CN114273113A

CN114273113A - Image spraying equipment and spraying method

Info

Publication number: CN114273113A
Application number: CN202111682508.0A
Authority: CN
Inventors: 曹慧赟
Original assignee: Binhai Industrial Technology Research Institute of Zhejiang University
Current assignee: Binhai Industrial Technology Research Institute of Zhejiang University
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-04-05
Anticipated expiration: 2041-12-31
Also published as: CN114273113B

Abstract

The invention provides image spraying equipment and a spraying method, wherein the image spraying equipment comprises a spray head, a feeding pipe, a laser ranging device, a spray head driving module and a control module; the spraying device comprises a plurality of nozzles, a driving module, a feeding pipe and a laser ranging device, wherein the plurality of nozzles are arranged in a row, each nozzle is connected with the driving module, the feeding pipe and the laser ranging device, and the laser ranging device is used for monitoring the spraying distance between the nozzle and a surface to be sprayed in the spraying process; the sprayer driving module comprises a vertical driving unit and a horizontal driving unit, the vertical driving unit is used for driving a single sprayer to stretch up and down, and the horizontal driving unit is used for enabling all sprayers to move on the same horizontal plane simultaneously; the spraying equipment is provided with central symmetry line, and the shower nozzle sets up along central symmetry line symmetry, and the same one side feed pipe of central symmetry line uses same colour. The invention has the beneficial effects that: the spraying module is composed of a group of independent nozzles which are arranged in rows and have different atomization degrees, and the combination of the two spraying modules can make the sprayed pattern boundary clearer and more uniform.

Description

Image spraying equipment and spraying method

Technical Field

The invention belongs to the technical field of spraying, and particularly relates to image spraying equipment and a spraying method.

Background

For reasons such as appearance effect and rust prevention, various industrial products often need to be subjected to spraying treatment, and the existing pattern spraying mode is as follows: the method is characterized in that the adhesive tape is selected to be manually shielded and applied to the spraying surface for shielding spraying according to the pattern required by the prior design, other areas are required to be shielded when one color is sprayed, and the adhesive tape is taken down after the spraying is finished to obtain the pattern with clear boundary.

Disclosure of Invention

The invention aims to provide image spraying equipment and a spraying method.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

an image spraying device comprises a spray head, a feeding pipe, a laser ranging device, a spray head driving module and a control module;

the spraying device comprises a plurality of nozzles, a driving module, a feeding pipe and a laser ranging device, wherein the plurality of nozzles are arranged in a row, each nozzle is connected with the driving module, the feeding pipe and the laser ranging device, and the laser ranging device is used for monitoring the spraying distance between the nozzle and a surface to be sprayed in the spraying process;

the sprayer driving module comprises a vertical driving unit and a horizontal driving unit, the vertical driving unit is used for driving a single sprayer to stretch up and down, and the horizontal driving unit is used for enabling all sprayers to move on the same horizontal plane simultaneously;

the spraying equipment is provided with a central symmetry line, the spray heads are symmetrically arranged along the central symmetry line, and the feeding pipes on the same side of the central symmetry line use the same color;

the lower part of the spray head is a surface to be sprayed, and the junction of different color blocks of the surface to be sprayed is positioned right below the central symmetry line.

Furthermore, the distance from the spray head close to the central symmetry line to the surface to be sprayed is smaller than the distance from the spray head far away from the central symmetry line to the surface to be sprayed in sequence.

Furthermore, the atomization degree of the spray heads close to the central symmetry line is sequentially smaller than that of the spray heads far away from the central symmetry line.

Further, the closer the distance between the adjacent spray heads is to the central symmetry line, the smaller the distance between the adjacent spray heads is, and the farther the distance between the adjacent spray heads is from the central symmetry line, the larger the distance between the adjacent spray heads is.

Furthermore, every shower nozzle is connected with automatic flow control valve, carries out solitary control to every shower nozzle through automatic flow control valve, and automatic flow control valve sets up in shower nozzle and feed pipe junction, and automatic flow control valve's switch is connected with control module.

Further, laser rangefinder sets up and treats the spraying face direction at the shower nozzle orientation, and laser rangefinder is used for monitoring and treats the spraying distance of spraying face at the spraying in-process, and laser rangefinder is connected with control module, and control module passes through laser rangefinder and gathers the shower nozzle and treat the spraying distance of spraying face, drives the shower nozzle through shower nozzle drive module and removes.

