TWI803369B - Automatic Mold Spraying System - Google Patents

Abstract

An automatic mold spraying system, suitable for spraying a mold to be sprayed, a computing unit is used to perform background processing on the background of the three-dimensional image to obtain a processed three-dimensional image, and convert the processed three-dimensional image into a two-dimensional depth image, and obtain a plurality of corner points to be sprayed corresponding to a plurality of boundary corner points on the boundary of the mold to be sprayed from the two-dimensional depth image, and the computing unit waits for the two-dimensional depth image The spraying corner points are converted back to a plurality of three-dimensional points to be sprayed corresponding to the processed three-dimensional image, and the three-dimensional points to be sprayed are converted into a plurality of spraying operation points relative to the coordinate system of the robot arm, and according to the spraying operations The point obtains at least one spraying path, and moves according to the at least one spraying path to spray a spraying material on the mold to be sprayed.

Description

Automatic Mold Spraying System

The present invention relates to a spraying system, in particular to an automatic mold spraying system for spraying molds.

Nowadays, there are many kinds of surface treatment processes for molds. One of them is to coat a layer of polytetrafluoroethylene (PTEE), also known as Teflon, on the surface of the mold. The purpose of coating PTFE is to It is also an indispensable and important process to allow the materials put into the mold to be released smoothly after high-temperature baking. In the past, if the surface of the mold was to be sprayed, it was usually done manually by experienced technicians. For spraying, the Teflon coating mainly includes dispersion coating and powder coating. The dispersion coating is to distribute Teflon evenly in the solvent and spray it on the surface of the mold. It is a wet process. As the name implies, powder coating is to spray Teflon-related powdery particles on the surface of the mold to make them adhere; among them, for dispersion coatings, the solvents generally used for spraying are toxic, even if the technician wears them. Masks are also likely to cause adverse effects on the human body in the long run. Therefore, a solution must be proposed.

Therefore, the object of the present invention is to provide an automatic mold spraying system which can automatically spray molds.

Therefore, an automatic mold spraying system of the present invention is suitable for spraying a mold to be sprayed. computing unit.

The spraying unit is used to hold a spraying material and spray the spraying material on the mold to be sprayed. The spraying material contains a water-based paint of a high molecular fluorine material.

The mechanical arm unit is used to carry the spraying unit and move the sprayed unit in a mechanical arm coordinate system.

The shooting unit is used for shooting a three-dimensional image related to the mold to be sprayed.

The computing unit is used to perform background processing on the background of the 3D image to obtain a processed 3D image, and the computing unit converts the processed 3D image into a 2D depth image, and obtains a 2D depth image from the 2D depth The image obtains a plurality of corner points to be sprayed corresponding to a plurality of boundary corner points on the boundary of the mold to be sprayed, and the computing unit converts the corner points waiting to be sprayed in the two-dimensional depth image back to three-dimensional after the processing The image corresponds to a plurality of three-dimensional points to be sprayed, and the three-dimensional points to be sprayed are converted into a plurality of spraying operation points relative to the robot coordinate system, and at least one spraying path is obtained according to the spraying operation points.

Wherein, for each spraying path, the computing unit controls the mechanical arm unit to carry the spraying unit containing the spraying material, and moves according to the spraying path to spray the spraying material on the mold to be sprayed.

The effect of the present invention lies in that: the processing unit converts the processed three-dimensional image into the two-dimensional depth image to obtain the corner point waiting for spraying and convert it back to the three-dimensional point waiting for spraying, and convert the three-dimensional point waiting for spraying For the spraying operation points, the at least one spraying path is obtained according to the spraying operation points, thereby controlling the mechanical arm unit to carry the spraying unit to move according to the at least one spraying path to spray the spraying material on the mold to be sprayed , and then achieve the effect of automatic spraying mold.

