CN210449638U - Automatic spraying system of robot - Google Patents
Automatic spraying system of robot Download PDFInfo
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- CN210449638U CN210449638U CN201921039075.5U CN201921039075U CN210449638U CN 210449638 U CN210449638 U CN 210449638U CN 201921039075 U CN201921039075 U CN 201921039075U CN 210449638 U CN210449638 U CN 210449638U
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Abstract
The utility model relates to an automatic spraying technical field, concretely relates to automatic spraying system of robot, include: the device comprises a PLC (programmable logic controller), a transport trolley running on a rotary rail, image acquisition equipment, a spraying sensor and a spraying robot; the rotary track is provided with an image acquisition line and a spraying induction line, the image acquisition equipment is arranged on the extension line of the image acquisition line, the spraying sensor is arranged on the spraying induction line, and the spraying robot is arranged on the extension line of the spraying induction line; the conveying trolley is provided with a driving assembly and a spraying platform, the spraying platform is used for bearing a workpiece, and the driving assembly is used for responding to a control instruction of the PLC controller to drive the conveying trolley to horizontally run; PLC controller respectively with drive assembly, image acquisition equipment, spraying sensor and spraying robot communication connection, the utility model discloses save the cost of labor, improve spraying efficiency and the degree of accuracy.
Description
Technical Field
The utility model relates to an automatic spraying technical field, concretely relates to automatic spraying system of robot.
Background
With the vigorous development of science and technology in China, machine vision and the application of industrial robots become more and more extensive, and the spraying becomes more intelligent under the mutual combination of the industrial robots and the machine vision. The industrial camera is adopted to extract the texture and the outline of the workpiece for image recognition, so that a basis is provided for automatic spraying based on the image recognition.
In the painting industry, painting operations are generally performed by painting robots in order to facilitate automation and reduce the impact on the operator. Specifically, a spray gun is arranged at the end part of an automatically controlled spraying manipulator, and then a workpiece to be sprayed is sprayed through the spray gun.
Among the prior art, usually transport the work piece to treating the spraying region through the conveyer belt, adopt industry robotic arm to carry out the spraying to the work piece, however traditional spraying operation degree of automation still remains to be improved, often needs the manual work to pay close attention to the spraying progress constantly to suitably adjust work piece or spraying robot, with satisfying the spraying demand, consume the cost of labor, and spraying efficiency and degree of accuracy are low.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the not enough of prior art, aim at saving the cost of labor, improve spraying efficiency and the degree of accuracy.
In order to achieve the above object, the utility model provides a following scheme:
a robotic automatic spray coating system, the system comprising: the device comprises a PLC controller, a transport trolley, image acquisition equipment, a spraying sensor and a spraying robot;
the transportation trolley runs on a rotary track, an image acquisition line and a spraying induction line are arranged on the rotary track, and the image acquisition line and the spraying induction line are both vertical to the advancing direction of the transportation trolley;
the image acquisition equipment is arranged on an extension line of the image acquisition line, the spraying sensor is arranged on the spraying induction line, and the spraying robot is arranged on the extension line of the spraying induction line;
the conveying trolley is provided with a driving assembly and a spraying table, the spraying table is positioned at the top of the conveying trolley and is parallel to the horizontal plane, and the spraying table is used for bearing a workpiece; the driving assembly is used for responding to a control instruction of the PLC controller to drive the transport trolley to horizontally run;
the image acquisition equipment is used for responding to an image acquisition instruction of the PLC controller and acquiring an image of the workpiece;
the spraying sensor is used for detecting whether the transport trolley reaches the spraying induction line;
the spraying robot is used for responding to a spraying instruction of the PLC controller to perform spraying operation;
and the PLC is in communication connection with the driving assembly, the image acquisition equipment, the spraying sensor and the spraying robot respectively.
Further, the driving assembly comprises a first servo motor and a first servo driver connected with the first servo motor, the first servo motor is in transmission connection with wheels of the transport trolley, and the first servo motor is used for responding to a control signal of the PLC controller to drive the transport trolley to horizontally run.
Furthermore, one surface of the spraying platform is fixedly connected with a rotating shaft in the vertical direction, and the rotating shaft is arranged on the body of the transport trolley.
Further, the drive assembly further comprises a second servo driver, a second servo motor and a speed reducer, the PLC is sequentially connected with the second servo driver, the second servo motor and the speed reducer, and the speed reducer is used for responding to a control instruction of the PLC to drive the rotating shaft to rotate so as to drive the spraying platform to rotate horizontally.
