CN112078253A - Spraying system and spraying method - Google Patents
Spraying system and spraying method Download PDFInfo
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- CN112078253A CN112078253A CN202010953270.XA CN202010953270A CN112078253A CN 112078253 A CN112078253 A CN 112078253A CN 202010953270 A CN202010953270 A CN 202010953270A CN 112078253 A CN112078253 A CN 112078253A
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- 238000005507 spraying Methods 0.000 title claims abstract description 116
- 239000000976 ink Substances 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 230000009471 action Effects 0.000 claims abstract description 8
- 230000005611 electricity Effects 0.000 claims abstract description 3
- 239000007921 spray Substances 0.000 claims description 55
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 29
- 238000001816 cooling Methods 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 7
- 238000010422 painting Methods 0.000 claims description 5
- 238000010146 3D printing Methods 0.000 abstract description 4
- 238000007639 printing Methods 0.000 description 5
- 238000007650 screen-printing Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000003086 colorant Substances 0.000 description 2
- 239000000498 cooling water Substances 0.000 description 2
- 239000000049 pigment Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000007641 inkjet printing Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
- B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J11/00—Devices or arrangements of selective printing mechanisms, e.g. ink-jet printers or thermal printers, for supporting or handling copy material in sheet or web form
- B41J11/0015—Devices or arrangements of selective printing mechanisms, e.g. ink-jet printers or thermal printers, for supporting or handling copy material in sheet or web form for treating before, during or after printing or for uniform coating or laminating the copy material before or after printing
- B41J11/002—Curing or drying the ink on the copy materials, e.g. by heating or irradiating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J11/00—Devices or arrangements of selective printing mechanisms, e.g. ink-jet printers or thermal printers, for supporting or handling copy material in sheet or web form
- B41J11/0015—Devices or arrangements of selective printing mechanisms, e.g. ink-jet printers or thermal printers, for supporting or handling copy material in sheet or web form for treating before, during or after printing or for uniform coating or laminating the copy material before or after printing
- B41J11/002—Curing or drying the ink on the copy materials, e.g. by heating or irradiating
- B41J11/0021—Curing or drying the ink on the copy materials, e.g. by heating or irradiating using irradiation
- B41J11/00214—Curing or drying the ink on the copy materials, e.g. by heating or irradiating using irradiation using UV radiation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J11/00—Devices or arrangements of selective printing mechanisms, e.g. ink-jet printers or thermal printers, for supporting or handling copy material in sheet or web form
- B41J11/0015—Devices or arrangements of selective printing mechanisms, e.g. ink-jet printers or thermal printers, for supporting or handling copy material in sheet or web form for treating before, during or after printing or for uniform coating or laminating the copy material before or after printing
- B41J11/002—Curing or drying the ink on the copy materials, e.g. by heating or irradiating
- B41J11/0021—Curing or drying the ink on the copy materials, e.g. by heating or irradiating using irradiation
- B41J11/00218—Constructional details of the irradiation means, e.g. radiation source attached to reciprocating print head assembly or shutter means provided on the radiation source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J25/00—Actions or mechanisms not otherwise provided for
- B41J25/304—Bodily-movable mechanisms for print heads or carriages movable towards or from paper surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41M—PRINTING, DUPLICATING, MARKING, OR COPYING PROCESSES; COLOUR PRINTING
- B41M5/00—Duplicating or marking methods; Sheet materials for use therein
- B41M5/0082—Digital printing on bodies of particular shapes
- B41M5/0088—Digital printing on bodies of particular shapes by ink-jet printing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41M—PRINTING, DUPLICATING, MARKING, OR COPYING PROCESSES; COLOUR PRINTING
- B41M7/00—After-treatment of prints, e.g. heating, irradiating, setting of the ink, protection of the printed stock
- B41M7/0081—After-treatment of prints, e.g. heating, irradiating, setting of the ink, protection of the printed stock using electromagnetic radiation or waves, e.g. ultraviolet radiation, electron beams
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides a spraying system and a spraying method, comprising the following steps: work platform, the arm, spraying component and controller, the one end of arm sets up in work platform, the arm is at least including rotating six limbs of connection in proper order, the arm has six degrees of freedom at least, spraying component sets up in the free end of arm, spraying component includes shower nozzle group and distance sensor, shower nozzle group is used for spouting the china ink, distance sensor is used for detecting the current distance on shower nozzle group and the product surface of treating the spraying, the controller and arm, shower nozzle group and distance sensor electricity are connected, the controller is used for acquireing current distance, the controller is used for controlling the motion gesture of arm, the controller is used for controlling the spraying action of shower nozzle group according to current distance and the current motion gesture of arm. And after the product to be sprayed is positioned on the working platform, the product can be sprayed. The spraying system of the scheme has the advantages of small occupied area, flexible operation and wider application range, and can realize three-dimensional printing of products.
