CN118060153B - Full-automatic spraying method of thermosensitive paint - Google Patents
Full-automatic spraying method of thermosensitive paint Download PDFInfo
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- CN118060153B CN118060153B CN202410475820.XA CN202410475820A CN118060153B CN 118060153 B CN118060153 B CN 118060153B CN 202410475820 A CN202410475820 A CN 202410475820A CN 118060153 B CN118060153 B CN 118060153B
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- 238000005507 spraying Methods 0.000 title claims abstract description 214
- 239000003973 paint Substances 0.000 title claims abstract description 96
- 239000012636 effector Substances 0.000 claims abstract description 50
- 238000000034 method Methods 0.000 claims abstract description 46
- 230000008569 process Effects 0.000 claims abstract description 38
- 238000004140 cleaning Methods 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 5
- 239000007921 spray Substances 0.000 claims description 74
- 238000012546 transfer Methods 0.000 claims description 57
- 239000002994 raw material Substances 0.000 claims description 15
- 238000000889 atomisation Methods 0.000 claims description 12
- 238000005070 sampling Methods 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000002156 mixing Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 7
- 239000011229 interlayer Substances 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000003756 stirring Methods 0.000 claims description 5
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 4
- 238000010438 heat treatment Methods 0.000 claims description 4
- 239000000843 powder Substances 0.000 claims description 4
- 238000001035 drying Methods 0.000 claims description 3
- 239000012535 impurity Substances 0.000 claims description 3
- 238000011068 loading method Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 3
- 238000006748 scratching Methods 0.000 claims description 3
- 230000002393 scratching effect Effects 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 3
- 238000007493 shaping process Methods 0.000 abstract description 2
- 238000013519 translation Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000004020 luminiscence type Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000006903 response to temperature Effects 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
Classifications
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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
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/084—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 condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/20—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising
- B05B15/25—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising using moving elements, e.g. rotating blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/40—Construction elements specially adapted therefor, e.g. floors, walls or ceilings
-
- 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
- B05D7/50—Multilayers
- B05D7/52—Two layers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Wood Science & Technology (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention belongs to the field of intelligent robot spraying processing automation, and discloses a full-automatic spraying method of temperature-sensitive paint. The full-automatic spraying method of the temperature-sensitive paint comprises the steps of selecting a workpiece to be sprayed and process information, automatically spraying and baking, detecting and shaping, and finishing spraying and equipment cleaning. According to the full-automatic spraying method of the temperature-sensitive paint, model reconstruction and calibration processing are carried out on point cloud data of a workpiece to be sprayed through three-dimensional scanning equipment of an automatic scanning and calibration system, and a workpiece reconstruction model to be sprayed under a spraying robot coordinate system is obtained; and planning a spraying track of the spraying robot and a running track of the thickness measuring end effector according to the reconstruction model of the workpiece to be sprayed, and automatically finishing spraying and detection. The full-automatic spraying method of the temperature-sensitive paint can be used for spraying the temperature-sensitive paint quickly and uniformly without manual control, enhances the accuracy and uniformity of the spraying process, improves the automatic spraying efficiency, and can be effectively applied to parts with complex curved surfaces and higher spraying precision requirements.
Description
Technical Field
The invention belongs to the technical field of sensor detection, and particularly relates to a full-automatic spraying method of temperature-sensitive paint.
Background
The temperature sensitive paint has sensitive response to temperature change in a certain temperature interval and has luminescence excitation and luminescence characteristics, so that the temperature sensitive paint is used for accurately measuring the surface parameters of a metal model with a complex appearance. In engineering practice, the temperature-sensitive paint is mainly sprayed on the surface of a model through a compressed air spray gun, the use environment and specific constraint are limited, the spraying thickness of the temperature-sensitive paint is about tens of micrometers, the uniformity of the large-area spraying thickness of the temperature-sensitive paint is a key factor for ensuring the measurement accuracy of surface parameters, and the more uniform the spraying thickness is, the smaller the measurement error is.
Because the spraying thickness of the temperature-sensitive paint is only in the order of tens of micrometers, the spraying error is easily caused by the fact that a worker holds a compressed air spray gun for spraying at present. Currently, development of a full-automatic spraying method for temperature-sensitive paint is needed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a full-automatic spraying method of temperature-sensitive paint, which is used for overcoming the technical defect of spraying by holding a compressed air spray gun by a worker.