In a second aspect, the present invention discloses an image spraying method, and the image spraying apparatus according to the first aspect, includes the steps of:

s1, performing edge extraction on the pattern to be sprayed through an image algorithm to obtain boundary contour information of the pattern to be sprayed, and identifying colors of color blocks on two sides of the boundary according to RGB information of the image, wherein the colors are A color and B color respectively;

s2, classifying the patterns to be sprayed in the step S1, and classifying the areas with the same color blocks at two sides of the pattern boundary and the boundary lines into the same type of areas

And S3, uniformly spraying the similar areas in the step S2, and spraying the next similar area after the similar areas are sprayed.

Further, in step S2, the method for spraying the areas of the same type is as follows:

a1, respectively providing paint of No. A and No. B colors for the spray heads on two sides of the central symmetry line through the feeding pipes, and spraying the spray heads on the same side of the central symmetry line by using the same color number;

a2, opening an automatic flow control valve of a nozzle, starting spraying operation, and spraying against all boundary lines of No. A and No. B until all spraying work of the boundary line part of the current similar area is finished;

a3, sequentially executing the step A1 and the step A2 aiming at all the similar areas classified in the step S2 until all the spraying work aiming at the boundary line parts of all the similar areas is completed;

a4, after finishing spraying aiming at the boundary line parts of all similar areas, only starting the automatic flow control valve of the spray head positioned at the left side or the right side of the central symmetry line, and spraying the areas to be sprayed needing to use C color one by using C color until finishing spraying;

and A5, changing the color C into the color D, and executing the step A4 until all areas to be sprayed are sprayed.

Compared with the prior art, the image spraying equipment and the image spraying method have the following beneficial effects:

1. the invention provides a spraying module, which consists of a group of independent nozzles which are arranged in rows and have different atomization degrees, and the two spraying modules are combined for use, so that the sprayed pattern boundary is clearer and more uniform;

2. the relative positions of the two spraying modules with different colors are fixed, so that the condition of overlapping or blank caused by execution errors is avoided when the pattern boundary is sprayed;

3. each spray head can be independently controlled and used and can be selectively opened according to the requirement of a color block to be sprayed;

4. the laser ranging device and the driving module are carried on each spray head, so that when irregular curved surfaces are sprayed, the distance between the spray head and the sprayed surface can be adjusted in real time according to the curved surfaces, and the effect of uniform spraying thickness is achieved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural diagram of an image spraying apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic illustration of spray coating according to an embodiment of the present invention, example 1;

fig. 3 is a schematic view of example 2 of the spray coating according to the embodiment of the present invention.

Description of reference numerals:

1-a first spray head; 11-a second spray head; 3-a feeding pipe; 4-a laser ranging device; 5-a nozzle driving module; 7-central symmetry line.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1, the spray module is composed of two parts with a central symmetry line 7 in bilateral symmetry. The feeding pipes on the left side and the right side can select two different colors. The same color is used by the same-side feeding pipeline for different types of spray heads. The central symmetry line 7 of the spray module is along the border line of the pattern for spraying different color blocks.

The spraying module is composed of a first spray head 1, a feeding pipe 3, a laser ranging device 4, a spray head driving module 5 and a control module.

The plurality of nozzles are vertically fixed at the front end of the spraying module and are arranged in a row;

each first spray head 1 is provided with a driving module 5, and the spray head driving module 5 can drive the spray head to stretch and retract so as to adjust the distance between the spray head and the spraying surface;

the first and second spray heads 11 are farthest from the central symmetry line 7 of the spraying module, the spray heads are farthest from the spraying surface, and the selected spray heads are high-atomization-degree spray heads, so that the blurring degree of the sprayed paint spot edges is highest;

the first and second nozzles 11 can be used for large-area color block filling;

the first spray head 12 closest to the central symmetry line is closest to the spray painting surface, the selected spray head is the spray head with the lowest atomization degree, the blurring degree of the edge of the sprayed paint spot is low, and the boundary is clearest;

when the first spray heads 1 are arranged, the closer the distance between the adjacent spray heads to the central symmetry line is, the closer the distance between the adjacent spray heads is;

the farther the distance between the adjacent spray heads from the central symmetry line is, the farther the distance between the adjacent spray heads is, so as to ensure that paint spots sprayed by the adjacent spray heads are in natural transition;

the two spray heads on the two sides of the central symmetry line are spaced apart by a distance which just enables the paint spots to be bordered.

