CN212576658U - Workpiece coating robot based on vision technology - Google Patents
Workpiece coating robot based on vision technology Download PDFInfo
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- CN212576658U CN212576658U CN202021451230.7U CN202021451230U CN212576658U CN 212576658 U CN212576658 U CN 212576658U CN 202021451230 U CN202021451230 U CN 202021451230U CN 212576658 U CN212576658 U CN 212576658U
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Abstract
The embodiment of the utility model provides a work piece application robot based on vision technique belongs to work piece application technical field, combines through arm and two mesh cameras, two mesh cameras can accurately draw the welding seam image, automatic recognition welding seam position and orbit to carry out the route planning to the welding seam orbit, the arm carries out the spraying operation through the route that has already been planned, improved the efficiency and the degree of automation of spraying operation greatly, realized the people's eye combination of work piece application robot, thereby increased the application field of work piece application robot; the redundant degree of freedom mechanical arm is used, so that coating can be efficiently and accurately finished when the spraying operation is carried out on the welding line at the complex position, and the working range of the workpiece coating robot is expanded; the two tracks and the two coating robots are respectively and symmetrically distributed on two sides of the workpiece to be processed, and the two coating robots simultaneously coat the welding seams of the workpiece, so that the coating time is shortened, and the coating efficiency of the robots is effectively improved.
Description
Technical Field
The utility model relates to a work piece application technical field especially relates to a work piece application robot based on vision technique.
Background
The welding seam coating is a vital procedure in the processing technological process, the quality and efficiency of the welding seam coating directly influence the external corrosion resistance of the workpiece and the service life of the workpiece, and the welding seam coating can also beautify the appearance of the workpiece.
Traditional welding seam application mainly relies on artifical handheld spray gun to carry out the application to the work piece, and along with the development of science and technology and the continuous improvement of product performance, people provide longer long-range requirement to the efficiency and the quality of work piece application, and artifical application is difficult to satisfy application work and is being influenced the quality of work piece application directly to high efficiency and high-quality requirement, the proficiency and the health etc. that the workman used the spray gun. Meanwhile, harmful gas sprayed from the spray gun can cause great harm to human bodies. The automatic welding seam coating technology can well solve the problems, and the realization of the automatic welding seam coating technology can make great contribution to the manufacturing industry of China and has profound influence on the economy of China.
Disclosure of Invention
The embodiment of the utility model provides a work piece application robot based on vision technique aims at realizing the automatic application of intelligence to the prefabricated welding seam of steel construction, solves artifical spraying inefficiency and the unsatisfactory problem of spraying effect.
The utility model provides a specific technical scheme as follows:
the utility model provides a work piece application robot based on vision technique including distribute treating rack guide rail of application work piece both sides, install travelling car on the rack guide rail, fix paint spraying apparatus on the travelling car, wherein, rack guide rail adopts the positioning bolt installation to fix on the ground, spraying apparatus is including fixing stand and control system, liftable on the travelling car are installed elevating platform on the stand, fix two mesh cameras and arm on the elevating platform, install the spray gun of arm front end, the arm is fixed the side of elevating platform just the arm comprises five joints, control system is used for control the arm motion with the elevating platform goes up and down.
Optionally, the lifting platform is driven by a motor to move up and down along the upright post, and the mechanical arm is driven by a stepping motor to realize extension, contraction and rotation.
Optionally, the moving trolley comprises a chassis, an alternating current motor fixed on the chassis, a gear fixed on a rotating shaft of the alternating current motor, and wheels fixed on the lower surface of the chassis, the rack guide rail comprises 2 sliding bars arranged oppositely, channel steel fixed at two ends of the sliding bars respectively, and a long rack fixed on the inner surface of the sliding bars, the long rack and the gear are matched with each other to form a rack-and-pinion transmission mechanism, and the wheels move along the sliding bars.
Optionally, the upright column and the control system are fixed on the chassis, and the moving trolley is driven by the alternating current motor to reciprocate along the slide bar.
The utility model has the advantages as follows:
the utility model provides a work piece application robot based on vision technique combines through arm and two mesh cameras, and two mesh cameras can accurately draw the welding seam image, and automatic identification welding seam position and orbit to carry out route planning to the welding seam orbit, the arm carries out the spraying operation through the route that has already been planned, has greatly improved the efficiency and the degree of automation of spraying operation, has realized the people's eye combination of work piece application robot, thereby has increased the application field of work piece application robot; the redundant degree of freedom mechanical arm is used, so that coating can be efficiently and accurately finished when the spraying operation is carried out on the welding line at the complex position, and the working range of the workpiece coating robot is expanded; the two tracks and the two coating robots are respectively and symmetrically distributed on two sides of the workpiece to be processed, and the two coating robots simultaneously coat the welding seams of the workpiece, so that the coating time is shortened, and the coating efficiency of the robots is effectively improved; the robot coating replaces manual coating, saves labor force and economic cost, and is favorable for realizing the comprehensive automation of the manufacturing industry.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of 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 it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic overall structure diagram of a workpiece coating robot based on a vision technology according to an embodiment of the present invention;
fig. 2 is a schematic side view of a workpiece coating robot based on vision technology according to an embodiment of the present invention;
fig. 3 is a schematic structural view of the mobile cart according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a rack guide rail according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, 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 efforts belong to the protection scope of the present invention.
