CN208156500U - A kind of movable robot automatic spray apparatus - Google Patents
A kind of movable robot automatic spray apparatus Download PDFInfo
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- CN208156500U CN208156500U CN201721838492.7U CN201721838492U CN208156500U CN 208156500 U CN208156500 U CN 208156500U CN 201721838492 U CN201721838492 U CN 201721838492U CN 208156500 U CN208156500 U CN 208156500U
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Abstract
The utility model discloses a kind of movable robot automatic spray apparatus, including industrial robot, robot control unit, spray gun and paint gas alliance unit, further include visual identity unit, computer controlling terminal and travel table；Industrial robot, robot control unit and paint gas alliance unit are placed on travel table, and mobile movable type working platform is in spraying workpiece in the working space of industrial robot with convenient working；Computer controlling terminal is mutually communicated with robot control unit and visual identity unit respectively；Visual identity unit and spray gun are mounted on industrial robot end；Industrial robot is connected by cable with robot control unit；The utility model can increase robot spray apparatus to the adaptability and dilatancy of operative scenario.
Description
Technical field
The utility model belongs to the automatic paint application technical field of robot, knows more particularly, to a kind of view-based access control model
Other movable robot automatic spray apparatus.
Background technique
Surface spraying be a vital ring in product machining chain, and hand spray have the defects that it is certain：First, people
Work spraying operation unstable quality, the factors such as spray gun setting and technological parameter are all determined by artificial experience, cause entirely to produce
The quality of product is irregular；Second, for guarantee coating thickness uniformly without dead angle, operator can glazing repeatedly, cause glaze
It is a large amount of waste and production efficiency it is low；Third, spraying operation bad environments, working long hours has seriously worker's health
Harm.
In recent years, continuous with the universal of robot application, the requirement raising to sprayed product quality and cost of labor
It improves, the robot automatic spraying system of substitution traditional-handwork operation comes into being.Spraying is that robot is most important using it
One, Control During Paint Spraying by Robot technology is widely used in the various fields such as hardware, family property, plastic cement, military project, ship.
The programming mode of current Control During Paint Spraying by Robot application mainly has teaching programming and off-line programing two ways.Teaching is compiled
Journey is mobile by the teaching machine people that operates machine by technical staff, and is turned using the joint of robot of the key point of recording track
Then the value of the parameters such as angle, speed repeats teaching track using the tutorial program control robot of teaching machine storage automatically.Manually
Lead-through teaching depends on the working experience of technical staff unduly, and the teaching operation time is long.Off-line programing utilizes CAD skill
Art by being analyzed and processed to robot, spraying workpiece and work-yard, planned trajectory, generate and robot trajectory's code and pass
In the defeated controller to robot, robot is made to execute spraying operation.But off-line programing needs work out machine on part model
Device people's spraying profile, height rely on programming personnel's technical experience, and when part is wide in variety, programing work amount is big, is not having part mould
It is needed in the case where type again to part modeling.
In short, the existing programming mode of stationary machine people surface spray application in there is to site requirements height,
To workpiece bad adaptability, many limitations such as programing work amount is big.
Utility model content
Aiming at the above defects or improvement requirements of the prior art, it is automatic to provide a kind of movable robot for the utility model
Spray equipment, its object is to solve existing for existing stationary machine people to adaptability and the dilatancy difference of operative scenario
Problem.
To achieve the above object, it according to the one aspect of the utility model, provides a kind of movable robot and sprays automatically
Apply control system, including visual identity unit, main control unit, image reconstruction unit, track programming unit, spray unit and machine
People's control unit；
First control terminal of main control unit is connected with the first input end of image reconstruction unit, and the second control terminal and track are compiled
The first input end of Cheng Danyuan is connected, and third control terminal is connected with the first input end of spray unit；The of image reconstruction unit
Two input terminals are connected with the output end of visual identity unit, and the of the first output end of image reconstruction unit and track programming unit
Two input terminals are connected, and second output terminal is connected with the second input terminal of spray unit；The output end of track programming unit and spraying
The third input terminal of unit is connected；The output end of spray unit is connected with robot control unit.
