CN213255221U - Workpiece spraying device based on three-dimensional scanning positioning - Google Patents
Workpiece spraying device based on three-dimensional scanning positioning Download PDFInfo
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- CN213255221U CN213255221U CN202022072936.9U CN202022072936U CN213255221U CN 213255221 U CN213255221 U CN 213255221U CN 202022072936 U CN202022072936 U CN 202022072936U CN 213255221 U CN213255221 U CN 213255221U
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- 238000005507 spraying Methods 0.000 title claims abstract description 104
- 239000007921 spray Substances 0.000 claims description 5
- 210000000707 wrist Anatomy 0.000 claims description 4
- 238000007592 spray painting technique Methods 0.000 claims 6
- 238000005516 engineering process Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
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Abstract
The utility model provides a workpiece spraying device based on three-dimensional scanning positioning, belonging to the technical field of spraying equipment, comprising a plurality of spraying square cabins which form spraying space around the workpiece; a spraying robot is arranged in the spraying shelter and is used for spraying the workpiece in the spraying space; the three-dimensional scanning positioning devices are arranged in the spraying space and connected with a central processing unit, the central processing unit is connected with a controller, and the controller is connected with the spraying robot. The utility model discloses a three-dimensional positioning scanning device scans and gathers work piece profile characteristic position point cloud, compares with the standard position point cloud in the central processing unit, and control spraying robot carries out position adjustment, need not artificial intervention, to the same kind of product, can adjust automatically, has improved work efficiency; a positioning device is not required to be added due to overlong workpieces; the target point is not needed to be adhered and labeled manually, a coordinate system is determined through point cloud, the precision is high, and the error is small.
Description
Technical Field
The utility model relates to a spraying equipment technical field, concretely relates to work piece spraying device based on three-dimensional scanning location.
Background
When the spraying robot carries out batch spraying operation, in order to guarantee spraying precision and spraying repeatability, the workpiece placing position has higher requirements. At present, aiming at batch pieces, the spraying precision and the spraying repeatability are ensured mainly by the following two ways. Manufacturing a mechanical positioning device, mechanically positioning the workpiece and then spraying. And positioning the workpiece by using a 2D image positioning technology.
The drawbacks of the above two schemes are mainly reflected in:
the cost of manufacturing the mechanical positioning device increases; the cleaning cost of the mechanical positioning device is high; the mechanical positioning error is large; aiming at large workpieces, the mechanical positioning device has low feasibility of implementation, thereby reducing the working efficiency and influencing the product quality. Conventional spraying equipment does not adopt an automatic spraying positioning technology, and for large-sized workpieces, when deviation occurs in positioning, a spraying path is completely adjusted manually, so that the automation degree is low, and the workload is large. When the spraying equipment comprises the robot, the path of the robot is manually adjusted, errors are prone to occurring, and the robot and the spray head are damaged due to collision. The 2D image positioning technology can meet the positioning accuracy only under the following three conditions, mechanical auxiliary positioning, standard positioning hole arrangement and small workpiece error are achieved, but the field positioning of large-sized workpieces does not meet the conditions, so that the positioning error is large by adopting the technology, and the technology is not suitable for positioning large-sized movable workpieces.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a adjust the work piece spraying device based on three-dimensional scanning location of replanning the spraying route through three-dimensional scanning positioning technique to the spraying robot position to solve at least one technical problem who exists among the above-mentioned background art.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model provides a work piece spraying device based on three-dimensional scanning location, include:
the spraying square cabins surround the workpiece to form spraying spaces;
a spraying robot is arranged in the spraying shelter and is used for spraying the workpiece in the spraying space;
the three-dimensional scanning positioning devices are arranged in the spraying space and connected with a central processing unit, the central processing unit is connected with a controller, and the controller is connected with the spraying robot.
Preferably, a servo electric cylinder is fixed in the spraying square cabin, and the three-dimensional scanning positioning device is fixed on a telescopic rod of the servo electric cylinder.
Preferably, the spraying robot is a rail-type spraying robot.
Preferably, the servo electric cylinders are respectively fixed to both ends of a guide rail of the rail type painting robot.
Preferably, the servo electric cylinder is a QDA97 series retrace servo electric cylinder.
Preferably, the three-dimensional scanning positioning device is a three-dimensional laser scanner.