According to the arrangement mode, the spray heads are arranged on the spraying modules, so that the effects that the boundaries among different color blocks are clear and sharp, and the spraying among large-area color blocks is excessive, natural and uniform can be achieved.

Each spray head is independently controlled by an automatic flow control valve, the flow valve is arranged at the joint of the spray head and the feeding pipe, the switch of the flow valve is connected with a control system, and the control system can control whether the valve is opened or not and the amount of paint sprayed;

all be equipped with laser rangefinder 4 on every shower nozzle, shower nozzle drive module 5, laser rangefinder contains laser detector. Each spray head is provided with a laser detector towards the spraying direction, the distance measuring device is used for monitoring the spraying distance with the surface to be sprayed in the spraying process, the distance information is fed back to the control module in real time in the spraying process, and the control module controls the driving module to adjust the position of the spray head so as to keep the actual spraying distance consistent with the specified spraying distance; by the method, when the first spray head 1 sprays the irregular curved surface, the distance between the spray head and the spraying surface can be adjusted in real time according to the curved surface, so that the spraying effect is uniform.

The driving module 5 and the laser ranging module are both connected with the control module;

the control module can control the opening and closing of the spray head, the spray painting amount and the motion track of the spray coating module.

Aiming at the spraying module provided by the patent, the spraying method for making the pattern boundary clear comprises the following steps:

step 1, performing edge extraction on a pattern to be sprayed through an image algorithm to obtain pattern boundary outline information, and identifying color block colors on two sides of a boundary according to image RGB information;

step 2, preprocessing an image to be sprayed;

analyzing and classifying the contour images and different color blocks processed in the step 1 and the step 2;

areas and boundary lines with the same color blocks on two sides of the pattern boundary are classified into the same type areas, for example, in fig. 2, the color blocks A and B, the single-color boundaries B1 and B2, and the double-color boundaries ab1 and ab2 are the same type areas.

And uniformly spraying areas of the same type.

And after the spraying of the similar area is finished, the spraying of the next similar area is carried out.

The spray path planning principle is as follows:

the border lines are sprayed first, and then large-area color blocks are sprayed. The number of paint changes is minimized.

The minimum number of paint replacement times is calculated according to a combined number formula:

the spraying of N colors is required to be carried out,

the total C spray head combination modes are adopted, and the paint changing times X are

During spraying

1. Firstly, the left half of the spraying equipment is provided with 1 color, the right half of the spraying equipment is provided with 2 colors, a spray head of a spraying module is opened to start spraying (the spray head on each side is opened during spraying), and all boundary lines of AB two colors are sprayed firstly;

2. changing the color No. 2 on the spraying equipment into the color No. 3, and spraying all boundary lines of the color No. 1 and the color No. 3;

……

3. changing the color of No. N-1 on the spraying equipment into the color of No. N, and spraying all boundary lines of No. 1 and No. N;

4. at the moment, the two-color boundary of No. 1 color is completely sprayed;

at the moment, the spray head should be in the colors of No. 1 and No. N

5. At the moment, the whole spraying of the double-color boundary line related to the No. 1 color is finished, then the flow control valve of the No. N color nozzle is closed, only the No. 1 color nozzle is used for spraying the single-color boundary line, and all color blocks of the No. 1 color are filled;

6. after spraying, all patterns related to the No. 1 color are sprayed;

7. next, changing the color 1 into the color 2, and spraying No. 2N;

changing the color of No. N on the spraying equipment into the color of No. N-1, and spraying all boundary lines of the color of No. 2N-1;

……

8. changing the color No. 5 on the spraying equipment into the color No. 4, and spraying all boundary lines of the color No. 2 and the color No. 4;

9. at the moment, the two-color boundaries of all No. 2 colors are completely sprayed;

10. at the moment, the whole spraying of the two-color boundary lines related to the No. 2 color is finished, then the No. 4 color nozzle flow control valve is closed, only the No. 2 color nozzle is used for spraying the single-color boundary lines, and all color blocks of the No. 2 color are filled;

11. changing the color No. 2 into the color No. 3, and spraying all boundary lines of the color No. 3 and the color No. 4;

12. changing the color No. 4 on the spraying equipment into the color No. 5, and spraying all boundary lines of the color No. 3 and the color No. 5;

……

13. changing the color of No. N-1 on the spraying equipment into the color of No. N, and spraying all boundary lines of No. 3 and No. N;

……

14, by using the method and analogizing, when the color number of the left half sprayer is an odd number, the right side sprayer is numbered with +1 until all N colors are changed, and when the color number of the right side sprayer is an even number, the right side sprayer is numbered with-1 until the number is 2 greater than the color number of the left half sprayer.

