CN107029971B - Lacquer spraying technique robot collision-proof method in a kind of automobile - Google Patents
Lacquer spraying technique robot collision-proof method in a kind of automobile Download PDFInfo
- Publication number
- CN107029971B CN107029971B CN201710288782.7A CN201710288782A CN107029971B CN 107029971 B CN107029971 B CN 107029971B CN 201710288782 A CN201710288782 A CN 201710288782A CN 107029971 B CN107029971 B CN 107029971B
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- skid
- carrier chain
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- transmission
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
- B05D7/22—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials to internal surfaces, e.g. of tubes
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- 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
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses lacquer spraying technique robot collision-proof methods in a kind of automobile, this method comprises: interior lacquer spraying technique is divided into several process sections；According to the technique duration of each process section and the speed of carrier chain, carrier chain is divided into multiple sections.Since skid position sensor is respectively set in the starting point in each section or end, to detect whether skid reaches predetermined position, the predetermined position is determined by the technique duration of each process section and the speed of carrier chain, therefore, when skid reaches predetermined position, when i.e. spray robot needs to be implemented corresponding processing step, the present invention may determine that whether the mobile distance of skid and the transmission of carrier chain distance are consistent, that is, judge whether do not relatively move between the skid and the carrier chain；If it is, spray robot executes corresponding processing step.Spray robot thus can be effectively prevented to collide with vehicle body to be sprayed.
Description
Technical field
The present invention relates to field of automobile, in particular to anticollision side, lacquer spraying technique robot in a kind of automobile
Method.
Background technique
Coating is one of four big techniques of automobile manufacture, and coating process mainly includes three electrophoresis, gluing, spray painting techniques；
Spray painting mostly uses spray robot to be sprayed automatically, and not only the outer surface including body of a motor car is painted for spray painting, in addition, engine
In cabin, in boot, the position of door frame, threshold be also required to be sprayed, these belong to the inner surface of automobile, for the ease of
The spraying of outer surface is known as outside plate spraying below by description, and the spraying of inner surface is known as inner panel spraying, referred to as interior spray；In reality
In the application of border, interior spray is more complicated than outer spray very much, and external carrier chain, detection, paint feeding system, the safety device involved all compares outside plate
Spraying wants complicated, is not merely the high problem of cost of investment, this is also that the country is first sprayed using outside plate automatically, and later technology is slowly
After maturation, just the automatic paint application of spray robot to inner surface is sprayed.
Spray robot needs the inside to vehicle to go to carry out spraying process when inner panel sprays, this when, vehicle body was with defeated
Send chain always in movement, if this when of carrier chain breaks down suddenly or vehicle body to be sprayed skids on carrier chain,
This causes the position of vehicle body to be sprayed not meet the requirement of setting relative to the position of spray robot, and robot default is to be painted
It applies vehicle body to run according to setting speed, at this point, resulting in be sprayed if robot enters vehicle body to be sprayed and carries out spraying process
The position of vehicle body and robot does not meet the requirement of setting, once being more than safe spacing, will collide, and how to avoid touching
Hit be all Design of Production Line persons face have to solve problem.
Summary of the invention
The present invention provides lacquer spraying technique robot collision-proof methods in a kind of automobile, solve the prior art and carry out inner panel spray
When applying technique, spray robot is easy the problem of colliding with vehicle body to be sprayed.
The present invention provides lacquer spraying technique robot collision-proof methods in a kind of automobile, comprising:
Interior lacquer spraying technique is divided into several process sections；
According to the technique duration of each process section and the speed of carrier chain, carrier chain is divided into multiple sections；
Skid position sensor is respectively set in the starting point in each section or end, with detect skid whether reach it is predetermined
Position；
When skid reaches predetermined position, judge whether the mobile distance of skid and the transmission of carrier chain distance are consistent；
If it is, spray robot executes corresponding processing step.
Preferably, the process section includes: spray painting preliminary process section, opens front door process section, is front door lacquer spraying technique section, preceding
Door spray painting exit section, open back door process section, back door lacquer spraying technique section, back door spray painting exit section, interior spray export process section；
The skid position sensor totally 8, it is respectively arranged at the position of corresponding carrier chain when above-mentioned each process section starts
Set place.
