WO2019128315A1 - 智能喷漆机器人系统 - Google Patents

智能喷漆机器人系统 Download PDF

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Publication number
WO2019128315A1
WO2019128315A1 PCT/CN2018/105676 CN2018105676W WO2019128315A1 WO 2019128315 A1 WO2019128315 A1 WO 2019128315A1 CN 2018105676 W CN2018105676 W CN 2018105676W WO 2019128315 A1 WO2019128315 A1 WO 2019128315A1
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WO
WIPO (PCT)
Prior art keywords
robot
painting
mounting seat
shaft
outer casing
Prior art date
Application number
PCT/CN2018/105676
Other languages
English (en)
French (fr)
Inventor
毕克东
覃超萍
崔龙
李文涛
Original Assignee
大连纳思达汽车设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 大连纳思达汽车设备有限公司 filed Critical 大连纳思达汽车设备有限公司
Priority to EP18895627.0A priority Critical patent/EP3725420B1/en
Publication of WO2019128315A1 publication Critical patent/WO2019128315A1/zh
Priority to US16/914,452 priority patent/US11453130B2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
    • B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/70—Denoising; Smoothing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B7/00—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas
    • B05B7/24—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas with means, e.g. a container, for supplying liquid or other fluent material to a discharge device
    • B05B7/2402—Apparatus to be carried on or by a person, e.g. by hand; Apparatus comprising containers fixed to the discharge device
    • B05B7/2405—Apparatus to be carried on or by a person, e.g. by hand; Apparatus comprising containers fixed to the discharge device using an atomising fluid as carrying fluid for feeding, e.g. by suction or pressure, a carried liquid from the container to the nozzle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

