CN207823268U - Automatic spray apparatus - Google Patents
Automatic spray apparatus Download PDFInfo
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- CN207823268U CN207823268U CN201721885370.3U CN201721885370U CN207823268U CN 207823268 U CN207823268 U CN 207823268U CN 201721885370 U CN201721885370 U CN 201721885370U CN 207823268 U CN207823268 U CN 207823268U
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Abstract
The utility model provides a kind of automatic spray apparatus, which includes：Collecting Pattern unit, Collecting Pattern unit is for acquiring background patterns to be sprayed；Graphics processing unit, graphics processing unit is connect with Collecting Pattern unit, graphics processing unit for handling background patterns and carrying out three-dimensional data modeling to product, and by treated background patterns on the threedimensional model of diffusion way apply to product to form three-D pattern；Job management unit, job management unit are connect with graphics processing unit, and job management unit is used to receive the three-D pattern in graphics processing unit；The automatic spray unit of robot, the automatic spray unit of robot are connect with job management unit, and the automatic spray unit of robot for spraying product according to the three-D pattern in job management unit automatically.Using the technical solution of the utility model, the technical issues of to solve hand spray low production efficiency in the prior art.
Description
Technical field
The utility model is related to application techniques field more particularly to a kind of automatic spray apparatus.
Background technology
Currently, the camouflage color of large product sprays still based on hand spray, the basic procedure of hand spray is：Spray bottom
Color；It protects at position (such as glass, tire) to being not required to spraying；Chinagraph pencil or powder are used on product according to layout
Pen draws camouflage pattern；Masking product is not required to the position of spraying；Paint sprays second of color；Remove masking paper；Painting layer
Solidification；It repeats the above steps and sprays the third color.
From the foregoing, it will be observed that hand spray method in the prior art has the shortcomings that following three aspect.First, process is more, raw
It produces extremely inefficient, has become the bottleneck of process of producing product；It is inconvenient for operation and there are personnel etc. in face of the larger product of size
Security risk；Second, it needs first to be covered with masking paper before spraying, it is artificial to carry out pattern drafting, it wastes and efficiency is low, camouflage color spot
Dot shape is relatively simple, is difficult to realize the design of complex pattern, inefficiency, camouflage pattern type is less, does not adapt to land
The camouflage demand of complex background；Third, conventional spray paint method coating cloud, which splashes, wastes coating, pollutes environment, operating personnel are closely
Operation endangers health big.
Utility model content
The utility model provides a kind of automatic spray apparatus, can solve hand spray low production efficiency in the prior art
The technical issues of.
The utility model provides a kind of automatic spray apparatus, and automatic spray apparatus includes：Collecting Pattern unit, pattern are adopted
Collection unit is for acquiring background patterns to be sprayed；Graphics processing unit, graphics processing unit are connect with Collecting Pattern unit, figure
Shape processing unit for handling background patterns and carrying out three-dimensional data modeling to product, and will treated background patterns to expand
It dissipates in mode apply to the threedimensional model of product to form three-D pattern；At job management unit, job management unit and figure
Unit connection is managed, job management unit is used to receive the three-D pattern in graphics processing unit；The automatic spray unit of robot, machine
The automatic spray unit of device people is connect with job management unit, and the automatic spray unit of robot is used for according in job management unit
Three-D pattern sprays product automatically.
Further, graphics processing unit includes pattern processing module, three-dimensional modeling module and apply module, pattern processing
For being handled background patterns to generate digital camouflage pattern, three-dimensional modeling module is used to carry out three dimensions to product module
According to modeling, apply module be used for by the threedimensional model of digital camouflage pattern apply to product to form three-D pattern.
Further, pattern processing module further includes image recognition and analysis module, color quantizing module and camouflage effectiveness
Evaluation module, image recognition are used to carry out category division to background patterns with analysis module, and color quantizing module is carried on the back for extracting
The colour gamut of scape pattern is to generate digital camouflage pattern, and camouflage evaluation module is for comparing background patterns and digital camouflage pattern
To obtain the matching rate of pattern.
