CN112452581A - Moving workpiece automatic spraying robot system based on machine vision and working method - Google Patents
Moving workpiece automatic spraying robot system based on machine vision and working method Download PDFInfo
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- CN112452581A CN112452581A CN202011090361.1A CN202011090361A CN112452581A CN 112452581 A CN112452581 A CN 112452581A CN 202011090361 A CN202011090361 A CN 202011090361A CN 112452581 A CN112452581 A CN 112452581A
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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
- 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
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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
- 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
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot system for automatically spraying moving workpieces based on machine vision, which comprises surface light source vision acquisition equipment, wherein the surface light source vision acquisition equipment acquires characteristic information such as the shape, the size, the position, the posture and the like of a workpiece to be sprayed through a visual image; the autorotation hook guide rail can convey a workpiece to be sprayed to a spraying working area and enable the workpiece to autorotate at a constant speed after the workpiece enters the working area; the parameter controllable air pressure type paint supply system is used for spraying paint and providing dynamic spraying control parameters; the spraying robot performs specific spraying actions on the workpiece; and the visual human-computer interaction equipment provides a human-computer interaction interface to control the working mode and the working state of the spraying robot system and display the real-time working state and the working condition parameters of the system. The automatic spraying robot system is controlled through the input of the interactive interface, and a customized spraying scheme is generated for different workpieces by utilizing the machine vision technology, so that the misoperation of manual control is avoided, the operation is convenient, the action is sensitive, and the control is accurate.
Description
Technical Field
The invention relates to the technical field of automatic spraying, in particular to a moving workpiece automatic spraying robot system based on machine vision and a working method.
Background
With the continuous maturity of image processing technology and the gradual increase of social environmental awareness, automatic spraying robots, especially spraying robots including image processing functions, are more and more widely applied. The automatic spraying technology greatly improves the spraying efficiency while saving the paint, the image processing technology further enriches the application scenes of the spraying robot, and the automation degree of the system is improved.
At present, the application of the machine vision technology in the field of spraying robots is still in a primary stage, and currently, the main applications are 3 types: the class 1 is to distinguish limited typical workpieces through a machine vision technology and then operate according to a preset spraying track; the 2 nd type is to check the initial position of the workpiece entering the spraying area through the machine vision technology, send out an alarm to the workpiece with incorrect initial position, and manually correct the workpiece; the 3 rd category is that the robot performs complete spraying after inputting a CAD file containing workpiece size information, and the robot cannot work if the workpiece size exceeds the spraying range of the system.
The existing spraying robot system based on the machine vision technology mainly has the following problems:
1. the initial position of the workpiece is required to be fixed. Before a workpiece enters a spraying area, most spraying systems require manual or mechanical correction on the workpiece to enable the workpiece to enter the spraying area at a certain angle and posture, otherwise, normal spraying cannot be carried out.
2. The case of the workpiece having an excessively large size cannot be dealt with. The common spraying system is specially designed for one or more fixed workpieces, the spraying range can ensure complete spraying of the workpieces, but if the size of the workpieces is too large and exceeds the maximum spraying range of the robot, the spraying system cannot work normally.
3. The spray gun parameters cannot be dynamically adjusted. In most spraying systems, parameters such as the spraying amplitude, the atomization and the flow of the spray gun are set to fixed values, so that the spraying effect is not influenced by dynamic adjustment according to factors such as the characteristics of different workpieces, the distance between the workpiece and the spray gun, the spraying type and the like.
4. The spraying result of the workpiece cannot be fed back. The general spraying system can only feed back system error information such as motor faults and the like, cannot feed back the spraying effect of the current workpiece in real time, and workers can only search for errors such as missing spraying and the like through manual detection.
Disclosure of Invention
In order to solve the technical problems, the invention provides a moving workpiece automatic spraying robot system based on machine vision and a working method thereof, which can identify and spray any type of cylindrical workpiece without specifying the initial position and the size of the workpiece, dynamically generate a spraying scheme according to factors such as the size of the workpiece and the like, adjust spraying parameters, feed back a spraying result after the spraying is finished, and facilitate subsequent processing.