Preferably, the above-mentioned automatic spraying control system of movable robot, track programming unit include that spraying area is known
Other module and spraying profile computing module；
The input terminal of spraying area identification module is connected with the first output end of image reconstruction unit, output end and spraying
The input terminal of trajectory computation module is connected；The output end of spraying profile computing module is connected with the third input terminal of spray unit.
Preferably, the above-mentioned automatic spraying control system of movable robot, spray unit include emulation module and rear place
Manage module；
The first input end of emulation module is connected with the second output terminal of image reconstruction unit, the second input terminal and spraying
The output end of trajectory computation module is connected, and output end is connected with one end of post-processing module；The other end of post-processing module with
Robot control unit is connected.
According to the other side of the utility model, provide a kind of based on the movable of above-mentioned automatic spraying control system
Robot automatic spray apparatus, including visual identity unit, robot control unit, computer controlling terminal, industrial robot,
Travel table, spray gun and paint gas alliance unit；Industrial robot, robot control unit and paint gas alliance unit are placed on
On travel table, mobile movable type working platform is in spraying workpiece in the working space of industrial robot with convenient
Operation；
Computer controlling terminal is mutually communicated with robot control unit and visual identity unit respectively；Visual identity unit
It is mounted on industrial robot end with spray gun by attachment device；Paint gas alliance unit is connected by pipeline with spray gun；Industry
Robot passes through in cable connection to robot control unit.
Preferably, above-mentioned movable robot automatic spray apparatus, visual identity unit are realized using three-dimensional camera.
In general, it can obtain down the above technical solutions conceived by the present invention are compared with the prior art,
Column beneficial effect：
(1) a kind of movable robot automatic spray apparatus provided by the utility model is acquired using visual identity unit
The geological information of workpiece establishes corresponding spraying area model for workpiece to be sprayed automatically, when replacement robot or need to be to not
When the workpiece of same kind number is sprayed, without to workpiece modeling to be sprayed, being not necessarily to be directed to workpiece to be sprayed and machine again
People is programmed, and increases the adaptability to spraying workpiece, reduces programing work amount, is the non-standard component under non professional environment
Automatic spraying provides a solution；
(2) a kind of movable robot automatic spray apparatus provided by the utility model, view-based access control model recognition unit and master
Control unit realizes scanning workpiece, track programming, simulation process and the series of operation steps for executing spraying automatically, without artificial
Intervene, reduces the technical experience requirement of Striping operators, workflow is easy to learn, and parameter setting is very clear, makes to spray
It applies work and has wider array of adaptability and quality conformance, for stationary machine people spraying, movable robot increases
The adaptability and dilatancy to operative scenario are added.
Detailed description of the invention
Fig. 1 is a kind of logical box of movable automatic spraying control system of robot provided by the embodiment of the utility model
Figure；
Fig. 2 is the general flow chart of automatic spray painting control method provided by the embodiment of the utility model；
Fig. 3 is the method flow diagram provided by the embodiment of the utility model for generating spraying area model；
Fig. 4 is the method flow diagram provided by the embodiment of the utility model for generating spraying profile file；
Fig. 5 is a kind of composition schematic diagram of movable robot automatic spray apparatus provided by the embodiment of the utility model；
Fig. 6 is spraying workpiece schematic diagram provided by the embodiment of the utility model.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.In addition, institute in the various embodiments of the present invention described below
The technical characteristic being related to can be combined with each other as long as they do not conflict with each other.
Fig. 1 is a kind of logical box of movable automatic spraying control system of robot provided by the embodiment of the utility model
Figure, as shown in Figure 1, a kind of movable automatic spraying control system of robot provided in this embodiment, including visual identity unit,
Main control unit, image reconstruction unit, track programming unit, spray unit and robot control unit；
Wherein, the first control terminal of main control unit is connected with the first input end of image reconstruction unit, the second control terminal with
The first input end of track programming unit is connected, and third control terminal is connected with the first input end of spray unit；Image reconstruction list
Second input terminal of member is connected with the output end of visual identity unit, and the first output end of image reconstruction unit and track programming are single
Second input terminal of member is connected, and second output terminal is connected with the second input terminal of spray unit；The output end of track programming unit
It is connected with the third input terminal of spray unit；The output end of spray unit is connected with robot control unit.