Further, the automatic spray unit of robot includes robot control cabinet, vision positioning module and robot, vision
Locating module and machine are connect with robot control cabinet per capita, and the product progress vision that vision positioning module is used to treat operation is fixed
Position go forward side by side line position set deviations measurement, the position deviations and work that robot control cabinet is exported according to vision positioning module
The three-D pattern of industry administrative unit output is sprayed automatically with controlling robot.
Further, the automatic spray unit of robot further includes painting equipment and pneumatic plant, painting equipment difference
It is connect with robot and pneumatic plant, pneumatic plant is used to pressurize to the paint in painting equipment, to pass through painting
Equipment provides the paint of sprayed product to robot.
Further, the automatic spray unit of robot further includes monitoring module and sensor assembly, monitoring module and sensing
Device module is connect with job management unit, and monitoring module is used to transmit live video, sensor assembly to job management unit
For to job management unit transmission environment parameter and fault message.
Using the technical solution of the utility model, by configuring pattern collecting unit in automatic spray apparatus, at figure
Unit, the automatic spray unit of job management unit and robot are managed, Collecting Pattern unit can be according to battlefield surroundings, season not
Together, acquire now now background patterns and by graphics processing unit generate camouflage pattern, realize wartime environment under vehicle it is fast
Speed, batch camouflage spraying；Furthermore graphics processing unit uses computer image processing technology, in conjunction with three-D pattern apply software,
Three-D pattern is generated for Products Digital；In addition, the automatic spray apparatus of the utility model by three-D pattern Design of digital and
The automatic spray unit of robot fully combines, and greatly improves the spray efficiency of product.
Description of the drawings
Included attached drawing is used for providing being further understood from the utility model embodiment, and which constitute specifications
A part for illustrating the embodiments of the present invention, and comes together with verbal description to illustrate the principles of the present invention.It is aobvious and
Easy insight, the accompanying drawings in the following description are only some embodiments of the utility model, and those of ordinary skill in the art are come
It says, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 show the Collecting Pattern unit that specific embodiment according to the present utility model provides, graphics processing unit and
The structural schematic diagram of position relationship between job management unit；
Fig. 2 shows specific embodiment according to the present utility model provide graphics processing unit, three-dimensional modeling module and
The structural schematic diagram of position relationship between job management unit；
Fig. 3 shows the structural representation for the automatic spray unit of robot that specific embodiment according to the present utility model provides
Figure.
Wherein, above-mentioned attached drawing includes the following drawings label：
10, Collecting Pattern unit；20, graphics processing unit；21, three-dimensional modeling module；30, job management unit；40, machine
The automatic spray unit of device people；41, robot control cabinet；42, vision positioning module；43, robot；44, painting equipment；45, it presses
Contracting air device；46, monitoring module；47, sensor assembly；50, product.
Specific implementation mode
Specific embodiment of the utility model is described in detail below in conjunction with attached drawing.In the following description, go out
In explaining purpose and not restrictive, detail is elaborated, to help to be apparent from the utility model.However, to ability
It is readily apparent that this practicality can also be put into practice in the other embodiments departing from these details for field technique personnel
It is novel.
It should be noted that in order to avoid having obscured the utility model because of unnecessary details, in the accompanying drawings only
The device structure closely related with scheme according to the present utility model and/or processing step are illustrated only, and is omitted and this reality
With the little other details of new relationship.
As shown in Figure 1 to Figure 3, specific embodiment according to the present utility model provides a kind of automatic spray apparatus, should be certainly
Dynamic spray equipment includes that Collecting Pattern unit 10, graphics processing unit 20, job management unit 30 and robot spray list automatically
Member 40, Collecting Pattern unit 10 connect for acquiring background patterns to be sprayed, graphics processing unit 20 with Collecting Pattern unit 10
It connects, graphics processing unit 20, and will treated background for handling background patterns and carrying out three-dimensional data modeling to product
Pattern on the threedimensional model of diffusion way apply to product 50 to form three-D pattern, job management unit 30 and graphics process
Unit 20 connects, and job management unit 30 is used to receive the three-D pattern in graphics processing unit 20, and it is single that machine enters automatic spraying
Member 40 is connect with job management unit 30, and the automatic spray unit 40 of robot is used for according to the graphics in job management unit 30
Case sprays product automatically.