In order to achieve the technical effects, the technical scheme provided by the invention is as follows:
a robot system for automatically spraying moving workpieces based on machine vision comprises surface light source vision acquisition equipment, an autorotation type hook guide rail, a parameter-controllable air pressure type paint supply system, a spraying robot and visual human-computer interaction equipment. Visual man-machine interaction equipment passes through ethernet interface communication with area source vision collection equipment, visual man-machine interaction equipment and spraying robot, and spraying robot controls parameter controllable vapour-pressure type paint supply system through digit analog signal volume, and the autorotation formula couple guide rail will wait to spray the work piece and draw to spraying robot from area source vision collection equipment, delivers to next workspace after accomplishing the spraying with the work piece.
Further, the surface light source vision collecting apparatus further includes:
the industrial high-definition camera is used for shooting an image containing the complete outline of the workpiece;
the industrial LED area light source lighting facility is used for providing an area light source with high uniformity and no chromatic aberration required by a high-definition camera;
the Ethernet communication bus is used for sending the workpiece image and the video information acquired by the industrial high-definition camera to the industrial personal computer equipment;
and the shading darkroom environment is used for filtering ambient light and ensuring the imaging quality of the high-definition camera.
Further, the autorotation hook guide rail further comprises:
a guide rail driver for electrically driving the loaded hook to advance along the guide rail at a certain speed;
the track is used for guiding the load hook to move to a specified position in a workshop such as a spraying work area, a high-temperature drying area and the like;
the hook is used for loading a workpiece to move and performs uniform-speed autorotation motion in a spraying working area through gear superposition, so that subsequent spraying operation is facilitated.
Further, the parameter-controllable pneumatic paint supply system further comprises:
the air supply module is used for providing high-pressure air with sufficient flow and stable pressure; the paint supply module is used for providing paint required by spraying;
and the spray gun control module is used for providing air pressure required by controlling spraying parameters of the spray gun.
Further, the air supply module still includes: the air compressor is used for providing sufficient and stable high-pressure air; and the filter is used for filtering water vapor and other impurities in the air.
Further, the paint supply module further comprises: the flow control valve is used for adjusting the flow of air required by the paint pump; a paint pump for pushing paint to the spray gun by means of input air pressure;
further, the spray gun control module further comprises: 3 electromagnetic proportional valves are respectively used for accurately and dynamically controlling parameters such as flow size, fan-shaped (spray amplitude) opening degree and atomization degree in the spray gun paint spraying process; the flow control valves are 3, and the flow of air required by the 3 electromagnetic proportional valves is correspondingly adjusted.
Further, the painting robot further includes: the robot actuating mechanism loads the spray gun to move in the space through the multi-axis mechanical arm; the robot control cabinet is used for supplying power and controlling the robot actuating mechanism; one end of the power bus is connected with the robot actuating mechanism, and the other end of the power bus is connected with the robot control cabinet and is used for providing power and control information for robot movement; and the spray gun is arranged on the robot actuating mechanism and is used for spraying the guide rail moving workpiece.
Further, the visualized human-computer interaction device further comprises:
the touch screen is used for controlling the working mode, the working state and the like of the spraying system and displaying the real-time working state and the working condition parameters of the system;
the industrial personal computer equipment is used for processing the control information received from the touch screen and sending the control information to the spraying robot, and is also used for analyzing and processing the workpiece image and video information acquired by the surface light source visual acquisition equipment to obtain the information of the size, the pose and the like of the workpiece and sending the information to the robot;
one end of the power supply is connected with the touch screen through a wire, and the other end of the power supply is connected with industrial personal computer equipment through a voltage stabilizer;
and the Ethernet communication bus is used for sending the information processed by the industrial personal computer equipment to the spraying robot.
The working method of the automatic spraying robot system for the moving workpiece based on the machine vision comprises the following steps:
s1, starting working;
s2, enabling the workpiece to be sprayed to enter a collection area;
s3, collecting the image of the workpiece to be sprayed by the surface light source vision collection equipment;
s4, analyzing the information of the workpiece to be sprayed by the visual human-computer interaction equipment through an image recognition technology;
s5, the spraying robot generates a personalized spraying scheme;
s6, when the workpiece to be sprayed enters a spraying area, the spray gun starts to supply paint;
s7, starting spraying operation of the workpiece to be sprayed by the spraying robot executing mechanism;
s8, after the spraying is finished, the workpiece leaves the spraying area;
and S9, feeding back the spraying result by the visual human-computer interaction equipment.