The terms "comprises" and "comprising," and any variations thereof, in the description and claims of this invention and the above-described drawings, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 2 and fig. 3, the embodiment of the present invention provides a workpiece coating robot based on vision technology, including rack guide rail 4 distributed at both sides of workpiece 1 to be coated, moving trolley 3 installed on rack guide rail 4, and paint spraying apparatus 2 fixed on moving trolley 3, wherein, rack guide rail 4 is installed and fixed on the ground by positioning bolts, paint spraying apparatus 2 includes upright 205 and control system 206 fixed on moving trolley 3, elevating platform 204 installed on upright 205 in a liftable manner, binocular camera 203 and mechanical arm 202 fixed on elevating platform 204, spray gun 201 installed at the front end of mechanical arm 202, mechanical arm 202 is fixed at the side of elevating platform 204 and mechanical arm 202 is composed of five joints, and control system 206 is used for controlling the movement of mechanical arm 202 and the lifting of elevating platform 204.
Specifically, referring to fig. 1 and 3, a workpiece 1 to be coated is installed between two rack guide rails 4, two paint spraying devices 2 are convenient for paint the workpiece, the two paint spraying devices 2 are installed on a moving trolley 3 respectively, equipment calibration and automatic component welding line position and track identification can be carried out along the rack guide rails 4 in a reciprocating mode by means of binocular vision, path planning and spraying operation can be carried out according to the welding line track, the moving trolley 3 is installed on the rack guide rails 4 and used for carrying the paint spraying devices 2 and achieving reciprocating movement of the paint spraying devices, and the rack guide rails 4 are installed and fixed on the ground through positioning bolts to prevent the rack guide rails 4 from deviating. Referring to fig. 1, 2, 3 and 4, the lift table 204 is driven by a motor to move up and down along the column 205, and the robotic arm 202 is driven by a stepper motor to move in extension, retraction and rotation.
Referring to fig. 1, 2, 3 and 4, a spray gun 201 is used for spraying paint, a mechanical arm 202 is fixed on a lifting platform 204 and consists of five joints, the spray gun 201 used for spraying operation of a workpiece 1 to be coated is installed at the top end of the mechanical arm 202, the degree of freedom of the mechanical arm 202 is redundant, the coating of a welding seam at a complex position can be realized, the coating precision is improved, a binocular camera 203 is installed on the lifting platform 204, welding seam images with different heights can be obtained, the position and the track of the welding seam can be automatically identified by binocular vision, so that the automatic coating of the welding seam is realized, the lifting platform 204 is driven by a motor, the height can be adjusted by adopting gear and rack meshing in a reciprocating mode, so that the coating of the welding seams with different heights of the workpiece 1 to be coated is met, a stand column 205 plays a lifting guide role and is convenient for the lifting platform 204 to move up and down, to accomplish the spraying task under certain circumstances.
Referring to fig. 1, 2, 3 and 4, the moving trolley 3 includes a chassis 302, an ac motor 301 fixed on the chassis 302, a gear 303 fixed on a rotating shaft of the ac motor 301, and wheels 304 fixed on a lower surface of the chassis 302, the rack guide 4 includes 2 sliding bars 401 arranged oppositely, channel steels 403 fixed at two ends of the sliding bars 401 respectively, and long racks 402 fixed on inner surfaces of the sliding bars 401, the long racks 402 and the gear 303 cooperate with each other to form a rack-and-pinion transmission mechanism, and the wheels 304 move along the sliding bars 401; specifically, the upright column 205 and the control system 206 are fixed on the chassis 302, and the moving trolley 3 is driven by the ac motor 301 to reciprocate along the slide bar 401.