Using such configuration mode, by configuring pattern collecting unit 10, graphics processing unit in automatic spray apparatus
20, the automatic spray unit 40 of job management unit 30 and robot, Collecting Pattern unit 10 can be according to battlefield surroundings, seasons not
Together, background patterns are acquired now now and camouflage pattern is generated by graphics processing unit 20, realize vehicle under wartime environment
Quickly, batch camouflage spraying；Furthermore graphics processing unit 20 uses computer image processing technology, in conjunction with three-D pattern apply
Software generates three-D pattern for Products Digital；In addition, the automatic spray apparatus of the utility model sets three-D pattern digitlization
The automatic 40 fully combination of spray unit of meter and robot, greatly improves the spray efficiency of product.
The automatic spray apparatus of the utility model compared with the existing technology in that process is more, low production efficiency and spraying are splashed is unrestrained
For taking the conventional spray paint method of coating, the automatic spray apparatus of the utility model can according to the complexities of background patterns and
Pseudo- reload request designs rapidly the two-dimentional camouflage pattern merged with arbitrary background height, and it is quick to stick software in conjunction with three-dimensional camouflage color
The three-dimensional camouflage pattern model needed for spraying is generated, replaces hand spray using the automatic spray unit of robot.Such mode energy
It is enough to realize that being designed into three-dimensional camouflage color model from two-dimensional pattern generates, then to the full-automatic processing of robot camouflage color spraying, greatly
Ground improves the spray efficiency of product.
In the present invention, in order to realize the processing of background patterns and carry out three-dimensional data modeling to product, and will
Treated background patterns on the threedimensional model of diffusion way apply to product 50 to form three-D pattern, can be by graphics process
Unit 20 is configured to include pattern processing module, three-dimensional modeling module 21 and apply module, and pattern processing module is used for background
Pattern is handled to generate digital camouflage pattern, and three-dimensional modeling module 21 is used to carry out three-dimensional data modeling, note to product 50
Apply module be used for by the threedimensional model of digital camouflage pattern apply to product to form three-D pattern.
As a specific embodiment of the utility model, high definition camera can be used as Collecting Pattern unit 10.Automatically
Spray equipment can it is preset or on the spot obtain target location target season background patterns, using high definition camera to obtain Background
Or satellite/picture of taking photo by plane is scanned with image scanner, pattern processing module is handled and is generated to acquired background patterns
Digital camouflage pattern extracts the number such as shape, color, brightness and texture of natural background with computer image processing technology and believes
Breath, in addition necessary manual intervention, with the accurate reproducing background pattern on the threedimensional model of product.Wherein, described herein must
The manual intervention wanted refers to carrying out some necessary processing to collected background patterns, such as by the too small camouflage pattern of area
It the operations such as modifies.
Further, in the present invention, in order to be handled collected background patterns to generate camouflage pattern,
Pattern processing module can be configured to further include image recognition and analysis module, color quantizing module and camouflage evaluation mould
Block, image recognition are used to carry out category division to background patterns with analysis module, and color quantizing module is for extracting background patterns
Colour gamut to generate digital camouflage pattern, camouflage evaluation module is for comparing background patterns and digital camouflage pattern to obtain
The matching rate of pattern.
Using such configuration mode, after Collecting Pattern unit 10 collects background patterns, graphics processing unit 20 is to this
Background patterns are handled, and specifically, image recognition first divides the classification of background patterns with analysis module, to confirm
Background patterns are to belong to snowfield either meadow or other application scene；Then, the color of color quantizing module extraction background patterns
Domain is to generate digital camouflage pattern；After digital camouflage pattern generation, camouflage evaluation module is to the digital camouflage that is generated
Pattern and original background patterns compare to obtain the matching rate of pattern, and by the pattern match rate of acquisition and the qualification of setting
Matching rate compares, and determines whether the processing for being directed to the background patterns is qualified.