Visual identity unit obtains the point cloud data in the orientation for shooting to a certain orientation of workpiece to be sprayed；
Main control unit calls figure reconstruction unit, track programming unit and spray unit to realize for carrying out logic control
Concrete function；
Wherein, a certain azimuthal point cloud data that image reconstruction unit is used to obtain visual identity unit carry out at gridding
Reason obtains the threedimensional model of the partial region of workpiece to be sprayed；Track programming unit is used to obtain the part of above-mentioned workpiece to be sprayed
The threedimensional model in region chooses a bit on threedimensional model, plans the parameters such as the plane of scanning motion and scanning distance, calculates scanning rail
Mark；Spray unit is used to go out scan path according to above-mentioned scanning trajectory planning, is converted into the executable code text of robot
Part is simultaneously transmitted to robot control unit, cooperates visual identity unit scan workpiece to be sprayed；
Robot control unit is automatic according to scan path according to the above-mentioned code file of acquisition control visual identity unit
Workpiece to be coated is scanned；
Specifically, the substantially strategy of scan path is that visual identity unit is held around 180 ° of workpiece to be sprayed progress by robot
Scanning is scanned around workpiece to be sprayed again after raising a height after the completion of scanning, and visual identity unit is protected in scanning process
It holds and at the uniform velocity walks, and have certain distance with workpiece to be sprayed.
Visual identity unit, according to scan path automatically scanning workpiece to be sprayed, is adopted under the control of robot control unit
Collect the multi aspect images information of workpiece and handled, obtains the geological information of workpiece to be sprayed；
The geological information that image reconstruction unit is used to generate visual identity unit optimizes processing, obtains the net of workpiece
The positional relationship formatted between threedimensional model and workpiece, visual identity unit and industrial robot；Optimization processing includes school
Quasi-, fitting and smoothness processing；
The spraying area in gridding threedimensional model that track programming unit is used to generate image reconstruction unit sieves
Choosing and optimization processing, obtain the threedimensional model in Workpiece painting region；According to the threedimensional model of spraying area, spraying process is set and is joined
Number, it is automatic to calculate spraying profile strategy, obtain spraying profile file；Track programming unit includes connected spraying area identification mould
Block and spraying profile computing module；The input terminal of spraying area identification module is connected with the first output end of image reconstruction unit,
Its output end is connected with the input terminal of spraying profile computing module；The of the output end of spraying profile computing module and spray unit
Three input terminals are connected；
Spraying area identification module is used for the gridding threedimensional model according to obtained workpiece, by choosing spraying area face
Color characteristic optimizes spraying area boundary, removes spraying area noise, obtains the threedimensional model in Workpiece painting region；Spraying profile
The threedimensional model in the Workpiece painting region that computing module is used to be generated according to spraying area identification module, setting spraying process are joined
Number is combined according to above-mentioned technological parameter and is calculated the spraying for meeting technique requirement automatically based on coating thickness control trajectory planning algorithm
Track strategy, obtains spraying profile file；The coating thickness control trajectory planning algorithm provided in this embodiment that is based on is to consider
Previous spraying profile calculates the position of latter spraying profile in the influence to the coating thickness of workpiece, two spraying profiles it
Between region must satisfy the constraint of preset coating thickness；Updating latter spraying profile is previous spraying profile, and repetition is held
The row above process；It is on the basis of the coating thickness accumulation of existing spraying profile based on coating thickness control trajectory planning algorithm
Calculate new spraying profile, can the entire spraying area of strict guarantee be all satisfied thickness requirement.