Description
Technical Field
The invention belongs to the technical field of decoration processing, and particularly relates to a spraying system and a spraying method.
Background
The traditional silk-screen technology has a long time, and has no new technical breakthrough for decades. The traditional screen printing processing principle is to use a manufactured graphic screen printing plate, and to make graphics or characters penetrate through meshes of the screen printing plate by using external pressure and to print the graphics or characters on the surface of a product in a missing mode. Although the process is simple and convenient, the process always has the defects of large floor area, difficulty in managing the silk-screen printing plate, single silk-screen color, incapability of silk-screen gradual color printing and the need of equipping professional skills, and the like.
In the new century, although the silk-screen technology is still used in a large scale in the industrial field, the development of the silk-screen technology is limited by more and more requirements in more application scenes, for example, color silk-screen is directly printed in industrial products, and even the silk-screen technology of the gradient color LOGO is not finished by the traditional silk-screen method.
To meet the requirements of multiple purposes and printing of various materials, two implementations are generally available in the related art:
(1) the UV printer replaces the traditional silk-screen printing equipment most reliably at present, can print on the surfaces of horizontal and partial curved objects, but has too large volume and site limitation, and cannot print in the longitudinal direction or depth direction of a large-sized product;
(2) the thermal transfer printer can not realize the printing of a product in a small range and in a longitudinal direction, and can also need high temperature to attach the pattern on an object, so that the thermal transfer printer can not be used on a plastic product, and in addition, once the pigment is attached, the pigment can not be wiped, and the limitation is larger.
Disclosure of Invention
The invention aims to provide a spraying system and a spraying method, which have the advantages of small occupied area, flexible operation and wider application range, and can realize three-dimensional printing on products.
To solve the above technical problem, the present invention is achieved as follows, and a spray coating system includes: a working platform, a mechanical arm, a spraying component and a controller, wherein the working platform is used for placing a product to be sprayed, one end of the mechanical arm is arranged on the working platform, the mechanical arm at least comprises six arm limbs which are sequentially and rotatably connected, the mechanical arm at least has six degrees of freedom, the spraying component is arranged at the free end of the mechanical arm, the spraying component comprises a nozzle group and a distance sensor, the nozzle group is used for spraying ink, the distance sensor is used for detecting the current distance between the nozzle group and the surface of a product to be sprayed, the controller is electrically connected with the mechanical arm, the spray head group and the distance sensor and is used for acquiring the current distance, the controller is used for controlling the motion gesture of the mechanical arm, and the controller is used for controlling the spraying action of the spray head group according to the current distance and the current motion gesture of the mechanical arm.
Further, the spraying assembly further comprises a UV LED curing lamp, the UV LED curing lamp and the spray head group are located on the same side of the mechanical arm, and the UV LED curing lamp is used for generating ultraviolet rays for curing ink sprayed on the surface of a product.
Further, the spraying assembly further comprises a water cooling structure, the water cooling structure is in contact connection with the UV LED curing lamp, and the water cooling structure is provided with a water cooling cavity and a water inlet and a water outlet which are communicated with the water cooling cavity.
Furthermore, a laser sensor electrically connected with the controller is arranged on one side of the mechanical arm, the laser sensor is used for detecting whether an obstacle exists in a preset distance around the mechanical arm, and if the obstacle is detected, the controller controls the mechanical arm and the spraying assembly to stop acting.