Further, in the present invention, three-dimensional modeling module 21 includes laser scanner, is set automatically in camouflage pattern
Family planning obtains the point cloud data of product surface by laser scanner, and using PaintShop to obtaining on the basis of
Data carry out analysis and arrangement, be quickly obtained the three-dimensional mathematical model of product to be sprayed at the construction field (site), for cover camouflage pattern
Offer sticks platform, to realize the three-dimensional conversion of two-dimensional numerals camouflage color.
In addition, in the present invention, in order to realize the automatic spraying operation of product 50, can robot be sprayed list automatically
Member 40 is configured to include robot control cabinet 41, vision positioning module 42 and robot 43, vision positioning module 42 and robot
43 connect with robot control cabinet 41, and the product that vision positioning module 42 is used to treat operation carries out vision positioning and goes forward side by side line position
Deviations measurement is set, the position deviations and job management that robot control cabinet 41 is exported according to vision positioning module 42
The three-D pattern that unit 30 exports is sprayed automatically with controlling robot 43.
Specifically, in the present invention, job management unit 30 is used as maincenter unit, can receive graphics processing unit
Three-dimensional camouflage pattern in 20, and the spraying operation instruction and data of the three-dimensional camouflage pattern is transferred to robot control cabinet
41, vision positioning module 42 is used to carry out position deviations measurement to coating objective product, and transfers data to computer
Automatically deviation data is calculated, then robot control cabinet 41 will be fed back to after data processing, robot 43 is further according to obtained
Program is modified by data automatically, to change spraying path.
Further, in order to improve the coating quality of product surface, in the present invention, robot can be sprayed automatically
Unit 40 is configured to further include painting equipment 44 and pneumatic plant 45, and painting equipment 44 is empty with robot 43 and compression respectively
Gas equipment 45 connects, and pneumatic plant 45 is used to pressurize to the paint in painting equipment 44, with by painting equipment 44 to machine
Device people 43 provides the paint of sprayed product.
Using such configuration mode, spray that (high-pressure airless sprays that is, automatically without gas blowout automatically by using high-pressure airless
It applies, is that directly paint is pressurizeed by using high-pressure plunger pump, forms the paint of high pressure, jet gun mouth forms atomization gas
Stream acts on a kind of spraying method in body surface (metope or woodenware face)), enable to the sprayed surface of product more uniform,
Without granular sensation.Furthermore due to such spraying method and air exclusion, paint is more dry, clean.The utility model it is such high
The construction that can be used for high viscosity paint without the automatic spraying method of gas, and edge clear are pressed, or even can be used for some has boundary to want
The spraying project asked.Pneumatic plant 45 is pneumatic operated valve (such as pressure regulator valve and color changing valve), blender etc. in paint finishing
Pneumatic component provides bleed pressure, and provides the paint of sprayed product to robot 43 by painting equipment 44.
It further, in the present invention, can be by machine in order to monitor site environment in real time in spraying process
The automatic spray unit of people 40 is configured to further include monitoring module 46 and sensor assembly 47, monitoring module 46 and sensor assembly 47
It is connect with job management unit 30, monitoring module 46 is used to transmit live video, sensor assembly to job management unit 30
47 are used for 30 transmission environment parameter of job management unit and fault message.
Using such configuration mode, monitoring module 46 can transmit live video to job management unit 30, so as to make
Operator's remote observation in-situ spraying situation is obtained, prevents short distance operation to the damage caused by personnel's health.Sensing
Device module 47 monitors environmental parameter (such as gas concentration etc. in the temperature of environment, humidity and environment) and fault message, passes through
Force snesor etc. is installed in the automatic spray unit 40 of robot on each component, the operation of each component of robot can be observed in real time
Situation can stop the biography of spraying operation instruction and data in time when certain component malfunction by job management unit 30
It is defeated, to remove failure in time.