The invention relates to a full-automatic spraying method of temperature-sensitive paint, which is characterized in that a spraying device is arranged in a spraying room, and the spraying room is divided into an outer room and an inner room;
a robot controller and a master control system are arranged near the north wall outside the spraying room; the master control system comprises database software, spray transfer vehicle platform control software, three-dimensional scanning and calibration software, spray robot track planning software, spray and thickness measurement software and remote monitoring software;
A plurality of calibration target rods are preset in the spraying room; a workpiece transfer trolley is arranged in the middle of the spraying room, an automatic scanning and calibrating system is arranged on the east side wall, and a spraying robot is arranged on the north side wall; the left side and the right side of the spraying robot are provided with automatic feeding and cleaning systems, the left side is provided with an automatic feeding device, and the right side is provided with a cleaning device; a quick change frame is arranged between the automatic feeding device and the workpiece transfer trolley;
A flexible tool turntable is arranged on an AGV transfer platform of the workpiece transfer vehicle, and a plurality of calibration target rods are respectively preset on the side surfaces of the north and south sides of the AGV transfer platform;
The on-site automatic scanning and calibrating system comprises a five-degree-of-freedom moving platform and three-dimensional scanning equipment fixed on the five-degree-of-freedom moving platform;
When the spraying robot works, the tail end of the spraying robot is provided with a spray gun tail end actuator or a thickness measuring tail end actuator, and a primer spray gun and a finish spray gun are fixed on the spray gun tail end actuator; the quick-change frame is fixed with a different spray gun end effector or a thickness measuring end effector;
the spraying method comprises the following steps:
S10, a worker selects process information corresponding to a workpiece to be sprayed on database software of a master control system, selects a software model of the workpiece to be sprayed, and simultaneously designates a mounting surface and a mounting gesture of the workpiece to be sprayed;
S20, installing a workpiece to be sprayed on a flexible tool turntable of a workpiece transfer vehicle by a worker in a room outside a spraying room;
S30, a worker moves the workpiece transfer trolley to a loading and unloading area outside the spraying room, an automatic operation button is pressed on spraying transfer trolley platform control software of the master control system, and the workpiece transfer trolley enters a spraying area inside the spraying room according to a pre-planned route;
S40, starting an in-situ automatic scanning and calibrating system by three-dimensional scanning and calibrating software of the master control system, running a three-dimensional scanning device to a workpiece scanning position to be sprayed through a five-degree-of-freedom moving platform, scanning the workpiece to be sprayed, a calibrating target rod on a workpiece transfer trolley and a calibrating target rod in a spraying room, and uploading point cloud data to the three-dimensional scanning and calibrating software of the master control system after the three-dimensional scanning device finishes point cloud data scanning; the three-dimensional scanning and calibration software of the master control system carries out model reconstruction and calibration processing on the obtained point cloud data of the workpiece to be sprayed, and a workpiece reconstruction model to be sprayed under a spraying robot coordinate system is obtained;
s50, carrying out path planning and track generation on a to-be-sprayed workpiece reconstruction model by using spray robot track planning software of a master control system according to process information, then generating a spray robot running track, compiling a spray instruction program on the running track, and uploading the compiled running track to a robot controller;
S60, spraying primer according to a paint spraying instruction program by a spraying robot, controlling the flow, the spraying width and the atomization condition of a primer spray gun in real time by spraying and thickness measuring software of a master control system according to process information, and monitoring the primer spraying flow and the primer spraying state in real time;
S70, starting a primer airing procedure according to process information in the spraying room, and airing the primer;
S80, preparing a finish paint for spraying in the process of drying the primer; the automatic finishing paint mixing function in the automatic feeding device is used for mixing materials according to the process information under the control of spraying and thickness measuring software of a master control system, and mixing and stirring the materials to obtain finishing paint;
S90, after the primer is dried, the spraying robot sprays the finish paint according to a spray painting instruction, and meanwhile, spraying and thickness measuring software of a general control system controls flow, spraying width and atomization conditions of a finish paint spray gun in real time according to process information, and monitors the spraying flow and the spraying state of the finish paint in real time;
s100, starting a finishing paint airing procedure according to process information in the spraying room, and airing the finishing paint;
S110, spraying and thickness measuring software of the master control system starts gun washing operation, and a cleaning device automatically washes and cleans used gun end effectors to ensure that the next round of spraying process is not polluted by impurities;
s120, the spraying robot track planning software of the master control system automatically determines sampling points according to a reconstruction model of the workpiece to be sprayed and process information, generates coordinates corresponding to the sampling points, generates a moving track of a thickness measuring end effector, compiles a thickness measuring instruction program of the moving track, and uploads the moving track to a robot controller;
s130, replacing the spray gun end effector by a thickness measuring end effector by the spraying robot, detecting the paint film thickness of the sampling point according to a thickness measuring detection instruction, and uploading paint film thickness detection data of the sampling point to database software of a master control system to generate a detection report;
S140, after the spraying and detection are finished, cleaning the spray gun end effector and the automatic feeding device by spraying and thickness measuring software of the master control system, and finally, conveying the sprayed workpiece to the outside of a spraying room by spraying transfer trolley platform control software of the master control system through a workpiece transfer trolley, so that the spraying is finished;
In the steps S30-S130, remote monitoring software of the master control system carries out remote real-time monitoring on the automatic scanning and calibrating system in the spraying room and in place; meanwhile, the whole process self-checking and fault alarming are carried out, and all historical information is reserved and used for later maintenance reference.
Further, the main body of the workpiece transfer trolley is an AGV transfer platform; the top surface of the AGV transfer platform is provided with a flexible tool turntable through a servo turntable, and the side surface of the servo turntable is wrapped with a turntable dust-proof plate; laser navigation I and laser navigation II are respectively installed on the lateral surfaces of the two sides of the AGV transfer platform, and an AVG control box and a battery box are also fixed on the east side of the AGV transfer platform; the bottom surface of the AGV transfer platform is fixed with a plurality of steering wheels which are centrosymmetric;
The AGV transfer platform realizes feedback of site position information through the laser navigation I and the laser navigation II, and a PLC (programmable logic controller) in the AVG control box controls steering wheels to move forwards, backwards and turn; and clamping and positioning the workpiece to be sprayed on the flexible tool turntable, and adjusting the corner of the workpiece to be sprayed through the servo turntable.
