper surface 33 and the outer side surface of the workpiece 1 are uniform, so as to avoid the problem that the spraying quality of each surface of the workpiece 1 is difficult to ensure due to the fact that the workpiece 1 needs to be sprayed repeatedly for many times, the spraying quality of the workpiece 1 is improved from the surface.
Specifically, the four spray guns of the first spray painting support a are respectively a first spray gun 21, a second spray gun 22, a third spray gun 23 and a fourth spray gun 24.
The four spray guns of the second spray painting support B are respectively a fifth spray gun 25, a sixth spray gun 26, a seventh spray gun 27 and an eighth spray gun 28.
Wherein any one or more of the first to eighth spray guns can spray the upper side 31, the lower side 32, the upper surface 33, the front side 34, and the rear side 35 of the workpiece 1 individually or in combination.
Such as the third spray gun 23, the fourth spray gun 24, the fifth spray gun 25 and the sixth spray gun 26, to perform normal spraying (i.e. to spray the upper surface 33 of the workpiece 1); the first spray gun 21, the second spray gun 22, the seventh spray gun 27, and the eighth spray gun 28 perform side plate painting (i.e., painting the upper surface 31, the lower surface 32, the front surface 34, and the rear surface 35 of the workpiece 1). The above spraying manner can be reversed, or other combination manners can be used to complete the spraying of the workpiece 1, or a separate spray gun can be used to perform separate spraying on the surface and the side plate of the workpiece 1.
That is, it is within the scope of the present application that the skilled person performs the painting of the workpiece 1 by any way of performing the above-mentioned first spray gun 21, second spray gun 22, third spray gun 23, fourth spray gun 24, fifth spray gun 25, sixth spray gun 26, seventh spray gun 27, and eighth spray gun 28, singly or in combination.
According to the spraying gun, only the side face of the workpiece 1 is sprayed by using a part of the spraying gun, under the condition that the coating amount of the upper surface 33 of the workpiece 1 is not increased, the coating amount of the side face of the workpiece 1 is increased, and the coating amounts of a plurality of side faces of the workpiece 1 can be independently sprayed and controlled, so that the problem that the coating amounts of the plurality of side faces are gradually reduced relative to the coating amount of the upper surface 33 along with the increase of the height of the workpiece 1 when the spraying gun in the prior art performs reciprocating spraying is solved, the consistency of the coating amounts of the upper surface 33 and the plurality of side faces of the workpiece is ensured, and the qualification rate of finished products is improved.
Further, the first spraying bracket a and the second spraying bracket B respectively spray the front side surface 34 and the rear side surface 35 of the workpiece 1 through at least one spray gun when moving up and down.
The first spray painting support A and the second spray painting support B respectively spray painting the upper side 31, the lower side 32 and the upper surface 33 of the workpiece 1 through at least one spray gun when sliding transversely.
Because first spraying support A and second spraying support B can transversely slide and reciprocate, consequently can carry out the spraying to whole upper surface 33 and the lateral surface of work piece 1 to satisfy the spraying that work piece 1 height > 5cm, improve the working range that sprays paint.
The first spray gun 21 and the second spray gun 22 respectively spray the upper surface 31, the lower surface 32 and the upper surface 33 of the workpiece 1 when the first spray bracket a slides transversely.
The third spray gun 23 and the fourth spray gun 24 respectively spray the rear side 35 of the workpiece 1 when the first spray bracket a moves up and down.
The fifth spray gun 25 and the sixth spray gun 26 respectively spray the front side 34 of the workpiece 1 when the second spray bracket B moves up and down.
The seventh spray gun 27 and the eighth spray gun 28 respectively spray the upper surface 31, the lower surface 32, and the upper surface 33 of the workpiece 1 when the second spray bracket B slides laterally.
The first spray gun 21, the second spray gun 22, the third spray gun 23, the fourth spray gun 24, the fifth spray gun 25, the sixth spray gun 26, the seventh spray gun 27 and the eighth spray gun 28 can realize the spray painting of different positions of the workpiece 1, and meanwhile, the spray painting work is not interfered with each other and the division of labor is clear, so that the spray painting efficiency is further improved, and the spray painting uniformity of the workpiece can be ensured.
