CN113763469A - BPR glue spraying process for automobile door - Google Patents
BPR glue spraying process for automobile door Download PDFInfo
- Publication number
- CN113763469A CN113763469A CN202110885500.8A CN202110885500A CN113763469A CN 113763469 A CN113763469 A CN 113763469A CN 202110885500 A CN202110885500 A CN 202110885500A CN 113763469 A CN113763469 A CN 113763469A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- automobile door
- camera
- bpr
- glue
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 39
- 239000003292 glue Substances 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000008569 process Effects 0.000 title claims abstract description 14
- 238000004026 adhesive bonding Methods 0.000 claims abstract description 11
- 238000001035 drying Methods 0.000 claims abstract description 8
- 238000004519 manufacturing process Methods 0.000 claims abstract description 6
- 238000003384 imaging method Methods 0.000 claims description 20
- 230000009466 transformation Effects 0.000 claims description 11
- 239000011159 matrix material Substances 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000010422 painting Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 3
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010073 coating (rubber) Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a BPR glue spraying process for an automobile door, which comprises the following steps: s10, pretreating the surface to be sprayed of the automobile door to ensure that the surface is clean and free of oil stains; s20, placing the automobile door pretreated in the step S10 on a spraying production line, enabling the surface needing gluing to face upwards and keeping in a clean air environment all the time; s30, conveying the automobile door to a spraying station, and spraying the surface to be coated with glue on the automobile door by a spraying robot along a gluing path in sequence; and S40, conveying the glued automobile door into a drying device for drying and curing. The technical problem that concave-convex marks appear on the BPR glue part of the outer plate of the car door at low temperature can be solved.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to a BPR glue spraying process for an automobile door.
Background
With the improvement of the automobile manufacturing level, people are pursuing the service performance of the automobile body and the whole automobile comfort. Based on this, the vehicle door body-in-white of the welding workshop is subjected to necessary BPR spraying in a local area during the welding process. The purpose of the existing BPR glue spraying for the automobile door is to prevent the problems of insufficient strength of an automobile body outer plate, bending of a plate, noise generation and the like. At the start-stop stage of spraying, the thickness that BPR glued can be inconsistent, leads to because the atress inequality causes the door planking to appear the unsmooth impression in the rubber coating position when the low temperature.
Disclosure of Invention
The invention aims to provide a BPR glue spraying process for an automobile door, which aims to solve the problems.
In order to achieve the purpose, the invention provides the following technical scheme: a BPR glue spraying process for an automobile door comprises the following steps:
s10, pretreating the surface to be sprayed of the automobile door to ensure that the surface is clean and free of oil stains;
s20, placing the automobile door pretreated in the step S10 on a spraying production line, enabling the surface needing gluing to face upwards and keeping in a clean air environment all the time;
s30, conveying the automobile door to a spraying station, and spraying the surface to be coated with glue on the automobile door by a spraying robot along a gluing path in sequence;
and S40, conveying the glued automobile door into a drying device for drying and curing.
As a modification of the invention, in step S30, when the spraying robot sprays the automobile door, the glue thickness is 410u-420u at the initial stage, and the glue thickness is 990u-1000u at other positions.
As a modification of the present invention, in step S10, the pretreatment of the vehicle door includes a phosphating pretreatment and a plasma pretreatment.
As a modification of the present invention, in step S30, coordinate calibration including camera calibration and laser calibration is also performed on the painting robot before painting the vehicle door.
As an improvement of the invention, the camera calibration comprises the following steps:
s31, establishing a world coordinate system, a camera coordinate system, an imaging plane coordinate system and an image coordinate system;
an image coordinate system UOV is a rectangular coordinate system on a two-dimensional image, and the origin of the coordinate system is set at the upper left corner of the image by taking a pixel as a unit;
imaging plane coordinate system XO1Y is set on the CCD photosensitive surface of the camera, the physical length mm is taken as a unit, and the origin of a coordinate system is set at the center of the image;
camera coordinate system OC-XCYCZCSet up on the camera with the origin of the coordinate system coinciding with the projection optical center, ZCThe axis coinciding with the optical axis of the imaging lens, XCAnd YCThe axes are respectively parallel to the X axis and the Y axis of the imaging plane coordinate system, and the origin O of the imaging plane coordinate system1And OCThe distance between is the focal length f of the camera;
point P (X) in camera coordinate systemC，YC，ZC) P from the imaging plane coordinate system1The transformation relationship between points is shown in equation (1):
s32, real-time image acquisition is carried out under the same world coordinate system, one of the images is selected as a calibration plate of a reference pose, and calibration is started;
and S33, calibrating the laser under the camera coordinate system, carrying out actual measurement according to the relative position invariant characteristic of the camera and the laser to obtain a constant transformation matrix, and converting the camera coordinate into the world coordinate of the robot according to the transformation matrix.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Detailed Description
The following description of the preferred embodiments of the present invention is provided for the purpose of illustration and description, and is in no way intended to limit the invention.