Further, the five-degree-of-freedom mobile platform consists of an X1 axis, an X2 axis, a Y axis, a Z axis and an A axis;
The three-dimensional scanning equipment is pitching around the A axis, east-west translation along the Y axis, up-down translation along the Z axis, north-south translation along the X1 axis and the X2 axis, and the five-degree-of-freedom moving platform assists the three-dimensional scanning equipment in spraying and three-dimensional shape scanning of workpieces to be sprayed.
Further, the spray gun end effector comprises a flat-plate-shaped tool frame, one end of the tool frame is fixed with a quick-change sub-disc I, the other end of the tool frame is fixed with a primer spray gun and a finish spray gun, and the tool frame is disassembled and assembled with a quick-change master disc at the tail end of the spraying robot through the quick-change sub-disc I;
the primer spray gun is used for controlling the spraying switch, atomization and fan action of the temperature sensitive primer; the finishing paint spray gun is used for controlling the spraying switch, atomization and fanning action of the temperature-sensitive finishing paint.
Further, the main body of the automatic feeding device of the automatic feeding and cleaning system is a supporting frame; a primer raw material tank and a primer pressure tank are arranged on the lower interlayer of the support frame; the upper interlayer of the support frame is provided with a finishing paint alcohol raw material tank, a finishing paint rubber powder raw material tank, a finishing paint temperature-sensitive raw material tank and a mixing and stirring heating tank; the side of the supporting frame is fixed with an up-down staircase.
Further, the thickness measuring end effector comprises a quick-change sub-disc II, a linear module and a thickness measuring tool; the thickness measuring end effector is disassembled and assembled with a quick-change master disc at the tail end of the spraying robot through a quick-change sub disc II; the quick-change sub-disc II is fixedly connected with a linear module, and the thickness measuring tool slides back and forth through the linear module and is positioned;
The thickness measuring tool comprises a direct current motor, a screw rod sliding block mechanism, a sliding block type linear displacement sensor, a contact spring and an eddy current sensor; the front end of the thickness measuring tool is fixed with an eddy current sensor protection shell; an electric vortex sensor is arranged on the central axis of the inner cavity of the electric vortex sensor protection shell, and the rear section of the electric vortex sensor is sleeved with a contact spring; a screw rod and sliding block mechanism is fixed at the rear section of the electric vortex sensor protection shell, and a sliding block type linear displacement sensor is fixed above the electric vortex sensor protection shell; the rear end of the thickness measuring tool is fixed with a direct current motor;
When the thickness measuring tool is used for measuring the thickness of the temperature-sensitive paint film, the direct current motor drives the screw slider mechanism to drive the electric vortex sensor to extend out of the surface of the model; when the electric vortex sensor contacts the surface of the model, the contact spring drives the electric vortex sensor to retreat under the action of elastic force until the contact spring reaches the preset anti-slip elastic contact force, and then the thickness of the thermosensitive paint is measured, so that the electric vortex sensor is prevented from scratching the surface of the model.
Further, the quick-change rack comprises a cross-shaped main body bracket and quick-change placing plates fixed on two sides of the top surface of the horizontal support plate of the main body bracket, wherein one side of the quick-change placing plate is fixed with the spray gun end effector, and the other side of the quick-change placing plate is fixed with the thickness measuring end effector; the bottom surfaces of the quick-change mounting plates are respectively provided with a sensor switch, and when the spray gun end effector or the thickness measuring end effector is arranged on the corresponding quick-change mounting plate, the sensor switches generate switch logic signals.
The full-automatic spraying method of the thermosensitive paint comprises the steps of selecting a workpiece to be sprayed and process information, automatically spraying and baking, detecting and shaping, and finishing spraying and equipment cleaning. According to the full-automatic spraying method of the temperature-sensitive paint, the three-dimensional scanning equipment of the automatic scanning and calibrating system is used for carrying out model reconstruction and calibration treatment on point cloud data of a workpiece to be sprayed, so that a workpiece reconstruction model to be sprayed under a spraying robot coordinate system is obtained; and planning a spraying track of the spraying robot and a running track of the thickness measuring end effector according to the reconstruction model of the workpiece to be sprayed, and automatically finishing spraying and detection.
The full-automatic spraying method of the temperature-sensitive paint can quickly and uniformly spray the temperature-sensitive paint without manual control, enhances the accuracy and uniformity of the spraying process, improves the automatic spraying efficiency, can be effectively applied to parts with complex curved surfaces and higher requirements on spraying precision, and has engineering practical value.