Referring to Fig. 1, Fig. 2, and Fig. 3, an automatic mold spraying equipment is suitable for spraying a mold to be sprayed, comprising an embodiment of the automatic mold spraying system 1 of the present invention, another automatic mold spraying system 3, and a connection to the mold Embodiment and the transfer module 2 of another automatic mold spraying system 3 . The automatic mold spraying system 1 is used to carry out a first spraying process to the mold to be sprayed, and includes a dust removal module 11 connected to the transmission module 2, a spraying module 12 connected to the transmission module 2, a connection A baking module 13 of the transfer module 2 and a cooling module 14 connected to the transfer module 2 . This other automatic mold spraying system 3 is used for carrying out a second spraying process to the mold to be sprayed, and includes another dust removal module 31 connected to the transmission module 2, another spraying module connected to the transmission module 2 32. Another baking module 33 connected to the transfer module 2, and another cooling module 34 connected to the transfer module 2. The transfer module 2 is used to transfer the mold to be sprayed to the automatic mold spraying system 1 and the other automatic mold spraying system 3 according to a spraying process, so as to perform the first spraying process and the second spraying process. When carrying out the first spraying process, the transfer module 2 will sequentially transfer the mold to be sprayed to the dust removal module 11, the spraying module 12, the baking module 13, and the cooling module 14 for The operating procedures of each module, after the first spraying process is carried out on the mold to be sprayed, then, the transfer module 2 will transmit the mold to be sprayed to the other automatic mold spraying system 3, and then the second During the spraying process, the transfer module 2 will sequentially transfer the mold to be sprayed to the other dust removal module 31, the other spraying module 32, the other baking module 33, and the other cooling module 34 to carry out the operation procedure of each module.

The dust removal module 11 is used to remove the dust on the surface of the mold to be sprayed. In this embodiment, the dust removal module 11 is a dust collector for removing the dust from the mold to be sprayed by blowing.

The spraying module 12 includes a spraying unit 121, a carrying unit 122 connected to the transmission module 2, a manipulator unit 123, a photographing unit 124, and a computing unit electrically connected to the manipulator unit 123 and the photographing unit 124. Unit 125.

The baking module 13 is used for baking the mold to be sprayed at a high temperature. In this embodiment, the baking module 13 is a baking machine.

The cooling module 14 is used to cool down the mold to be sprayed after being baked by the baking module 13 . In this embodiment, the cooling module 14 is a cooling machine.

The spraying unit 121 of the spraying module 12 is used to hold a spraying material such as a primer, and spray the spraying material on the mold to be sprayed. The spraying material contains a water-based paint of a polymer fluorine material. Wherein, the polymer fluorine material includes one of polytetrafluoroethylene and fluorinated ethylene propylene copolymer. In this embodiment, the spraying unit 121 is a sprayer.

The carrying unit 122 of the spraying module 12 is used for carrying the mold to be sprayed. In this embodiment, the carrying unit 122 is a carrying plate with uniform thickness. When the photographing unit 124 photographs the mold to be sprayed, the carrying unit 122 will be photographed by the photographing unit 124 as a background. Therefore, it can The thickness of the carrier plate is measured in advance, and a reference background height is obtained according to the thickness of the carrier plate.

The robot arm unit 123 of the painting module 12 is used to carry the painting unit 121 and move the painting unit 121 in a robot coordinate system. In this embodiment, the robot arm unit 123 is a robot arm.

The shooting unit 124 of the spraying module 12 is used for shooting a 3D image related to the mold to be sprayed. Wherein, the photographing unit 124 obtains a point cloud data related to the upper surface of the mold to be sprayed by looking down on the mold to be sprayed as the three-dimensional image. In this embodiment, the photographing unit 124 is a three-dimensional camera, and the point cloud data includes a plurality of points used to represent the surface contour of the spraying mold. Each point includes a three-dimensional coordinate, and each three-dimensional coordinate corresponds to The coordinate system is a camera coordinate system corresponding to the three-dimensional camera. In order to convert the point captured by the three-dimensional camera into the actual operating point of the robot arm unit 123, it is necessary to perform a conversion between the camera coordinate system and the robot arm coordinate system. The transformation, a transformation matrix required for the transformation of the coordinate system can be obtained by performing a correction procedure in advance, the correction procedure is to take four reference points on a fixture by the three-dimensional camera to obtain The four reference points are at the coordinate positions of the camera coordinate system. Then, operate the robot arm unit 123 to touch the four reference points on the jig to obtain the four reference points on the robot arm. The coordinate positions of the coordinate system, and finally calculate the transformation matrix according to the coordinate positions of the four reference points in the camera coordinate system and the coordinate positions in the robot arm coordinate system.