Preferably, whether the distance for judging that skid is mobile is consistent with the transmission of carrier chain distance includes:
The circle number of the drive shaft turns of carrier chain described in encoder to count；
The transmission distance of carrier chain is calculated according to the circle number of the radius of drive shaft and rotation；
Obtain the sensor distance between current skid position sensor and a upper adjacent skid position sensor；
Judge to be driven distance and whether sensor distance is consistent.
Preferably, the method also includes:
If the transmission of the mobile distance of skid and carrier chain is greater than carrier chain apart from the mobile distance of inconsistent and skid
Transmission distance, then forbid spray robot to execute corresponding processing step；
Increase the transmission speed of carrier chain, until corresponding skid position sensor is triggered；
After corresponding skid position sensor is triggered, the transmission speed of carrier chain is down to normal speed.
Preferably, the method also includes:
If the transmission of the mobile distance of skid and carrier chain apart from inconsistent, is alarmed.
Correspondingly, the present invention also provides lacquer spraying technique robot collision avoidance systems in a kind of automobile, comprising:
Programmable logic controller (PLC), driving motor, transmission are passed apart from acquisition module, carrier chain, skid, several skid positions
Sensor and spray robot；
The driving motor, the transmission are apart from acquisition module, the skid position sensor and the spray robot
It is connected respectively with the programmable logic controller (PLC), the drive shaft of the driving motor drives the carrier chain operating, described defeated
Chain is sent to drive the skid being placed on the carrier chain mobile by frictional force；
It is described to be driven the transmitting range that the carrier chain is acquired apart from acquisition module；
Several skid position sensors are respectively used to acquire the location information of the skid, and are separately positioned on carrier chain
The starting point or end in each section, wherein the section of carrier chain is according to the technique duration of each process section and the speed of carrier chain
It is divided, process section is several process sections of interior lacquer spraying technique；
The programmable logic controller (PLC) is used for after the signal that is triggered for receiving the transmission of skid position sensor, judgement
Whether the mobile distance of skid and the transmission of carrier chain distance are consistent；If it is, controlling the spray robot executes correspondence
Processing step.
Preferably, the process section includes: spray painting preliminary process section, opens front door process section, is front door lacquer spraying technique section, preceding
Door spray painting exit section, open back door process section, back door lacquer spraying technique section, back door spray painting exit section, interior spray export process section；
The skid position sensor totally 8, it is respectively arranged at the position of corresponding carrier chain when above-mentioned each process section starts
Set place.
Preferably, the transmission is encoder apart from acquisition module；
The encoder is arranged at the drive shaft of the carrier chain, for counting the circle number of the drive shaft turns, and
It is sent to the programmable logic controller (PLC)；
The programmable logic controller (PLC) is used to calculate the transmission of carrier chain according to the radius of drive shaft and the circle number of rotation
Distance, and the sensor distance between current skid position sensor and a upper adjacent skid position sensor is obtained, so
Judge to be driven distance afterwards and whether sensor distance is consistent.
Preferably, if the programmable logic controller (PLC) is also used to the transmission distance of skid mobile distance and carrier chain
The mobile distance of inconsistent and skid is greater than the transmission distance of carrier chain, then spray robot is forbidden to execute corresponding processing step；
Then, it controls the driving motor and increases revolving speed, to increase the transmission speed of carrier chain, until receiving corresponding skid position
The signal that is triggered that sensor is sent；Then, after receiving the signal that is triggered that corresponding skid position sensor is sent,
Controlling the driving motor reduces revolving speed, until the transmission speed of the carrier chain is down to normal speed.
Preferably, the system also includes:
Alarm is connected with the programmable logic controller (PLC), for the transmission when skid mobile distance and carrier chain
Apart from it is inconsistent when, alarm.
Lacquer spraying technique robot collision-proof method in a kind of automobile provided by the invention, comprising: divide interior lacquer spraying technique
For several process sections；According to the technique duration of each process section and the speed of carrier chain, carrier chain is divided into multiple sections.Due to
Skid position sensor is respectively set in the starting point or end in each section, and to detect whether skid reaches predetermined position, this is pre-
Positioning, which is set, to be determined by the technique duration of each process section and the speed of carrier chain, therefore, when skid reaches predetermined position, that is, is sprayed
Robot is applied when needing to be implemented corresponding processing step, the present invention may determine that the transmission of the mobile distance of skid and carrier chain away from
From whether unanimously, that is, judge whether do not relatively move between the skid and the carrier chain；If it is, spraying robot
People executes corresponding processing step.The transmission due to the mobile distance of skid and carrier chain thus can effectively be solved apart from different
It causes, the position of vehicle body to be sprayed is caused not meet sets requirement, cause spray robot to default vehicle body to be sprayed and reach correct position
The problem of setting and colliding.
Further, lacquer spraying technique robot collision-proof method in automobile provided in an embodiment of the present invention, additionally provides tool
The technique division result of body: the process section include: spray painting preliminary process section, open front door process section, front door lacquer spraying technique section,
Front door spray painting exit section, open back door process section, back door lacquer spraying technique section, back door spray painting exit section, interior spray export process section；With
And the specific method for arranging of skid position sensor: the skid position sensor totally 8, it is respectively arranged at above-mentioned each process section
When beginning at the position of corresponding carrier chain.The anti-collision of high reliability can be realized with sensor few as far as possible in this way.
Further, lacquer spraying technique robot collision-proof method in automobile provided in an embodiment of the present invention, additionally provides and sentences
The mobile distance of disconnected skid and the transmission distance of carrier chain whether consistent method, pass through the drive of carrier chain described in encoder to count
The circle number of moving axis rotation obtains the transmission distance of carrier chain, is simple and efficient and cost is relatively low.
Further, lacquer spraying technique robot collision-proof method in automobile provided in an embodiment of the present invention, if skid moves
The transmission of dynamic distance and carrier chain is greater than the transmission distance of carrier chain apart from the mobile distance of inconsistent and skid, then forbids
Spray robot executes corresponding processing step, can prevent spray robot from colliding with vehicle body to be sprayed in this way.In addition, being
The production efficiency for improving production line, increases the transmission speed of carrier chain, until corresponding skid position sensor is triggered, and
After corresponding skid position sensor is triggered, the transmission speed of carrier chain is down to normal speed.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only one recorded in the present invention
A little embodiments are also possible to obtain other drawings based on these drawings for those of ordinary skill in the art.
Fig. 1 is the first process according to lacquer spraying technique robot collision-proof method in automobile provided in an embodiment of the present invention
Figure；
Fig. 2 be according to the transmission of the distance provided in an embodiment of the present invention for judge that skid is mobile and carrier chain apart from whether one
A kind of flow chart of the method for cause；
Fig. 3 is second of process according to lacquer spraying technique robot collision-proof method in automobile provided in an embodiment of the present invention
Figure；
Fig. 4 is the third process according to lacquer spraying technique robot collision-proof method in automobile provided in an embodiment of the present invention
Figure；
Fig. 5 is the first structure according to lacquer spraying technique robot collision avoidance system in automobile provided in an embodiment of the present invention
Schematic diagram；
Fig. 6 is second of structure according to lacquer spraying technique robot collision avoidance system in automobile provided in an embodiment of the present invention
Schematic diagram.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar parameter or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Lacquer spraying technique robot collision-proof method in a kind of automobile provided by the invention solves the prior art and carries out inner panel spray
When applying technique, spray robot is easy the problem of colliding with vehicle body to be sprayed.
The reason of inventor's analysis spray robot and vehicle body to be sprayed collide mainly has at 3 points: first is that transportation system
Failure；Second is that skid slides on carrier chain, the position of vehicle body is caused to be changed, third is that spray robot is not known
Have occurred above situation, default transportation system and skid all operates normally, that is to say robot vehicle body position can not be carried out with
Track and control: what is tracked when prior art auto spray painting is the position of carrier chain, and it is opposing stationary for defaulting vehicle body and carrier chain
, however there is the case where relative motion in actual production relative to carrier chain in vehicle body, the prior art has passed through intermediary
(transportation system) obtains the position of carrier chain, and the position of vehicle body to be sprayed is obtained using it, when problem occurs for medium, with regard to nothing
Method accurately learns the position of vehicle body to be sprayed, and spray robot can not learn the information of vehicle body malposition to be sprayed, and then produce
The problems such as raw robot and vehicle body collide.It needs to start with from three reasons above in order to avoid colliding, but first and the
2 two kinds of failures it is difficult to ensure that do not occur completely, and therefore, present invention primarily contemplates thoroughly solved by solving third reason
Collision problem: if spray robot adjusts spraying rate or skid after capable of finding the position deviation of skid in time in time
Movement speed or robot directly alarm and stop working, and avoid the generation of failure.Spray robot sends collision one
Secondary loss is very big, may cause whole production line halt production.The present invention is by solving the problems, such as that above-mentioned third can be prevented effectively
The problem of spray robot and vehicle body to be sprayed collide.
Technical solution and technical effect in order to better understand the present invention, below with reference to flow diagram to specific
Embodiment is described in detail.As shown in Figure 1, for according to lacquer spraying technique machine people's air defense in automobile provided in an embodiment of the present invention
The first flow chart of collision method, this method may comprise steps of:
Interior lacquer spraying technique is divided into several process sections by step S01.
In the present embodiment, spraying process is divided by the technique that spray robot needs to be implemented, in order to spray
Before painting robot is acted, first judge whether vehicle body to be sprayed reaches the corresponding position of current process and spray robot
Correct position when work, can avoid spray robot in this way and do not know: vehicle body malposition to be sprayed causes the feelings of collision
Condition occurs.
In a specific embodiment, the process section includes: spray painting preliminary process section, opens front door process section, front door
Lacquer spraying technique section, front door spray painting exit section, open back door process section, back door lacquer spraying technique section, back door spray painting exit section, it is interior spray it is defeated
Process section out.Wherein, spray painting preliminary process section represents skid and vehicle body to be sprayed and enters automatic inner panel spraying area, and system can be with
It is ready to spray；It opens front door process section and represents the technique period for opening front door, spray robot, which executes, opens Chinese herbaceous peony door
Step；The step of front door lacquer spraying technique section represents the technique period at spraying front door, and spray robot executes spraying car door；Front door spray
Paint exits section and represents front door spray painting completion, and spray robot executes reset process；Back door lacquer spraying technique section is exited with back door spray painting
Section is similar with the corresponding process section of front, and this will not be detailed here；Interior spray output process section represent vehicle body and skid to be sprayed from
Painted areas is opened, whole system starts to meet the arrival of next vehicle body to be sprayed.
It is only a kind of preferably division methods that above-mentioned process section, which divides, can also be other division modes, such as certain works
Skill section merges or some process section is finely divided, it is not limited here.
Carrier chain is divided into multiple sections according to the technique duration of each process section and the speed of carrier chain by step S02.
In the present embodiment, the technique duration of each process section is duration needed for spray robot completes corresponding process section,
The technique duration of each process section is usually different.Certainly, for lifting system reliability, when certain redundancy can be set
It is long, it is not limited here.
The speed of carrier chain is usually pre-set conveying speed, and completes corresponding technique according to spray robot
The duration of Duan Suoxu and set: after vehicle body to be sprayed moves a certain distance, corresponding process section just or has been completed.
Skid position sensor is respectively set in the starting point in each section or end, whether to detect skid in step S03
Reach predetermined position.
In the present embodiment, only judged by Transmission system by setting skid position sensor to avoid the prior art
The physical location of vehicle body to be sprayed leads to spray robot and the problem of vehicle body to be sprayed collides.
In a specific embodiment, the process section in corresponding step S01 divides embodiment, the skid position sensor
It totally 8, is respectively arranged at when above-mentioned each process section starts at the position of corresponding carrier chain.Preferably, the skid position passes
Sensor is detection switch, and principle is to approach switch, and when skid has arrived the position of detection switch, detector will be kept off by skid
Firmly, signal will pass to system, and system has also been known that skid has arrived the position of which detection switch, wherein detection is opened
It closes only there are two state 0 and 1,0 represents not by occupy-place, i.e., its position does not detect skid, and 1 represents by occupy-place, position
On have skid.Specifically, detection switch 1-8 is for detecting skid position, wherein point locating for detection switch 1 represent skid with
Vehicle body enters automatic inner panel spraying area, and system can be ready to spray；Positioned at the point for opening front door, i.e., detection switch 2 is
When detection switch 2 triggers, spray robot goes to open Chinese herbaceous peony door；Detection switch 3 is located at the respective point at spraying front door, i.e., 3 touchings
When hair, spray robot starts to spray car door；Detection switch 4 is the point completed positioned at front door spray painting, i.e. the flush coater when 4 triggering
Front door spray painting work is completed in device people；Detection switch 5 is when triggering positioned at the point for opening back door, i.e., 5, and spray robot goes to open
Vehicle body back door；Detection switch 6 is when triggering positioned at the point for spraying back door, i.e., 6, and spray robot starts to spray back door；Detection is opened
Close 7 be positioned at back door spray painting complete point, i.e., 7 triggering when, spray painting is completed in back door；Detection 8 is to go out to spray positioned at vehicle body and skid
It paints the point in region, i.e., when 8 triggering, represents this trolley and gone out painted areas, whole system starts to meet the arrival of lower trolley, i.e., etc.
Switch 1 to be detected is triggered.
Step S04, when skid reaches predetermined position, judge the mobile distance of skid and carrier chain transmission distance whether
Unanimously.
In the present embodiment, if the distance of skid movement is consistent with the transmission of carrier chain distance, then it is assumed that vehicle to be sprayed
Body reaches correct position, and otherwise, vehicle body to be sprayed does not reach correct position.
Step S05, if it is, spray robot executes corresponding processing step.
In the present embodiment, when vehicle body to be sprayed reaches correct position, spray robot executes corresponding processing step, no
It can crash.
Interior lacquer spraying technique is divided into several techniques by lacquer spraying technique robot collision-proof method in automobile provided by the invention
Section；According to the technique duration of each process section and the speed of carrier chain, carrier chain is divided into multiple sections.Due to each section
Skid position sensor is respectively set in starting point or end, to detect whether skid reaches predetermined position, the predetermined position be by
The technique duration of each process section and the speed of carrier chain determine that therefore, when skid reaches predetermined position, i.e., spray robot needs
When executing corresponding processing step, the present invention may determine that the mobile distance of skid and carrier chain transmission distance whether one
It causes, that is, judges whether do not relatively move between the skid and the carrier chain；If it is, spray robot execution pair
Answer processing step.Transmission due to the mobile distance of skid and carrier chain thus can effectively be solved apart from inconsistent, caused
The position of vehicle body to be sprayed does not meet sets requirement, causes spray robot to default vehicle body to be sprayed and reaches correct position and occur
The problem of collision.
As shown in Fig. 2, for according to the transmission of judgement skid provided in an embodiment of the present invention mobile distance and carrier chain away from
From whether a kind of flow chart of consistent method.
In the present embodiment, the transmission of the distance and carrier chain that judge skid movement is apart from whether consistent method can wrap
Include following steps:
Step S21, the circle number of the drive shaft turns of carrier chain described in encoder to count.
It should be noted that the encoder, which also can be set, can characterize the place of the conveying distance of carrier chain, example at other
At the output shaft of such as driving motor.
Step S22 calculates the transmission distance of carrier chain according to the circle number of the radius of drive shaft and rotation.
The radius of drive shaft be known quantity, therefore one week amount of movement of drive shaft turns be it is fixed, when obtain rotate
It encloses after number it can be learnt that the conveying distance of carrier chain.
Step S23 obtains the sensing between current skid position sensor and a upper adjacent skid position sensor
Device distance.
Sensor distance between current skid position sensor and a upper adjacent skid position sensor is known
Amount, can directly acquire: skid position sensor is respectively arranged at the starting point or end in each section, is pre-set
Amount, depending on the revolving speed of the technique duration of each process section and drive shaft.
Step S24 judges to be driven distance and whether sensor distance is consistent.
Lacquer spraying technique robot collision-proof method in automobile provided in an embodiment of the present invention additionally provides and judges that skid is mobile
Distance and carrier chain transmission distance whether consistent method, pass through the drive shaft turns of carrier chain described in encoder to count
Number is enclosed to obtain the transmission distance of carrier chain, is simple and efficient and cost is relatively low.
As shown in figure 3, for according to the of lacquer spraying technique robot collision-proof method in automobile provided in an embodiment of the present invention
Two kinds of flow charts.
In the present embodiment, the method also includes:
Step S31, if the transmission of the distance of skid movement and carrier chain is big apart from the mobile distance of inconsistent and skid
In the transmission distance of carrier chain, then spray robot is forbidden to execute corresponding processing step.
In this way it is possible to prevente effectively from spray robot sends collision.
Step S32 increases the transmission speed of carrier chain, until corresponding skid position sensor is triggered.
It can accelerate the movement speed of skid, when skid skids in this way quickly to send vehicle body to be sprayed to just
The production efficiency of production line is improved in true position.
Step S33, after corresponding skid position sensor is triggered, the transmission speed of carrier chain is down to positive constant speed
Degree.
Lacquer spraying technique robot collision-proof method in automobile provided in an embodiment of the present invention, if the mobile distance of skid and
The transmission of carrier chain is greater than the transmission distance of carrier chain apart from the mobile distance of inconsistent and skid, then forbids spray robot
Corresponding processing step is executed, can prevent spray robot from colliding with vehicle body to be sprayed in this way.In addition, in order to promote production
The production efficiency of line increases the transmission speed of carrier chain, until corresponding skid position sensor is triggered, and in corresponding cunning
After sled position sensor is triggered, the transmission speed of carrier chain is down to normal speed.
As shown in figure 4, for according to the of lacquer spraying technique robot collision-proof method in automobile provided in an embodiment of the present invention
Three kinds of flow charts.
In the present embodiment, the method also includes:
Step S41, when the transmission of the mobile distance of skid and carrier chain apart from it is inconsistent when, alarm.It in this way can be with
It prompts the operation of staff's skid to exist abnormal, needs to overhaul as early as possible, wait fortuitous events to avoid colliding.
Correspondingly, the present invention also provides lacquer spraying technique robot collision avoidance system in automobile corresponding with the above method,
As shown in figure 5, for according to the first structure of lacquer spraying technique robot collision avoidance system in automobile provided in an embodiment of the present invention
Schematic diagram, the system may include:
Programmable logic controller (PLC), driving motor, transmission are passed apart from acquisition module, carrier chain, skid, several skid positions
Sensor and spray robot；
The driving motor, the transmission are apart from acquisition module, the skid position sensor and the spray robot
It is connected respectively with the programmable logic controller (PLC), the drive shaft of the driving motor drives the carrier chain operating, described defeated
Chain is sent to drive the skid being placed on the carrier chain mobile by frictional force；
It is described to be driven the transmitting range that the carrier chain is acquired apart from acquisition module；
Several skid position sensors are respectively used to acquire the location information of the skid, and are separately positioned on carrier chain
The starting point or end in each section, wherein the section of carrier chain is according to the technique duration of each process section and the speed of carrier chain
It is divided, process section is several process sections of interior lacquer spraying technique；
The programmable logic controller (PLC) is used for after the signal that is triggered for receiving the transmission of skid position sensor, judgement
Whether the mobile distance of skid and the transmission of carrier chain distance are consistent；If it is, controlling the spray robot executes correspondence
Processing step.
Wherein, encoder is with drive shaft turns, i.e. drive shaft and sprocket wheel each rotation, and encoder also turns around,
That is carrier chain it is practical walk how many encoder just turn several circles, encoder also uploads data and gives programmable logic controller (PLC) PLC,
Wherein, there is a counter in PLC, the number of the output for recording encoder understands, it will be assumed that every turn of encoder for convenience
One circle, counter count 1000 times.It should be noted that note encoder is the movement for recording carrier chain, and detection switch 1-8
It is that detection skid moves, if relative displacement do not occur on carrier chain for skid, the data of encoder and detection switch
Data are consistent.
Preferably, the process section includes: spray painting preliminary process section, opens front door process section, is front door lacquer spraying technique section, preceding
Door spray painting exit section, open back door process section, back door lacquer spraying technique section, back door spray painting exit section, interior spray export process section；It is described
It skid position sensor totally 8, is respectively arranged at when above-mentioned each process section starts at the position of corresponding carrier chain.
Specifically, the transmission is encoder apart from acquisition module, and skid position sensor is the detection switch of proximity；
The encoder is arranged at the drive shaft of the carrier chain, for counting the circle number of the drive shaft turns, and
It is sent to the programmable logic controller (PLC)；
The programmable logic controller (PLC) is used to calculate the transmission of carrier chain according to the radius of drive shaft and the circle number of rotation
Distance, and the sensor distance between current skid position sensor and a upper adjacent skid position sensor is obtained, so
Judge to be driven distance afterwards and whether sensor distance is consistent.
In addition, if the programmable logic controller (PLC) is also used to the transmission of the mobile distance of skid and carrier chain apart from not
Unanimously and the distance of skid movement is greater than the transmission distance of carrier chain, then spray robot is forbidden to execute corresponding processing step；It connects
, it controls the driving motor and increases revolving speed, to increase the transmission speed of carrier chain, passed until receiving corresponding skid position
The signal that is triggered that sensor is sent；Then, after receiving the signal that is triggered that corresponding skid position sensor is sent, control
Making the driving motor reduces revolving speed, until the transmission speed of the carrier chain is down to normal speed.
In a specific embodiment, when skid triggers detection switch R1, encoder is started counting, when system is normal
Under operation, when detection switch R2 is triggered, skid has advanced a certain distance, this distance is exactly between switch R1 and R2
Away from, be it is fixed (if it is the distance of 1-2 is 1m, sprocket wheel every revolution carrier chain advance 0.5m, this, which is assumed that, is easy to understand,
Not actually this numerical value), for skid from R1 to R2, skid travels 1m, if skid does not slide on carrier chain,
That is skid is opposing stationary with carrier chain, that carrier chain also just travels 1m, that corresponding chain has rotated 2 circles, i.e. encoder
Also two circles have been turned, that encoder should count 1000*2=2000, and detection switch R2 up-delivering signal shows detection switch to PLC at this time
For R2 by occupy-place, encoder also uploads counter 2000 to PLC, at this moment PLC will interior contrast, illustrate two be it is matched, spray
Applying robot can be carried out opening this movement of car door.
If for detection switch R2 not by occupy-place, that just illustrates that skid arrives not yet when counter uploads 2000 to PLC
The position of R2, the 1m and carrier chain has advanced really, that is to say, that skid is lagged relative to carrier chain, that just illustrates that skid is opposite
Sliding in conveying chain leading after, PLC just forbids spray robot to execute the movement for opening car door, while controlling the quickening of driving motor
The speed of service prevents the spray robot waiting time too long so that skid is accelerated to reach corresponding points, wastes beat, skids is waited to arrive
The movement of enabling could be executed when up to position R2.The situation of detection switch R3 etc. is similar, and this will not be detailed here.
As shown in fig. 6, for according to the of lacquer spraying technique robot collision avoidance system in automobile provided in an embodiment of the present invention
Two kinds of structural schematic diagrams, the system can also include:
Alarm is connected with the programmable logic controller (PLC), for the transmission when skid mobile distance and carrier chain
Apart from it is inconsistent when, alarm；
The alarm includes any of the following or a variety of: acoustic alarm and optical alarm.
In a specific embodiment, if switch 2 is not triggered slowly, skid is just represented slowly not to position 2, and is compiled
Code device is counting always, that is to say, that carrier chain operates normally, and that skid may advance is too slow or stopped, at this moment system
It just will call the police, spray robot stops operation, and prompts manually to carry out inspection intervention, for example, encoder to count signal can be set
It just alarms when being more than 100 with the signal of detection switch.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects, In
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.
Those skilled in the art will understand that can be carried out adaptively to the module in the device in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although embodiment described herein includes institute in other embodiments
Including certain features rather than other feature, but the combination of the feature of different embodiment means in the scope of the present invention
Within and form different embodiments.For example, in the following claims, embodiment claimed it is any it
One can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) are according to an embodiment of the present invention for multioperation end remote control list to realize
Some or all functions in the system of operation object.The present invention is also implemented as executing method as described herein
Some or all equipment or system program (such as computer program and computer program product).Such realization is originally
The program of invention can store on a computer-readable medium, or may be in the form of one or more signals.In this way
Signal can download and obtain from the website of internet, can also be provided on the carrier signal, or in any other forms
It provides.
It should be noted that above-described embodiment is that illustrate the present invention rather than limit it, and
Those skilled in the art can be designed alternative embodiment without departing from the scope of the appended claims.In claim
In, any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" is not excluded for depositing
In elements or steps etc. not listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of more
A such element.The present invention can be by means of including the hardware of several different elements and by means of properly programmed calculating
Machine is realized.If several in these systems can be by same in the unit claim for listing dry systems
Hardware branch embodies.The use of word first, second and third etc. does not indicate any sequence.These words can be explained
For title.
Claims (4)
1. lacquer spraying technique robot collision-proof method in a kind of automobile characterized by comprising
Interior lacquer spraying technique is divided into several process sections；
According to the technique duration of each process section and the speed of carrier chain, carrier chain is divided into multiple sections；
Skid position sensor is respectively set in the starting point in each section or end, to detect whether skid reaches pre-determined bit
It sets；
When skid reaches predetermined position, judge whether the mobile distance of skid and the transmission of carrier chain distance are consistent；
If it is, spray robot executes corresponding processing step；
If the transmission of the mobile distance of skid and carrier chain is greater than the biography of carrier chain apart from the mobile distance of inconsistent and skid
Dynamic distance then forbids spray robot to execute corresponding processing step；
Increase the transmission speed of carrier chain, until corresponding skid position sensor is triggered；
After corresponding skid position sensor is triggered, the transmission speed of carrier chain is down to normal speed.
2. the method according to claim 1, wherein
The process section include: spray painting preliminary process section, open front door process section, front door lacquer spraying technique section, front door spray painting exit
Section, interior spray output process section are exited in section, opening back door process section, back door lacquer spraying technique section, back door spray painting；
It the skid position sensor totally 8, is respectively arranged at when above-mentioned each process section starts at the position of corresponding carrier chain.
3. the method according to claim 1, wherein the distance of the judgement skid movement and the transmission of carrier chain
Distance whether unanimously include:
The circle number of the drive shaft turns of carrier chain described in encoder to count；
The transmission distance of carrier chain is calculated according to the circle number of the radius of drive shaft and rotation；
Obtain the sensor distance between current skid position sensor and a upper adjacent skid position sensor；
Judge to be driven distance and whether sensor distance is consistent.
4. the method according to claim 1, wherein the method also includes:
If the transmission of the mobile distance of skid and carrier chain apart from inconsistent, is alarmed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710288782.7A CN107029971B (en) | 2017-04-27 | 2017-04-27 | Lacquer spraying technique robot collision-proof method in a kind of automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710288782.7A CN107029971B (en) | 2017-04-27 | 2017-04-27 | Lacquer spraying technique robot collision-proof method in a kind of automobile |
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| CN107511848A (en) * | 2017-08-30 | 2017-12-26 | 埃伏斯智能科技（上海）有限公司 | A kind of industrial robot intelligent tracking system |
| CN108514975A (en) * | 2018-04-28 | 2018-09-11 | 上海发那科机器人有限公司 | A kind of inner cavity robot spraying system |
| CN112947196B (en) * | 2021-02-22 | 2023-08-11 | 广汽本田汽车有限公司 | Control method, device and equipment for vehicle coating system and storage medium |
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| ATE412929T1 (en) * | 2006-09-14 | 2008-11-15 | Abb Research Ltd | METHOD AND DEVICE FOR AVOIDING COLLISIONS BETWEEN AN INDUSTRIAL ROBOT AND AN OBJECT |
| CN201632369U (en) * | 2009-12-17 | 2010-11-17 | 浙江豪情汽车制造有限公司 | Anti-error device for conveying chain of baking finish room |
| CN102249080B (en) * | 2011-04-08 | 2013-06-12 | 奇瑞汽车股份有限公司 | Markov chain (MC) and roller machine rotation suspension detection device and detection method thereof |
| CN104326244B (en) * | 2014-10-10 | 2017-01-11 | 上海发那科机器人有限公司 | Slipping monitoring mechanism and monitoring method of conveying chain sled |
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