Drawings
FIG. 1 is a schematic diagram of a spray booth used in the full-automatic spray method of temperature sensitive paint of the present invention;
FIG. 2 is a schematic diagram of a spraying device used in the full-automatic spraying method of the temperature-sensitive paint;
FIG. 3 is a flow chart of a full-automatic spraying method of the temperature-sensitive paint of the invention;
FIG. 4 is a schematic view of a workpiece transfer vehicle used in the full-automatic temperature-sensitive paint spraying method of the invention;
FIG. 5 is a schematic diagram showing the distribution of steering wheels on the bottom surface of a workpiece transfer vehicle used in the full-automatic temperature-sensitive paint spraying method of the invention;
FIG. 6 is a schematic diagram of an in-situ automatic scanning and calibration system used in the full-automatic spraying method of the temperature-sensitive paint of the present invention;
FIG. 7 is a schematic view of the end effector of the spray gun used in the full-automatic spray coating method of the temperature sensitive paint of the present invention;
FIG. 8 is a schematic view of the structure of an automatic feeding device used in the full-automatic spraying method of the temperature-sensitive paint of the invention;
FIG. 9 is a schematic diagram of a thickness measuring end effector used in the full-automatic spraying method of the temperature sensitive paint of the present invention;
FIG. 10a is a perspective view of a thickness measuring tool of a thickness measuring end effector used in the full automatic spray coating method of the temperature sensitive paint of the present invention;
FIG. 10b is a cross-sectional view of a thickness measuring tool of a thickness measuring end effector used in the full-automatic spray coating method of the temperature sensitive paint of the present invention;
FIG. 11a is a schematic view of a quick-change rack used in the full-automatic spraying method of the temperature-sensitive paint of the present invention (installed state);
fig. 11b is a schematic view of a quick-change rack used in the full-automatic spraying method of the temperature-sensitive paint of the present invention (disassembled state).
In the figure, 1. Spraying Fang Waijian; 2. spraying the room interior; 3.a workpiece transfer vehicle; 4. an on-site automatic scanning and calibrating system; 5. a lance end effector; 6. a spraying robot; 701. an automatic feeding device; 702. a cleaning device; 8.a thickness measuring end effector; 9. a quick-change rack; 10. a robot controller; 11. a master control system; AGV transport platform; 13. a flexible tool turntable; 14. a turntable dust guard; 15. laser navigation I; 16. calibrating a target rod; 17. a servo turntable; avg control box; 19. a battery box; 20. laser navigation II; 21. steering wheel; 22. a three-dimensional scanning device; an axis a; an x1 axis; an x2 axis; y-axis; a z axis; 28. a primer spray gun; 29. a finishing paint spray gun; 30. a tool rack; 31. a quick-change sub-disc I; 32. a top-coat alcohol raw material tank; 33. a primer material tank; 34. an up-down staircase; 35. a primer pressure tank; 36. mixing, stirring and heating the pot; 37. a top-coat rubber powder raw material tank; 38. a finishing paint temperature-sensitive raw material tank; 39. a quick-change sub-disc II; 40. a linear module; 41. a thickness measuring tool; 42. a DC motor; 43. a screw slider mechanism; 44. a slider type linear displacement sensor; 45. a contact spring; 46. an eddy current sensor; 47. a main body bracket; 48. and (5) quickly replacing the placing plate.
Detailed Description
The invention is described in detail below with reference to the drawings and examples.
The spraying device used in the full-automatic spraying method of the temperature-sensitive paint is arranged in a spraying room shown in fig. 1, and the spraying room is divided into a spraying room outer room 1 and a spraying room inner room 2;
As shown in fig. 2, a robot controller 10 and a master control system 11 are arranged on the north side wall of the outside room 1; the master control system 11 comprises database software, spray transfer vehicle platform control software, three-dimensional scanning and calibration software, spray robot track planning software, spray and thickness measurement software and remote monitoring software;
A plurality of calibration target rods 16 are preset in the spraying room 2; a workpiece transfer trolley 3 is arranged in the middle of the spraying room 2, an automatic scanning and calibrating system 4 is arranged on the east side wall, and a spraying robot 6 is arranged on the north side wall; the left side and the right side of the spraying robot 6 are provided with automatic feeding and cleaning systems, the left side is provided with an automatic feeding device 701, and the right side is provided with a cleaning device 702; a quick change rack 9 is arranged between the automatic feeding device 701 and the workpiece transfer car 3;
A flexible tooling turntable 13 is arranged on an AGV transfer platform 12 of the workpiece transfer vehicle 3, and a plurality of calibration target rods 16 are respectively preset on the side surfaces of the north and south sides of the AGV transfer platform 12;
The in-place automatic scanning and calibrating system 4 comprises a five-degree-of-freedom moving platform and a three-dimensional scanning device 22 fixed on the five-degree-of-freedom moving platform;
when the spraying device works, the tail end of the spraying robot 6 is provided with a spray gun tail end actuator 5 or a thickness measuring tail end actuator 8, and a primer spray gun and a surface paint spray gun are fixed on the spray gun tail end actuator 5; the quick-change frame 9 is fixed with a unused spray gun end effector 5 or a thickness measuring end effector 8;
as shown in fig. 3, the spraying method comprises the following steps:
S10, a worker selects process information corresponding to a workpiece to be sprayed on database software of a master control system 11, selects a software model of the workpiece to be sprayed, and simultaneously designates a mounting surface and a mounting gesture of the workpiece to be sprayed;
S20, in the spraying room outside 1, a worker installs a workpiece to be sprayed on a flexible tool turntable 13 of a workpiece transfer vehicle 3;