The calculation unit 125 of the spraying module 12 is used to perform a background processing on the background of the three-dimensional image to obtain a processed three-dimensional image, wherein the calculation unit 125 is for the point cloud data corresponding to a height value not located at a predetermined Points within the height range (that is, corresponding to a height value equal to the reference background height) are determined as points related to the background in the point cloud data, and the calculation unit 125 is the height value of the points related to the background in the point cloud data Set to a default value, eg, 0, to perform the background processing on the background of the 3D image. Next, the computing unit 125 converts the processed 3D image into a 2D depth image, wherein the computing unit 125 first uses a software development kit (Software Development Kit, referred to as SDK), such as the original factory of the 3D camera The point cloud width acquisition function in the provided software development kit is used to obtain a point cloud width N of the point cloud data, and according to the point cloud width N, a dimension composed of the height values of all points in the point cloud data is formed The array is divided into a two-dimensional array, in which the height values of all points in the point cloud data are stored in the one-dimensional array in sequence according to the X coordinate and Y coordinate position of the point, corresponding to the minimum X coordinate The height value of the point with the largest Y coordinate (that is, the point located in the first row and first row after the XY coordinate position is arranged) is stored in the first element of the one-dimensional array, corresponding to the second smallest X coordinate and The height value of the point with the maximum Y coordinate (that is, the point located in the first column and second row after being arranged with the XY coordinate position) is stored in the second element of the one-dimensional array, and so on, corresponding to the maximum X coordinate and the point with the maximum Y coordinate (that is, the point located in the first row of the second row after being arranged with the XY coordinate position) is stored in the Nth element of the one-dimensional array, and then, corresponding to the minimum X coordinate and The height value of the point with the second largest Y coordinate is stored in the N+1th element of the one-dimensional array, and so on until the height value of the point corresponding to the largest X coordinate and the smallest Y coordinate is stored in the one-dimensional array Each column of the two-dimensional array has N elements, and the height value indicated by each element of the two-dimensional array is converted into a grayscale value to obtain the two-dimensional depth image, It is worth mentioning that the gray scale value converted from the height value of zero is also zero, so the points in the point cloud data related to the background will appear in black in the two-dimensional depth image, thereby The interference of the background to the two-dimensional depth image can be avoided. Then, the operation unit 125 obtains a plurality of corner points to be sprayed corresponding to a plurality of boundary corner points on the boundary of the mold to be sprayed from the two-dimensional depth image, wherein the operation unit 125 is the two-dimensional depth image For example, the corner detection of Harris corner detector (Harris corner detector) is performed to obtain a plurality of detection corners, and a maximum inner value corresponding to the image part of the mold to be sprayed is obtained from the two-dimensional depth image A first axis 4 passing through the origin of the largest inscribed rectangle and crossing the two-dimensional depth image horizontally and a first axis 4 passing through the origin of the largest inscribed rectangle and longitudinally spanning the two-dimensional depth image The second axis 5 divides the two-dimensional depth image into four quadrants (see FIG. 4 ), and for each quadrant, the computing unit 125 obtains a target detection corner point from all detection corner points located in the quadrant, so as to As one of the corner points waiting to be sprayed, each target detection corner point in its quadrant is farthest from the origin of the largest inscribed rectangle and the distance from the largest inscribed rectangle is within a preset distance range . Subsequently, the calculation unit 125 converts the corner points waiting to be sprayed in the two-dimensional depth image back to a plurality of three-dimensional points to be sprayed corresponding to the processed three-dimensional image, wherein the calculation unit 125 converts each corner point to be sprayed In a position of the two-dimensional array, index back its position in the one-dimensional array, and then obtain the point in the point cloud data corresponding to the point with the height value stored in the position of the one-dimensional array, so as to obtain the two-dimensional depth image The corner point waiting to be sprayed is converted back to the 3D point waiting to be sprayed corresponding to the processed 3D image. Next, the calculation unit 125 converts the three-dimensional point waiting to be sprayed into a plurality of spraying operation points relative to the coordinate system of the robot arm by using the transformation matrix, and obtains at least one spraying path according to the spraying operation points. Finally, for each spraying path, the computing unit 125 controls the mechanical arm unit 123 to carry the spraying unit containing the spraying material, and move according to the spraying path to spray the spraying material on the mold to be sprayed.

可用以下公式(1)來表示。類似地，在縱向往返的Z字形路徑中，會包含多段縱向移動的縱向路徑段，每一縱向路徑段的路徑長例如，為對應於第二象限的噴塗操作點與對應於第三象限的噴塗操作點投影至同一高度之水平面後之兩投影點間的距離，且任意兩個縱向路徑段間的距離為小於等於該噴塗單元121的噴塗寬幅，當任意兩個縱向路徑段間的距離為該噴塗單元121的噴塗寬幅時，則所規劃出之縱向往返的Z字形路徑所包含的縱向路徑段數量

可用以下公式(2)來表示。

…(1)

…(2) It is worth noting that, in this embodiment, the calculation unit 125 obtains the at least one spraying path according to the spraying operating points, a spraying width and a spraying height of the spraying unit 121 using zigzag planning, wherein the A spraying width and a spraying height of the spraying unit 121 can be obtained as the spraying height by operating the spraying unit 121 trial spraying at different heights to obtain a better height, and the spraying height is measured at the spraying height The spray width that unit 121 is trying to spray. If a spraying projection point located directly above the spraying operation point corresponding to the second quadrant and whose height is equal to the spraying height is taken as an example as a starting point, the planned spraying path can include a horizontal round-trip Z starting from the spraying projection point. At least one of the zigzag path and a zigzag path back and forth in the vertical direction, in the zigzag path of the horizontal back and forth, can comprise the horizontal path segment of a plurality of horizontal movement, the path length of each horizontal path segment is for example, is corresponding to the second quadrant The distance between the two projected points after the spraying operation point corresponding to the first quadrant is projected onto the horizontal plane of the same height, and the distance between any two transverse path segments is less than or equal to the spraying width of the spraying unit 121 When the distance between any two transverse path segments is the spraying width of the spraying unit 121, the number of transverse path segments included in the zigzag path of the planned horizontal back and forth

It can be represented by the following formula (1). Similarly, in the zigzag path of longitudinal back-and-forth, can comprise the longitudinal path segment of a plurality of segments vertically moving, the path length of each longitudinal path segment is for example, be the spraying operation point corresponding to the second quadrant and the spraying point corresponding to the third quadrant The distance between two projection points after the operation point is projected to the horizontal plane of the same height, and the distance between any two longitudinal path segments is less than or equal to the spraying width of the spraying unit 121, when the distance between any two longitudinal path segments is When the spraying of this spraying unit 121 is wide, then the vertical path segment quantity that the zigzag path of the vertical back and forth of planning out comprises

It can be represented by the following formula (2).

…(1)

…(2)

Among them, W is the distance between the two projection points after the spraying operation point corresponding to the second quadrant and the spraying operation point corresponding to the third quadrant are projected to the horizontal plane of the same height, and L is the distance between the spraying operation point corresponding to the second quadrant and The distance between two projection points after the spraying operation point corresponding to the first quadrant is projected onto the horizontal plane at the same height, a is the spraying width of the spraying unit 121 .

In this embodiment, the computing unit 125 is implemented, for example, as a personal computer, a server, a tablet computer or a notebook computer, but it is not limited thereto.

Referring to Fig. 2 and Fig. 3, the operation details of each element in this another automatic mold spraying system 3 are similar to this automatic mold spraying system 1, and the similarities will not be repeated, and the difference is that this another automatic mold spraying system 3 Another spraying unit 321 of another spraying module is used to contain another spraying material such as top paint, to spray the other spraying material on the mold to be sprayed, and the other spraying material also contains the polymer Water-based paint based on fluorine materials. Wherein, the polymer fluorine material includes one of polytetrafluoroethylene and fluorinated ethylene propylene copolymer.

Referring to Fig. 1, Fig. 2 and Fig. 3, when in use, the mold to be sprayed is first transported to the dust removal module 11 via the transfer module 2, and the dust on the surface of the mold to be sprayed is blown by the dust removal module 11. Then, the computing unit 125 of the spraying module 12 controls the shooting unit 124 to take a bird's-eye view of the mold to be sprayed and the The carrying unit 122 obtains point cloud data related to the upper surface of the mold to be sprayed as the three-dimensional image, and then, the computing unit 125 performs the point cloud data corresponding to points whose height values are not within the preset height range It is determined as a point about the background in the point cloud data, so that the point corresponding to the bearing unit 122 in the point cloud data is determined as a background point except for the point corresponding to the mold to be sprayed, and then, the The calculation unit 125 sets the height value of the point cloud data about the background point to the preset value (for example, zero) to perform the background processing on the background of the 3D image to obtain the processed 3D image, and then, the The computing unit 125 converts the processed 3D image into the 2D depth image. Then, the computing unit 125 obtains the corner point waiting to be sprayed from the 2D depth image, and then, the computing unit 125 converts the corner point waiting to paint of the 2D depth image back to the corresponding corner point of the processed 3D image. The three-dimensional points waiting to be sprayed are converted into the spraying operation points relative to the robot coordinate system, and at least one spraying path is obtained according to the spraying operation points. Then, for each spraying path, the computing unit 125 controls the robotic arm unit 123 to carry the spraying unit 121 containing the spraying material (eg, primer), and moves according to the spraying path to spray the primer on the mold to be sprayed. Then, the mold to be sprayed is transferred to the baking module 13 through the transfer module 2 to dry the primer at a high temperature, and then transferred to the cooling module 14 through the transfer module 2 for cooling, thus completing the first spraying process .

After the first spraying process is completed, the mold to be sprayed is transferred to the other automatic mold spraying system 3 via the transfer module 2 for the second spraying process of dust removal, topcoat spraying, topcoat drying and cooling.

It is worth noting that the purpose of the spraying unit 121 spraying the primer to the surface of the mold to be sprayed is to provide the adhesion required for the subsequent topcoat, and the other spraying unit 321 sprays the topcoat to the surface of the mold to be sprayed The purpose is to provide non-stick properties and reduce the use of release agents.

In summary, the automatic mold spraying system 1 of the present invention uses the computing unit 125 to control the shooting unit 124 to capture the 3D image related to the mold to be sprayed, and perform background processing on the 3D image to obtain the processed 3D image. image, and convert the processed three-dimensional image into the two-dimensional depth image to obtain the corner point waiting for spraying and convert it back to the three-dimensional point waiting for spraying, and convert the three-dimensional point waiting for spraying into the spraying operation points, so as to Obtain the at least one spraying path according to the spraying operation points, so that the computing unit 125 can control the mechanical arm unit 123 to carry the spraying unit to move according to the at least one spraying path to spray the mold to be sprayed, so as to achieve automatic spraying mold The effect, so really can reach the purpose of the present invention.

But the above-mentioned ones are only embodiments of the present invention, and should not limit the scope of the present invention. All simple equivalent changes and modifications made according to the patent scope of the present invention and the content of the patent specification are still within the scope of the present invention. Within the scope covered by the patent of the present invention.

1: Automatic mold spraying system 11: Dust removal module 12: Spraying module 121: Spraying unit 122: Bearing unit 123: Mechanical arm unit 124: Shooting unit 125: Operation unit 13:Baking module 14: cooling module 2: Transmission module 3: Another automatic mold spraying system 31: Another dust removal module 32: Another spraying module 321: Another spraying unit 322: Another bearing unit 323:Another robotic arm unit 324: Another shooting unit 325: another computing unit 33:Another baking module 34:Another Cooling Module 4: The first axis 5: Second axis

Other features and effects of the present invention will be clearly presented in the implementation manner with reference to the drawings, wherein: Fig. 1 is a schematic diagram illustrating an automatic mold spraying equipment comprising an embodiment of the automatic mold spraying system of the present invention; Fig. 2 is a block diagram, illustrates an automatic mold spraying system of this embodiment; Fig. 3 is a block diagram illustrating another automatic mold spraying system of the automatic mold spraying equipment; and Figure 4 is a schematic diagram illustrating a two-dimensional depth map relative to a mold to be painted.