The invention has the beneficial effects that: the automatic moving workpiece spraying robot system based on the machine vision can be used for automatically and intelligently spraying different types of workpieces, the harm of manual spraying to workers is reduced, the human resource cost is reduced, the environmental protection level of enterprises is improved, and better social and economic benefits are obtained.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a robot system for automatically spraying moving workpieces based on machine vision according to the present invention;
FIG. 2 is a flow chart of the operation of the robot system for automatically spraying a moving workpiece based on machine vision according to the present invention;
in the figure, 1-surface light source vision acquisition equipment 2-autorotation type hook guide rail 3-parameter controllable air pressure type paint supply system 4-spraying robot 5-visual man-machine interaction equipment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a moving workpiece automatic spraying robot system based on machine vision according to the present invention. The system comprises: the system comprises a surface light source vision acquisition device 1, a self-rotating hook guide rail 2, a parameter controllable air pressure type paint supply system 3, a spraying robot 4 and a visual human-computer interaction device 5.
Specifically, the surface light source vision acquisition equipment 1 ensures that the autorotation type hook guide rail 2 can pass under the condition of carrying a load through a hollow-out type installation method, and an industrial high-definition camera of the surface light source vision acquisition equipment 1 is connected with an industrial personal computer device of the visual human-computer interaction device 5 and used for transmitting a workpiece acquisition image shot by the industrial high-definition camera and a primary processing result to the industrial personal computer device for further processing.
Specifically, the autorotation type hook guide rail 2 conveys the workpiece from the surface light source vision acquisition equipment 1 to a spraying working area, the spraying robot 4 starts spraying operation, and after the workpiece enters the spraying working area, the workpiece is superposed through gears and rotates at a constant speed, so that the subsequent spraying operation is facilitated.
Specifically, an air supply module of the parameter controllable air pressure type paint supply system 3 is respectively connected with a paint supply module and a spray gun control module, and provides high-pressure air with sufficient flow and stable pressure for the paint supply module and the spray gun control module; the paint supply module is connected with a spray gun of the spraying robot 4 to provide paint required by spraying for the spray gun; one end of the spray gun control module is connected with the robot control cabinet of the spraying robot 4, receives a control electric signal from the robot control cabinet and converts the control electric signal into corresponding air pressure, and the other end of the spray gun control module is connected with the spray gun of the spraying robot 4 and is used for transmitting the converted air pressure to the spray gun so as to control spraying parameters of the spray gun.
Specifically, a robot actuator of the spraying robot 4 is connected with a robot control cabinet and used for supplying energy and controlling the robot actuator; the spray gun of the spraying robot 4 is mounted on a robot executing mechanism of the spraying robot 4 and used for moving the workpiece to execute a spraying task.
Specifically, a touch screen of the visual human-computer interaction device 5 is connected with an industrial personal computer device of the visual human-computer interaction device 5, and interaction control information and system state feedback information are obtained.
As shown in fig. 2, the working process of the automatic spraying robot system for moving workpieces based on machine vision of the present invention is as follows:
s1, starting working;
s2, enabling the workpiece to be sprayed to enter a collection area;
s3, collecting the image of the workpiece to be sprayed by the surface light source vision collection equipment;
s4, analyzing the information of the workpiece to be sprayed by the visual human-computer interaction equipment through an image recognition technology;
s5, the spraying robot generates a personalized spraying scheme;
s6, when the workpiece to be sprayed enters a spraying area, the spray gun starts to supply paint;
s7, starting spraying operation of the workpiece to be sprayed by the spraying robot executing mechanism;
s8, after the spraying is finished, the workpiece leaves the spraying area;
s9, feeding back spraying results by visual human-computer interaction equipment
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. Moving work piece automatic spraying robot system based on machine vision, its characterized in that: including area source vision collection equipment, rotation formula couple guide rail, the controllable vapour-pressure type of parameter supplies lacquer system, spraying robot and visual man-machine interaction equipment, visual man-machine interaction equipment and spraying robot pass through the ethernet and link to each other, visual man-machine interaction equipment and area source vision collection equipment pass through the ethernet and link to each other, the controllable vapour-pressure type of parameter supplies lacquer system to pass through analog signal wire and spraying robot and links to each other, wherein:
the surface light source vision acquisition equipment acquires the characteristic information of the shape, the size, the position and the posture of the workpiece to be sprayed through a vision image;
the autorotation type hook guide rail is used for conveying the workpiece to be sprayed to a spraying working area and enabling the workpiece to autorotate at a constant speed after entering the working area, so that the follow-up spraying operation is facilitated;
the parameter controllable air pressure type paint supply system is used for spraying paint and providing dynamic spraying control parameters;
the spraying robot consists of a control cabinet and an executing mechanism and executes specific spraying actions on a workpiece to be sprayed;
and the visual human-computer interaction equipment provides a human-computer interaction interface to control the working mode and the working state of the spraying robot system and display the real-time working state and the working condition parameters of the system.
2. The machine-vision-based automated painting robot system for moving workpieces according to claim 1, wherein the surface light source vision collection device further comprises:
the industrial high-definition camera is used for shooting a complete outline image containing a workpiece;
the industrial LED area light source lighting facility is used for providing an area light source with high uniformity and no chromatic aberration required by a high-definition camera;
the Ethernet communication bus is used for sending the workpiece image and the video information acquired by the industrial high-definition camera to the industrial personal computer equipment;
and the shading darkroom environment is used for filtering ambient light and ensuring the imaging quality of the high-definition camera.
3. The machine-vision based moving-workpiece automatic spray coating robot system of claim 1, wherein said visualization human interaction device further comprises:
the touch screen is used for controlling the working mode and the working state of the spraying system and displaying the real-time working state and the working condition parameters of the system;
the industrial personal computer equipment is used for processing the control information received from the touch screen and sending the control information to the spraying robot, and is also used for analyzing and processing the workpiece image and video information acquired by the surface light source visual acquisition equipment to obtain the overall dimension, position posture and moving speed parameter information of the workpiece and sending the parameter information to the robot;
one end of the power supply is connected with the touch screen through a wire, and the other end of the power supply is connected with industrial personal computer equipment through a voltage stabilizer;
and the Ethernet communication bus is used for sending the information processed by the industrial personal computer equipment to the spraying robot.
4. The machine-vision based automated moving workpiece spray robot system of claim 1, further comprising: and the spraying track of the spraying robot is generated in an individualized way according to the parameters of the overall size, the position posture and the moving speed of the workpiece.
5. The machine-vision based automated moving workpiece spray robot system of claim 3, wherein: the visual man-machine interaction equipment controls the starting, painting, paint changing, standby and stopping working states of the system through an interactive interface, and displays the real-time working state of the spraying system and the spraying result feedback of a single workpiece.
6. The method of operation of a machine vision based automated moving workpiece spray robot system of any of claims 1-5, comprising the steps of:
s1, starting working;
s2, enabling the workpiece to be sprayed to enter a collection area;
s3, collecting the image of the workpiece to be sprayed by the surface light source vision collection equipment;
s4, analyzing the information of the workpiece to be sprayed by the visual human-computer interaction equipment through an image recognition technology;
s5, the spraying robot generates a personalized spraying scheme;
s6, when the workpiece to be sprayed enters a spraying area, the spray gun starts to supply paint;
s7, starting spraying operation of the workpiece to be sprayed by the spraying robot executing mechanism;
s8, after the spraying is finished, the workpiece leaves the spraying area;
and S9, feeding back the spraying result by the visual human-computer interaction equipment.
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| CN202011090361.1A CN112452581A (en) | 2020-10-13 | 2020-10-13 | Moving workpiece automatic spraying robot system based on machine vision and working method |
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| CN202011090361.1A CN112452581A (en) | 2020-10-13 | 2020-10-13 | Moving workpiece automatic spraying robot system based on machine vision and working method |
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| CN113275151A (en) * | 2021-05-13 | 2021-08-20 | 东风柳州汽车有限公司 | Spraying pitch adjusting system and method |
| CN113743473A (en) * | 2021-08-06 | 2021-12-03 | 成都飞机工业（集团）有限责任公司 | Intelligent identification and detection method for automatic spraying process of complex parts |
| CN115069470A (en) * | 2022-06-24 | 2022-09-20 | 湖南森香木业有限公司 | Intelligent furniture processing system |
| CN116442190A (en) * | 2023-06-20 | 2023-07-18 | 中数智科(杭州)科技有限公司 | Robot train inspection system |
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Application publication date: 20210309 |