S30, a worker moves the workpiece transfer trolley 3 to a loading and unloading area of the spraying room outside 1, an automatic operation button is pressed on spraying transfer trolley platform control software of the master control system 11, and the workpiece transfer trolley 3 enters a spraying area of the spraying room inside 2 according to a pre-planned route;
s40, starting an on-site automatic scanning and calibrating system 4 by three-dimensional scanning and calibrating software of the master control system 11, running a three-dimensional scanning device to a workpiece scanning position to be sprayed through a five-degree-of-freedom moving platform, scanning the workpiece to be sprayed, a calibrating target rod 16 on a workpiece transfer trolley 3 and the calibrating target rod 16 in a spraying room interior 2, and uploading point cloud data to the three-dimensional scanning and calibrating software of the master control system 11 after the three-dimensional scanning device finishes point cloud data scanning; the three-dimensional scanning and calibration software of the master control system 11 carries out model reconstruction and calibration processing on the obtained point cloud data of the workpiece to be sprayed, and obtains a workpiece reconstruction model to be sprayed under the coordinate system of the spraying robot 6;
s50, the spraying robot track planning software of the master control system 11 performs path planning and track generation on a to-be-sprayed workpiece reconstruction model according to process information, then generates a running track of the spraying robot 6, compiles a spraying instruction program on the running track, and uploads the compiled running track to the robot controller 10;
S60, spraying the primer by a spraying robot 6 according to a spraying instruction program, controlling the flow, the spraying width and the atomization condition of a primer spraying gun in real time by spraying and thickness measuring software of a general control system 11 according to process information, and monitoring the primer spraying flow and the primer spraying state in real time;
S70, starting a primer airing procedure according to process information in the spraying room 2, and airing the primer;
S80, preparing a finish paint for spraying in the process of drying the primer; the automatic finishing paint mixing function in the automatic feeding device 701 is controlled by spraying and thickness measuring software of the master control system 11, the materials are mixed according to the process information, and the materials are mixed and stirred to obtain finishing paint;
S90, after the primer is dried, the spraying robot 6 sprays the finish paint according to a paint spraying instruction, and meanwhile, spraying and thickness measuring software of the master control system 11 controls flow, spraying width and atomization conditions of a finish paint spray gun in real time according to process information, and monitors the spraying flow and the spraying state of the finish paint in real time;
s100, starting a finishing paint airing procedure according to process information in the spraying room 2, and airing the finishing paint;
S110, spraying and thickness measuring software of the master control system 11 starts gun washing operation, and the cleaning device 702 automatically washes and cleans the used gun end effector 5 to ensure that the next round of spraying process is not polluted by impurities;
S120, the spraying robot track planning software of the master control system 11 automatically determines sampling points according to a to-be-sprayed workpiece reconstruction model and process information, generates coordinates corresponding to the sampling points, generates a running track of the thickness measuring end effector 8, compiles a thickness measuring instruction program of the running track, and uploads the running track to the robot controller 10;
s130, the spraying robot 6 replaces the spray gun end effector 5 with the thickness measuring end effector 8, then detects the paint film thickness of the sampling point according to the thickness measuring detection instruction, and meanwhile uploads the paint film thickness detection data of the sampling point to database software of the master control system 11 to generate a detection report;
S140, after the spraying and detection are finished, the spraying and thickness measuring software of the master control system 11 cleans the spray gun end effector 5 and the automatic feeding device 701, and finally, the spraying transfer vehicle platform control software of the master control system 11 conveys the sprayed workpiece to the spraying room outside 1 through the workpiece transfer vehicle 3, so that the spraying is finished;
In the steps S30-S130, remote monitoring software of the master control system 11 carries out remote real-time monitoring on the spraying room inner space 2 and the on-site automatic scanning and calibrating system 4; meanwhile, the whole process self-checking and fault alarming are carried out, and all historical information is reserved and used for later maintenance reference.
Further, as shown in fig. 4, the main body of the workpiece transfer cart 3 is an AGV transfer platform 12; the top surface of the AGV transferring platform 12 is provided with a flexible tool turntable 13 through a servo turntable 17, and the side surface of the servo turntable 17 wraps a turntable dust-proof plate 14; the laser navigation I15 and the laser navigation II 20 are respectively arranged on the side surfaces of the east side and the west side of the AGV transfer platform 12, and the AVG control box 18 and the battery box 19 are also fixed on the east side of the AGV transfer platform 12; as shown in fig. 5, the bottom surface of the AGV transport platform 12 holds a number of centrally symmetrical steering wheels 21;
The AGV transfer platform 12 realizes feedback of site position information through the laser navigation I15 and the laser navigation II 20, and a PLC controller in the AVG control box 18 controls the steering wheel 21 to move forwards, backwards and turn; the workpiece to be sprayed is clamped and positioned on the flexible tool turntable 13, and meanwhile, the corner of the workpiece to be sprayed is adjusted through the servo turntable 17.
Further, as shown in fig. 6, the five-degree-of-freedom moving platform is composed of an X1 axis 24, an X2 axis 25, a Y axis 26, a Z axis 27 and an a axis 23;
The three-dimensional scanning device 22 is pitching around the A axis 23, east-west translation along the Y axis 26, up-down translation along the Z axis 27, north-south translation along the X1 axis 24 and the X2 axis 25, and the five-degree-of-freedom moving platform assists the three-dimensional scanning device 22 in spraying and three-dimensional shape scanning of a workpiece to be sprayed.
Further, as shown in fig. 7, the spray gun end effector 5 includes a flat-plate-shaped tooling frame 30, one end of the tooling frame 30 is fixed with a quick-change disc i 31, the other end is fixed with a primer spray gun 28 and a finish spray gun 29, and the tooling frame 30 is disassembled from a quick-change master disc at the end of the spraying robot 6 through the quick-change disc i 31;
The primer spray gun 28 is used for controlling the spraying switch, atomization and fanning action of the temperature sensitive primer; the finishing paint spray gun 29 is used for controlling the spraying switch, atomization and fanning action of the temperature sensitive finishing paint.
Further, as shown in fig. 8, the main body of the automatic feeding device 701 of the automatic feeding and cleaning system is a supporting frame; the lower interlayer of the support frame is provided with a primer raw material tank 33 and a primer pressure tank 35; the upper interlayer of the support frame is provided with a finish paint alcohol raw material tank 32, a finish paint rubber powder raw material tank 37, a finish paint temperature-sensitive raw material tank 38 and a mixing and stirring heating tank 36; the side of the support frame secures the escalator 34.
Further, as shown in fig. 9, the thickness measuring end effector 8 includes a quick-change sub-disc ii 39, a linear module 40, and a thickness measuring tool 41; the thickness measuring end effector 8 is disassembled and assembled with a quick-change master disc at the tail end of the spraying robot 6 through a quick-change sub disc II 39; the quick-change sub-disc II 39 is fixedly connected with the linear module 40, and the thickness measuring tool 41 slides back and forth through the linear module 40 and is positioned;
as shown in fig. 10a and 10b, the thickness measuring tool 41 includes a dc motor 42, a screw slider mechanism 43, a slider type linear displacement sensor 44, a contact spring 45, and an eddy current sensor 46; the front end of the thickness measuring tool 41 is fixed with an eddy current sensor protection shell; an eddy current sensor 46 is arranged on the central axis of the inner cavity of the eddy current sensor protection shell, and the rear section of the eddy current sensor 46 is sleeved with a contact spring 45; a screw slider mechanism 43 is fixed at the rear section of the electric vortex sensor protection shell, and a slider type linear displacement sensor 44 is fixed above the electric vortex sensor protection shell; the rear end of the thickness measuring tool 41 is fixed with a direct current motor 42;
When the thickness measuring tool 41 is used for measuring the thickness of a temperature-sensitive paint film, the direct current motor 42 drives the screw slider mechanism 43 to drive the eddy current sensor 46 to extend out of the surface of the model; when the electric vortex sensor 46 contacts the surface of the model, the contact spring 45 drives the electric vortex sensor 46 to retreat under the action of elastic force until the contact spring 45 reaches the preset anti-slip elastic contact force, and then the temperature sensitive paint film thickness is obtained by measuring, so that the electric vortex sensor 46 is prevented from scratching the surface of the model.
Further, as shown in fig. 11a and 11b, the quick-change rack 9 includes a cross-shaped main body bracket 47 and quick-change mounting plates 48 fixed on two sides of the top surface of the horizontal support plate of the main body bracket 47, wherein one side of the quick-change mounting plates 48 is fixed on the spray gun end effector 5, and the other side of the quick-change mounting plates 48 is fixed on the thickness measuring end effector 8; the bottom surfaces of the quick change mounting plates 48 are each provided with a sensor switch that generates a switch logic signal when either the lance end effector 5 or the thickness end effector 8 is mounted on the corresponding quick change mounting plate 48.
Although embodiments of the invention have been disclosed in the foregoing description and illustrated in the drawings, it will be understood by those skilled in the art that the present invention is not limited to the specific details and illustrations of features and steps set forth herein, and that all features of the invention disclosed, or steps of the method or process, except for mutually exclusive features and/or steps, may be combined in any manner without departing from the principles of the invention.
Claims (2)
1. The full-automatic spraying method of the temperature-sensitive paint is characterized in that a spraying device used in the spraying method is placed in a spraying room, and the spraying room is divided into an outer room (1) and an inner room (2);
A robot controller (10) and a master control system (11) are arranged on the north side wall of the spraying Fang Waijian (1); the master control system (11) comprises database software, spray transfer vehicle platform control software, three-dimensional scanning and calibration software, spray robot track planning software, spray and thickness measurement software and remote monitoring software;
A plurality of calibration target rods (16) are preset in the spraying room (2); a workpiece transfer trolley (3) is arranged in the middle of the spraying room (2), an automatic scanning and calibrating system (4) is arranged on the eastern side wall leaning on place, and a spraying robot (6) is arranged on the north side wall leaning on place; the left side and the right side of the spraying robot (6) are provided with automatic feeding and cleaning systems, the left side is provided with an automatic feeding device (701), and the right side is provided with a cleaning device (702); a quick-change frame (9) is arranged between the automatic feeding device (701) and the workpiece transfer trolley (3);
a flexible tool turntable (13) is arranged on an AGV transfer platform (12) of the workpiece transfer vehicle (3), and a plurality of calibration target rods (16) are respectively preset on the side surfaces of the south side and the north side of the AGV transfer platform (12);
The on-site automatic scanning and calibrating system (4) comprises a five-degree-of-freedom moving platform and a three-dimensional scanning device (22) fixed on the five-degree-of-freedom moving platform;
When the spraying device works, the tail end of the spraying robot (6) is provided with a spray gun tail end actuator (5) or a thickness measuring tail end actuator (8), and a primer spray gun and a surface paint spray gun are fixed on the spray gun tail end actuator (5); a spray gun end effector (5) or a thickness measuring end effector (8) which is not used is fixed on the quick-change frame (9);
The main body of the workpiece transfer trolley (3) is an AGV transfer platform (12); the top surface of the AGV transferring platform (12) is provided with a flexible tool turntable (13) through a servo turntable (17), and the side surface of the servo turntable (17) is wrapped with a turntable dust-proof plate (14); the laser navigation I (15) and the laser navigation II (20) are respectively arranged on the side surfaces of the two sides of the AGV transferring platform (12), and an AVG control box (18) and a battery box (19) are also fixed on the east side of the AGV transferring platform (12); the bottom surface of the AGV transfer platform (12) is fixed with a plurality of steering wheels (21) which are centrosymmetric;
The AGV transferring platform (12) realizes feedback of site position information through the laser navigation I (15) and the laser navigation II (20), and a PLC (programmable logic controller) in the AVG control box (18) controls the steering wheel (21) to move forwards, backwards and turn; clamping and positioning a workpiece to be sprayed on the flexible turntable (13), and adjusting the corner of the workpiece to be sprayed through the servo turntable (17);
the five-degree-of-freedom moving platform consists of an X1 axis (24), an X2 axis (25), a Y axis (26), a Z axis (27) and an A axis (23);
the three-dimensional scanning device (22) is pitching around the A axis (23), horizontally moving along the Y axis (26), vertically moving along the Z axis (27), horizontally moving along the X1 axis (24) and the X2 axis (25) in the north-south direction, and the five-degree-of-freedom moving platform assists the three-dimensional scanning device (22) in spraying a workpiece to be sprayed and scanning the three-dimensional shape;
The spray gun end effector (5) comprises a flat-plate-shaped tool frame (30), one end of the tool frame (30) is fixed with a quick-change sub-disc I (31), the other end of the tool frame is fixed with a primer spray gun (28) and a finish spray gun (29), and the tool frame (30) is dismounted from a quick-change master disc at the tail end of the spraying robot (6) through the quick-change sub-disc I (31);
The primer spray gun (28) is used for controlling the spraying switch, atomization and fan action of the temperature sensitive primer; the finishing paint spray gun (29) is used for controlling the spraying switch, atomization and fan movement of the temperature-sensitive finishing paint;
The main body of an automatic feeding device (701) of the automatic feeding and cleaning system is a supporting frame; a primer raw material tank (33) and a primer pressure tank (35) are arranged at the lower interlayer of the support frame; the upper interlayer of the support frame is provided with a finishing paint alcohol raw material tank (32), a finishing paint rubber powder raw material tank (37), a finishing paint temperature-sensitive raw material tank (38) and a mixing and stirring heating tank (36); the side surface of the supporting frame is fixed with an up-down staircase (34);
The thickness measuring end effector (8) comprises a quick-change sub-disc II (39), a linear module (40) and a thickness measuring tool (41); the thickness measuring end effector (8) is disassembled and assembled with a quick-change master disc at the tail end of the spraying robot (6) through a quick-change sub disc II (39); the quick-change sub-disc II (39) is fixedly connected with a linear module (40), and the thickness measuring tool (41) slides back and forth through the linear module (40) and is positioned;
The thickness measuring tool (41) comprises a direct current motor (42), a screw rod sliding block mechanism (43), a sliding block type linear displacement sensor (44), a contact spring (45) and an eddy current sensor (46); the front end of the thickness measuring tool (41) is fixed with an eddy current sensor protection shell; an eddy current sensor (46) is arranged on the central axis of the inner cavity of the eddy current sensor protection shell, and the rear section of the eddy current sensor (46) is sleeved with a contact spring (45); a screw rod and sliding block mechanism (43) is fixed at the rear section of the electric vortex sensor protection shell, and a sliding block type linear displacement sensor (44) is fixed above the electric vortex sensor protection shell; the rear end of the thickness measuring tool (41) is fixed with a direct current motor (42);
