CN208303054U - A kind of fully-automatic coating device - Google Patents
A kind of fully-automatic coating device Download PDFInfo
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- CN208303054U CN208303054U CN201820005050.2U CN201820005050U CN208303054U CN 208303054 U CN208303054 U CN 208303054U CN 201820005050 U CN201820005050 U CN 201820005050U CN 208303054 U CN208303054 U CN 208303054U
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- painting device
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Abstract
The utility model provides a kind of fully-automatic coating device, and the painting device includes bottom plate and the spray robot movable along bottom plate；Big arm seat is provided on the spray robot, the big arm seat is connect with large arm by the first revolute pair, and the large arm is connect with forearm by the second revolute pair；The end of the forearm is provided with spray coating mechanical hand, and the turntable, large arm, forearm and spray coating mechanical hand are controlled by the driving device；Camera is provided on the big arm seat.The utility model can shoot the movement of coated object to be painted by camera, to realize that the tracking for coated object to be painted sprays.
Description
Technical field
The present invention relates to coating machinery field more particularly to a kind of fully-automatic coating devices.
Background technique
So-called coating refers to metal and nonmetallic surface protective mulch or decorative layer.With the development of industrial technology,
It is deep into the multiple fields of national economy.The development experience of Chinese paint line is by by hand to production line, to automatic production
The development process of line.With the high speed development of coating, the intelligence degree of coating equipment is also higher and higher, however, to being at present
Only, there is also following technical issues that need to address for coating equipment:
(1) precision of coating track, service life, rigidity and persistence are not high enough, under the kinematic accuracy for leading to coating equipment
Drop promotes coating equipment although can reduce injury of the coating equipment for track by magnetic technology under certain application scenarios
Running precision, but these in the prior art coating equipment generally use unsymmetric structure, stability is poor, from another
Lateral leadin reduces the factor of kinematic accuracy.
(2) intelligence degree of coating equipment is not high, is typically only capable to enough spray static object, however in life
Producing usual product on assembly line is movement, if being merely able to spray static object, it is clear that the application of coating equipment
Scene is limited, and reduces production efficiency.
(3) the specified coating of the usual spary of coating equipment, it is difficult to replace coating in real time according to actual needs, reach diversification
Spraying effect.
Summary of the invention
In order to solve the above-mentioned technical problem, primary and foremost purpose of the invention is to provide a kind of fully-automatic coating device.
The present invention is realized with following technical solution:
The present invention provides a kind of fully-automatic coating device, and the painting device includes bottom plate and the spraying movable along bottom plate
Robot；The spray robot bottom is provided with slide unit, connect at the top of the slide unit with pedestal；The base interior is provided with
Driving device；Big arm seat is provided on the spray robot, the big arm seat is connect with large arm by the first revolute pair, described
Large arm is connect with forearm by the second revolute pair；The end of the forearm is provided with spray coating mechanical hand, turntable, the large arm, small
Arm and spray coating mechanical hand are controlled by the driving device；Camera is provided on the big arm seat.
Further, more guide rails are provided on the bottom plate；Multiple sliding blocks, the multiple cunning are set below the slide unit
Block is arranged on corresponding more guide rails；
The base interior is additionally provided with coating feeding mechanism and control module, the control module and the driving device
Connection；
A turntable is disposed on the pedestal, and the big arm seat is disposed on the turntable；The camera and the control mould
Block communication connection.
Further, the movement of the painting device is controlled by control module and driving device so that painting device with
Coated object parallel synchronous movement to be painted, so that the tracking of painting objects is treated in completion；During tracking, painting device is uninterrupted
The image of coated object to be painted is shot, position of the pixel x in next frame image J in previous frame image I passes through the first formula
It estimates, controls the movement of painting device according to estimation results so that painting device and coated object parallel synchronous to be painted move.
Further, the first formula is J (Ax+d)=I (x), wherein A is related to the deformation quantity of pixel, and d is characterized
Point translation vector.
Obtain the optimal value of A and d using the second formula, the optimal value of A and d are so that between two windows in the second formula
The smallest value of dissimilarity e；And the movement of painting device is controlled with this.
Second formula is e=∫ ∫σ[Q(Ax+d)-P(x)]2W (x) dx, wherein w (x) is empirical value, Q (Ax+d) and P (x)
It is the given value obtained according to camera head shooting results, A and d after optimization can be obtained as a result, and with this real-time control
The movement of painting device.