15, using the above steps until the spraying of all color boundary lines and filling colors except the colors of No. N and No. N-1 is finished;

16. finally, filling large-area color blocks of N-1 color and N color; at the moment, the two-color boundary lines are completely sprayed, and then the single-color boundary lines are sprayed by using a nozzle of the No. N-1 color and the No. N color, and all color blocks of the No. N-1 color and the No. N color are filled;

17. after the spraying is finished, all the patterns are sprayed;

the total number of paint changes should be less than or equal to X, taking into account that not all the colors have a boundary between them.

The specific embodiment is as follows: assume that the pattern shown in fig. 2 needs to be sprayed.

In the figure, black represents the color A to be sprayed, dark gray represents the color B, light gray represents the color C, and then the single-color boundaries are C1, B1, C2 and B2, and the double-color boundaries are bc1, bc2, bc3, bc4, ac1, ac2, ab1 and ab 2.

The spraying method comprises the following steps:

1. firstly, the left half of the spraying equipment is provided with the color A, the right half of the spraying equipment is provided with the color B, a spray head of a spraying module is opened to start spraying (the spray head on each side is opened during spraying), and all boundary lines of the two colors AB are sprayed firstly: ab1, ab 2;

2. changing the color A on the spraying equipment into the color C, and spraying all boundary lines BC1, BC2, BC3 and BC4 of BC;

3. the spraying of the two-color boundary lines related to the color B is completed, then the flow control valve of the C color spray head is closed, and only the B color spray head is used for spraying the single-color boundary lines B1 and B2 and filling;

4. after the spraying is finished, all boundaries and boundary lines related to the color B are sprayed, and the spraying effect is a closed frame (as shown in fig. 3);

5. filling large-area color blocks of B color;

6. then changing the color B into the color A, and spraying ac1, ac2, c1 and c 2;

7. after the spraying is finished, all boundaries c1 and c2 related to A, C color and boundary lines ac1 and ac2 are sprayed, and the spraying effect is a closed frame;

8. filling large-area color blocks of the colors A and C;

after filling, the spraying is completed, as shown in the lower diagram of fig. 3;

those of ordinary skill in the art will appreciate that the elements and method steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of clearly illustrating the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the several embodiments provided in the present application, it should be understood that the disclosed method and system may be implemented in other ways. For example, the above described division of elements is merely a logical division, and other divisions may be realized, for example, multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not executed. The units may or may not be physically separate, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An image coating apparatus characterized by: the device comprises a spray head, a feeding pipe, a laser ranging device, a spray head driving module and a control module;

2. An image coating apparatus according to claim 1, wherein: the distance between the spray head close to the central symmetry line and the surface to be sprayed is smaller than the distance between the spray head far away from the central symmetry line and the surface to be sprayed.

3. An image coating apparatus according to claim 1, wherein: the atomization degree of the spray heads close to the central symmetry line is sequentially smaller than that of the spray heads far away from the central symmetry line.

4. An image coating apparatus according to claim 1, wherein: the closer the distance between the adjacent spray heads is to the central symmetry line, the smaller the distance between the adjacent spray heads is, and the farther the distance between the adjacent spray heads is from the central symmetry line, the larger the distance between the adjacent spray heads is.

5. An image coating apparatus according to claim 1, wherein: every shower nozzle is connected with automatic flow control valve, carries out solitary control to every shower nozzle through automatic flow control valve, and automatic flow control valve sets up in shower nozzle and feed pipe junction, and automatic flow control valve's switch is connected with control module.

6. An image coating apparatus according to claim 1, wherein: the laser ranging device is arranged in the direction of the nozzle towards the spraying surface to be sprayed, the laser ranging device is used for monitoring the spraying distance of the spraying surface to be sprayed in the spraying process, the laser ranging device is connected with the control module, the control module collects the spraying distance of the nozzle and the spraying surface to be sprayed through the laser ranging device, and the nozzle is driven to move through the nozzle driving module.

7. A coating method by an image coating apparatus according to any one of claims 1 to 6, comprising the steps of:

8. An image coating method according to claim 1, wherein in step S2, the areas of the same type are coated by: