CN213226227U - Robot coating system based on accurate location of laser - Google Patents
Robot coating system based on accurate location of laser Download PDFInfo
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- CN213226227U CN213226227U CN202021383944.9U CN202021383944U CN213226227U CN 213226227 U CN213226227 U CN 213226227U CN 202021383944 U CN202021383944 U CN 202021383944U CN 213226227 U CN213226227 U CN 213226227U
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Abstract
The utility model provides a robot painting system based on accurate location of laser, includes drive module, spraying module, vision detection module, laser positioning device, encoder and control module, vision detection module and spraying module set up on drive module, and laser positioning device sets up respectively in vision detection module entrance and spraying module entrance, and the encoder is connected with drive module's transmission shaft, and control module is connected with drive module, vision detection module, spraying module, laser positioning device and encoder respectively. The utility model discloses a robot painting system passes through the signal feedback of laser positioning device and encoder, makes the work piece accuracy get into discernment and the best station of application module, reduces the influence of external factor, guarantees normal operating speed of painting system and spraying precision.
Description
Technical Field
The utility model relates to an automatic spraying technical field, in particular to robot application system based on accurate location of laser.
Background
At present, an automatic spraying production line is applied to batch spraying operation of a part of wooden furniture, and in order to ensure the precision and quality of spraying during the batch spraying operation, higher requirements are often placed on the positioning of a workpiece and the details of spraying; in the existing batch spraying of an automatic spraying production line, the contour data and the spraying path of a workpiece are mainly obtained by laser light curtain scanning or machine vision technology processing, and a robot is controlled to operate according to the obtained spraying path; because the working range of the robot with a fixed machine position is limited, the workpiece needs to enter the optimal working position matched with the robot, so that the normal working speed and precision can be ensured. In order to perform work by positioning a workpiece at an optimal working position of a robot, the following method is generally adopted: after the detection module finishes detection, a certain time delay is set, so that the workpiece enters the optimal working position of the robot after the delay is finished; however, this positioning method has the following drawbacks: the preset time delay is easily influenced by external factors such as belt slippage and the like, and the workpiece is not easy to just reach the optimal working position within the preset time.
Therefore, further improvements are needed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a robot coating system based on accurate location of laser that simple structure, location are accurate, work efficiency is high, the spraying precision is high, the practicality is strong to overcome the weak point among the prior art.
The robot coating system based on the laser precise positioning comprises
The transmission module is used for carrying out plane conveying on the workpiece;
the spraying module is used for spraying a workpiece;
the method is characterized in that: also comprises
The visual detection module is used for acquiring visual data of the workpiece passing through the visual detection module and sending the acquired visual data to the control module for processing;
the laser positioning device sends signals to the control module when the workpiece passes through and leaves the laser positioning device;
an encoder for detecting a transfer distance of the workpiece in real time;
the control module is used for receiving signals of the visual detection module, the laser positioning device and the encoder, processing the signals, sending the processed signals to the transmission module and the spraying module, and controlling the transmission module and the spraying module to carry out conveying and spraying operation;
the vision detection module and the spraying module are arranged on the transmission module, the laser positioning device is arranged at the entrance of the vision detection module and the entrance of the spraying module respectively, the encoder is connected with the transmission shaft of the transmission module, and the control module is connected with the transmission module, the vision detection module, the spraying module, the laser positioning device and the encoder respectively.
The visual inspection module comprises an industrial camera and a laser light curtain scanning device.
The laser positioning device comprises a first laser induction switch used for measuring the length of a workpiece and a second laser induction switch used for detecting the position of the workpiece, the first laser induction switch is arranged at the entrance of the visual detection module, and the second laser induction switch is arranged at the entrance of the spraying module.
The first laser inductive switch is a laser sensor, and the second laser inductive switch is a photoelectric switch.
The control module comprises a PLC, an industrial personal computer and a frequency converter.
The transmission module is a transmission belt.
The spraying module is a spraying robot.