The present invention have it is following obvious the utility model has the advantages that
Exclusive symmetry slide unit structure is designed, can ensure to the greatest extent may be used under the premise of sliding process does not generate stress
The stability of slide unit movement can be improved, to ensure to obtain when painting objects are tracked in subsequent treat based on camera
Preferable tracking effect；
The movement of coated object to be painted can be shot by camera, to realize that the tracking for coated object to be painted sprays；
It can be based on preset specific identifier, full automatic spray is completed by the interaction of camera and control module
It applies, painting device can not only realize coated object to be painted tracking spraying, additionally it is possible to replace coating in real time.
Detailed description of the invention
Fig. 1 is a kind of fully-automatic coating schematic device provided by the invention；
Fig. 2 is slide unit schematic diagram provided by the invention；
Fig. 3 is coating feeding mechanism schematic diagram provided by the invention；
Fig. 4 is nozzle schematic diagram provided by the invention；
Fig. 5 is mark schematic diagram provided in this embodiment.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.
Embodiment 1:
As shown in Figure 1, a kind of fully-automatic coating device, as shown in Figure 1, the painting device includes bottom plate 1 and along bottom plate
Movable spray robot.
More guide rails 2 are provided on the bottom plate 1；The spray robot bottom is provided with slide unit, the slide unit top
It is connect with pedestal 6；The base interior is provided with driving device.
Coating feeding mechanism 7 and control module 8, the control module 8 and the drive are additionally provided with inside the pedestal 6
Dynamic device connection.
A turntable 9 is disposed on the pedestal 6, the turntable 9 can be rotated around vertical direction, slewing area 0-360
Degree；Big arm seat 10 is disposed on the turntable 9, the big arm seat 10 is connect with large arm 11 by the first revolute pair, the large arm 11
It is connect with forearm 12 by the second revolute pair；The end of the forearm 12 is provided with spray coating mechanical hand, the turntable 9, large arm 11,
Forearm 12 and spray coating mechanical hand are controlled by the driving device.
Further, the spray coating mechanical hand includes spray gun seat 13 and nozzle 14, and the spray gun seat 13 is rotated by third
Secondary to connect with the forearm 12, the spray gun seat 13 and the nozzle 14 are to be detachably connected；The driving device is also used to drive
The spray gun seat 13 is moved to move.
First rotation vice division chief is provided with the first rotation detector, and second rotation vice division chief is provided with the second rotation inspection
Device is surveyed, third rotation vice division chief is provided with third rotation detector, first rotation detector, the second rotation detector and third
Rotation detector is communicated to connect with the control module 8；The control module 8 passes through the first revolute pair of control, the second rotation
Secondary and third revolute pair movement, regulates and controls the position of nozzle；A camera is also embedded on the shell of the big arm seat 10, it is described
Camera and the control module 8 communicate to connect.
As shown in Fig. 2, the slide unit includes horizontal slide unit 5, and the longitudinal direction being set to below the horizontal slide unit 5 is sliding
Multiple sliding blocks 3 are arranged below the longitudinal slide unit 4 for platform 4, and the multiple sliding block is arranged on corresponding more guide rails 2, described vertical
Longitudinal movement is done along guide rail arranged direction to slide unit；
Track and corresponding sliding block are provided between the horizontal slide unit 5 and longitudinal slide unit 4, the longitudinal slide unit 4 includes
A left side stage body 41 and right side stage body 42, the left side is respectively set in slide unit ontology arranged at the bottom, slide unit ontology two sides
Side stage body 41 and the right side stage body 42 be symmetrical arranged with ensure the longitudinal slide unit 4 for symmetrical structure, only symmetrical structure,
It can ensure steady along the movement of guide rail.
The track includes left side sliding rail 43, right side sliding rail 45 and top slide rail 44, and the left side sliding rail 43 is mounted on a left side
The left side of side stage body 41 and slide unit ontology, the right side sliding rail 45 is mounted on the right side of right side stage body 42 and slide unit ontology, described
Top slide rail 44 is mounted on the top of slide unit ontology；First magnet 46, the right side stage body are installed on the left side stage body 41
Second magnet 47 is installed, the horizontal slide unit 5 is made using magnetic material on 42；The horizontal slide unit 5 along perpendicular to
Do transverse movement in the direction of longitudinal movement.
As shown in figure 3, the coating feeding mechanism 7 includes N number of barrel 71, each 71 top of barrel is provided with discharging pump
72, the discharging pump 72 is connected to by feed pipe 74 with the nozzle 14, be provided on each 74 access of feed pipe into
Expect valve 73；Each inlet valve 73 and the discharging pump 72 with 8 communication connection of control module.