Further, the image acquisition equipment is provided with an infrared sensor, a first industrial camera and a second industrial camera, the infrared sensor and the second industrial camera vertically face the image acquisition line downwards, and the first industrial camera is parallel to the image acquisition line and faces the rotary track;
the infrared sensor is used for detecting whether an object arrives at the image acquisition line, and the first industrial camera and the second industrial camera are used for acquiring images of the object on the image acquisition line.
Further, the PLC controller is respectively connected with the first servo driver, the infrared sensor, the first industrial camera and the second industrial camera, and the first servo driver is connected with the first servo motor; the PLC controller still is connected with the switch, the switch connect respectively the industrial computer with the spraying sensor, the industrial computer is connected the spraying robot, the switch be used for with the sensing signal transmission that the spraying sensor gathered gives the PLC controller, and will the control command transmission that the PLC controller sent gives the industrial computer, the industrial computer is used for according to control command control the spraying robot work.
The utility model has the advantages that: the utility model discloses an automatic spraying system of robot, include: the device comprises a PLC (programmable logic controller), a transport trolley running on a rotary rail, image acquisition equipment, a spraying sensor and a spraying robot; the rotary track is provided with an image acquisition line and a spraying induction line, the image acquisition equipment is arranged on the extension line of the image acquisition line, the spraying sensor is arranged on the spraying induction line, and the spraying robot is arranged on the extension line of the spraying induction line; the conveying trolley is provided with a driving assembly and a spraying platform, the spraying platform is used for bearing a workpiece, and the driving assembly is used for responding to a control instruction of the PLC controller to drive the conveying trolley to horizontally run; and the PLC is in communication connection with the driving assembly, the image acquisition equipment, the spraying sensor and the spraying robot respectively. The utility model discloses save the cost of labor, improve spraying efficiency and the degree of accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of an automatic robot spraying system according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a transportation trolley according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an image capturing device according to an embodiment of the present invention;
fig. 4 is a circuit block diagram of the robot automatic spraying system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
Referring to fig. 1-4, an embodiment of the present invention provides an automatic spraying system of robot, including: the system comprises a PLC (programmable logic controller) 100, a rotary rail 200, a transport trolley 300, an image acquisition device 400, a spraying sensor 500 and a spraying robot 600;
the transport trolley 300 runs on a rotary rail 200, an image acquisition line 210 and a spraying induction line 220 are arranged on the rotary rail 200, and the image acquisition line 210 and the spraying induction line 220 are both vertical to the advancing direction of the transport trolley 300;
the image collecting device 400 is disposed on an extension line of the image collecting line 210, the painting sensor 500 is disposed on the painting induction line 220, and the painting robot 600 is disposed on an extension line of the painting induction line 220;
the transport trolley 300 is provided with a driving assembly and a spraying platform 301, the spraying platform 301 is positioned at the top of the transport trolley 300 and is parallel to the horizontal plane, and the spraying platform 301 is used for bearing a workpiece; the driving component is used for responding to a control signal of the PLC 100 to drive the transport trolley 300 to horizontally run;
the image acquisition device 400 is configured to respond to an image acquisition instruction of the PLC controller 100 to acquire an image of the workpiece;
the spraying sensor 500 is configured to detect whether the transportation cart 300 reaches the spraying induction line 220;
the spraying robot 600 is configured to perform a spraying operation in response to a spraying instruction of the PLC controller 100;
the PLC controller 100 is in communication connection with the driving assembly, the image capturing apparatus 400, the painting sensor 500, and the painting robot 600, respectively.
In one embodiment, in use, the PLC controller 100 is configured to trigger an instruction for acquiring a workpiece image when detecting that the transport cart 300 reaches the image acquisition line 210, and match a spraying program corresponding to the workpiece image; and is used for triggering a spraying operation instruction when the transportation trolley 300 is detected to reach the spraying induction line 220;
in one embodiment, the revolving rail 200 is divided into a loading and unloading area 201, a spraying area 202 and a drying area 203, when the transport cart 300 runs in the loading and unloading area 201, the workpiece is transported to the spraying station 301, or the workpiece is transported from the spraying station 301, when the transport cart 300 runs in the spraying area 202, the workpiece is sprayed, and when the transport cart 300 runs in the drying area 203, the workpiece is dried. The boundary line between the feeding and discharging area 201 and the spraying area 202 is used as an image collection line 210, the image collection device 400 is arranged on the extension line of the image collection line 210, the spraying induction line 220 is arranged on the spraying area 202, the spraying sensor 500 is arranged on the spraying induction line 220, and the spraying robot 600 is arranged on the extension line of the spraying induction line 220. The painting sensor 500 includes, but is not limited to, a limit switch, a photoelectric switch.