Preferably, the controller is connected with a rail driving device of the rail type spraying robot.
Preferably, the spraying robot is an IRB 5400 spraying robot.
Preferably, the controller is a PLC controller.
Preferably, the number of the spraying square cabins is 2.
The utility model discloses beneficial effect: the three-dimensional positioning scanning device is used for scanning and collecting the point cloud of the characteristic position of the outline of the workpiece, the point cloud is compared with the point cloud of the standard position in the central processing unit, the spraying robot is controlled to adjust the position, manual intervention is not needed, the point cloud of the same product can be automatically adjusted, and the working efficiency is improved; a positioning device is not required to be added due to overlong workpieces; the target point is not needed to be adhered and labeled manually, a coordinate system is determined through point cloud, the precision is high, and the error is small.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a structural framework diagram of a workpiece spraying device based on three-dimensional scanning and positioning according to an embodiment of the present invention.
Wherein: 1-spraying a square cabin; 2-a workpiece; 3-a spraying robot; 4-three-dimensional scanning positioning device; 5-a central processing unit; 6-a controller; 7-servo electric cylinder; 8-guide rail.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by way of the drawings are exemplary only for the purpose of explaining the present invention and should not be construed as limiting the present invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the description of the present specification, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present specification, the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present technology.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," "coupled," and "disposed" are intended to be inclusive and mean, for example, that they may be fixedly coupled or disposed, or that they may be removably coupled or disposed, or that they may be integrally coupled or disposed. The specific meaning of the above terms in the present technology can be understood by those of ordinary skill in the art as appropriate.
To facilitate understanding of the present invention, the present invention will be further explained with reference to specific embodiments in conjunction with the accompanying drawings, and the specific embodiments do not constitute limitations of the embodiments of the present invention.
It will be appreciated by those skilled in the art that the drawings are merely schematic representations of embodiments and that elements shown in the drawings are not necessarily required to practice the invention.
Examples
As shown in fig. 1, the embodiment of the utility model provides a work piece spraying device based on three-dimensional scanning location relies on three-dimensional scanning positioning system, scans the quick accurate location of collection model profile information to large-scale work piece (the portable work piece more than 10 m), transmits the deviation through PLC and accomplishes the gesture adjustment for the robot, realizes need not artificial intervention, does not have mechanical positioning device, and positioning accuracy is high, the intelligent automatic spraying technique that the error is little. The scanning and positioning of the large workpiece are faster and more efficient.
Workpiece spraying device based on three-dimensional scanning location includes:
the plurality of spraying square cabins 1 form spraying spaces around the workpiece 2;
a spraying robot 3 is arranged in the spraying shelter 1 to spray the workpiece 2 in the spraying space;
the three-dimensional scanning and positioning device comprises a plurality of three-dimensional scanning and positioning devices 4 arranged in the spraying space, wherein the three-dimensional scanning and positioning devices 4 are connected with a central processing unit 5, the central processing unit 5 is connected with a controller 6, and the controller 6 is connected with the spraying robot 3.
In this embodiment, the number of the spraying square cabins 1 is two, the two spraying square cabins are respectively located at the left side and the right side of the workpiece, the workpiece is located between the two spraying square cabins 1, and the spraying robot 3 on the spraying square cabins 1 sprays the workpiece 2.
In this embodiment, two spraying square cabins are a group and are respectively located on the left side and the right side of the workpiece, and the two spraying robots finish the spraying of the workpiece together.
A servo electric cylinder 7 is fixed in the spraying shelter 1, and the three-dimensional scanning positioning device 4 is fixed on an expansion rod of the servo electric cylinder 7. When the workpiece 2 enters a spraying position of a spraying space, the servo electric cylinder 7 controls the telescopic rod to move the three-dimensional scanning positioning device (laser scanner) to a proper position, and the three-dimensional profile of the workpiece is collected.
In the present embodiment, the servo electric cylinder 7 is a QDA97 series wrap servo electric cylinder. The three-dimensional laser scanner is a Leica ScanStation c10 scanner. During specific installation, a mounting plate can be fixed at the front end of the telescopic rod of the servo electric cylinder, a threaded through hole is formed in the mounting plate, and the base of the Leica ScanStation c10 scanner is installed on the mounting plate through the matching of the threaded through hole and a bolt.