Further, in the present invention, the automatic spray unit of robot 40 is also equipped with paint spraying, robot is protected
Compressed air interface needed for shield, nozzle cleaning, paint stirring, quick colour changing etc..Wherein, painting equipment 44 can pass through painting pipeline
To 43 automatic painting of robot, painting equipment 44 being capable of automatic cleaning sprayer and front end colour changing pipeline.In the arm of robot 43
Front end is provided with color changing valve, and robot 43 can complete the automatic conversion of different colours needed for camouflage color by the color changing valve.This is changed
Color valve is novel precise color changing valve, is closely arranged with nozzle, and four kinds of differences can be achieved in the novel precise color changing valve and apply
The cycle of material changes.The utility model pushes back control technology using operated pneumatic valve and mechanical force, switches corresponding operated pneumatic valve and reaches
To colour changing purpose.Specifically, after a kind of color has been sprayed, system automatically controls current colored paint operated pneumatic valve and closes, current color
Paint stops spraying, and system control operated pneumatic valve starts another colored paint set in advance and sprayed automatically, and the colored paint after switching is not
It can directly be sprayed, need to be cleaned (the included cleaning collection device of system) to the different colored paints stayed before rifle mouth,
Next step spraying can be carried out after the short time (within 10 seconds) cleans.Step according to this can carry out four kinds of colors altogether
Switching.
Another aspect according to the present utility model provides a kind of automatic painting method, and the automatic painting method is using such as
The upper automatic spray apparatus.The automatic painting method of the utility model includes：Step 1 is adopted using Collecting Pattern unit 10
Collect background patterns to be sprayed；Step 2, pattern processing module are handled background patterns to generate digital camouflage pattern, and three
It ties up modeling module 21 and three-dimensional data modeling is carried out to product, apply unit is by the threedimensional model of digital camouflage pattern apply to product
On to form three-dimensional camouflage pattern；The three-dimensional camouflage pattern generated is imported job management by step 3, graphics processing unit 20
In unit 30；Step 4, the automatic spray unit 40 of robot receive the three-dimensional camouflage pattern in job management unit 30 and control
Robot 43 carries out the automatic spraying of product.
The automatic painting method of the utility model in terms of existing technologies, from the design method of existing camouflage color, is wanted
Summation theory is set out, the modern mathematics analysis means such as theoretical, image recognition and analysis, 3-D scanning technology using digital picture,
Realize the Automation Design of the three-dimensional camouflage color of equipment, the three-dimensional digital camouflage color spot of design have do not repeat, design it is efficient and convenient and
The advantages that meeting pseudo- reload request；Furthermore three-dimensional camouflage pattern is received by job management unit 30 and by three-dimensional camouflage pattern
Spraying operation instruction and data, which exports, gives robot automatic spray unit 40, to pass through the automatic realization pair of spray unit 40 of robot
The automatic spraying of product 50, such mode is convenient and efficient, work efficiency is high and dramatically reduces human cost, has ensured operation
The health of personnel.
Further, in the present invention, in step 2, three-dimensional modeling module 21 includes laser scanner, laser
Scanner obtains the point cloud data of product surface, and carries out analysis and arrangement to point cloud data to realize that the three-dimensional data to product is built
Mould, apply module is by digital camouflage pattern to form three-dimensional camouflage pattern on the threedimensional model of diffusion way apply to product.
Using such configuration mode, it can realize that the offline three-dimensional of background patterns sticks, pass through three-dimensional laser scanner pair
Product 50 is scanned modeling, and the three-dimensional data modeling to product 50 is rapidly completed in utilisation point cloud.Then, in conjunction with two-dimentional camouflage color
Pattern is sticked soft using the three-dimensional camouflage color in graphics workstation (that is, graphical three-dimensional sticks the carrier of software, such as computer)
Part on the threedimensional model of apply to product, forms three-dimensional camouflage pattern, imports working pipe by two-dimensional pattern according to diffusion way
It manages in unit 30, the basis as Control During Paint Spraying by Robot planning.