1: Automatic mold spraying system

11: Dust removal module

12: Spraying module

121: Spraying unit

122: Bearing unit

123: Mechanical arm unit

124: Shooting unit

125: Operation unit

13:Baking module

14: cooling module

Claims (7)

An automatic mold spraying system, suitable for spraying a mold to be sprayed, comprising: a spraying unit for containing a spraying material, and spraying the spraying material on the mold to be sprayed, the spraying material contains a water-based coating of a polymer fluorine material ; a mechanical arm unit, used to carry the spraying unit, and move the spraying unit in a mechanical arm coordinate system; a shooting unit, used to shoot a three-dimensional image related to the mold to be sprayed; and a computing unit, electronic connecting the manipulator unit and the shooting unit, and performing background processing on the background of the 3D image to obtain a processed 3D image, and the computing unit converting the processed 3D image into a 2D depth image, and obtain a plurality of corner points to be sprayed corresponding to a plurality of boundary corner points on the boundary of the mold to be sprayed from the two-dimensional depth image, and the computing unit converts the corner points waiting for spraying of the two-dimensional depth image return the multiple three-dimensional points to be sprayed corresponding to the processed three-dimensional image, and convert the three-dimensional points to be sprayed into multiple spraying operation points relative to the robot arm coordinate system, and obtain at least one spraying operation point according to the spraying operation points Spraying path; wherein, for each spraying path, the computing unit controls the robotic arm unit to carry the spraying unit containing the spraying material, and moves according to the spraying path to spray the spraying material on the mold to be sprayed. The two-dimensional depth image performs corner detection to obtain multiple detected corners, and automatically The two-dimensional depth image obtains a maximum inscribed rectangle corresponding to the image portion of the mold to be sprayed, and a first axis passing through the origin of the maximum inscribed rectangle and transversely spanning the two-dimensional depth image and a The second axis passing through the origin of the largest inscribed rectangle and longitudinally spanning the two-dimensional depth image divides the two-dimensional depth image into four quadrants. Obtain a target detection corner point from the corner points as one of the corner points waiting to be sprayed, wherein each target detection corner point is farthest from the origin of the largest inscribed rectangle in its quadrant and is the largest The distance of the inscribed rectangle is within a preset distance range. The automatic mold spraying system according to claim 1, wherein the photographing unit obtains a point cloud data related to the upper surface of the mold to be sprayed as the three-dimensional image by looking down on the mold to be sprayed. The automatic mold spraying system as described in claim item 2, wherein, the computing unit performs the background processing on the background of the three-dimensional image by setting the height value of the point about the background in the point cloud data to a preset value . The automatic mold spraying system as described in claim item 3, wherein, the calculation unit determines the points in the point cloud data corresponding to height values that are not within a preset height range as the points in the point cloud data related to the background point. The automatic mold spraying system as described in claim item 3, wherein, the calculation unit is to obtain a point cloud width N of the point cloud data, and according to the point cloud width N a height value of all points in the point cloud data The composed one-dimensional array is divided into a two-dimensional array, wherein each column of the two-dimensional array has N elements, and convert the height value indicated by each element of the two-dimensional array into a gray scale value, so as to obtain the two-dimensional depth image. The automatic mold spraying system as claimed in item 5, wherein the calculation unit obtains the point by indexing each corner point to be sprayed from a position in the two-dimensional array back to a position in the one-dimensional array The point in the cloud data corresponding to the position with the height value stored in the one-dimensional array is used to convert the corner point waiting to be sprayed in the two-dimensional depth image back to the three-dimensional point waiting to be sprayed corresponding to the processed three-dimensional image. The automatic mold spraying system according to claim 1, wherein the polymer fluorine material comprises one of polytetrafluoroethylene and fluorinated ethylene propylene copolymer.

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