CN114345599A - Point cloud-based automatic door spraying equipment and spraying method - Google Patents
Point cloud-based automatic door spraying equipment and spraying method Download PDFInfo
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- CN114345599A CN114345599A CN202111637216.5A CN202111637216A CN114345599A CN 114345599 A CN114345599 A CN 114345599A CN 202111637216 A CN202111637216 A CN 202111637216A CN 114345599 A CN114345599 A CN 114345599A
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Abstract
The invention relates to the technical field of spraying, and discloses a point cloud-based automatic door spraying device and a point cloud-based automatic door spraying method. According to the point cloud-based automatic door industry spraying equipment and the point cloud-based automatic door industry spraying method, the incomplete gear drives the gear frame to move up and down periodically, the nozzle assembly is further made to reciprocate left and right periodically, the driving gear drives the driven gear to rotate, and the conical block is further made to move up and down intermittently in the paint barrel, so that the effect of avoiding paint precipitation, facilitating improvement of paint mixing uniformity and improving spraying quality is achieved. The point position of the spray head of the robot relative to the object at the trigger position is consistent with the point position of the camera relative to the trigger position, the coordinate of the robot does not need to be converted, and the reaction speed of the robot can be effectively improved.
Description
Technical Field
The invention relates to the technical field of spraying, in particular to a point cloud-based automatic door spraying device and a point cloud-based automatic door spraying method.
Background
In the field of metal door industry spraying, manual spraying is generally performed by people, or a reciprocating machine and manual spraying mode is adopted, but the reciprocating machine spraying adopts a reciprocating uninterrupted spraying mode, a large amount of paint is wasted, the thickness of the paint of a product cannot be controlled, the quality of the product is difficult to control, partial product corners are difficult to spray and cover, manual spraying needs workers to be in a spraying room for a long time and exposed in a paint environment for a long time, the human body is greatly injured, and in order to solve the problems, a point cloud-based door industry automatic spraying device and a point cloud-based spraying method are provided.
Disclosure of Invention
Aiming at the defects of the prior art, in order to solve the problems, the invention provides the following technical scheme: the utility model provides a door industry automatic spraying equipment based on point cloud, includes the spraying subassembly, the inside of spraying subassembly is equipped with incomplete gear, the outer wall meshing of incomplete gear is connected with the tooth frame, the top fixedly connected with rack of tooth frame, the positive meshing of rack is connected with the running gear, the inside fixedly connected with lead screw of running gear, the one end fixedly connected with eccentric disc of lead screw, the outer wall fixedly connected with drive gear of lead screw, the outer wall threaded connection of lead screw has the sliding sleeve, the top fixedly connected with limiting plate of sliding sleeve, the inside sliding connection of limiting plate has the guide bar, the bottom of sliding sleeve is equipped with the shower nozzle subassembly.
Still include the stirring subassembly, the inside of stirring subassembly is equipped with the paint bucket, the inside swing joint of paint bucket has the spiral puddler, the bottom fixedly connected with driven gear of spiral puddler, the inside swing joint of paint bucket has the U-shaped pole, the outer wall fixedly connected with toper piece of U-shaped pole, the outer wall fixedly connected with coupling spring of U-shaped pole, one side fixedly connected with diaphragm of paint bucket is kept away from to the U-shaped pole.
Still include the base, the top fixedly connected with support frame of base, the inside of support frame is equipped with the conveyer belt, the inside of support frame is equipped with the spraying subassembly, the top of support frame is equipped with the stirring subassembly.
Furthermore, the back of the incomplete gear is fixedly connected with a driving motor, so that the incomplete gear can be driven to rotate conveniently.
Furthermore, teeth are uniformly arranged on two sides inside the tooth frame, so that the tooth frame can reciprocate up and down periodically.
Furthermore, the top of the driving gear is meshed with the outer wall of the driven gear, so that the driven gear is driven to rotate conveniently.
Furthermore, the top of eccentric disc and the bottom sliding connection of diaphragm, the intermittent type nature of being convenient for drives the diaphragm motion.
Further, one side fixed connection that connecting spring kept away from the U-shaped pole is at the top of paint bucket, just the outer wall of U-shaped pole one side is provided with three toper piece at least, is convenient for improve stirring efficiency.
A spraying method of automatic spraying equipment for door industry based on point cloud comprises a spraying detection sensor, an AI photographic sensor, a spraying robot, a PC computer and an AI camera;
the spraying detection sensor is used for controlling the spraying of the spraying robot;
the AI camera sensor is used for controlling the AI camera to take a picture;
the spraying robot is used for spraying the product to be sprayed;
the AI camera is used for collecting shot pictures;
the PC computer is used for adjusting the position of the spraying robot.