The positional relationship of workpiece and industrial robot that spray unit is used to be generated according to image reconstruction unit is built virtually
Workbench according to the automatic planning robot's path of motion of spraying profile file that spraying profile computing module generates, and will give birth to
At path of motion be converted into the executable code file of industrial robot；Spray unit includes connected emulation module and rear place
Manage module；The first input end of emulation module is connected with the second output terminal of image reconstruction unit, the second input terminal and spraying
The output end of trajectory computation module is connected, and output end is connected with one end of post-processing module；The other end of post-processing module with
Robot control unit is connected；
Emulation module is used to configure the positional relationship of workpiece and industrial robot, obtains spraying profile file and to spraying rail
Mark carries out interpolation calculating, and automatic planning robot's path of motion simulates spraying process；Post-processing module is for producing emulation module
Raw path of motion is converted into the executable code file of industrial robot and is transmitted to robot control unit, by robot control
Unit control industrial robot processed executes spraying movement；Spray unit is also used to acquire robot location from robot control unit
And posture information, real-time simulation is done to entire spraying process.
The real-time information interaction of spray unit and robot control unit are realized by Ethernet interface, spray unit
Character string instruction is sent to robot control unit, character string instruction can be the data comprising executing file, be also possible to obtain
Obtain the request of robotary.
The utility model additionally provides a kind of automatic spray painting control method of movable robot, Fig. 2 be the present embodiment provides
Automatic spray painting control method general flow chart, specifically include following steps：
S1：It arranges spray coating operations scene, demarcates between visual identity unit and industrial robot and spray gun and industrial machine
Positional relationship between device people；
Arrangement sprays scene：Mobile industrial robot, the work for making workpiece to be sprayed be in industrial robot are empty
In, the spray gun face workpiece to be sprayed being mounted on industrial robot end；If existing on workpiece to be sprayed and being not required to spraying
The part for not needing spraying is covered with spray paint shield paper in region, and mobile industrial robot makes spray gun face area to be sprayed
The center in domain.
S2：Automatically scanning is carried out to workpiece to be sprayed according to pre-generated scan path, acquires the image information of workpiece
And image procossing is carried out, obtain the geological information of workpiece；
Wherein, the generating process of scan path includes the following steps：
S21：The a certain orientation of workpiece to be sprayed is shot to obtain the point cloud data in the orientation,
S22：Gridding is carried out to above-mentioned point cloud data to handle to obtain the threedimensional model in workpiece portion region to be sprayed；
S23：A bit on threedimensional model is chosen, the parameters such as the planning plane of scanning motion, scanning distance calculate scanning track；
S24：According to above-mentioned scanning trajectory planning scan path, scan path is converted into the executable code text of robot
Part；
S25：Robot control unit is to be painted according to the above-mentioned code file of acquisition control visual identity unit automatically scanning
Apply workpiece.
S3：The geological information of workpiece is calibrated, be fitted and smoothness processing, output triangular plate constitute gridding three
Positional relationship between dimension module and workpiece, visual identity unit and industrial robot；
S4：According to the threedimensional model of workpiece, automatic identification spraying area simultaneously calculates spraying profile, obtains spraying profile text
Part；
Specifically, including following sub-step in step S4：
S41：Spraying area boundary is optimized by pickup spraying area color characteristic according to obtained workpiece threedimensional model,
Spraying area noise is removed, the threedimensional model in Workpiece painting region is obtained and imported into spraying profile computing module；Fig. 3 is this reality
With the method flow diagram for the generation spraying area model that new embodiment provides；After picking up spraying area color characteristic, for the face
Certain tolerance is arranged in color, and the size of the tolerance has larger impact to spraying effect；By tolerance to the side of spraying area
Boundary optimizes；The present embodiment additionally provides a kind of mode for choosing spraying area manually, and user, which can be used, chooses polygon
Mode determines spraying area；
S42：According to the threedimensional model in Workpiece painting region, spraying parameter, including film thickness, paint kind are set
Class, spray gun type etc. combine according to above-mentioned technological parameter and are calculated automatically based on coating thickness control trajectory planning algorithm and met work
The spraying profile strategy that skill requires, obtains spraying profile file；Fig. 4 is generation spraying profile provided by the embodiment of the utility model
The method flow diagram of file；
Thought of the calculated spraying profile referring to hand spray, the distance relation containing spray gun and spraying area, spray gun
Into and position, direction and speed when exiting spraying area, spray gun play specking and terminate specking (when send beginning and
Gas supply paint feeding system is given in halt instruction), the speed of service and quantity for spray size of spray gun in spraying process, spray gun is after playing spray with which kind of
Path policy is to realize best spraying effect.Optimal spraying strategy is obtained by above-mentioned strategic planning, is meeting spraying effect
Under the premise of reduce spray painting amount, save the cost.