The first spray gun 21, the second spray gun 22, the third spray gun 23, the fourth spray gun 24, the fifth spray gun 25, the sixth spray gun 26, the seventh spray gun 27, and the eighth spray gun 28 are angularly adjustable according to positions of an upper side 31, a lower side 32, an upper surface 33, a front side 34, and a rear side 35 of the workpiece 1.
Namely, the plurality of spray guns can be angularly adjusted relative to different lengths, widths and height sizes of the workpieces 1 so as to further meet the spraying requirements of the workpieces 1 with different sizes.
Specifically, as shown in fig. 4, the second spray bracket a is provided with connecting pieces 40 corresponding to the first spray gun 21, the second spray gun 22, the third spray gun 23 and the fourth spray gun 24, a first transfer part 41 is provided between one end of each of the four connecting pieces 40 and the second spray bracket a, and a second transfer part 42 is provided between the other end of each of the four connecting pieces 40 and the first spray gun 21, the second spray gun 22, the third spray gun 23 and the fourth spray gun 24; the direction of the first adapter portion 41 is parallel to the direction of the second spraying bracket a, and the direction of the second adapter portion 42 is perpendicular to the direction of the second spraying bracket a. Therefore, the first spray gun 21, the second spray gun 22, the third spray gun 23 and the fourth spray gun 24 can realize the adjustment of at least two different angles relative to the first spraying bracket a through the arrangement function of the first adapter part 41 and the second adapter part 42, so that the first spray gun 21, the second spray gun 22, the third spray gun 23 and the fourth spray gun 24 can meet the spraying requirements of workpieces 1 with different sizes.
The adjusting and connecting relationship between the second spray painting support B and the fifth spray gun 25, the sixth spray gun 26, the seventh spray gun 27, and the eighth spray gun 28 in this embodiment is the same as the adjusting and connecting relationship between the second spray painting support a and the first spray gun 21, the second spray gun 22, the third spray gun 23, and the fourth spray gun 24, and will not be described again.
In order to reduce the environmental pollution caused by the workpiece 1 during paint spraying, a paint spraying chamber 3 is also arranged above the conveying line 2; and the top of the paint spraying chamber 3 is respectively provided with a front driving device and a rear driving device along the conveying direction of the workpiece 1.
The first spraying support A is in driving connection with the front driving device and slides transversely and moves up and down along the conveying direction of the workpiece 1 under the driving of the front driving device.
And the second spraying support B is in driving connection with the rear driving device and transversely slides and moves up and down along the conveying direction of the workpiece 1 under the driving of the rear driving device.
As shown in fig. 4, the front driving device includes a fixing frame 55, the fixing frame 55 is fixed above the conveying belt 5 in a direction of conveying the workpiece 1, and a motor 50, a speed reducer 51, a driving wheel 52, a driven wheel 53, and a transmission belt 54 are provided thereon. The driving wheel 52 and the driven wheel 53 are covered by the transmission belt 54, the motor 50, the speed reducer 51 and the driving wheel 52 are sequentially connected in a matching way, and the motor 50 drives the driving wheel 52 to rotate through the speed reducer 51. The fixed frame 55 is also provided with a sliding seat 56 for driving the first spraying bracket A to move, the transmission belt 54 is provided with first transmission teeth, the sliding seat 56 is provided with a transmission block 57, and the transmission block 57 is provided with second transmission teeth meshed with the first transmission teeth; the fixed frame 55 is further provided with a guide rail 58 and a sliding block 59 arranged at the bottom of the sliding seat 56, and the sliding block 59 is in sliding fit with the guide rail 58, so that the first painting bracket a can slide transversely along the conveying direction of the workpiece 1. Meanwhile, a lifting cylinder is further arranged between the first spraying support A and the fixing frame 55, so that the first spraying support A can move up and down.
The connection relationship between the second spraying bracket B and the rear driving device in this embodiment is the same as the connection relationship between the first spraying bracket a and the front driving device, and will not be described again.
The three-dimensional scanning system comprises a box body 4; the box body 4 is a lightproof closed box body, and a laser 5 for emitting laser lines and a camera 6 for shooting are arranged on the box body.
The conveying line 2 is provided with a photoelectric sensor 7 for detecting the position of the workpiece 1 and an encoder 8 for calculating the conveying distance of the workpiece 1.
The control system comprises a PLC (programmable logic controller) 9 and an upper computer 10.
The PLC 9 is respectively in electric control connection with the photoelectric sensor 7, the encoder 8 and the upper computer 10; the upper computer 10 is electrically connected with the laser 5 and the camera 6 respectively and receives image data of the laser 5 and the camera 6.
The three-dimensional scanning system utilizes the laser 5 to emit laser lines and form laser triangles to realize three-dimensional scanning on a workpiece so as to obtain three-dimensional point cloud data of the workpiece 1, and then utilizes the camera 6 to shoot the scanned workpiece 1 so as to obtain length, width and height maps of the workpiece 1; the upper computer 10 performs image processing on the three-dimensional point cloud data, and extracts length, width and height map characteristic data, thereby planning the spraying paths of the first spraying support A and the second spraying support B.
Because the three-dimensional scanning system can scan the length, the width and the height of the workpiece 1, the three-dimensional profile image of the workpiece 1 can be accurately obtained, so that the control system can accurately control the transverse sliding position and the up-down moving position of the first spraying support A and the second spraying support B, the moving precision of the first spraying support A and the second spraying support B and the spraying precision of a plurality of spray guns are improved, the working stability and the working precision of the first spraying support A and the second spraying support B are ensured, and meanwhile, the spraying of the workpiece 1 with the height being more than 5cm can be further met.
The spraying method comprises the following steps:
firstly, the workpiece 1 is placed on the conveyor line 2 and conveyed towards the direction of the box body 4 through the conveyor line 2, and the workpiece 1 enters the box body 4 through the photoelectric sensor 7 during conveying so that the laser 5 and the camera 6 confirm the feeding position of the workpiece 1;
step two, the laser 5 projects a long and thin light-emitting straight line according to the feeding position of the workpiece 1, the light-emitting straight line is a laser line and irradiates the surface and the side surface of the workpiece 1, the surface and the side surface of the workpiece 1 of the laser line in the conveying process are continuously reconstructed, the camera 6 shoots the laser line projected to the surface and the side surface of the workpiece 1 and obtains contour images with different lengths, widths and heights of the workpiece 1, and the upper computer 10 performs image processing according to the contour images and sends image processing information to the PLC 9;
thirdly, the PLC 9 receives the image processing information, analyzes and calculates the image processing information, and generates a three-dimensional image of the workpiece 1, and the PLC 9 plans the transverse sliding distance and the up-down moving distance of the first spraying bracket A and the second spraying bracket B according to the three-dimensional image;
fourthly, the workpiece 1 leaves the box body 4 through the conveying of the conveying line 2 and enters the paint spraying chamber 3; when the workpiece 1 enters the working range of the first spraying bracket a, the PLC controller 9 controls the first spraying bracket a to slide transversely, wherein the first spray gun 21 and the second spray gun 22 respectively spray the upper side 31, the lower side 32 and the upper surface 33 of the workpiece 1 when the first spraying bracket a slides transversely;
after the upper side 31, the lower side 32 and the upper surface 33 of the workpiece 1 are sprayed, the PLC controller 9 controls the first spraying support a to move downwards, wherein the third spraying gun 23 and the fourth spraying gun 24 respectively spray the rear side 35 of the workpiece 1 when the first spraying support a moves downwards;
step six; when the workpiece 1 enters the working range of a second spraying bracket B, the PLC controller 9 controls the second spraying bracket B to move downwards, wherein the fifth spray gun 25 and the sixth spray gun 26 respectively spray the front side 34 of the workpiece 1 when the second spraying bracket B moves downwards;
step seven; after the spraying of leading flank 34 of work piece 1 is accomplished, PLC controller 9 control second spraying support B makes the rebound, and later on the second spraying support B does lateral sliding, wherein, seventh spray gun 27 with eighth spray gun 28 is respectively to again the spraying of last side 31, downside 32, upper surface 33 of work piece 1 when second spraying support B lateral sliding to the final upper surface and the lateral surface spraying of accomplishing work piece 1.
In the fourth step, the encoder 8 calculates the real-time conveying position of the workpiece 1, and sends the real-time conveying position of the workpiece 1 to the PLC controller 9, and the PLC controller 9 controls the transverse sliding position and the up-down moving position of the first spraying bracket a and the second spraying bracket B according to the real-time conveying position of the workpiece 1.
In the fifth step, after the spraying of the upper side surface 31, the lower side surface 32, the upper surface 33 and the rear side surface 35 of the workpiece 1 is completed, the PLC controller 9 controls the first spraying bracket a to move upward and reset to the initial position, and waits for the next spraying operation, and the third spray gun 23 and the fourth spray gun 24 are respectively used for spraying the rear side surface 35 of the workpiece 1 again when the first spraying bracket a moves upward.
In the seventh step, the fifth spray gun 25 and the sixth spray gun 26 respectively spray the front side 34 of the workpiece 1 again when the second spray painting support B moves upward.
Through the setting, the upper side surface 31, the lower side surface 32, the upper surface 33, the front side surface 34 and the rear side surface 35 of the workpiece 1 can realize multiple times of spraying under the condition of paint spraying, so that the spraying requirements of different workpieces 1 are met, the spraying quality of the workpiece 1 can be further improved, and the uniform and consistent amount of the paint surface cloth on each surface is ensured.
The foregoing is a preferred embodiment of the present invention, and the basic principles, principal features and advantages of the invention are shown and described. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the present invention, but various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (10)
1. The spraying method for the upper surface and the outer side surface of the workpiece comprises the workpiece (1) and a conveying line (2) for conveying the workpiece (1), and is characterized in that: the device also comprises a three-dimensional scanning system for scanning the length, the width and the height of the conveyed workpiece (1), a control system for processing the scanning information of the three-dimensional scanning system, and a first spraying bracket (A) and a second spraying bracket (B) for planning a spraying path through the control system;
the first spraying support (A) and the second spraying support (B) respectively slide and move up and down along the conveying direction of the workpiece (1) under the control of the control system;
the first spraying support (A) and the second spraying support (B) are respectively provided with four spraying guns;
the workpiece (1) is in a conveying process, and the four spray guns of the first spraying support (A) and the four spray guns of the second spraying support (B) respectively spray the upper side face (31), the lower side face (32), the upper surface (33), the front side face (34) and the rear side face (35) of the workpiece (1).
2. The method of claim 1, wherein the step of spraying the upper surface and the outer side of the workpiece comprises the steps of: the four spray guns of the first spraying bracket (A) are respectively a first spray gun (21), a second spray gun (22), a third spray gun (23) and a fourth spray gun (24);
the four spray guns of the second spraying bracket (B) are respectively a fifth spray gun (25), a sixth spray gun (26), a seventh spray gun (27) and an eighth spray gun (28);
wherein any one or more of the first to eighth spray guns can spray the upper side (31), the lower side (32), the upper surface (33), the front side (34) and the rear side (35) of the workpiece (1) individually or in combination.
3. The method of claim 2, wherein the step of spraying the upper surface and the outer side of the workpiece comprises the steps of: the first spraying support (A) and the second spraying support (B) respectively spray a front side surface (34) and a rear side surface (35) of the workpiece (1) through at least one spray gun when moving up and down;
the first spraying support (A) and the second spraying support (B) respectively spray an upper side (31), a lower side (32) and an upper surface (33) of the workpiece (1) through at least one spray gun when transversely sliding.
4. The method of claim 3, wherein the step of spraying the upper surface and the outer side of the workpiece comprises the steps of: the first spray gun (21) and the second spray gun (22) respectively spray an upper side (31), a lower side (32) and an upper surface (33) of the workpiece (1) when the first spray bracket (A) slides transversely;
the third spray gun (23) and the fourth spray gun (24) respectively spray the rear side surface (35) of the workpiece (1) when the first spray bracket (A) moves up and down;
the fifth spray gun (25) and the sixth spray gun (26) respectively spray the front side surface (34) of the workpiece (1) when the second spray bracket (B) moves up and down;
the seventh spray gun (27) and the eighth spray gun (28) respectively spray an upper side (31), a lower side (32) and an upper surface (33) of the workpiece (1) when the second spray bracket (B) slides laterally.
5. The method of claim 4, wherein the step of spraying the upper surface and the outer side of the workpiece comprises the steps of: the first spray gun (21), the second spray gun (22), the third spray gun (23), the fourth spray gun (24), the fifth spray gun (25), the sixth spray gun (26), the seventh spray gun (27), and the eighth spray gun (28) can be angularly adjusted according to positions of an upper side (31), a lower side (32), an upper surface (33), a front side (34), and a rear side (35) of the workpiece (1).
6. The method of claim 5, wherein the step of spraying the upper surface and the outer side of the workpiece comprises the steps of: a paint spraying chamber (3) is also arranged above the conveying line (2); the top of the paint spraying chamber (3) is respectively provided with a front driving device and a rear driving device along the conveying direction of the workpiece (1);
the first spraying bracket (A) is in driving connection with the front driving device and slides transversely and moves up and down along the conveying direction of the workpiece (1) under the driving of the front driving device;
the second spraying support (B) is in driving connection with the rear driving device and slides transversely and moves up and down along the conveying direction of the workpiece (1) under the driving of the rear driving device.
7. The method of claim 6, wherein the step of spraying the upper surface and the outer side of the workpiece comprises the steps of: the three-dimensional scanning system comprises a box body (4); the box body (4) is a lightproof closed box body, and a laser (5) for emitting laser lines and a camera (6) for shooting are arranged on the box body;
the conveying line (2) is provided with a photoelectric sensor (7) for detecting the position of the workpiece (1) and an encoder (8) for calculating the conveying distance of the workpiece (1);
the control system comprises a PLC (programmable logic controller) controller (9) and an upper computer (10);
the PLC (9) is respectively in electric control connection with the photoelectric sensor (7), the encoder (8) and the upper computer (10); the upper computer (10) is electrically connected with the laser (5) and the camera (6) respectively and receives image data of the laser (5) and the camera (6);
the three-dimensional scanning system utilizes the laser (5) to emit laser lines and form laser triangles to realize three-dimensional scanning on a workpiece so as to obtain three-dimensional point cloud data of the workpiece (1), and then utilizes the camera (6) to shoot the scanned workpiece (1) so as to obtain a length, a width and a height map of the workpiece (1); and the upper computer (10) performs image processing on the three-dimensional point cloud data and extracts characteristic data of length, width and height images, so that spraying paths of the first spraying support (A) and the second spraying support (B) are planned.
8. The method of claim 7, wherein the step of spraying the upper surface and the outer side of the workpiece comprises the steps of: the spraying method comprises the following steps:
firstly, the workpiece (1) is placed on the conveying line (2) and conveyed towards the direction of the box body (4) through the conveying line (2), and the workpiece (1) enters the box body (4) through the photoelectric sensor (7) during conveying so that the laser (5) and the camera (6) confirm the feeding position of the workpiece (1);
step two, the laser (5) projects a long and thin light-emitting straight line according to the feeding position of the workpiece (1), the light-emitting straight line is a laser line and irradiates the surface and the side face of the workpiece (1), the surface and the side face of the workpiece (1) of the laser line in the conveying process are continuously reconstructed, the camera (6) shoots the laser line projected to the surface and the side face of the workpiece (1) and obtains contour images with different lengths, widths and heights of the workpiece (1), and the upper computer (10) carries out image processing according to the contour images and sends image processing information to the PLC (9);
thirdly, the PLC (9) receives the image processing information, analyzes and calculates the image processing information, and generates a three-dimensional image of the workpiece (1), and the PLC (9) plans the transverse sliding distance and the up-down moving distance of the first spraying bracket (A) and the second spraying bracket (B) according to the three-dimensional image;
fourthly, the workpiece (1) leaves the box body (4) through the conveying of the conveying line (2) and enters the paint spraying chamber (3); when the workpiece (1) enters the working range of the first spraying support (A), the PLC (9) controls the first spraying support (A) to slide transversely, wherein the first spray gun (21) and the second spray gun (22) respectively spray an upper side (31), a lower side (32) and an upper surface (33) of the workpiece (1) when the first spraying support (A) slides transversely;
step five, after the upper side (31), the lower side (32) and the upper surface (33) of the workpiece (1) are sprayed, the PLC (9) controls the first spraying support (A) to move downwards, wherein the third spraying gun (23) and the fourth spraying gun (24) respectively spray the rear side (35) of the workpiece (1) when the first spraying support (A) moves downwards;
step six; when the workpiece (1) enters the working range of a second spraying support (B), the PLC (9) controls the second spraying support (B) to move downwards, wherein the fifth spray gun (25) and the sixth spray gun (26) respectively spray the front side surface (34) of the workpiece (1) when the second spraying support (B) moves downwards;
step seven; after leading flank (34) spraying of work piece (1) is accomplished, PLC controller (9) control upward movement is made in second spraying support (B), and then controll second spraying support (B) is made lateral sliding, wherein, seventh spray gun (27) with eighth spray gun (28) are in respectively when second spraying support (B) lateral sliding again the side of going up (31), downside (32), upper surface (33) of work piece (1) carry out the spraying, in order to accomplish finally the upper surface and the lateral surface spraying of work piece (1).
9. The method of claim 8, wherein the step of spraying the upper surface and the outer side of the workpiece comprises: in the fourth step, the encoder (8) calculates the real-time conveying position of the workpiece (1), the real-time conveying position of the workpiece (1) is sent to the PLC (9), and the PLC (9) controls the transverse sliding position and the up-down moving position of the first spraying support (A) and the second spraying support (B) according to the real-time conveying position of the workpiece (1).
10. The method of claim 8, wherein the step of spraying the upper surface and the outer side of the workpiece comprises: in the fifth step, after the spraying of the upper side surface (31), the lower side surface (32), the upper surface (33) and the rear side surface (35) of the workpiece (1) is completed, the PLC (9) controls the first spraying support (A) to move upwards and reset to an initial position, and waits for the next spraying operation, and the third spray gun (23) and the fourth spray gun (24) respectively spray the rear side surface (35) of the workpiece (1) again when the first spraying support (A) moves upwards;
and step seven, spraying the front side surface (34) of the workpiece (1) again by the fifth spray gun (25) and the sixth spray gun (26) when the second spraying bracket (B) moves upwards respectively.
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| CN202111154554.3A CN113680555A (en) | 2021-09-29 | 2021-09-29 | Method for spraying upper surface and outer side surface of workpiece |
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| CN114082565A (en) * | 2021-12-06 | 2022-02-25 | 东风汽车股份有限公司 | Coating line reciprocating spraying system and control method thereof |
| CN114682422A (en) * | 2022-03-29 | 2022-07-01 | 江苏迪盛智能科技有限公司 | Method for controlling thickness of target spray coating |
| CN114871011A (en) * | 2022-06-23 | 2022-08-09 | 浙江里仁纳米科技有限公司 | Automatic spot-shooting spraying control system for spraying assembly line |
| CN115121421A (en) * | 2022-07-18 | 2022-09-30 | 安徽智扬门业股份有限公司 | Spray paint drying device of stainless steel theftproof door frame |
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Application publication date: 20211123 |