The method comprises the following specific steps:
s1, connecting the two sensors into the internal I/O of the robot, connecting the AI camera with the computer through a special communication line, and collecting the shot pictures;
s2, obtaining position coordinates of the object to be sprayed relative to the camera by processing the picture, obtaining corresponding tracks between point location coordinates by recognizing the image outline, and finally generating corresponding point cloud tracks;
s3, connecting the robot and the PC through a network cable, performing signal interaction through a communication protocol, sending a signal to the PC to tell the PC that the PC can take a picture when an article to be sprayed reaches a preset position, taking a picture by the AI camera, processing the taken picture by the PC through the camera after the camera takes the picture, generating a point location coordinate point of the article, recording the point location coordinate of the article according to six coordinate values of X, Y, Z, RX, RY and RZ, and transmitting the point location coordinate point to the robot;
s4, generating point coordinate values which can be executed by the robot according to the point coordinate trajectory transmitted by the camera by the robot;
and S5, when the object reaches the preset position, performing spraying treatment on the object to be sprayed.
Compared with the prior art, the invention provides a point cloud-based automatic door spraying device and a point cloud-based automatic door spraying method, which have the following beneficial effects:
1. according to the point cloud-based automatic door industry spraying equipment and the point cloud-based automatic door industry spraying method, the incomplete gear drives the gear frame to move up and down periodically, the sliding sleeve is further made to reciprocate left and right periodically on the outer wall of the screw rod, the spray head assembly reciprocates left and right periodically at the moment, manual support is not needed, the spraying range is large, the phenomenon that the edges of products cannot be sprayed is avoided, and therefore the effect that the automation degree is high, the spraying range is wide, and the edges are prevented from being exposed is achieved.
2. According to the point cloud-based automatic door industry spraying equipment and the point cloud-based automatic door industry spraying method, the driven gear is driven to rotate through the driving gear, the spiral stirring rod is further enabled to stir the paint inside the paint barrel, the eccentric disc rotates forwards and backwards periodically, the conical block is further enabled to move up and down intermittently inside the paint barrel, and therefore the effect that the paint is prevented from being deposited, the paint mixing uniformity is improved, and the spraying quality is improved is achieved.
3. According to the point cloud-based automatic door industry spraying equipment and the spraying method, the point location of the object relative to the trigger position through the spray head of the robot is consistent with the point location of the camera relative to the trigger position, the coordinate of the robot does not need to be converted, the reaction speed of the robot can be effectively improved, the camera adopts the depth intelligent camera, the three-dimensional point cloud data of the detected object can be collected, the track direction is regulated according to the image point cloud, a point cloud track is generated, a point cloud track coordinate is generated, after the robot receives the coordinate of the object to be sprayed, the robot waits for the object to be sprayed to move, the spraying precision can be obviously improved, and the paint thickness can be conveniently controlled.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is a schematic cross-sectional view of the overall structure of the present invention;
FIG. 3 is a perspective view of the tooth frame structure of the present invention;
FIG. 4 is an enlarged view of the structure A of FIG. 2 according to the present invention;
FIG. 5 is a schematic flow chart of the system of the present invention;
FIG. 6 is a schematic flow chart of the spraying method of the present invention.
In the figure: 1. a base; 2. a support frame; 3. a conveyor belt; 4. a spray assembly; 5. a stirring assembly; 401. an incomplete gear; 402. a toothed frame; 403. a rack; 404. a rotating gear; 405. a screw rod; 406. an eccentric disc; 407. a drive gear; 408. a sliding sleeve; 409. a limiting plate; 410. a guide bar; 411. a showerhead assembly; 501. a paint bucket; 502. a helical agitator shaft; 503. a driven gear; 504. a U-shaped rod; 505. a conical block; 506. a connecting spring; 507. a transverse plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the automatic door spraying equipment and the spraying method based on the point cloud is as follows:
referring to fig. 1-6, an automatic door spraying device based on point cloud includes a spraying assembly 4, an incomplete gear 401 is disposed inside the spraying assembly 4, a driving motor is fixedly connected to the back of the incomplete gear 401 to drive the incomplete gear 401 to rotate, a toothed frame 402 is engaged with the outer wall of the incomplete gear 401, teeth are uniformly disposed on two sides of the inner portion of the toothed frame 402 to facilitate the periodic up-and-down reciprocating movement of the toothed frame 402, a rack 403 is fixedly connected to the top of the toothed frame 402, a rotating gear 404 is engaged with the front of the rack 403, a screw rod 405 is fixedly connected to the inner portion of the rotating gear 404, an eccentric disc 406 is fixedly connected to one end of the screw rod 405, a driving gear 407 is fixedly connected to the outer wall of the screw rod 405, the top of the driving gear 407 is engaged with the outer wall of a driven gear 503 to drive the driven gear 503 to rotate, a sliding sleeve 408 is threadedly connected to the outer wall of the screw rod 405, the top of sliding sleeve 408 is fixedly connected with limiting plate 409, and the inside sliding connection of limiting plate 409 has guide bar 410, and the bottom of sliding sleeve 408 is equipped with shower nozzle subassembly 411.