The utility model discloses a robot painting system reads laser positioning device's signal through control module and obtains work piece length, later the signal that combines the encoder sends the work piece to the best station of visual detection module, after carrying out visual information acquisition, control module is by visual information generation work piece profile and route, the best station of spraying module is sent to with the work piece at last, spread the spraying route into the spraying module and carry out the spraying operation, this system passes through the signal feedback of laser positioning device and encoder, make the work piece accuracy get into discernment and the best station of painting module, reduce the influence of external factor, guarantee normal operating speed and the spraying precision of painting system.
Drawings
Fig. 1 is a connection structure diagram of a coating system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a working process of the coating system according to an embodiment of the present invention.
Fig. 3 is a schematic view of the overall structure of the coating system according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples.
Referring to fig. 1-3, the robot coating system based on laser accurate positioning comprises
The transmission module 1 receives the signal of the control module 5 and carries out plane conveying on the workpiece 7;
the spraying module 3 receives the signal of the control module 5 and performs spraying operation on the workpiece 7;
the visual detection module 2 is used for acquiring visual data of the workpiece 7 passing through the visual detection module 2 and sending the acquired visual data to the control module 5 for processing;
the laser positioning device 4 is used for sending signals to the control module 5 when the workpiece 7 passes through and leaves the laser positioning device 4, reading the length of the workpiece 7 and determining the position of the workpiece;
an encoder 6 for detecting the transport distance of the workpiece 7 in real time; a transmission ratio is arranged between the encoder 6 and the conveyor motor of the transmission module 1, and the moving distance of the workpiece 7 corresponding to each pulse quantity of the encoder 6 can be calculated through the transmission ratio so as to calculate the current position information of the workpiece 7.
The control module 5 is used for receiving signals of the visual detection module 2, the laser positioning device 4 and the encoder 6, processing the signals, sending the processed signals to the transmission module 1 and the spraying module 3, and controlling the transmission module 1 and the spraying module 3 to carry out conveying and spraying operation;
visual detection module 2 and spraying module 3 set up on transmission module 1, and laser positioning device 4 sets up respectively in the 2 entrances of visual detection module and the 3 entrances of spraying module, and encoder 6 is connected with transmission module 1's transmission shaft, and control module 5 is connected with transmission module 1, visual detection module 2, spraying module 3, laser positioning device 4 and encoder 6 electricity respectively.
The control steps of the robot coating system are as follows:
A. the workpiece 7 passes through a first laser induction switch 4.1 at an inlet of the visual detection module 2, the first laser induction switch 4.1 respectively sends signals to the control module 5 when the workpiece 7 enters and leaves, and the control module 5 obtains the length La of the workpiece 7 by processing the signals of the encoder 6 and the first laser induction switch 4.1;
B. the control module 5 continuously reads signals of the encoder 6 to obtain the moving distance of the workpiece 7, and sends signals to control the transmission module 1 to stop the workpiece 7 at the optimal station of the visual detection module 2;
C. the visual detection module 2 acquires an image of the workpiece 7, obtains visual data of the workpiece 7, and sends the visual data of the workpiece 7 to the control module 5;
D. the control module 5 generates profile information and a spraying path of the workpiece 7 according to the received visual data, and controls the transmission module 1 to start to continuously convey the workpiece 7;
E. the workpiece 7 passes through a second laser induction switch 4.2 at the inlet of the spraying module 3, and the control module 5 receives signals of the second laser induction switch 4.2 and the encoder 6 and controls the transmission module 1 to stop the workpiece 7 at the optimal station of the spraying module 3, and the method is like the step B;
F. the control module 5 sends the spraying path to the spraying module 3, and the spraying module 3 performs the spraying operation.
The visual inspection module 2 includes an industrial camera and a laser light curtain scanning device, or other visual scanning device.
Laser positioning device 4 is including the second laser inductive switch 4.2 that is used for measuring 7 length of work piece first laser inductive switch 4.1 and is used for detecting the work piece position, and first laser inductive switch 4.1 sets up in 2 entrances of visual detection module, and second laser inductive switch 4.2 sets up in 3 entrances of spraying module.
The first laser inductive switch 4.1 is a laser sensor and the second laser inductive switch 4.2 is a photoelectric switch.
The control module 5 comprises a PLC, an industrial personal computer, a frequency converter or other controllers.