As a specific embodiment of the utility model, it is applied on the threedimensional model of product by two-dimentional camouflage pattern
When, rational mesh generation can be carried out by the electronic 3-D model to product, and calculate according to the generation of digital camouflage pattern
Method automatically forms the digital camouflage pattern for meeting camouflage standard on the threedimensional model surface of product to grid colouration.The pattern energy
It is enough to realize that the camouflage color spot of equipment interface is continuous whole, while each pattern can not repeat.The such of the utility model sticks
Mode can solve in the prior art that manually the inefficiency caused by the three-dimensional surface textures of product, multiplicity are high asks
Topic, greatlys improve the spray efficiency of product.
Further, in the present invention, in order to realize the automatic spraying to product 50, step 4 can be configured to have
Body includes：Robot control cabinet 41 receives the spraying operation instruction and data of the three-dimensional camouflage pattern in job management unit 30；
Vision positioning module 42 treats operation product and carries out vision positioning and carry out position deviations measurement, vision positioning mould to product
The data that block 42 will measure gained are transferred to computer and calculate deviation data automatically and deviation data is fed back to robot control
Cabinet 41 processed, robot control cabinet 41 correct spraying operation instruction and data automatically；Painting equipment 44 to 43 automatic painting of robot,
Robot 43 completes the automatic spraying operation to product, in the process, monitoring module under the control of robot control cabinet 41
46 real time monitoring spraying operations.
Further understand to have to the utility model, the automatic spraying with reference to Fig. 1 to Fig. 3 to the utility model
The specific work process of device is described in detail.
As shown in Figure 1 to Figure 3, as a specific embodiment of the utility model, automatic spray apparatus includes that pattern is adopted
Collect unit 10, graphics processing unit 20, the automatic spray unit 40 of job management unit 30 and robot, using high definition camera conduct
Collecting Pattern unit 10, the automatic spray unit 40 of robot include robot control cabinet 41, vision positioning module 42, robot
43, painting equipment 44, pneumatic plant 45, monitoring module 46 and sensor assembly 47, robot 43 is by robot control cabinet
41 control and implement spraying operation, and spraying is provided by paint piping connection between painting equipment 44 and robot and to robot 43
The paint of product, pneumatic plant 45 provide bleed pressure for the pneumatic component of pneumatic operated valve, blender etc. in paint finishing, depending on
Feel that locating module 42 is positioned for target product, provides coordinate basis for robot path planning, monitoring module 46 provides machine
The real-time pictures of people's spraying observe the operating condition and field condition of robot, the dress of monitoring spraying in real time of sensor assembly 47
Interior humiture situation is set, environmental change is avoided to impact operation.
When needing to carry out the automatic spraying operation of product, automatic spray apparatus is preset first or obtains target location on the spot
The background patterns in target season, using high definition camera to obtain Background or scan satellite/picture of taking photo by plane, figure with image scanner
Case processing module handles acquired background patterns and generates digital camouflage pattern, with computer image processing technology
Shape, color, brightness and the texture digital information of natural background are extracted, in addition necessary manual intervention, with the three of product
Accurate reproducing background pattern on dimension module.Then, three-dimensional laser scanner is scanned modeling to product 50, quick using cloud
It completes to model the three-dimensional data of product 50.Then, rational mesh generation is carried out to the electronic 3-D model of product, and pressed
According to digital camouflage pattern generating algorithm to grid colouration, automatically formed on the threedimensional model surface of product and meet camouflage standard
Digital camouflage pattern simultaneously will be formed by three-dimensional camouflage pattern and export to job management unit 30, and job management unit 30 will be three-dimensional
The spraying operation instruction and data of camouflage pattern is exported to robot control cabinet 41.
Finally, target product (or vehicle) is transported to designated position dropping place, vision positioning module 42 to target product into
Line position sets deviations measurement, and transfers data to computer and calculate deviation data automatically, then will be fed back after data processing
To robot control cabinet 41, program is modified further according to obtained data to change spraying path by robot 43 automatically.
Then, it would be desirable to position (such as tire, vehicle window, car light position) covered, and proceed by the automatic spraying of robot,
In the process, monitoring module 46 observes the operating condition and field condition of robot, the monitoring spray in real time of sensor assembly 47
Humiture situation in coating device, avoids environmental change from impacting operation.Once it breaks down in operation field, working pipe
Reason unit 30 stops instructing to 41 output operation of robot control cabinet, to remove field failure in time.
In conclusion the automatic painting method of the utility model is in terms of existing technologies, from setting for existing camouflage color
Meter method, requirement and theory are set out, the modern mathematics such as theoretical, image recognition and analysis, 3-D scanning technology using digital picture
Analysis means realize the Automation Design of the three-dimensional camouflage color of equipment, and the three-dimensional digital camouflage color spot of design, which has, not to be repeated, designs soon
The advantages that victory is convenient and meets pseudo- reload request；Furthermore three-dimensional camouflage pattern is received by job management unit 30 and is confused three-dimensional
The spraying operation instruction and data of coloured picture case, which exports, gives robot automatic spray unit 40, to pass through the automatic spray unit of robot
40 realize the automatic spraying to product, and such mode is convenient and efficient, work efficiency is high and dramatically reduces human cost, ensure
The health of operating personnel.In addition, in the present invention, by using airless spraying mode, can realize base
In such spraying method of the controllable spraying of the pattern of robot, the utility model be a kind of more efficient, more environmentally friendly, more energy efficient
Spraying method.
As above it is directed to that a kind of embodiment describes and/or the feature that shows can be in a manner of same or similar at one or more
It is used in a number of other embodiments, and/or the feature in other embodiments is combined or substitutes with the feature in other embodiments
It uses.
It should be emphasized that term "comprises/comprising" refers to the presence of feature, one integral piece, step or component when being used herein, but simultaneously
It is not excluded for the presence or additional of one or more other features, one integral piece, step, component or combinations thereof.
The many features and advantage of these embodiments are clear according to the detailed description, therefore appended claims are intended to
Cover all these feature and advantage of these embodiments fallen into its true spirit and range.Further, since this field
Technical staff is readily apparent that many modifications and changes, therefore is not meant to the embodiments of the present invention being limited to illustrated and description
Precision architecture and operation, but all suitable modifications and the equivalent fallen within the scope of its can be covered.
The utility model unspecified part is known to the skilled person technology.
Claims (6)
1. a kind of automatic spray apparatus, which is characterized in that the automatic spray apparatus includes：
Collecting Pattern unit (10), the Collecting Pattern unit (10) is for acquiring background patterns to be sprayed；
Graphics processing unit (20), the graphics processing unit (20) connect with the Collecting Pattern unit (10), the figure
Processing unit (20), and will treated the back of the body for handling the background patterns and carrying out three-dimensional data modeling to product
Scape pattern on the threedimensional model of diffusion way apply to the product to form three-D pattern；
Job management unit (30), the job management unit (30) connect with the graphics processing unit (20), the operation
Administrative unit (30) is used to receive the three-D pattern in the graphics processing unit (20)；
The automatic spray unit of robot (40), the automatic spray unit of robot (40) connect with the job management unit (30)
Connect, the automatic spray unit of robot (40) be used for according to the three-D pattern in the job management unit (30) to product into
The automatic spraying of row.
2. automatic spray apparatus according to claim 1, which is characterized in that the graphics processing unit (20) includes pattern
Processing module, three-dimensional modeling module (21) and apply module, the pattern processing module are used for the background patterns
To generate digital camouflage pattern, the three-dimensional modeling module (21) is used to carry out three-dimensional data modeling to the product reason, described
Apply module be used for by the threedimensional model of the digital camouflage pattern apply to the product to form three-D pattern.