Further, the spraying system further comprises a 3D scanning assembly arranged at the free end of the mechanical arm, the 3D scanning assembly comprises a scanning signal generator and a scanning signal receiver, the scanning signal generator and the scanning signal receiver are both electrically connected with the controller, the scanning signal generator is used for emitting scanning signals to the surface of a product, the scanning signal receiver is used for receiving the scanning signals reflected by the surface of the product, and the controller is used for carrying out three-dimensional modeling and archiving on the scanned product according to the scanning signals received by the scanning signal receiver.
Further, the spraying system further comprises a horizontal position adjusting assembly and a vertical position adjusting assembly, wherein the horizontal position adjusting assembly is arranged on the working platform, the vertical position adjusting assembly is arranged on the horizontal position adjusting assembly, and one end of the mechanical arm is connected to the vertical position adjusting assembly.
Furthermore, the mechanical arm sequentially comprises a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint from the connecting end of the mechanical arm and the working platform to the free end, the rotating speeds of the first joint, the second joint, the third joint and the fourth joint are all within 90 degrees/S, and the rotating speeds of the fifth joint and the sixth joint are all within 180 degrees/S; the rotation range of the first joint is within-170 degrees to 170 degrees, and the rotation range of the second joint is within 135 degrees to 110 degrees; the rotation range of the third joint is-160 degrees; the rotation range of the fourth joint is within-120 degrees to 120 degrees; the rotation range of the sixth joint is within-359 degrees to 359 degrees.
Further, there is provided a spraying method applied to the spraying system as described in any one of the above, including the steps of:
positioning a product to be sprayed on the working platform, and enabling the position of the product to be sprayed on the working platform to correspond to the system coordinate position of the 3D model of the product to be sprayed on the spraying system;
the controller controls the mechanical arm to move according to the pattern to be printed on the 3D model, so that the spray head group passes through the surface of the product to be sprayed along a track corresponding to the pattern to be printed, meanwhile, the controller controls the spray head group to spray ink according to the position, corresponding to the pattern to be printed, of the spray head group, so that the position, corresponding to the spray head, of the product to be sprayed is attached with the color effect corresponding to the position, corresponding to the pattern to be printed, of the spray head group, and the distance between the spray head group and the surface of the product to be sprayed is within 0-5 mm.
Further, before the position of the product to be sprayed on the working platform corresponds to the position of the 3D model of the product to be sprayed on the system coordinate position of the spraying system, the method further comprises the following steps:
3D scanning is carried out on the product to be sprayed, three-dimensional modeling is carried out on the product to be sprayed according to the 3D scanning result, and a 3D model corresponding to the product to be sprayed is formed;
and matching the pattern to be printed with the 3D model, and determining the position corresponding relation between the pattern to be printed and the 3D model.
Further, before the controller controls the mechanical arm to move according to the pattern to be printed on the 3D model, so that the nozzle group passes through the surface of the product to be sprayed along the track corresponding to the pattern to be printed, and at the same time, the controller controls the nozzle group to spray ink according to the current position of the nozzle group corresponding to the pattern to be printed, so that the color effect corresponding to the corresponding position of the pattern to be printed is attached to the current position of the product to be sprayed corresponding to the nozzle, the method further includes the steps of:
determining the outermost contour of a pattern to be printed on the 3D model, determining a pre-spraying track according to the outermost contour, controlling the mechanical arm to act by the controller, enabling the spray head group to pass through the surface of the product to be sprayed along the pre-spraying track, and meanwhile detecting whether the distance between the spray head group and the outer surface of the product to be sprayed is smaller than a danger threshold value;
if so, controlling the mechanical arm to stop acting, and returning to the step of positioning the product to be sprayed on the working platform, so that the position of the product to be sprayed on the working platform corresponds to the system coordinate position of the 3D model of the product to be sprayed on the spraying system;
if not, controlling the mechanical arm to act, and enabling the spray head group to continuously pass through the surface of the product to be sprayed along the pre-spraying track.