When the spraying device is used, a workpiece is carried by the transport trolley 300 and moves to the image acquisition line 210 along the rotary track 200, the image acquisition device 400 acquires an image of the workpiece, the PLC 100 matches a spraying program corresponding to the image of the workpiece, and when the transport trolley 300 is detected to reach the spraying induction line 220, spraying operation is performed according to the spraying program corresponding to the image of the workpiece.
In the spraying process, manual participation is not needed, the labor cost is saved, and compared with manual operation, the automatic spraying system has higher spraying efficiency and accuracy.
In a preferred embodiment, the driving assembly includes a first servo motor 310, and a first servo driver 311 connected to the first servo motor 310, wherein the first servo motor 310 is used for driving the transportation cart 300 to move horizontally.
When in use, the PLC controller 100 sends a control command to the first servo driver 311, and the first servo driver 311 controls the first servo motor 310 to operate in response to the control command, so as to drive the transportation cart 300 to horizontally operate through the first servo motor 310. The horizontal running of the transport trolley 300 is conveniently and automatically controlled.
In a preferred embodiment, the transportation trolley 300 is further provided with a spraying platform 301, the spraying platform 301 is located on the top of the transportation trolley 300 and is parallel to the horizontal plane, one surface of the spraying platform 301 is fixedly connected with a rotating shaft 302 in the vertical direction, and the rotating shaft 302 is arranged on the body of the transportation trolley 300.
The workpiece is borne by the independently arranged spraying platform 301 and the rotating shaft 302, so that the spraying platform 301 and the rotating shaft 302 can be replaced according to the type of the workpiece, and the workpiece can be adapted to various types.
In a preferred embodiment, the driving assembly further includes a second servo driver 320, a second servo motor 321 and a speed reducer 322, the PLC controller 100 is sequentially connected to the second servo driver 320, the second servo motor 321 and the speed reducer 322, and the speed reducer 322 is configured to respond to a control command of the PLC controller 100 to drive the rotating shaft 302 to rotate, so as to drive the spraying platform 301 to rotate horizontally.
When the device is used, the PLC controller 100 sends a control instruction to the second servo driver 320, the second servo driver 320 responds to the control instruction to control the second servo motor 321 to operate, so that the second servo motor 321 is used for driving the speed reducer 322 to rotate, and the speed reducer 322 drives the rotating shaft 302 to rotate, so as to drive the spraying platform 301 to horizontally rotate. The workpiece can be controlled to rotate horizontally conveniently and automatically without manual operation.
In a preferred embodiment, the image capturing device 400 is provided with an infrared sensor 410, a first industrial camera 420 and a second industrial camera 430, the infrared sensor 410 and the second industrial camera 430 facing vertically downwards towards the image capturing line 210, the first industrial camera 420 being parallel to the image capturing line 210 and facing towards the swing track 200;
the infrared sensor 410 is used for detecting whether an object arrives at the image acquisition line 210, and the first industrial camera 420 and the second industrial camera 430 are used for image acquisition of the object on the image acquisition line 210.
By properly setting the orientations of the infrared sensor 410, the first industrial camera 420 and the second industrial camera 430, the accuracy of workpiece detection is improved.
In a preferred embodiment, the PLC controller 100 is respectively connected to the first servo driver 311, the infrared sensor 410, the first industrial camera 420, and the second industrial camera 430, and the first servo driver 311 is connected to the first servo motor 310; PLC controller 100 still is connected with switch 700, switch 700 connect industrial computer 610 respectively with spraying sensor 500, industrial computer 610 connects spraying robot 600, switch 700 be used for with the sensing signal who sprays sensor 500 gathered transmits for PLC controller 100, and will the control command that PLC controller 100 sent transmits for industrial computer 610, industrial computer 610 is used for the basis control command control spraying robot 600 works.
During the use, establish through the switch 700 PLC with the industrial computer 610, the communication connection between the spraying sensor 500 to establish PLC controller 100 respectively with spraying sensor 500, spraying robot 600's information interaction, improve spraying efficiency.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the technical effects of the present invention can be achieved by the same means, which all belong to the protection scope of the present invention.