3. automatic spray apparatus according to claim 2, which is characterized in that the pattern processing module further includes that image is known
Not with analysis module, color quantizing module and camouflage evaluation module, described image identification is with analysis module for described
Background patterns carry out category division, and the color quantizing module is for extracting the colour gamut of the background patterns to generate digital camouflage
Pattern, the camouflage evaluation module is for comparing the background patterns and the digital camouflage pattern to obtain of pattern
With rate.
4. automatic spray apparatus according to any one of claim 1 to 3, which is characterized in that the robot sprays automatically
It includes robot control cabinet (41), vision positioning module (42) and robot (43), the vision positioning module to apply unit (40)
(42) it is connect with the robot control cabinet (41) with the robot (43), the vision positioning module (42) is for treating
The product of operation carries out vision positioning line position of going forward side by side and sets deviations measurement, and the robot control cabinet (41) is according to the vision
The position deviations of locating module (42) output and the three-D pattern of the job management unit (30) output are to control
Robot (43) is stated to be sprayed automatically.
5. automatic spray apparatus according to claim 4, which is characterized in that the automatic spray unit of robot (40) is also
Including painting equipment (44) and pneumatic plant (45), the painting equipment (44) respectively with the robot (43) and described
Pneumatic plant (45) connects, and the pneumatic plant (45) is used to pressurize to the paint in the painting equipment (44),
The paint for spraying the product is provided to the robot (43) by the painting equipment (44).
6. automatic spray apparatus according to claim 4, which is characterized in that the automatic spray unit of robot (40) is also
Including monitoring module (46) and sensor assembly (47), the monitoring module (46) and the sensor assembly (47) with it is described
Job management unit (30) connects, and the monitoring module (46) is used to transmit live video to the job management unit (30),
The sensor assembly (47) is used for job management unit (30) the transmission environment parameter and fault message.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721885370.3U CN207823268U (en) | 2017-12-29 | 2017-12-29 | Automatic spray apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721885370.3U CN207823268U (en) | 2017-12-29 | 2017-12-29 | Automatic spray apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207823268U true CN207823268U (en) | 2018-09-07 |
Family
ID=63390098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721885370.3U Expired - Fee Related CN207823268U (en) | 2017-12-29 | 2017-12-29 | Automatic spray apparatus |
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| Country | Link |
|---|---|
| CN (1) | CN207823268U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108031588A (en) * | 2017-12-29 | 2018-05-15 | 深圳海桐防务装备技术有限责任公司 | Automatic spray apparatus and use its automatic painting method |
| CN110021054A (en) * | 2019-04-12 | 2019-07-16 | 青岛九维华盾科技研究院有限公司 | A kind of patch colouration method for the design of spot camouflage pattern |
| CN114472044A (en) * | 2021-05-27 | 2022-05-13 | 杭州以诺行汽车科技股份有限公司 | Intelligent spraying device and control method thereof |
| CN114536362A (en) * | 2022-02-24 | 2022-05-27 | 中国民用航空飞行学院 | Flexible aircraft paint removal robot and use method thereof |
-
2017
- 2017-12-29 CN CN201721885370.3U patent/CN207823268U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108031588A (en) * | 2017-12-29 | 2018-05-15 | 深圳海桐防务装备技术有限责任公司 | Automatic spray apparatus and use its automatic painting method |
| CN110021054A (en) * | 2019-04-12 | 2019-07-16 | 青岛九维华盾科技研究院有限公司 | A kind of patch colouration method for the design of spot camouflage pattern |
| CN110021054B (en) * | 2019-04-12 | 2023-07-28 | 青岛九维华盾科技研究院有限公司 | Plaque coloring method for speckle camouflage pattern design |
| CN114472044A (en) * | 2021-05-27 | 2022-05-13 | 杭州以诺行汽车科技股份有限公司 | Intelligent spraying device and control method thereof |
| CN114472044B (en) * | 2021-05-27 | 2023-01-03 | 杭州以诺行汽车科技股份有限公司 | Intelligent spraying device and control method thereof |
| CN114536362A (en) * | 2022-02-24 | 2022-05-27 | 中国民用航空飞行学院 | Flexible aircraft paint removal robot and use method thereof |
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