Compared with the prior art, the spraying system and the spraying method have the advantages that:
the product to be sprayed can be positioned on the working platform, so that the position of the product to be sprayed corresponds to a system coordinate system of a spraying system, then a pattern to be printed to be sprayed on the product to be sprayed is sprayed, the controller can control the mechanical arm to act, the spray head group moves along the surface of the product to be sprayed, the distance sensor can detect the current distance between the spray head group and the surface of the product to be sprayed during movement, the controller can control the movement of the mechanical arm according to the current distance, so that the current distance is kept within a certain range, and the spray head group is controlled to spray ink when the current distance and the position of the spray head group meet corresponding conditions, so that the product to be sprayed is sprayed with a pattern effect corresponding to the pattern to be printed. The spraying system of the scheme has the advantages of small occupied area, flexible operation and wider application range, and can realize three-dimensional printing of products.
Drawings
FIG. 1 is a schematic view of a portion of a spray system according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating the main steps of the spraying method according to the embodiment of the present invention.
In the drawings, each reference numeral denotes: 1. a mechanical arm; 2. a spray assembly; 3. a 3D scanning component; 11. an arm limb; 12. a laser sensor; 13. a first joint; 14. a second joint; 15. a third joint; 16. a fourth joint; 17. a fifth joint; 18. a sixth joint; 21. a nozzle group; 22. a distance sensor; 23. a UV LED curing lamp; 24. and (5) a water cooling structure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example (b):
in this embodiment, with reference to fig. 1, there is provided a spray coating system including: a work platform (not shown), a robotic arm 1, spraying subassembly 2 and controller (not shown), work platform is used for placing the product of treating the spraying, the one end of arm 1 sets up in work platform, arm 1 is at least including six limbs 11 that rotate the connection in proper order, arm 1 has six degrees of freedom at least, spraying subassembly 2 sets up in the free end of arm 1, spraying subassembly 2 includes shower nozzle group 21 and distance sensor 22, shower nozzle group 21 is used for spouting the china ink, distance sensor 22 is used for detecting the current distance on shower nozzle group 21 and the product surface of treating the spraying, the controller and arm 1, shower nozzle group 21 and distance sensor 22 electricity are connected, the controller is used for acquireing current distance, the controller is used for controlling the motion gesture of arm 1, the controller is used for controlling the spraying action of shower nozzle group 21 according to current distance and the current motion gesture of arm 1.
The product to be sprayed can be positioned on the working platform, so that the position of the product to be sprayed corresponds to a system coordinate system of a spraying system, then a pattern to be printed to be sprayed on the product to be sprayed is sprayed, the controller can control the mechanical arm 1 to act, the spray head group 21 moves along the surface of the product to be sprayed, the distance sensor 22 can detect the current distance between the spray head group 21 and the surface of the product to be sprayed during movement, the controller can control the movement of the mechanical arm 1 according to the current distance, so that the current distance is kept within a certain range, and the spray head group 21 is controlled to spray ink when the current distance and the position of the spray head group 21 meet corresponding conditions, so that the product to be sprayed is sprayed with a pattern effect corresponding to the pattern to be printed. The spraying system of the scheme has the advantages of small occupied area, flexible operation and wider application range, and can realize three-dimensional printing of products.
Specifically, in the present embodiment, the head group 21 includes six heads, each head can be adjusted at an angle of 90 °, the spraying system can include an ink system, the heads of the head group 21 are connected to the ink system, the ink sprayed by the head group 21 is provided by the ink system, the volume of the ink drops sprayed by the heads is between 4pl and 12pl, each head can respectively spray different types of inks with different colors, such as red ink, yellow ink, blue ink, black ink, white ink, and the like, and the heads can also be used for spraying gloss oil. In some embodiments, the head group 21 may include three, four, five, seven, eight, nine, or ten heads, different heads may be used to eject different types and colors of ink, and the number and types of heads in the head group 21 may be set according to actual conditions.