Claims (6)
1. A robotic automatic spray system, comprising: the device comprises a PLC controller, a transport trolley, image acquisition equipment, a spraying sensor and a spraying robot;
the transportation trolley runs on a rotary track, an image acquisition line and a spraying induction line are arranged on the rotary track, and the image acquisition line and the spraying induction line are both vertical to the advancing direction of the transportation trolley;
the image acquisition equipment is arranged on an extension line of the image acquisition line, the spraying sensor is arranged on the spraying induction line, and the spraying robot is arranged on the extension line of the spraying induction line;
the conveying trolley is provided with a driving assembly and a spraying table, the spraying table is positioned at the top of the conveying trolley and is parallel to the horizontal plane, and the spraying table is used for bearing a workpiece; the driving assembly is used for responding to a control instruction of the PLC controller to drive the transport trolley to horizontally run;
the image acquisition equipment is used for responding to an image acquisition instruction of the PLC controller and acquiring an image of the workpiece;
the spraying sensor is used for detecting whether the transport trolley reaches the spraying induction line;
the spraying robot is used for responding to a spraying instruction of the PLC controller to perform spraying operation;
and the PLC is in communication connection with the driving assembly, the image acquisition equipment, the spraying sensor and the spraying robot respectively.
2. The automatic robot spraying system of claim 1, wherein the driving assembly comprises a first servo motor and a first servo driver connected with the first servo motor, the first servo motor is in transmission connection with wheels of the transport trolley, and the first servo motor is used for responding to a control signal of the PLC controller to drive the transport trolley to horizontally run.
3. The automatic robot spraying system of claim 2, wherein a rotating shaft is fixedly connected to one surface of the spraying platform in a vertical direction, and the rotating shaft is arranged on a vehicle body of the transport trolley.
4. The robotic automatic spraying system of claim 3, wherein the driving assembly further comprises a second servo driver, a second servo motor and a speed reducer, the PLC is sequentially connected with the second servo driver, the second servo motor and the speed reducer, and the speed reducer is used for driving the rotating shaft to rotate in response to a control command of the PLC so as to drive the spraying platform to rotate horizontally.
5. The robotic automatic spray system according to claim 4, wherein said image capturing device is provided with an infrared sensor, a first industrial camera and a second industrial camera, said infrared sensor and said second industrial camera facing vertically downward toward said image capturing line, said first industrial camera being parallel to said image capturing line and facing said swivel track;
the infrared sensor is used for detecting whether an object arrives at the image acquisition line, and the first industrial camera and the second industrial camera are used for acquiring images of the object on the image acquisition line.
6. The automatic robot spraying system according to claim 5, wherein the PLC controller is respectively connected with the first servo driver, the infrared sensor, the first industrial camera and the second industrial camera, and the first servo driver is connected with the first servo motor; the PLC controller still is connected with the switch, the switch connect respectively the industrial computer with the spraying sensor, the industrial computer is connected the spraying robot, the switch be used for with the sensing signal transmission that the spraying sensor gathered gives the PLC controller, and will the control command transmission that the PLC controller sent gives the industrial computer, the industrial computer is used for according to control command control the spraying robot work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921039075.5U CN210449638U (en) | 2019-07-04 | 2019-07-04 | Automatic spraying system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921039075.5U CN210449638U (en) | 2019-07-04 | 2019-07-04 | Automatic spraying system of robot |
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| Publication Number | Publication Date |
|---|---|
| CN210449638U true CN210449638U (en) | 2020-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921039075.5U Active CN210449638U (en) | 2019-07-04 | 2019-07-04 | Automatic spraying system of robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110369195A (en) * | 2019-07-04 | 2019-10-25 | 佛山科学技术学院 | A kind of robot automatic spraying system |
| CN115415072A (en) * | 2022-09-15 | 2022-12-02 | 中国一冶集团有限公司 | Blast furnace downcomer outer wall paint finishing |
-
2019
- 2019-07-04 CN CN201921039075.5U patent/CN210449638U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110369195A (en) * | 2019-07-04 | 2019-10-25 | 佛山科学技术学院 | A kind of robot automatic spraying system |
| CN115415072A (en) * | 2022-09-15 | 2022-12-02 | 中国一冶集团有限公司 | Blast furnace downcomer outer wall paint finishing |
| CN115415072B (en) * | 2022-09-15 | 2024-05-17 | 中国一冶集团有限公司 | Blast furnace downcomer outer wall spraying system |
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