As shown in figure 4, the nozzle 14 includes N number of feed inlet 142, feed inlet 142 is connected to the one-to-one correspondence of barrel 71,
One rotary switch 141 is set among the pipeline of the nozzle 14, also sets up material hole 143 on the pipeline, passes through rotary switch
141 drive material holes 143 are relatively rotated, only when material hole 143 is connected to some feed inlet 141, the feed inlet
The coating of 141 outflows can be sprayed via nozzle；The rotation of the rotary switch is controlled by the control module.
In the embodiment of the present invention, 71 quantity of barrel is 2, and 142 quantity of feed inlet is also 2.It is each described
Feed inlet 142 includes that three chargings match mouth, and the material hole 143 also includes three logical material matching mouths, only when described three
Charging matching mouth is connected to described three logical material matching mouths, and the coating of the feed inlet outflow can be sprayed via nozzle.
In order to realize the tracking spraying for coated object to be painted, pass through the phase interaction of camera and control module in the present invention
With realization.Concrete implementation mode is as follows:
A characteristic point is set on each object to be tracked, the default neighborhood around characteristic point is the area for needing to be sprayed-on
Between σ, this section is the tracking object of painting device.In the motion process in the section, the embodiment of the present invention uses the
One formula describes the movement of wherein each pixel (including characteristic point).
In embodiments of the present invention, the movement of the painting device is controlled by control module and driving device, so that applying
Assembling device and coated object parallel synchronous to be painted move, to complete to track.Tracking process is spraying process, in this process
In, painting device uninterruptedly shoots the image of coated object to be painted, and therefore, the pixel x in previous frame image I is in next frame image
Position in J is estimated by the first formula, according to estimation results control painting device movement so that painting device with it is to be painted
The movement of coated object parallel synchronous.
First formula is J (Ax+d)=I (x), wherein A is related to the deformation quantity of pixel, and d is characterized a translation vector.
Therefore, the optimization problem of A and d is translated into for estimating for next frame position.It is preferable in order to obtain in the embodiment of the present invention
Optimum results, using the optimal value of the second formula acquisition A and d, the optimal value of A and d are two windows so that in the second formula
Between the smallest value of dissimilarity e；And the movement of painting device is controlled with this.
Second formula is e=∫ ∫σ[Q(Ax+d)-P(x)]2W (x) dx, wherein w (x) is empirical value, Q (Ax+d) and P (x)
It is the given value obtained according to camera head shooting results, that is, the pixel motion situation before characterizing can obtain optimization as a result,
A and d afterwards, and with the movement of this real-time control painting device.
Above-mentioned control logic is all realized in control module 8.
Further, in order to improve tracking effect, control module 8 can also be sensed in real time by infrared proximity sensor and be taken the photograph
As the distance between head and coated object to be painted, and the movement by control horizontal slide unit relative to longitudinal slide unit, by the distance
It controls within a preset range, so that it is guaranteed that the object picture to be sprayed that camera takes can be suitable for the calculation the application
Method.The infrared proximity sensor also can be set in the shell of big arm seat, and communicate to connect with control module 8.
In order to realize the full-automatic spraying based on preset specific identifier, also disclosed in the embodiment of the present invention in following
Hold:
By the production line to painting device, it is provided with the specific identifier for playing indicative function, specific identifier includes two
Divide content, operating instruction and coating replacement instruction.It is described specific to be additionally provided with specific identifier scanning component on painting device
Mark scanning component and 8 communication connection of control module.
In order to promote scanning recognition efficiency, a kind of special mark is provided in the embodiment of the present invention, the mark is only wrapped
Black-and-white two color is included, the mark profile including regular pentagon and first identifier area and second identifier area inside regular pentagon,
The first identifier area is located at second identifier area top, and the first identifier area and the second identifier area use circle
As information subject matter, there is circle in varying numbers inside each tag slot.First identifier area black matrix, built-in circle are white
Color；Second identifier area white background, built-in circle are black.For identifying operating instruction, second identifier area is used in first identifier area
Identify coating replacement instruction.
The setting of the regular pentagon is based on invariant theory, can be improved scanning speed.The setting of round subject matter
Enable under depth defocus condition, avoid scanning process for mark image procossing during, generated after binaryzation viscous
Even, the accuracy of scanning recognition is improved.
As shown in figure 5, the meaning in the mark first identifier area is that instruction painting device returns to it illustrates a kind of mark
The starting point of movement；The meaning in second identifier area is to indicate that the coating of painting device replacement third barrel continues to spray.