Still include stirring Assembly 5, stirring Assembly 5's inside is equipped with paint bucket 501, paint bucket 501's inside swing joint has spiral puddler 502, spiral puddler 502's bottom fixedly connected with driven gear 503, paint bucket 501's inside swing joint has U-shaped pole 504, the outer wall fixedly connected with conical block 505 of U-shaped pole 504, the outer wall fixedly connected with connecting spring 506 of U-shaped pole 504, one side fixed connection at paint bucket 501's top that U-shaped pole 504 was kept away from to connecting spring 506, and the outer wall of U-shaped pole 504 one side is provided with three conical block 505 at least, be convenient for improve stirring efficiency, one side fixedly connected with diaphragm 507 that paint bucket 501 was kept away from to U-shaped pole 504, the top of eccentric disc 406 and the bottom sliding connection of diaphragm 507, be convenient for intermittent type nature drive the diaphragm motion.
Still include base 1, base 1's top fixedly connected with support frame 2, the inside of support frame 2 is equipped with conveyer belt 3, and the inside of support frame 2 is equipped with spraying component 4, and the top of support frame 2 is equipped with stirring component 5.
A spraying method of automatic spraying equipment for door industry based on point cloud comprises a spraying detection sensor, an AI photographic sensor, a spraying robot, a PC computer and an AI camera;
the spraying detection sensor is used for controlling the spraying of the spraying robot;
the AI camera sensor is used for controlling the AI camera to take a picture;
the spraying robot is used for spraying the product to be sprayed;
the AI camera is used for collecting shot pictures;
the PC computer is used for adjusting the position of the spraying robot.
The method comprises the following specific steps:
s1, connecting the two sensors into the internal I/O of the robot, connecting the AI camera with the computer through a special communication line, and collecting the shot pictures;
s2, obtaining position coordinates of the object to be sprayed relative to the camera by processing the picture, obtaining corresponding tracks between point location coordinates by recognizing the image outline, and finally generating corresponding point cloud tracks;
s3, connecting the robot and the PC through a network cable, performing signal interaction through a communication protocol, sending a signal to the PC to tell the PC that the PC can take a picture when an article to be sprayed reaches a preset position, taking a picture by the AI camera, processing the taken picture by the PC through the camera after the camera takes the picture, generating a point location coordinate point of the article, recording the point location coordinate of the article according to six coordinate values of X, Y, Z, RX, RY and RZ, and transmitting the point location coordinate point to the robot;
s4, generating point coordinate values which can be executed by the robot according to the point coordinate trajectory transmitted by the camera by the robot;
and S5, when the object reaches the preset position, performing spraying treatment on the object to be sprayed.
The working principle is that when the spraying device is used, articles to be sprayed are placed on the top of the conveying belt 3, the driving motor in the incomplete gear 401 is started, the incomplete gear 401 rotates, the tooth frame 402 is connected to the outer wall of the incomplete gear 401 in a meshed mode, teeth are uniformly arranged on two sides of the inner portion of the tooth frame 402, the tooth frame 402 can move up and down periodically, the rack 403 is fixedly connected to the top of the tooth frame 402, the rotating gear 404 is connected to the front face of the rack 403 in a meshed mode, the rotating gear 404 can rotate forward and backward periodically, and the screw rod 405 can rotate forward and backward periodically due to the fact that the screw rod 405 is fixedly connected to the inner portion of the rotating gear 404.