In this embodiment, the adopted ink is UV ink, the spraying assembly 2 further includes a UV LED curing lamp 23, the UV LED curing lamp 23 and the nozzle set 21 are located on the same side of the mechanical arm 1, and the UV LED curing lamp 23 is used for generating ultraviolet rays for curing the ink sprayed on the surface of the product. Specifically, the UV LED curing lamps 23 are located on the rear side of the movement direction of the nozzle group 21, the irradiation direction of the UV LED curing lamps 23 is parallel to the ink jetting direction of the nozzles, and after the nozzles spray ink on the surface of a product to be sprayed, the ultraviolet rays irradiated by the UV LED curing lamps 23 can cure the ink, so that the ink can be sprayed and dried, and the spraying efficiency is higher. In order to ensure the working reliability of the UV LED curing lamp 23, the spraying component 2 further comprises a water cooling structure 24, the water cooling structure 24 is in contact connection with the UV LED curing lamp 23, and the water cooling structure 24 is provided with a water cooling cavity and a water inlet and a water outlet which are communicated with the water cooling cavity. The water cooling structure 24 is tightly attached to the heating part of the UV LED curing lamp 23, the water inlet can be connected with cooling water, and the water outlet can discharge the cooling water passing through the water cooling cavity, so that the heat generated by the UV LED curing lamp 23 is transferred, the UV LED curing lamp 23 is kept at a reliable working temperature, and the water cooling structure is safer and more stable. In some embodiments, the joint of the robot arm 1 may also be provided with the water cooling structure 24 as described above, because if the robot arm 1 works for a long time, high temperature may be generated at the joint, and the closed loop water cooling system can effectively take away the excess heat energy at the joint of the robot arm 1, so that the robot arm 1 works reliably.
And a laser sensor 12 electrically connected with the controller is arranged on one side of the mechanical arm 1, the laser sensor 12 is used for detecting whether an obstacle exists in a preset distance around the mechanical arm 1, and if the obstacle is detected, the controller controls the mechanical arm 1 and the spraying component 2 to stop acting. The preset distance can be 0.5m, 1m, 1.5m and the like, the arrangement of the laser sensor 12 can prevent people from being collided and injured by the mechanical arm 1 due to mistaken entry, and the safety of the spraying system is improved.
In order to more conveniently and flexibly carry out spraying operation on products and expand the application range of the spraying system, the spraying system further comprises a 3D scanning assembly 3 arranged at the free end of the mechanical arm 1, the 3D scanning assembly 3 comprises a scanning signal generator and a scanning signal receiver, the scanning signal generator and the scanning signal receiver are both electrically connected with a controller, the scanning signal generator is used for emitting scanning signals to the surfaces of the products, the scanning signal receiver is used for receiving the scanning signals reflected by the surfaces of the products, and the controller is used for carrying out three-dimensional modeling and archiving on the scanned products according to the scanning signals received by the scanning signal receiver. Specifically, the scanning assembly 3 may be disposed below the spraying assembly 2, or the scanning assembly 3 may be disposed above the spraying assembly 2, or the scanning assembly 3 and the spraying assembly 2 are disposed side by side, and any position setting manner may be adopted as long as the position setting manner can realize the spraying action and the scanning action, and the present invention is not limited thereto. The scanning signal generator can adopt a laser generator, an ultrasonic generator, an infrared generator and the like, the scanning signal receiver corresponds to a laser receiver, an ultrasonic receiver, an infrared receiver and the like, the position information of the surface of a product to be sprayed, which is obtained by transmitting scanning signals and receiving reflected scanning signals, is modeled and filed on the product to be sprayed, so that a 3D model corresponding to the product to be sprayed is obtained.
In order to enable the printing range of the spraying system to be larger and adapt to spraying work of products with more sizes, the spraying system further comprises a horizontal position adjusting assembly and a vertical position adjusting assembly, the horizontal position adjusting assembly is arranged on the working platform, the vertical position adjusting assembly is arranged on the horizontal position adjusting assembly, and one end of the mechanical arm 1 is connected to the vertical position adjusting assembly. Specifically, for example, the horizontal position adjusting assembly may be an XY stage, and the specific structure includes: the X slide rail is arranged on the working platform and arranged along the X direction, the first slide block is assembled on the X slide rail in a sliding mode, the Y slide rail is arranged on the first slide block and arranged along the Y direction, the second slide block is assembled on the Y slide rail in a sliding mode, the vertical position adjusting assembly can comprise a Z slide rail which is assembled on the second slide block and vertically arranged and a third slide block which is assembled on the Z slide rail in a sliding mode, one end of the mechanical arm 1 is assembled on the third slide block, and the working platform can be a rotating platform in the mode. In some embodiments, the working platform may be a circular platform, the horizontal position adjusting assembly may drive the vertical position adjusting assembly to move circularly around the working platform, and the vertical position adjusting assembly may drive the mechanical arm 1 to move in the height direction, specifically, the horizontal position adjusting assembly may include a circular slide rail coaxially disposed with the working platform, a first slide block slidably mounted on the circular slide rail, a radial slide rail disposed on the first slide block and arranged in the radial direction of the working platform, a second slide block slidably mounted on the radial slide rail, a vertical slide rail disposed on the second slide block and arranged in the vertical direction, and a third slide block slidably mounted on the vertical slide rail, the mechanical arm 1 is mounted on the third slide block, the movement of the mechanical arm 1 around the working platform may be achieved by the horizontal position adjusting assembly and the vertical position adjusting assembly, and under the combination of the movement of the mechanical arm 1, the surrounding spraying work of the product to be sprayed placed on the working platform can be realized, and the spraying is more efficient. In each implementation mode, each sliding block is provided with a driving mechanism, the driving mechanism can adopt a motor gear transmission mode, and the sliding blocks are driven by the driving mechanism to move.
In the embodiment, the mechanical arm 1 sequentially comprises a first joint 13, a second joint 14, a third joint 15, a fourth joint 16, a fifth joint 17 and a sixth joint 18 from the connecting end with the working platform to the free end direction, the rotating speeds of the first joint 13, the second joint 14, the third joint 15 and the fourth joint 16 are all within 90 degrees/S, and the rotating speeds of the fifth joint 17 and the sixth joint 18 are all within 180 degrees/S; the rotation range of the first joint 13 is within-170 degrees to 170 degrees, and the rotation range of the second joint 14 is within 135 degrees to 110 degrees; the rotation range of the third joint 15 is within-160 degrees to 160 degrees; the rotation range of the fourth joint 16 is within-120 degrees to 120 degrees; the range of rotation of sixth joint 18 is within-359 ° to 359 °. The spraying operation of the spray head group 21 for the products to be sprayed can be realized flexibly and conveniently by the mechanical arm 1.
In this embodiment, with reference to fig. 1 and fig. 2, there is provided a spraying method applied to the spraying system described above, including the steps of:
s1, positioning a product to be sprayed on the working platform, and enabling the position of the product to be sprayed on the working platform to correspond to the system coordinate position of the 3D model of the product to be sprayed on the spraying system;
s2, controlling the mechanical arm 1 to move by the controller according to the pattern to be printed on the 3D model, enabling the nozzle group 21 to pass through the surface of the product to be sprayed along the track corresponding to the pattern to be printed, controlling the nozzle group 21 to eject ink by the controller according to the corresponding position of the nozzle group 21 to the pattern to be printed, attaching the color effect corresponding to the corresponding position of the pattern to be printed to the position of the product to be sprayed corresponding to the nozzle at present, wherein the distance between the nozzle group 21 and the surface of the product to be sprayed is within 0-5mm, preferably 2-3mm, and can be 1mm under the requirement of accurate spraying.
Specifically, in this embodiment, in order to ensure the reliability of the operation of the spraying system, when the spraying system is started, the controller first performs self-checking on each joint of the mechanical arm 1, the spraying component 2, the horizontal position adjusting component, the vertical position adjusting component, and the like to detect whether a fault occurs in the corresponding mechanism, and if the fault occurs, the controller prompts a fault position, and if the fault does not occur, the spraying system is normally started.
In this embodiment, when there is no 3D model corresponding to the product to be sprayed in the controller, before the step of enabling the position of the product to be sprayed on the working platform to correspond to the position of the 3D model of the product to be sprayed on the system coordinate of the spraying system, the method further includes the steps of: 3D scanning is carried out on the product to be sprayed, three-dimensional modeling is carried out on the product to be sprayed according to the 3D scanning result, and a 3D model corresponding to the product to be sprayed is formed; and matching the pattern to be printed with the 3D model, and determining the position corresponding relation between the pattern to be printed and the 3D model. Through the steps, the 3D model corresponding to the product to be sprayed can be created, the corresponding pattern to be printed is manufactured according to the 3D model, and then the spraying operation can be performed on the product to be sprayed according to the pattern to be printed.
In order to ensure safety during the spraying process of the spraying system, the spraying method further comprises the steps of, before the spraying operation is performed:
determining the outermost contour of a pattern to be printed on the 3D model, determining a pre-spraying track according to the outermost contour, and controlling the mechanical arm 1 to act by a controller so that the spray head group 21 passes through the surface of the product to be sprayed along the pre-spraying track, and meanwhile, detecting whether the distance between the spray head group 21 and the outer surface of the product to be sprayed is smaller than a danger threshold value;
if yes, controlling the mechanical arm 1 to stop the motion, and returning to the step S1;
if not, controlling the mechanical arm 1 to act, and enabling the spray head group 21 to continuously pass through the surface of the product to be sprayed along the pre-spraying track.
In order to ensure safety during printing of the painting system, the painting method further comprises the steps of, during the painting operation:
if the distance sensor 22 detects that the distance between the nozzle group 21 and the surface of the product to be sprayed is smaller than the lower limit of the distance range, controlling the mechanical arm 1 to act, so that the nozzle group 21 deviates towards the direction away from the surface of the product to be sprayed until the distance between the nozzle group 21 and the surface of the product to be sprayed is within the distance range;
if the distance sensor 22 detects that the distance between the nozzle group 21 and the surface of the product to be sprayed is greater than the upper limit of the distance range, the mechanical arm 1 is controlled to move, so that the nozzle group 21 deviates towards the direction close to the surface of the product to be sprayed until the distance between the nozzle group 21 and the surface of the product to be sprayed is within the distance range.
In order to ensure the safety of the operator during the spraying operation of the spraying system, the spraying method further comprises the steps of:
the laser sensor 12 detects whether an obstacle exists within a predetermined distance around the robot arm 1, and if the obstacle is detected, the controller controls the robot arm 1 and the spray assembly 2 to stop operating.
In order to ensure the continuity of the spraying process, the spraying method further comprises, during the spraying operation:
the controller records the current spraying position of the spray head group 21 in real time, and archives the current spraying position when the spraying action of the spraying component 2 and the movement action of the mechanical arm 1 stop;
when the controller obtains the command of continuing spraying, the controller controls the mechanical arm 1 to move, so that after the spray head group 21 moves to the current spraying position which is stored, the controller controls the mechanical arm 1 to move and controls the spray head group 21 to spray ink, and the rest spraying work is finished.
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 and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A spray coating system, comprising: work platform, arm (1), spraying component (2) and controller, work platform is used for placing and treats the spraying product, the one end of arm (1) set up in work platform, arm (1) is at least including six limbs (11) of rotating the connection in proper order, arm (1) has six degrees of freedom at least, spraying component (2) set up in the free end of arm (1), spraying component (2) include shower nozzle group (21) and distance sensor (22), shower nozzle group (21) are used for spraying the china ink, distance sensor (22) are used for detecting the current distance on shower nozzle group (21) and the product surface of treating spraying, the controller with arm (1), shower nozzle group (21) and distance sensor (22) electricity is connected, the controller is used for acquireing current distance, the controller is used for controlling the motion posture of the mechanical arm (1), and the controller is used for controlling the spraying action of the spray head group (21) according to the current distance and the current motion posture of the mechanical arm (1).
2. The spray system according to claim 1, characterized in that the spray assembly (2) further comprises a UV LED curing light (23), the UV LED curing light (23) being located on the same side of the robot arm (1) as the spray head set (21), the UV LED curing light (23) being used to generate ultraviolet rays for curing ink sprayed on the surface of the product.
3. The spray system according to claim 2, wherein the spray assembly (2) further comprises a water cooling structure (24), the water cooling structure (24) is in contact connection with the UV LED curing lamp (23), and the water cooling structure (24) is provided with a water cooling cavity and a water inlet and a water outlet which are communicated with the water cooling cavity.
4. The spray system according to claim 1, wherein a laser sensor (12) electrically connected to the controller is disposed at one side of the robot arm (1), the laser sensor (12) is configured to detect whether an obstacle exists within a predetermined distance around the robot arm (1), and if an obstacle is detected, the controller controls the robot arm (1) and the spray assembly (2) to stop operating.