S5：Path is sprayed according to the positional relationship and spraying profile file plan of workpiece and industrial robot, generates machine
People's executable code；
Specifically, including following sub-step in step S5：
S51：The positional relationship for obtaining workpiece and industrial robot, builds virtual workbench automatically；Virtual workbench
Contain the key message of real work platform, including robot model (including three-dimensional dimension, distance between axles, axis rotational angle model
Enclose), the positional relationship of spray gun and industrial robot, the positional relationship of visual identity unit and industrial robot, user coordinates
System etc.；
S52：Spraying profile file is obtained, industrial robot Attitude Calculation, automatic planning robot's path of motion, mould are carried out
Quasi- spraying process；
S53：The path of motion of generation is converted into the executable code file of industrial robot.
S6：The robot executable code generated in step S5 is transmitted to robot control unit, is controlled by robot
Unit controls industrial robot and executes spraying movement；During executing spraying, the pose letter of industrial robot is acquired in real time
Breath, does real-time simulation to entire spraying process.
The utility model embodiment additionally provide a kind of movable robot based on above-mentioned automatic spraying control system from
Dynamic spray equipment, as shown in figure 5, including three-dimensional camera 5, industrial robot 6, travel table 8, computer controlling terminal
10, robot controller 7, spray gun 4, paint feeding system 3 and air supply system 2；Wherein, industrial robot 6, robot controller 7, confession
Paint system 3 and air supply system 2 are placed on travel table 8, the mobile movable type working platform equipped with industrial robot 6
8, it is in spraying workpiece 1 in the working space of industrial robot 6 with convenient working.
Three-dimensional camera 5 as visual identity sensor is mounted on 6 end of industrial robot by attachment device 9, is pacified
Pay attention to keeping three-dimensional camera 5 horizontal when industrial robot 6 is in mechanical zero position when dress；Three-dimensional camera 5 passes through data line
It is connected with adapter, adapter is mutually communicated by data line or wireless mode and computer controlling terminal 10；Spray gun 4 also by
Attachment device 9 is mounted on 6 end of industrial robot, and paint feeding system 3 is connected with air supply system 2 and spray gun 4 respectively by pipeline,
The pipeline of its promising painting is connected on spray gun 4；Attachment device 9 is homemade frock clamp, for three-dimensional camera and spray gun is same
When be mounted on 6 end of industrial robot；Paint feeding system 3 and air supply system 2 constitute paint gas alliance unit, are connected to electricity by pipeline
Magnet valve is eventually connected to spray gun.
Industrial robot 6 passes through on power cable and control cable connection to robot controller 7；Computer controlling terminal
10 are connected by Ethernet with robot controller 7, realize signal real-time Transmission and interaction；It is loaded in computer controlling terminal 10
There is automatic spraying software program, this sprays the movable robot that above-mentioned view-based access control model identification is realized when software program operation automatically
In automatic spray painting control method the step of S3~S5, and during generation scan path the step of S22~S24.
Fig. 6 is spraying workpiece schematic diagram, before spraying, opens power supply, opens computer controlling terminal 10, soft to spray automatically
Part starting finishes, the mobile travel table 8 for carrying industrial robot 6, makes 4 face of spray gun workpiece to be sprayed, and observation is automatic
5 form of three-dimensional camera that spraying software is shown, manually controlling industrial robot 6 makes workpiece area to be sprayed be in three-dimensional camera 5
The centre of form；Three-dimensional camera 5 scans workpiece to be sprayed, acquires its image and geological information, computer controlling terminal 10
The image and geological information of workpiece are handled, the threedimensional model in Workpiece painting region is obtained, according to above-mentioned threedimensional model and
Positional relationship calculates spraying profile strategy, generates spraying profile file and is converted to the executable code file of industrial robot,
Above-mentioned code file is transferred to robot controller 7, drives industrial robot 6 to press spraying profile pair by robot controller 7
Workpiece is sprayed.