Definitions

  • the invention relates to a painting device, in particular to a smart painting robot system for body painting.
  • the object of the present invention is to provide a smart painting robot system which is relatively simple in structure, suitable for the automobile maintenance industry, low in cost, good in handling, safe and reliable, and high in painting efficiency, to meet the needs of painting in the automobile maintenance industry.
  • the intelligent painting robot system of the invention comprises a robot, and a base is arranged at a lower end of the robot, the robot is connected with the controller, the controller is connected with the processor, the external device is connected with the depth camera, and the upper end of the robot passes the flange.
  • the disc is connected to one end of the connecting shaft, and the other end of the connecting shaft is connected with a mounting seat.
  • the mounting shaft of the painting device is inserted into the long hole in the upper and lower direction of the mounting seat, and the painting device is disposed on one side of the mounting seat.
  • the first positioning bolt for positioning the mounting shaft is rotatably connected to one end of the limiting arm through the pin shaft on the other side of the mounting seat, and the other end of the limiting arm is connected to the limited position shaft, and the limiting shaft is supported by the painting device.
  • a second positioning bolt is arranged between the middle of the limiting arm and the mounting seat, and the cylinder connected to the pneumatic device is fixedly mounted on the mounting seat, and the outer end of the piston rod matched with the cylinder is connected through the connecting member
  • the moving rods are connected, and the moving rod is matched with the trigger on the painting device; the robot is an explosion-proof robot.
  • the processor first obtains a three-dimensional point cloud model of the automobile painting maintenance area through a depth camera, performs denoising, smoothing and the like on the three-dimensional point cloud data, and then extracts the feature points of the three-dimensional point cloud data through a complete algorithm to calculate the painting.
  • the trajectory of the robot's painting movement At the same time, it is necessary to calibrate the relative positional relationship between the depth camera coordinate system and the painting robot coordinate system, and finally control the painting robot to move along the automatically planned motion trajectory and complete the painting.
  • the robot is the latest intelligent modular robot.
  • the explosion-proof robot has an explosion-proof joint, and the explosion-proof joint includes an inner motor and a reducer, and has an outer casing on an outer side of the motor and the reducer, the outer casing including a first outer casing, a second outer casing and a third outer casing.
  • the port of the first outer casing is fixedly connected with the first intermediate flange, and a first sealing ring is disposed between the first outer casing and the first intermediate flange; the outer side of the first intermediate flange is provided with a dustproof ring, and the end of the dustproof ring
  • the head is fixedly connected to one side of the second intermediate flange, the other side of the second intermediate flange is fixedly connected to one end of the second outer casing, and a second sealing ring is disposed between the second intermediate flange and the second outer casing.
  • the other end of the second outer casing is fixedly connected with a third outer casing, and a third sealing ring is disposed between the second outer casing and the third outer casing.
  • the intelligent painting robot system of the invention can meet the requirements of automobile maintenance painting and achieve the effect of manual painting, ensure the quality of painting and improve the working efficiency. For example, for 4s shop, the overall service level of the 4s shop can be obviously improved, and the operator is lowered. The labor intensity keeps the operator away from the paint mist area, ensuring the physical and mental health of the operator, safe and reliable, saving time and effort, saving energy and reducing the production cost.
  • FIG. 1 is a schematic structural view of a specific embodiment of the present invention.
  • Figure 2 is an enlarged schematic view of a portion A shown in Figure 1;
  • FIG. 3 is a schematic view showing the joint structure of an explosion-proof robot in the present invention.
  • the intelligent painting robot system of the present invention includes a robot 1, and the robot 1 selects a modular fifth-generation robot.
  • a base 2 is provided at the lower end of the robot 1, and the robot 1 is fixedly mounted to the foundation by the base 2 and the anchor bolts during installation.
  • the robot 1 is connected to the controller 4, the controller 4 is connected to the processor 8, and the external processor 8 is connected to the depth camera 3.
  • the upper end of the robot 1 is connected to one end of the connecting shaft 9 via a flange 7, and the other end of the connecting shaft 9 is fixedly coupled to the mounting seat 6.
  • the mounting shaft of the painting device 18 to which the paint cartridge 5 is attached is inserted into the long hole provided in the up-and-down direction inside the mounting seat 6, and the first positioning bolt 10 for positioning the mounting shaft of the painting device 18 is provided on one side of the mounting seat 6.
  • the first positioning bolt 10 is screwed to the mounting seat 6, and the inner end of the first positioning bolt 10 is inserted into a recess in the mounting shaft of the painting device 18, so that the mounting shaft of the painting device 18 can be rotated relative to the mounting seat 6.
  • the other end of the mounting seat 6 is rotatably connected to one end of the limiting arm 15 via a pin 19, and the other end of the limiting arm 15 is connected to the limiting shaft 20, and the limiting shaft 20 is supported at the mounting shaft of the painting device 18,
  • the mounting shaft of the painting device 18 is supported, that is, the entire painting device 18 is supported.
  • a second positioning bolt 16 is disposed between the middle of the limiting arm 15 and the mounting seat 6. The inner end of the second positioning bolt 16 abuts against a recess in the side of the mounting seat 6 so that the limiting arm 15 is opposite to the mounting seat.
  • the second positioning bolt 16 can be set with a return spring, and when the second positioning bolt 16 is pulled outward, the elastic force of the return spring is overcome, so that the inner end of the second positioning bolt 16 is away from the concave surface on the side of the mounting seat 6.
  • the inner end of the second positioning bolt 16 automatically abuts against the groove on the side of the mounting seat 6 under the action of the return spring, and the limiting arm 15 supports the painting device 18 through the limiting shaft 20,
  • the second positioning bolt 16 is pulled apart, the support of the painting device 18 can be released, and the painting device 18 can be swung relative to the mounting seat 6.
  • the cylinder 17 connected to the pneumatic device is fixedly mounted on the mounting seat 6.
  • the outer end of the piston rod 11 matched with the cylinder 17 is connected to the toggle lever 13 via the connecting member 12, and the toggle lever 13 and the painting device 18 are attached.
  • the trigger 21 is matched, and when the cylinder 17 drives the piston rod 13 to retract, the painting device 18 can be sprayed from the painting port 14 by the toggle lever 13 pressing the platen 21.
  • the painting device 18 is a commonly used manual painting device.
  • Robot 1 is the latest intelligent modular robot.
  • the robot 1 is an explosion-proof robot. When the robot 1 is in operation, air can be introduced into each joint to ensure explosion protection during operation.
  • the explosion-proof robot has an explosion-proof joint
  • the explosion-proof joint includes an internal motor 34 and a speed reducer 35, a third flange 36, and an electronic control unit 33.
  • the outer casing includes a first outer casing 22, a second outer casing 29 and a third outer casing 31, the port of the first outer casing 22 and the first intermediate portion
  • the flange 24 is fixedly connected, and a first sealing ring 23 is disposed between the first outer casing 22 and the first intermediate flange 24; the outer side of the first intermediate flange 24 is provided with a dust seal 25, and the end of the dust seal 25 is
  • One side of the second intermediate flange 27 is fixedly connected, and the other side of the second intermediate flange 27 is fixedly connected to one end of the second outer casing 29, and a second between the second intermediate flange 27 and the second outer casing 29 is provided.
  • the third outer casing 31 is fixedly connected to the other end of the second outer casing 29, and a third sealing ring 30 is disposed between the second outer casing 29 and the third outer casing 31.
  • the positive pressure air inlet 32 of the explosion-proof joint is provided with a third outer casing 31, and the air outlet 37 is provided on the first outer casing 22.
  • the present invention mounts the depth camera at the chassis of the painting robot.
  • the processor 8 first obtains a three-dimensional point cloud model of the automobile painting maintenance area through the depth camera 3, performs denoising, smoothing and the like on the three-dimensional point cloud data, and then extracts the three-dimensional point cloud data feature points through a complete algorithm, thereby calculating the painting robot.
  • the painting motion track and calibrate the relative positional relationship between the depth camera coordinate system and the painting robot 1 coordinate system (ie, the unified coordinate system), and finally control the painting robot to move uniformly along the automatically planned motion trajectory and control the pneumatic device through the controller 4.
  • the cylinder 17 and the trigger 21 are driven to complete the painting. It has the advantages of safety, reliability, time and labor saving, energy saving and environmental protection, and reducing the cost.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Human Computer Interaction (AREA)
  • Quality & Reliability (AREA)
  • Spray Control Apparatus (AREA)
  • Manipulator (AREA)

Abstract

智能喷漆机器人系统，机器人的下端有底座，机器人与控制器相接，控制器与处理器相接，外理器与深度相机相接，机器人上端通过法兰盘与连接轴一端相接，连接轴另一端接有安装座，喷漆装置的安装轴插入安装座内部上下方向设置的长孔内，安装座一侧有对喷漆装置的安装轴进行定位的第一定位螺栓，在安装座的另一侧通过销轴与限位臂的一端转动连接，限位臂的另一端连接有限位轴，限位轴支撑在喷漆装置的安装轴处，限位臂的中部与安装座之间有第二定位螺栓，与气动装置相接的气缸固定安装在安装座上，与气缸相配的活塞杆的外端头通过连接件与拨动杆相接，拨动杆与喷漆装置上的板机相配。具有安全可靠，省时省力，节能环保，降低产生成本的优点。

Description

智能喷漆机器人系统 技术领域
本发明涉及一种喷漆设备，特别是一种车身喷漆的智能喷漆机器人系统。
背景技术
目前车身喷漆的方式主要有两种：1、传统的手动喷漆；2、机器人自动喷漆。传统的手动喷漆主要用于汽车的维修行业，其缺点：1、成本高；2效率低；3对操作者的健康有一定的危害。在整车生产环节多用机器人自动喷漆方式，机器人自动喷漆方式在汽车生产线上最为成熟，但是不适合于汽车的维修行业。
发明内容
本发明的目的是提供一种结构相对简单、适合于汽车维修行业、成本低、操控性好、安全可靠、喷漆效率高的智能喷漆机器人系统，以满足汽车维修行业喷漆需要。
本发明的智能喷漆机器人系统，包括机器人，在机器人的下端设有底座，机器人与控制器相接，控制器与处理器相接，外理器与深度相机相接，在机器人的上端通过法兰盘与连接轴的一端相接，连接轴的另一端接有安装座，喷漆装置的安装轴插入所述的安装座内部上下方向设置的长孔内，在安装座的一侧设有对喷漆装置的安装轴进行定位的第一定位螺栓，在安装座的另一侧通过销轴与限位臂的一端转动连接，限位臂的另一端连接有限位轴，限位轴支撑在喷漆装置的安装轴处，在限位臂的中部与安装座之间设有第二定位螺栓，与气动装置相接的气缸固定安装在安装座上，与气缸相配的活塞杆的外端头通过连接件与拨动杆相接，拨动杆与喷漆装置上的板机相配；所述的机器人为防爆机器人。
所述的处理器首先通过深度相机获取汽车喷漆维修区域的三维点云模型，对 三维点云数据进行去噪、平滑等预处理，然后通过一整套算法提取三维点云数据特征点，进而计算喷漆机器人的喷漆运动轨迹。同时，需标定深度相机坐标系与喷漆机器人坐标系的相对位置关系，最后控制喷漆机器人沿着自动规划的运动轨迹进行运动并完成喷漆。
所述的机器人为目前最新的智能模块化机器人。
所述的防爆机器人具有防爆关节，所述的防爆关节包括位于内部的电机和减速器，在电机和减速器的外侧有外壳，所述的外壳包括第一外壳、第二外壳和第三外壳，第一外壳的端口与第一中间法兰固定连接，在第一外壳和第一中间法兰之间设有第一密封圈；第一中间法兰外侧套装有防尘圈，防尘圈的端头与第二中间法兰的一侧固定连接，第二中间法兰的另一侧与第二外壳的一端固定连接，在第二中间法兰和第二外壳之间设有第二密封圈，第二外壳的另一端固定连接有第三外壳，第二外壳与第三外壳之间设有第三密封圈。
本发明的智能喷漆机器人系统，能够满足汽车维修喷漆要求，并达到手动喷漆效果，保证了喷漆质量，提高了工作效率，如用于4s店，可明显提升4s店整体服务水平，降低了操作人员的劳动强度，使操作人员远离漆雾区域，保证了操作人员的身心健康，安全可靠，省时省力，节能，降低产生成本。
附图说明
图1是本发明具体实施方式的结构示意图；
图2是图1所示的A部放大示意图；
图3是本发明中防爆机器人关节结构示意图。
具体实施方式
如图1、2所示：本发明的智能喷漆机器人系统，包括机器人1，机器人1选用模块化第五代机器人。在机器人1的下端设有底座2，安装时通过底座2和地脚螺栓将机器人1固定安装于基础上。
机器人1与控制器4相接，控制器4与处理器8相接，外理器8与深度相机3相接。
在机器人1的上端通过法兰盘7与连接轴9的一端相接，连接轴9的另一端固定连接有安装座6。
接有储漆筒5的喷漆装置18的安装轴插入安装座6内部上下方向设置的长孔内，在安装座6的一侧设有对喷漆装置18的安装轴进行定位的第一定位螺栓10，第一定位螺栓10与安装座6螺纹连接，第一定位螺栓10的内端头顶入喷漆装置18的安装轴上的凹坑内，使喷漆装置18的安装轴可相对于安装座6转动。在安装座6的另一侧通过销轴19与限位臂15的一端转动连接，限位臂15的另一端连接有限位轴20，限位轴20支撑在喷漆装置18的安装轴处，用于对喷漆装置18的安装轴进行支撑，即支撑了整个喷漆装置18。在限位臂15的中部与安装座6之间设有第二定位螺栓16，第二定位螺栓16内端头顶靠在安装座6侧面上的凹槽内，使限位臂15相对于安装座6相对固定，第二定位螺栓16上可套装有复位弹簧，向外侧拉动第二定位螺栓16时，克服复位弹簧的弹力，使第二定位螺栓16的内端头离开安装座6侧面上的凹槽，松开时，在复位弹簧作用下第二定位螺栓16内端头自动顶靠在安装座6侧面上的凹槽内，限位臂15通过限位轴20可对喷漆装置18进行支撑，拉开第二定位螺栓16时，可解除对喷漆装置18的支撑，喷漆装置18可相对于安装座6摆动。
与气动装置相接的气缸17固定安装在安装座6上，与气缸17相配的活塞杆11的外端头通过连接件12与拨动杆13相接，拨动杆13与喷漆装置18上的板机21相配，气缸17带动活塞杆13回缩时，可通过拨动杆13下压板机21，使喷漆装置18自喷漆口14喷漆。其中喷漆装置18为常用的手动喷漆装置。机器人1为目前最新智能模块化机器人。机器人1为防爆机器人，机器人1工作时，可向各关节处通入空气，保证运行时的防爆。
如图3所示：所述的防爆机器人具有防爆关节，防爆关节包括位于内部的电机34和减速器35以及第三法兰36、电控元件33。在电机34和减速器35以及第三法兰36、电控元件33的外侧有外壳，外壳包括第一外壳22、第二外壳29和第三 外壳31，第一外壳22的端口与第一中间法兰24固定连接，在第一外壳22和第一中间法兰24之间设有第一密封圈23；第一中间法兰24外侧套装有防尘圈25，防尘圈25的端头与第二中间法兰27的一侧固定连接，第二中间法兰27的另一侧与第二外壳29的一端固定连接，在第二中间法兰27和第二外壳29之间设有第二密封圈28，第二外壳29的另一端固定连接有第三外壳31，第二外壳29与第三外壳31之间设有第三密封圈30。防爆关节的正压进气孔32设有第三外壳31上，出气孔37设在第一外壳22上。
工作过程：本发明将深度相机安装在喷漆机器人底盘处。处理器8首先通过深度相机3获取汽车喷漆维修区域的三维点云模型，对三维点云数据进行去噪、平滑等预处理，然后通过一整套算法提取三维点云数据特征点，进而计算喷漆机器人的喷漆运动轨迹并标定深度相机坐标系与喷漆机器人1坐标系的相对位置关系(即统一坐标系)，最后控制喷漆机器人沿着自动规划的运动轨迹进行匀速运动并通过控制器4控制气动装置，带动气缸17、板机21动作，完成喷漆。具有安全可靠，省时省力，节能环保，降低产生成本的优点。

Claims (4)

  1. 一种智能喷漆机器人系统，其特征在于：包括机器人(1)，在机器人(1)的下端设有底座(2)，机器人(1)与控制器(4)相接，控制器(4)与处理器(8)相接，外理器(8)与深度相机(3)相接，在机器人(1)的上端通过法兰盘(7)与连接轴(9)的一端相接，连接轴(9)的另一端接有安装座(6)，喷漆装置(18)的安装轴插入所述的安装座(6)内部上下方向设置的长孔内，在安装座(6)的一侧设有对喷漆装置(18)的安装轴进行定位的第一定位螺栓(10)，在安装座(6)的另一侧通过销轴(19)与限位臂(15)的一端转动连接，限位臂(15)的另一端连接有限位轴(20)，限位轴(20)支撑在喷漆装置(18)的安装轴处，在限位臂(15)的中部与安装座(6)之间设有第二定位螺栓(16)，与气动装置相接的气缸(17)固定安装在安装座(6)上，与气缸(17)相配的活塞杆(11)的外端头通过连接件(12)与拨动杆(13)相接，拨动杆(13)与喷漆装置(18)上的板机(21)相配；所述的机器人(1)为防爆机器人。
  2. 根据权利要求1所述的智能喷漆机器人系统，其特征在于：所述的处理器(8)首先通过深度相机(3)获取汽车喷漆维修区域的三维点云模型，对三维点云数据进行去噪、平滑等预处理，然后通过一整套算法提取三维点云数据特征点，进而计算喷漆机器人的喷漆运动轨迹。同时，需标定深度相机(3)坐标系与喷漆机器人坐标系的相对位置关系，最后控制喷漆机器人沿着自动规划的运动轨迹进行运动并完成喷漆。
  3. 根据权利要求1或2所述的智能喷漆机器人系统，其特征在于：所述的机器人(1)为目前最新的智能模块化机器人。
  4. 根据权利要求1或2所述的智能喷漆机器人系统，其特征在于：所述的防爆机器人(1)具有防爆关节，所述的防爆关节包括位于内部的电机(34)和减速器(35)，在电机(34)和减速器(35)的外侧有外壳，所述的外壳包括第一外壳(22)、第二外壳(29)和第三外壳(31)，第一外壳(22)的端口与第 一中间法兰(24)固定连接，在第一外壳(22)和第一中间法兰(24)之间设有第一密封圈(23)；第一中间法兰(24)外侧套装有防尘圈(25)，防尘圈(25)的端头与第二中间法兰(27)的一侧固定连接，第二中间法兰(27)的另一侧与第二外壳(29)的一端固定连接，在第二中间法兰(27)和第二外壳(29)之间设有第二密封圈(28)，第二外壳(29)的另一端固定连接有第三外壳(31)，第二外壳(29)与第三外壳(31)之间设有第三密封圈(30)。
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