Because the outer wall threaded connection of lead screw 405 has sliding sleeve 408 again, sliding sleeve 408's top fixedly connected with limiting plate 409, limiting plate 409's inside sliding connection has guide bar 410, so sliding sleeve 408 can be at the outer wall periodic left and right reciprocating motion of lead screw 405 this moment, because sliding sleeve 408's bottom is equipped with shower nozzle subassembly 411 again, so shower nozzle subassembly 411 also can periodic left and right reciprocating motion this moment, need not artifical manual support this moment, the spraying scope is great, avoid the unable spraying of product edge department, thereby reached the high spraying scope of degree of automation and avoided the exposed effect of edge department extensively.
Because the outer wall of the screw 405 is fixedly connected with the driving gear 407, and the top of the driving gear 407 is meshed with the outer wall of the driven gear 503, the driving gear 407 can drive the driven gear 503 to rotate at the moment, and because the interior of the paint bucket 501 is movably connected with the spiral stirring rod 502, and the bottom of the spiral stirring rod 502 is fixedly connected with the driven gear 503, the spiral stirring rod 502 can stir the paint in the paint bucket 501 at the moment, so that the paint is prevented from being deposited.
Because one end of the screw rod 405 is fixedly connected with the eccentric disc 406, the eccentric disc 406 can periodically rotate forwards and backwards, because the top of the eccentric disc 406 is in sliding connection with the bottom of the transverse plate 507, the transverse plate 507 can be intermittently pushed, because the outer wall of the U-shaped rod 504 is fixedly connected with the connecting spring 506, one side of the connecting spring 506 far away from the U-shaped rod 504 is fixedly connected with the top of the paint bucket 501, one side of the U-shaped rod 504 far away from the paint bucket 501 is fixedly connected with the transverse plate 507, the U-shaped rod 504 can intermittently move up and down under the action of the connecting spring 506, because the U-shaped rod 504 is movably connected inside the paint bucket 501, and the outer wall of one side of the U-shaped rod 504 is provided with at least three tapered blocks 505, the tapered blocks 505 can intermittently move up and down inside the paint bucket 501, the fluidity of paint inside the paint bucket 501 can be improved, and the uniformity of paint mixing can be improved, thereby achieving the effects of avoiding paint precipitation, improving the paint mixing uniformity and improving the spraying quality.
The point position of the spray head of the robot relative to the object at the triggering position is required to be consistent with the point position of the camera relative to the triggering position, namely, the point position coordinate generated by the camera is about the level of the current triggering object and has consistent height, so that the point position coordinate generated by the camera can be directly converted to the robot, the robot coordinate does not need to be converted, and the reaction speed of the robot can be effectively improved.
The camera adopts a depth intelligent camera, can acquire three-dimensional point cloud data of a measured object, can calculate the coordinate of any pixel point under a world coordinate system through image information and internal and external parameters of the camera, and can specify the track direction according to the image point cloud to generate a point cloud track coordinate.
After receiving the coordinates of the object to be sprayed and waiting for the object to be sprayed to be in place, the robot acts, the position of the position is completely consistent with the position of the photographing position relative to the camera, the spraying precision can be obviously improved, and the paint thickness can be conveniently controlled.
In summary, according to the point cloud-based automatic door spraying device and the point cloud-based automatic door spraying method, the incomplete gear 401 drives the gear frame 402 to move up and down periodically, so that the sliding sleeve 408 reciprocates left and right periodically on the outer wall of the screw rod 405, the nozzle assembly 411 reciprocates left and right periodically, manual support is not needed, the spraying range is large, the phenomenon that the corners of a product cannot be sprayed is avoided, and the effect that the automation degree is high, the spraying range is wide, and the corners are prevented from being exposed is achieved.
The point location of a spray head of the robot relative to an object at a trigger position is consistent with the point location of a camera relative to the trigger position, the robot coordinate does not need to be converted, the reaction speed of the robot can be effectively improved, the camera adopts a depth intelligent camera, three-dimensional point cloud data of the object to be detected can be collected, the track direction is regulated according to image point cloud, a point cloud track is generated, point cloud track coordinates are generated, after the robot receives the coordinates of the object to be sprayed, the robot moves after waiting for the object to be sprayed to be in place, the spraying precision can be obviously improved, and the paint thickness can be conveniently controlled.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a door industry automatic spraying equipment based on point cloud, includes spraying component (4), its characterized in that: the inside of spraying subassembly (4) is equipped with incomplete gear (401), the outer wall meshing of incomplete gear (401) is connected with tooth frame (402), top fixedly connected with rack (403) of tooth frame (402), the positive meshing of rack (403) is connected with running gear (404), the inside fixedly connected with lead screw (405) of running gear (404), the one end fixedly connected with eccentric disc (406) of lead screw (405), the outer wall fixedly connected with drive gear (407) of lead screw (405), the outer wall threaded connection of lead screw (405) has sliding sleeve (408), the top fixedly connected with limiting plate (409) of sliding sleeve (408), the inside sliding connection of limiting plate (409) has guide bar (410), the bottom of sliding sleeve (408) is equipped with shower nozzle subassembly (411).