A BPR glue spraying process for an automobile door comprises the following steps:
s10, pretreating the surface to be sprayed of the automobile door to ensure that the surface is clean and free of oil stains;
s20, placing the automobile door pretreated in the step S10 on a spraying production line, enabling the surface needing gluing to face upwards and keeping in a clean air environment all the time;
s30, conveying the automobile door to a spraying station, and spraying the surface to be coated with glue on the automobile door by a spraying robot along a gluing path in sequence;
and S40, conveying the glued automobile door into a drying device for drying and curing.
In step S30, when the spraying robot sprays the automobile door, the glue thickness is 410u-420u at the initial stage, and the glue thickness is 990u-1000u at other positions.
In step S10, the pretreatment for the vehicle door includes a phosphating pretreatment and a plasma pretreatment.
The working principle and the beneficial effects of the technical scheme are as follows:
when robot automatic spraying BPR glued, opening at the spraying and stop the stage, the thickness that BPR glued is inconsistent, leads to because the atress inequality causes the door planking to appear concave and convex impression in the rubber coating position when the low temperature, and the thickness of gluing of beating of control robot play rifle position to door planking appears concave and convex impression in BPR gluey position when solving the low temperature.
In the initial stage of spraying the BPR glue of the automobile door, the glue spraying thickness of the robot is 1450u/1300u, and the thickness of other parts for glue coating is within 1000 u. As the automobile door is at low temperature (below minus 30 ℃), the BPR glue of the outer plate of the automobile door is stressed unevenly due to inconsistent glue thickness, so that concave-convex marks appear on the outer plate of the automobile door at the position. In order to solve the problem, the initial gluing thickness of the BPR glue of the vehicle door is controlled, the gluing thickness of the robot is controlled, the initial thickness 1450u/1300u is controlled to be 410u/420u, the thickness of each position of the BPR glue of the vehicle door is guaranteed to be within the range specified by 1000u, and therefore the technical problem that concave-convex marks appear on the BPR glue position of the vehicle door outer plate at low temperature is solved.
As an embodiment of the present invention, in step S30, coordinate calibration including camera calibration and laser calibration is further performed on the painting robot before painting the vehicle door.
The camera calibration comprises the following steps:
s31, establishing a world coordinate system, a camera coordinate system, an imaging plane coordinate system and an image coordinate system;
an image coordinate system UOV is a rectangular coordinate system on a two-dimensional image, and the origin of the coordinate system is set at the upper left corner of the image by taking a pixel as a unit;
imaging plane coordinate system XO1Y is set on the CCD photosensitive surface of the camera, the physical length mm is taken as a unit, and the origin of a coordinate system is set at the center of the image;
camera coordinate system OC-XCYCZCSet up on the camera with the origin of the coordinate system coinciding with the projection optical center, ZCThe axis coinciding with the optical axis of the imaging lens, XCAnd YCThe axes are respectively parallel to the X axis and the Y axis of the imaging plane coordinate system, and the origin O of the imaging plane coordinate system1And OCThe distance between is the focal length f of the camera;
point P (X) in camera coordinate systemC，YC，ZC) P from the imaging plane coordinate system1The transformation relationship between points is shown in equation (1):
s32, real-time image acquisition is carried out under the same world coordinate system, one of the images is selected as a calibration plate of a reference pose, and calibration is started;
and S33, calibrating the laser under the camera coordinate system, carrying out actual measurement according to the relative position invariant characteristic of the camera and the laser to obtain a constant transformation matrix, and converting the camera coordinate into the world coordinate of the robot according to the transformation matrix.
The working principle and the beneficial effects of the technical scheme are as follows: the robot coordinate calibration is calibrated by adopting a vision system calibration method, and specifically comprises camera calibration and laser calibration. After the image acquired by the camera is processed, the coordinates of the imaging plane coordinate system are calculated according to the internal parameters calibrated by the camera, and the coordinates of the image object point in the camera coordinate system are obtained according to the calibration of the laser. When calibrating a camera, a world coordinate system, a camera coordinate system, an imaging plane coordinate system and an image coordinate system generally need to be established, and the transformation relation of the coordinate systems is needed no matter the camera calibration, the laser calibration or the hand-eye calibration is carried out.