The working principle is as follows: the rack guide rails 4 are symmetrically fixed on two sides of the workpiece 1 to be coated, the two moving trolleys 3 are respectively placed on the rack guide rails 4, and each moving trolley 3 is fixed with one paint spraying device 2. Firstly, initializing parameters of a control system 206, photographing and imaging a welding seam of a workpiece 1 to be coated by a binocular camera 203, and determining a mapping relation between a camera coordinate and a world coordinate through a Zhang algorithm so as to perform spatial calibration on the welding seam of the workpiece 1 to be coated. The binocular camera 203 and the mechanical arm 202 of the paint spraying device 2 simultaneously act to obtain the relation between the coordinates of the physical point and the teaching coordinates of the paint spraying device 2, and the hand-eye calibration of the paint spraying device 2 is realized. The binocular camera 203 takes pictures for imaging, the track of the welding seam is obtained through welding seam image recognition, and the welding seam of the workpiece 1 to be coated is recognized and positioned. Through the paint spraying apparatus 2 just, the motion orbit of the paint spraying apparatus 2 is planned to the contrary solution and difference benefit, thereby realize the orbit planning to the paint spraying apparatus 2, finally, the paint spraying apparatus 2 treats the application work piece 1 according to the orbit of above-mentioned planning and carries out the spraying operation, two paint spraying apparatus 2 utilize the same theory of operation to treat the both sides of application work piece 1 simultaneously and carry out the spraying operation, the reciprocating of paint spraying apparatus 2 relies on elevating platform 204 to adjust the realization from top to bottom, the horizontal migration of paint spraying apparatus 2 relies on travelling car 3 to realize on gear guide 4 reciprocating motion, above-mentioned whole course of operation relies on the control system 206 of fixing on travelling car 3 to realize.
The embodiment of the utility model provides a work piece application robot based on vision technique combines through arm and two mesh cameras, and two mesh cameras can accurately draw the welding seam image, and automatic identification welding seam position and orbit to carry out path planning to the welding seam orbit, the arm carries out the spraying operation through the route that has already been planned, has greatly improved the efficiency and the degree of automation of spraying operation, has realized the people's eye of work piece application robot and has combined, thereby has increased the application of work piece application robot; the redundant degree of freedom mechanical arm is used, so that coating can be efficiently and accurately finished when the spraying operation is carried out on the welding line at the complex position, and the working range of the workpiece coating robot is expanded; the two tracks and the two coating robots are respectively and symmetrically distributed on two sides of the workpiece to be processed, and the two coating robots simultaneously coat the welding seams of the workpiece, so that the coating time is shortened, and the coating efficiency of the robots is effectively improved; the robot coating replaces manual coating, saves labor force and economic cost, and is favorable for realizing the comprehensive automation of the manufacturing industry.
While the preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the invention.
It is apparent that those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (4)
1. The utility model provides a work piece application robot based on vision technique, its characterized in that, work piece application robot is including distributing treating rack guide rail of application work piece both sides, installing travelling car on the rack guide rail, fixing paint spraying apparatus on the travelling car, wherein, rack guide rail adopts the positioning bolt installation to fix on the ground, paint spraying apparatus is including fixing stand and control system, liftable on the travelling car are installed elevating platform on the stand, are fixed binocular camera and arm on the elevating platform, install the spray gun of arm front end, the arm is fixed the side of elevating platform just the arm comprises five joints, control system is used for control the arm motion with the elevating platform goes up and down.
2. The workpiece coating robot as recited in claim 1, wherein the lift table is driven by a motor to move up and down along the column, and the robot arm is driven by a stepper motor to perform the extending, retracting and rotating movements.
3. The workpiece coating robot as claimed in claim 1 or 2, wherein the moving trolley comprises a chassis, an alternating current motor fixed on the chassis, a gear fixed on a rotating shaft of the alternating current motor, and wheels fixed on the lower surface of the chassis, the rack guide rail comprises 2 sliding bars arranged oppositely, channel steels fixed at two ends of the sliding bars respectively, and a long rack fixed on the inner surface of the sliding bars, the long rack and the gear are matched with each other to form a rack-and-pinion transmission mechanism, and the wheels move along the sliding bars.
4. The workpiece coating robot as claimed in claim 3, wherein the upright and the control system are fixed on the chassis, and the moving trolley is driven by the alternating-current motor to reciprocate along the slide bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021451230.7U CN212576658U (en) | 2020-07-22 | 2020-07-22 | Workpiece coating robot based on vision technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021451230.7U CN212576658U (en) | 2020-07-22 | 2020-07-22 | Workpiece coating robot based on vision technology |
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| Publication Number | Publication Date |
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| CN212576658U true CN212576658U (en) | 2021-02-23 |
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| CN202021451230.7U Active CN212576658U (en) | 2020-07-22 | 2020-07-22 | Workpiece coating robot based on vision technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115155917A (en) * | 2022-08-04 | 2022-10-11 | 江苏华耀机械制造有限公司 | Industrial automation coating line |
-
2020
- 2020-07-22 CN CN202021451230.7U patent/CN212576658U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115155917A (en) * | 2022-08-04 | 2022-10-11 | 江苏华耀机械制造有限公司 | Industrial automation coating line |
| CN115155917B (en) * | 2022-08-04 | 2023-11-03 | 江苏华耀机械制造有限公司 | Industrial automatic coating production line |
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