Wherein, the kinect v2 camera that three-dimensional camera 5 is preferably produced using Microsoft；Industrial robot includes each product
The industrial robot of board model, the TKB 030 6 that the present embodiment is preferably produced using upper sea chart Ling Zhizao Co., Ltd of robot
Shaft industrial robot, including ontology, control cabinet and teaching machine；Spray gun 4 is preferably produced using Kremlin-Rexson company of France
A-25 type automatic air spray gun.
The application scenarios that automatic spray apparatus provided in this embodiment is sprayed mainly for auto parts and components, can be applied to vapour
The fields such as vehicle manufacture and repairing, realize the automatic spraying to components, reduce the technical experience requirement to operator, make to spray
It applies work and has wider array of adaptability and quality conformance, sprayed automatically for the non-standard component under non professional environment and provide one kind
Solution.
The movable robot automatic spray apparatus of view-based access control model identification provided by the utility model a kind of, control system and
Method, the method for planning track identified using view-based access control model, establishes corresponding spraying area model for workpiece to be sprayed automatically,
When replacing robot or need to be sprayed to the workpiece of variety classes model, without being not necessarily to again to workpiece modeling to be sprayed
It is programmed for workpiece to be sprayed and robot, increases the adaptability to spraying workpiece, reduce programing work amount, be non-
Non-standard component under professional environment sprays automatically provides a solution.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
To limit the utility model, any modification made within the spirit and principle of the present invention, equivalent replacement and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (2)
1. a kind of movable robot automatic spray apparatus, including industrial robot, robot control unit, spray gun and paint gas connection
For unit, which is characterized in that further include visual identity unit, computer controlling terminal and travel table；
The industrial robot, robot control unit and paint gas alliance unit are placed on travel table, described in movement
Movable type working platform is in spraying workpiece in the working space of industrial robot with convenient working；
The computer controlling terminal is mutually communicated with robot control unit and visual identity unit respectively；The visual identity
Unit and spray gun are mounted on industrial robot end；The industrial robot is connected by cable with robot control unit.
2. movable robot automatic spray apparatus as described in claim 1, which is characterized in that the visual identity unit is adopted
It is realized with three-dimensional camera.
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| CN201721838492.7U CN208156500U (en) | 2017-12-26 | 2017-12-26 | A kind of movable robot automatic spray apparatus |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107908152A (en) * | 2017-12-26 | 2018-04-13 | 苏州瀚华智造智能技术有限公司 | A kind of movable robot automatic spray apparatus, control system and method |
| CN111203879A (en) * | 2020-01-15 | 2020-05-29 | 上海锵玫人工智能科技有限公司 | Mechanical arm spraying robot capable of moving automatically |
| CN112007789A (en) * | 2020-08-04 | 2020-12-01 | 中国石油天然气集团有限公司 | Prefabricated welding seam coating robot |
| CN113856935A (en) * | 2020-10-27 | 2021-12-31 | 上海飞机制造有限公司 | Man-machine cooperative control spraying system and method |
-
2017
- 2017-12-26 CN CN201721838492.7U patent/CN208156500U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107908152A (en) * | 2017-12-26 | 2018-04-13 | 苏州瀚华智造智能技术有限公司 | A kind of movable robot automatic spray apparatus, control system and method |
| CN111203879A (en) * | 2020-01-15 | 2020-05-29 | 上海锵玫人工智能科技有限公司 | Mechanical arm spraying robot capable of moving automatically |
| CN112007789A (en) * | 2020-08-04 | 2020-12-01 | 中国石油天然气集团有限公司 | Prefabricated welding seam coating robot |
| CN113856935A (en) * | 2020-10-27 | 2021-12-31 | 上海飞机制造有限公司 | Man-machine cooperative control spraying system and method |
| CN113856935B (en) * | 2020-10-27 | 2023-08-04 | 上海飞机制造有限公司 | Man-machine cooperative control spraying system and method |
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