2. The automatic door spraying equipment based on the point cloud as claimed in claim 1, wherein: still include stirring subassembly (5), the inside of stirring subassembly (5) is equipped with paint bucket (501), the inside swing joint of paint bucket (501) has spiral puddler (502), the bottom fixedly connected with driven gear (503) of spiral puddler (502), the inside swing joint of paint bucket (501) has U-shaped pole (504), the outer wall fixedly connected with toper piece (505) of U-shaped pole (504), the outer wall fixedly connected with connecting spring (506) of U-shaped pole (504), one side fixedly connected with diaphragm (507) of paint bucket (501) are kept away from to U-shaped pole (504).
3. The automatic door spraying equipment based on the point cloud as claimed in claim 1, wherein: still include base (1), top fixedly connected with support frame (2) of base (1), the inside of support frame (2) is equipped with conveyer belt (3), the inside of support frame (2) is equipped with spraying subassembly (4), the top of support frame (2) is equipped with stirring subassembly (5).
4. The automatic door spraying equipment based on the point cloud as claimed in claim 1, wherein: the back of the incomplete gear (401) is fixedly connected with a driving motor.
5. The automatic door spraying equipment based on the point cloud as claimed in claim 1, wherein: teeth are uniformly arranged on two sides of the inner part of the tooth frame (402).
6. The automatic door spraying equipment based on the point cloud as claimed in claim 1, wherein: the top of the driving gear (407) is in meshed connection with the outer wall of the driven gear (503).
7. The automatic door spraying equipment based on the point cloud as claimed in claim 1, wherein: the top of the eccentric disc (406) is connected with the bottom of the transverse plate (507) in a sliding way.
8. The automatic door spraying equipment based on the point cloud as claimed in claim 2, wherein: one side of the connecting spring (506) far away from the U-shaped rod (504) is fixedly connected to the top of the paint bucket (501), and the outer wall of one side of the U-shaped rod (504) is at least provided with three conical blocks (505).
9. The spraying method of the automatic door industry spraying equipment based on the point cloud is applied to the automatic door industry spraying equipment based on the point cloud according to any one of claims 1 to 8, and is characterized in that: the system comprises a spraying detection sensor, an AI photographic sensor, a spraying robot, a PC computer and an AI camera;
the spraying detection sensor is used for controlling the spraying of the spraying robot;
the AI camera sensor is used for controlling the AI camera to take a picture;
the spraying robot is used for spraying the product to be sprayed;
the AI camera is used for collecting shot pictures;
the PC computer is used for adjusting the position of the spraying robot.
10. The spraying method of the point cloud-based automatic door spraying equipment as claimed in claim 9, wherein the spraying method comprises the following steps: the method comprises the following specific steps:
s1, connecting the two sensors into the internal I/O of the robot, connecting the AI camera with the computer through a special communication line, and collecting the shot pictures;
s2, obtaining position coordinates of the object to be sprayed relative to the camera by processing the picture, obtaining corresponding tracks between point location coordinates by recognizing the image outline, and finally generating corresponding point cloud tracks;
s3, connecting the robot and the PC through a network cable, performing signal interaction through a communication protocol, sending a signal to the PC to tell the PC that the PC can take a picture when an article to be sprayed reaches a preset position, taking a picture by the AI camera, processing the taken picture by the PC through the camera after the camera takes the picture, generating a point location coordinate point of the article, recording the point location coordinate of the article according to six coordinate values of X, Y, Z, RX, RY and RZ, and transmitting the point location coordinate point to the robot;
s4, generating point coordinate values which can be executed by the robot according to the point coordinate trajectory transmitted by the camera by the robot;
and S5, when the object reaches the preset position, performing spraying treatment on the object to be sprayed.
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| CN202111637216.5A CN114345599A (en) | 2021-12-29 | 2021-12-29 | Point cloud-based automatic door spraying equipment and spraying method |
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| CN202111637216.5A CN114345599A (en) | 2021-12-29 | 2021-12-29 | Point cloud-based automatic door spraying equipment and spraying method |
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