The camera calibration is to find the internal and external parameters of the camera. The intrinsic parameters are only related to the internal parameter structure of the camera, such as resolution, pixel size, focal length, etc. of the camera. Laser calibration is to solve the plane equation of the laser in the camera coordinate system. Based on the calibration of the vision system, the plane equation of the camera reference and the laser under the camera coordinate system and the transformation matrix of the camera coordinate system relative to the robot tool coordinate system are obtained, and the measurement of the vision system under the robot base coordinate system is realized.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (5)
1. The BPR glue spraying process for the automobile door is characterized by comprising the following steps of:
s10, pretreating the surface to be sprayed of the automobile door to ensure that the surface is clean and free of oil stains;
s20, placing the automobile door pretreated in the step S10 on a spraying production line, enabling the surface needing gluing to face upwards and keeping in a clean air environment all the time;
s30, conveying the automobile door to a spraying station, and spraying the surface to be coated with glue on the automobile door by a spraying robot along a gluing path in sequence;
and S40, conveying the glued automobile door into a drying device for drying and curing.
2. The BPR glue spraying process for the automobile door according to claim 1, wherein: in step S30, when the spraying robot sprays the automobile door, the glue thickness is 410u-420u at the initial stage, and the glue thickness is 990u-1000u at other positions.
3. The BPR glue spraying process for the automobile door according to claim 1, wherein: in step S10, the pretreatment for the vehicle door includes a phosphating pretreatment and a plasma pretreatment.
4. The BPR glue spraying process for the automobile door according to claim 1, wherein: in step S30, coordinate calibration including camera calibration and laser calibration is also performed on the painting robot before the painting of the vehicle door.
5. The BPR glue spraying process for the automobile door according to claim 4, wherein the BPR glue spraying process comprises the following steps: the camera calibration comprises the following steps:
s31, establishing a world coordinate system, a camera coordinate system, an imaging plane coordinate system and an image coordinate system;
an image coordinate system UOV is a rectangular coordinate system on a two-dimensional image, and the origin of the coordinate system is set at the upper left corner of the image by taking a pixel as a unit;
imaging plane coordinate system XO1Y is set on the CCD photosensitive surface of the camera, the physical length mm is taken as a unit, and the origin of a coordinate system is set at the center of the image;
camera coordinate system OC-XCYCZCSet up on the camera with the origin of the coordinate system coinciding with the projection optical center, ZCThe axis coinciding with the optical axis of the imaging lens, XCAnd YCThe axes are respectively parallel to the X axis and the Y axis of the imaging plane coordinate system, and the origin O of the imaging plane coordinate system1And OCThe distance between is the focal length f of the camera;
point P (X) in camera coordinate systemC，YC，ZC) P from the imaging plane coordinate system1The transformation relationship between points is shown in equation (1):
s32, real-time image acquisition is carried out under the same world coordinate system, one of the images is selected as a calibration plate of a reference pose, and calibration is started;
and S33, calibrating the laser under the camera coordinate system, carrying out actual measurement according to the relative position invariant characteristic of the camera and the laser to obtain a constant transformation matrix, and converting the camera coordinate into the world coordinate of the robot according to the transformation matrix.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110885500.8A CN113763469A (en) | 2021-08-03 | 2021-08-03 | BPR glue spraying process for automobile door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110885500.8A CN113763469A (en) | 2021-08-03 | 2021-08-03 | BPR glue spraying process for automobile door |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113763469A true CN113763469A (en) | 2021-12-07 |
Family
ID=78788410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110885500.8A Pending CN113763469A (en) | 2021-08-03 | 2021-08-03 | BPR glue spraying process for automobile door |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113763469A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030087028A1 (en) * | 1995-03-06 | 2003-05-08 | Hideaki Tojo | Method and machine for forming protective film on sprayed coating of large-sized product |
| JP2013035054A (en) * | 2011-08-10 | 2013-02-21 | Daihen Corp | Welding robot control device |
| CN104399657A (en) * | 2014-12-04 | 2015-03-11 | 江西科技学院 | Automobile body coating method |
| CN106238293A (en) * | 2016-08-30 | 2016-12-21 | 成都科创诺商贸有限公司 | A kind of wear resistant automobile car door lacquer spraying technique |
| CN107253190A (en) * | 2017-01-23 | 2017-10-17 | 梅卡曼德（北京）机器人科技有限公司 | The device and its application method of a kind of high precision machines people trick automatic camera calibration |
| CN110370286A (en) * | 2019-08-13 | 2019-10-25 | 西北工业大学 | Dead axle motion rigid body spatial position recognition methods based on industrial robot and monocular camera |
| CN111632806A (en) * | 2020-06-15 | 2020-09-08 | 沈阳名华模塑科技有限公司 | Application of plasma process in production process of automobile gluing tail door |
| CN112337677A (en) * | 2019-08-06 | 2021-02-09 | 优远汽车科技(上海)有限公司 | Robot automobile paint spraying control system |
-
2021
- 2021-08-03 CN CN202110885500.8A patent/CN113763469A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030087028A1 (en) * | 1995-03-06 | 2003-05-08 | Hideaki Tojo | Method and machine for forming protective film on sprayed coating of large-sized product |
| JP2013035054A (en) * | 2011-08-10 | 2013-02-21 | Daihen Corp | Welding robot control device |
| CN104399657A (en) * | 2014-12-04 | 2015-03-11 | 江西科技学院 | Automobile body coating method |
| CN106238293A (en) * | 2016-08-30 | 2016-12-21 | 成都科创诺商贸有限公司 | A kind of wear resistant automobile car door lacquer spraying technique |
| CN107253190A (en) * | 2017-01-23 | 2017-10-17 | 梅卡曼德（北京）机器人科技有限公司 | The device and its application method of a kind of high precision machines people trick automatic camera calibration |
| CN112337677A (en) * | 2019-08-06 | 2021-02-09 | 优远汽车科技(上海)有限公司 | Robot automobile paint spraying control system |
| CN110370286A (en) * | 2019-08-13 | 2019-10-25 | 西北工业大学 | Dead axle motion rigid body spatial position recognition methods based on industrial robot and monocular camera |
| CN111632806A (en) * | 2020-06-15 | 2020-09-08 | 沈阳名华模塑科技有限公司 | Application of plasma process in production process of automobile gluing tail door |
Non-Patent Citations (1)
| Title |
|---|
| 陈素平, BPR胶喷涂工艺在焊装白车身上的应用, 31 March 2012 (2012-03-31), pages 77 - 79 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111097664B (en) | Real-time deviation rectifying method based on robot gluing | |
| CN110146038B (en) | Distributed monocular camera laser measuring device and method for assembly corner of cylindrical part | |
| US7820940B2 (en) | Laser engraving mechanism and engraving method of using the same | |
| CN113601158B (en) | Bolt feeding pre-tightening system based on visual positioning and control method | |
| US20070017081A1 (en) | Method and device for the positionally precise mounting of an add-on part on a vehicle body | |
| WO2021103153A1 (en) | Method for controlling robot for spraying detection and remediation on inner surface of automobile | |
| CN109127194A (en) | Automobile gluing vision follows detection method | |
| CN112221890A (en) | Coating correction method and device | |
| CN111841970B (en) | Robot based on laser ranging and optimization method of paint spraying path | |
| CN113763346B (en) | Binocular vision-based facade operation effect and surface defect detection method | |
| CN107437264A (en) | In-vehicle camera external parameter automatic detection and bearing calibration | |
| CN113763469A (en) | BPR glue spraying process for automobile door | |
| CN112847322A (en) | Automobile door mounting method and device, industrial robot and storage medium | |
| US20030232152A1 (en) | Process for applying an adhesion primer to a window | |
| CN112024167A (en) | Automobile spraying process method and intelligent control system thereof | |
| CN112150547A (en) | Method and device for determining pose of vehicle body and look-around vision odometer system | |
| CN110815177B (en) | Migration method for 2D visual guidance teaching of composite robot | |
| CN105068139A (en) | Detection technology for mounting condition of piston cooling nozzle | |
| Toepfer et al. | A unifying omnidirectional camera model and its applications | |
| CN115893294A (en) | Robot automatic filling method based on 2D camera | |
| CN114994850B (en) | Optical path calibration method | |
| CN113978577A (en) | Assembling and adjusting method and system for frameless vehicle window glass | |
| WO2019138589A1 (en) | Lens unit, image pickup device, vehicle surrounding monitoring system, jig for assembling image pickup device, and method for assembling image pickup device | |
| CN112170124B (en) | Visual positioning method and device for vehicle body and vehicle frame | |
| CN108195354A (en) | A kind of vehicle positioning method and vehicle positioning system based on robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 224000 building 3, No. 1, South hope Avenue, Yancheng Economic Development Zone, Jiangsu Province Applicant after: Kia Automobile Co.,Ltd. Address before: 224000 building 3, No. 1, South hope Avenue, Yancheng Economic Development Zone, Jiangsu Province Applicant before: DONGFENG YUEDA KIA MOTORS Co.,Ltd. Address after: 224000 building 3, No. 1, South hope Avenue, Yancheng Economic Development Zone, Jiangsu Province Applicant after: Jiangsu Yueda Kia Automobile Co.,Ltd. Address before: 224000 building 3, No. 1, South hope Avenue, Yancheng Economic Development Zone, Jiangsu Province Applicant before: Kia Automobile Co.,Ltd. |
|
| CB02 | Change of applicant information |