5. The spray coating system according to claim 1, further comprising a 3D scanning assembly (3) disposed at the free end of the mechanical arm (1), wherein the 3D scanning assembly (3) comprises a scanning signal generator and a scanning signal receiver, the scanning signal generator and the scanning signal receiver are both electrically connected to the controller, the scanning signal generator is used for emitting scanning signals to the surface of the product, the scanning signal receiver is used for receiving the scanning signals reflected by the surface of the product, and the controller is used for performing three-dimensional modeling and archiving on the scanned product according to the scanning signals received by the scanning signal receiver.
6. The painting system according to any one of claims 1 to 5, further comprising a horizontal position adjustment assembly provided on the work platform and a vertical position adjustment assembly provided on the horizontal position adjustment assembly, wherein one end of the robot arm (1) is connected to the vertical position adjustment assembly.
7. The spray system according to claim 6, characterized in that the mechanical arm (1) comprises a first joint (13), a second joint (14), a third joint (15), a fourth joint (16), a fifth joint (17) and a sixth joint (18) in sequence from the end connected with the working platform to the free end, the rotation speeds of the first joint (13), the second joint (14), the third joint (15) and the fourth joint (16) are all within 90 °/S, and the rotation speeds of the fifth joint (17) and the sixth joint (18) are all within 180 °/S; the rotation range of the first joint (13) is within-170 degrees to 170 degrees, and the rotation range of the second joint (14) is within 135 degrees to 110 degrees; the rotation range of the third joint (15) is within-160 degrees and 160 degrees; the rotation range of the fourth joint (16) is within-120 degrees to 120 degrees; the rotation range of the sixth joint (18) is within-359 degrees and 359 degrees.
8. A spraying method applied to the spraying system according to any one of claims 1 to 7, comprising the steps of:
positioning a product to be sprayed on the working platform, and enabling the position of the product to be sprayed on the working platform to correspond to the system coordinate position of the 3D model of the product to be sprayed on the spraying system;
the controller controls the mechanical arm (1) to act according to the pattern to be printed on the 3D model, the spray head group (21) passes through the surface of the product to be sprayed along a track corresponding to the pattern to be printed, meanwhile, the controller controls the spray head group (21) to spray ink according to the position, corresponding to the pattern to be printed, of the spray head group (21), the position, corresponding to the spray head group (21), of the product to be sprayed is attached with the color effect corresponding to the position, corresponding to the pattern to be printed, and the distance range between the spray head group (21) and the surface of the product to be sprayed is within 0-5 mm.
9. The method of claim 8, wherein before the step of corresponding the position of the product to be painted on the work platform to the position of the 3D model of the product to be painted on the system coordinates of the painting system, the method further comprises the steps of:
3D scanning is carried out on the product to be sprayed, three-dimensional modeling is carried out on the product to be sprayed according to the 3D scanning result, and a 3D model corresponding to the product to be sprayed is formed;
and matching the pattern to be printed with the 3D model, and determining the position corresponding relation between the pattern to be printed and the 3D model.
10. The spraying method according to claim 8, wherein the controller controls the mechanical arm (1) to move according to the pattern to be printed on the 3D model, so that the nozzle group (21) passes through the surface of the product to be sprayed along the track corresponding to the pattern to be printed, and simultaneously, the controller controls the nozzle group (21) to eject ink according to the current position of the nozzle group (21) corresponding to the pattern to be printed, so that before the current position of the product to be sprayed corresponding to the nozzle is attached with the color effect corresponding to the corresponding position of the pattern to be printed, the method further comprises the following steps:
determining the outermost periphery outline of a pattern to be printed on the 3D model, determining a pre-spraying track according to the outermost periphery outline, and controlling the mechanical arm (1) to act by a controller so that the spray head group (21) passes through the surface of the product to be sprayed along the pre-spraying track, and simultaneously detecting whether the distance between the spray head group (21) and the outer surface of the product to be sprayed is smaller than a danger threshold value;
if so, controlling the mechanical arm (1) to stop acting, and returning to the step of positioning the product to be sprayed on the working platform, so that the position of the product to be sprayed on the working platform corresponds to the system coordinate position of the 3D model of the product to be sprayed on the spraying system;
if not, controlling the mechanical arm (1) to act, and enabling the spray head group (21) to continuously pass through the surface of the product to be sprayed along the pre-spraying track.
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Application publication date: 20201215 |