Ensure that the meaning for accurately identifying mark, the pixel wide w of the imaging of the mark in the embodiment of the present invention
Not less than 2 pixels, developed width and the position of mark are arranged according to formula w=W*cos θ * f/ (D*dx).Wherein W is mark
Know developed width, θ is the angle of imaging plane and perpendicular, and f is focal length of camera, and D is the distance for being identified to video camera.
The above-mentioned scanning recognition process of the embodiment of the present invention and the control process based on scanning recognition result are also by control
Molding block 8 is realized.
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (6)
1. a kind of fully-automatic coating device, it is characterised in that:
The painting device includes bottom plate and the spray robot movable along bottom plate；The spray robot bottom is provided with cunning
Platform, the slide unit top are connect with pedestal；The base interior is provided with driving device；It is provided on the spray robot big
Arm seat, the big arm seat are connect with large arm by the first revolute pair, and the large arm is connect with forearm by the second revolute pair；It is described
The end of forearm is provided with spray coating mechanical hand, and turntable, the large arm, forearm and spray coating mechanical hand are controlled by the driving dress
It sets；Camera is provided on the big arm seat.
2. painting device according to claim 1, it is characterised in that:
More guide rails are provided on the bottom plate；Multiple sliding blocks are set below the slide unit, and the multiple sliding block is arranged in correspondence
More guide rails on；
The base interior is additionally provided with coating feeding mechanism and control module, and the control module and the driving device connect
It connects；
A turntable is disposed on the pedestal, and the big arm seat is disposed on the turntable；The camera and the control module are logical
Letter connection.
3. painting device according to claim 1 to 2, it is characterised in that:
The movement of the painting device is controlled by control module and driving device, so that painting device is parallel with coated object to be painted
It moves synchronously, so that the tracking of painting objects is treated in completion；During tracking, painting device uninterruptedly shoots coated object to be painted
Image, position of the pixel x in next frame image J in previous frame image I estimated by the first formula, according to estimating knot
Fruit controls the movement of painting device so that painting device and coated object parallel synchronous to be painted move.
4. painting device according to claim 3, it is characterised in that:
First formula is J (Ax+d)=I (x), wherein A is related to the deformation quantity of pixel, and d is characterized a translation vector.
5. painting device according to claim 4, it is characterised in that:
Obtain the optimal value of A and d using the second formula, the optimal value of A and d are so that between two windows in the second formula not
The smallest value of similitude e；And the movement of painting device is controlled with this.
6. painting device according to claim 5, it is characterised in that:
Second formula is e=∫ ∫σ[Q(Ax+d)-P(x)]2W (x) dx, wherein w (x) is empirical value, and Q (Ax+d) and P (x) are root
According to the given value that camera head shooting results obtain, A and d after optimization can be obtained as a result, and with this real-time control painting device
Movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820005050.2U CN208303054U (en) | 2018-01-03 | 2018-01-03 | A kind of fully-automatic coating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820005050.2U CN208303054U (en) | 2018-01-03 | 2018-01-03 | A kind of fully-automatic coating device |
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| Publication Number | Publication Date |
|---|---|
| CN208303054U true CN208303054U (en) | 2019-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820005050.2U Expired - Fee Related CN208303054U (en) | 2018-01-03 | 2018-01-03 | A kind of fully-automatic coating device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108160354A (en) * | 2018-01-03 | 2018-06-15 | 江苏苏力机械股份有限公司 | A kind of fully-automatic coating device |
| 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 |
| CN115069471A (en) * | 2022-07-01 | 2022-09-20 | 江苏苏力机械股份有限公司 | Digital intelligent coating production line |
| CN108160354B (en) * | 2018-01-03 | 2024-07-09 | 江苏苏力机械股份有限公司 | Full-automatic coating device |
-
2018
- 2018-01-03 CN CN201820005050.2U patent/CN208303054U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108160354A (en) * | 2018-01-03 | 2018-06-15 | 江苏苏力机械股份有限公司 | A kind of fully-automatic coating device |
| CN108160354B (en) * | 2018-01-03 | 2024-07-09 | 江苏苏力机械股份有限公司 | Full-automatic coating device |
| 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 |
| CN115069471A (en) * | 2022-07-01 | 2022-09-20 | 江苏苏力机械股份有限公司 | Digital intelligent coating production line |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190101 Termination date: 20210103 |
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| CF01 | Termination of patent right due to non-payment of annual fee |