The transmission module 1 is a transmission belt.
The spraying module 3 is a spraying robot.
The foregoing is a preferred embodiment of the present invention showing and describing the basic principles, main features and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, and the scope of the invention is to be protected. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. Robot coating system based on accurate location of laser includes
The transmission module (1) is used for carrying out plane conveying on the workpiece (7);
the spraying module (3) is used for spraying a workpiece (7);
the method is characterized in that: also comprises
The visual detection module (2) is used for acquiring visual data of the workpiece (7) passing through the visual detection module (2) and sending the acquired visual data to the control module (5) for processing;
the laser positioning device (4) is used for sending signals to the control module (5) when the workpiece (7) passes through and leaves the laser positioning device (4);
an encoder (6) for detecting the transport distance of the workpiece (7) in real time;
the control module (5) is used for receiving signals of the visual detection module (2), the laser positioning device (4) and the encoder (6), processing the signals, sending the processed signals to the transmission module (1) and the spraying module (3), and controlling the transmission module (1) and the spraying module (3) to carry out conveying and spraying operation;
visual detection module (2) and spraying module (3) set up on transmission module (1), and laser positioning device (4) set up respectively in visual detection module (2) entrance and spraying module (3) entrance, and encoder (6) are connected with the transmission shaft of transmission module (1), and control module (5) are connected with transmission module (1), visual detection module (2), spraying module (3), laser positioning device (4) and encoder (6) respectively.
2. The laser-based precise-positioning robot coating system according to claim 1, characterized in that: the visual detection module (2) comprises an industrial camera and a laser light curtain scanning device.
3. The laser-based precise-positioning robot coating system according to claim 1, characterized in that: laser positioner (4) including be used for measuring first laser induction switch (4.1) of work piece (7) length and be used for detecting second laser induction switch (4.2) of work piece position, first laser induction switch (4.1) sets up in vision detection module (2) entrance, and second laser induction switch (4.2) sets up in spraying module (3) entrance.
4. The laser-based precise-positioning robot coating system according to claim 3, characterized in that: the first laser sensing switch (4.1) is a laser sensor, and the second laser sensing switch (4.2) is a photoelectric switch.
5. The laser-based precise-positioning robot coating system according to claim 1, characterized in that: and the control module (5) comprises a PLC, an industrial personal computer and a frequency converter.
6. The laser-based precise-positioning robot coating system according to claim 1, characterized in that: the transmission module (1) is a transmission belt.
7. The laser-based precise-positioning robot coating system according to claim 1, characterized in that: the spraying module (3) is a spraying robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202021383944.9U CN213226227U (en) | 2020-07-14 | 2020-07-14 | Robot coating system based on accurate location of laser |
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| CN202021383944.9U CN213226227U (en) | 2020-07-14 | 2020-07-14 | Robot coating system based on accurate location of laser |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113657564A (en) * | 2021-07-20 | 2021-11-16 | 埃华路（芜湖）机器人工程有限公司 | Dynamic part following code spraying system and code spraying method thereof |
| CN113680555A (en) * | 2021-09-29 | 2021-11-23 | 广东博硕涂装技术有限公司 | Method for spraying upper surface and outer side surface of workpiece |
| CN114082565A (en) * | 2021-12-06 | 2022-02-25 | 东风汽车股份有限公司 | Coating line reciprocating spraying system and control method thereof |
-
2020
- 2020-07-14 CN CN202021383944.9U patent/CN213226227U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113657564A (en) * | 2021-07-20 | 2021-11-16 | 埃华路（芜湖）机器人工程有限公司 | Dynamic part following code spraying system and code spraying method thereof |
| CN113657564B (en) * | 2021-07-20 | 2024-01-26 | 埃华路（芜湖）机器人工程有限公司 | Part dynamic following code spraying system and code spraying method thereof |
| CN113680555A (en) * | 2021-09-29 | 2021-11-23 | 广东博硕涂装技术有限公司 | Method for spraying upper surface and outer side surface of workpiece |
| CN114082565A (en) * | 2021-12-06 | 2022-02-25 | 东风汽车股份有限公司 | Coating line reciprocating spraying system and control method thereof |
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