When the thickness measuring tool (41) is used for measuring the thickness of a temperature-sensitive paint film, the direct current motor (42) drives the screw slider mechanism (43) to drive the eddy current sensor (46) to extend out of the surface of the model; when the electric vortex sensor (46) contacts the surface of the model, the contact spring (45) drives the electric vortex sensor (46) to retreat under the action of elastic force until the contact spring (45) reaches the preset anti-slip elastic contact force and then measures to obtain the thickness of the thermosensitive paint, so that the electric vortex sensor (46) is prevented from scratching the surface of the model;
the spraying method comprises the following steps:
S10, a worker selects process information corresponding to a workpiece to be sprayed on database software of a master control system (11), selects a software model of the workpiece to be sprayed, and simultaneously designates a mounting surface and a mounting gesture of the workpiece to be sprayed;
S20, in a spraying room (1), a worker installs a workpiece to be sprayed on a flexible tool turntable (13) of a workpiece transfer vehicle (3);
S30, a worker moves the workpiece transfer trolley (3) to a loading and unloading area of the spraying room outside (1), an automatic operation button is pressed on spraying transfer trolley platform control software of the master control system (11), and the workpiece transfer trolley (3) enters a spraying area of the spraying room inside (2) according to a pre-planned route;
S40, starting an on-site automatic scanning and calibrating system (4) by three-dimensional scanning and calibrating software of the master control system (11), running a three-dimensional scanning device to a workpiece scanning position to be sprayed through a five-degree-of-freedom moving platform, scanning a calibrating target rod (16) on the workpiece to be sprayed and a workpiece transfer trolley (3) and a calibrating target rod (16) in a spraying room (2), and uploading point cloud data to the three-dimensional scanning and calibrating software of the master control system (11) after the three-dimensional scanning device finishes point cloud data scanning; the three-dimensional scanning and calibration software of the master control system (11) carries out model reconstruction and calibration processing on the obtained point cloud data of the workpiece to be sprayed, and obtains a workpiece reconstruction model to be sprayed under the coordinate system of the spraying robot (6);
s50, carrying out path planning and track generation on a reconstruction model of the workpiece to be sprayed by spray robot track planning software of a master control system (11) according to process information, then generating a running track of a spray robot (6), compiling a spray instruction program on the running track, and uploading the compiled running track to a robot controller (10);
S60, spraying primer according to a paint spraying instruction program by a spraying robot (6), controlling the flow, the spraying width and the atomization condition of a primer spray gun in real time by spraying and thickness measuring software of a general control system (11) according to process information, and monitoring the primer spraying flow and the primer spraying state in real time;
s70, starting a primer airing procedure according to process information in the spraying room (2), and airing the primer;
S80, preparing a finish paint for spraying in the process of drying the primer; the automatic finishing paint mixing function in the automatic feeding device (701) is controlled by spraying and thickness measuring software of a master control system (11), the materials are mixed according to the process information, and the materials are mixed and stirred to obtain finishing paint;
S90, after the primer is dried, the spraying robot (6) sprays the finish paint according to a paint spraying instruction, and meanwhile, spraying and thickness measuring software of the master control system (11) controls the flow, the spraying width and the atomization condition of a finish paint spray gun in real time according to process information, and monitors the spraying flow and the spraying state of the finish paint in real time;
S100, starting a finishing paint airing procedure according to process information in the spraying room (2), and airing the finishing paint;
s110, spraying and thickness measuring software of a master control system (11) starts gun washing operation, and a cleaning device (702) automatically washes and cleans a used spray gun end effector (5) to ensure that the next round of spraying process is not polluted by impurities;
S120, the spraying robot track planning software of the master control system (11) automatically determines sampling points according to a to-be-sprayed workpiece reconstruction model and process information, generates coordinates corresponding to the sampling points, generates a running track of the thickness measuring end effector (8), compiles a thickness measuring instruction program of the running track, and uploads the compiled running track to the robot controller (10);
S130, the spraying robot (6) replaces the spray gun end effector (5) with the thickness measuring end effector (8), then detects the thickness of a paint film of a sampling point according to a thickness measuring detection instruction, and meanwhile uploads the detection data of the thickness of the paint film of the sampling point to database software of the master control system (11) to generate a detection report;
S140, after spraying and detection are finished, spraying and thickness measuring software of the master control system (11) cleans a spray gun end effector (5) and an automatic feeding device (701), and finally, spraying transfer vehicle platform control software of the master control system (11) conveys sprayed workpieces to a spraying room outside (1) through a workpiece transfer vehicle (3), so that spraying is finished;
In the steps S30-S130, remote monitoring software of a master control system (11) carries out remote real-time monitoring on the spraying room space (2) and the on-site automatic scanning and calibrating system (4); meanwhile, the whole process self-checking and fault alarming are carried out, and all historical information is reserved and used for later maintenance reference.
2. The full-automatic spraying method of the temperature-sensitive paint according to claim 1, wherein the quick-change rack (9) comprises a cross-shaped main body bracket (47) and quick-change placing plates (48) fixed on two sides of the top surface of a horizontal support plate of the main body bracket (47), one side of the quick-change placing plates (48) is used for fixing a spray gun end effector (5), and the other side of the quick-change placing plates (48) is used for fixing a thickness measuring end effector (8); the bottom surfaces of the quick-change mounting plates (48) are respectively provided with a sensor switch, and when the spray gun end effector (5) or the thickness measuring end effector (8) is arranged on the corresponding quick-change mounting plate (48), the sensor switches generate switch logic signals.
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