In practical applications, the types of the servo electric cylinder 7 and the three-dimensional laser scanner are not limited to the above types, and those skilled in the art can select the specific types of the three-dimensional laser scanner and the servo electric cylinder according to specific situations.
The spraying robot 3 is a rail type spraying robot. The servo electric cylinders 7 are respectively fixed at two ends of a guide rail 8 of the rail type spraying robot.
The controller 6 is connected with a track driving device of the track type spraying robot. The spraying robot 3 is a hollow wrist type IRB 5400 spraying robot. The hollow wrist type IRB 5400 spraying robot is arranged on a sliding seat of the robot guide rail, and the controller 6 drives the sliding seat of the robot guide rail to move through the rail driving device, so that the hollow wrist type IRB 5400 spraying robot is driven to move. The controller 6 is a PLC controller.
The embodiment of the utility model provides an in, work principle as follows based on three-dimensional scanning location's work piece spraying device:
when a workpiece enters a spraying position, a servo electric cylinder controls a telescopic rod to move a three-dimensional scanning positioning device (a three-dimensional laser scanner) to a proper position, the three-dimensional scanning positioning system carries out point cloud collection on a contour characteristic area of the workpiece through 4 three-dimensional scanning positioning devices 4 (the three-dimensional laser scanner) and transmits collected data to a three-dimensional scanning positioning processor (a central processing unit 5), the three-dimensional scanning positioning processor carries out automatic analysis and processing and calculates a deviation value according to a standard position point cloud of the contour characteristic of the workpiece prestored in the three-dimensional scanning positioning processor, a processed result is sent to a PLC controller through a signal, the PLC controller converts the signal into an instruction and transmits the instruction to a spraying robot, and the spraying robot can automatically adjust the initial position and the subsequent spraying path posture of the spraying robot according to the instruction.
To sum up, the embodiment of the present invention provides a workpiece spraying device based on three-dimensional scanning positioning, which does not need to manufacture a spraying mechanical positioning device for each workpiece, saves manufacturing cost, and only needs to compare the scanning collected workpiece contour feature position point cloud with the standard position point cloud prestored in a processing system, so as to obtain the position deviation; manual intervention is not needed, the same product can be automatically adjusted, and the automation degree is high; the response and adjustment speed is high, the working efficiency is improved, and the productivity is increased; a positioning device is not required to be added due to overlong workpieces; the length of the workpiece has no influence on the positioning technology; the target point is not needed to be adhered and labeled manually; the positioning of the small workpieces is very accurate; and human errors do not exist, a coordinate system can be determined through point cloud, the precision is high, and the errors are small.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present disclosure, and it should be understood by those skilled in the art that various modifications and changes may be made without inventive changes in the technical solutions disclosed in the present disclosure.
Claims (10)
1. A workpiece spraying device based on three-dimensional scanning positioning is characterized by comprising:
the spraying square cabins (1) surround the workpiece (2) to form spraying spaces;
a spraying robot (3) is arranged in the spraying shelter (1) to spray the workpiece (2) in the spraying space;
locate a plurality of three-dimensional scanning positioner (4) in the spraying space, three-dimensional scanning positioner (4) are connected central processing unit (5), central processing unit (5) are connected with controller (6), controller (6) are connected spraying robot (3).
2. The workpiece spraying device based on three-dimensional scanning positioning as recited in claim 1, characterized in that a servo electric cylinder (7) is fixed in the spraying shelter (1), and the three-dimensional scanning positioning device (4) is fixed on an expansion rod of the servo electric cylinder (7).
3. The workpiece spray coating device based on three-dimensional scanning positioning according to claim 2, characterized in that the spray coating robot (3) is an orbital spray coating robot.
4. The workpiece spraying device based on three-dimensional scanning positioning as recited in claim 3, characterized in that the servo electric cylinders (7) are respectively fixed at two ends of a guide rail (8) of the rail type spraying robot.
5. The workpiece spray coating device based on three-dimensional scanning positioning as recited in claim 4, characterized in that the servo electric cylinder (7) is a QDA97 series turn-back servo electric cylinder.
6. Workpiece spraying device based on three-dimensional scanning positioning according to claim 5, characterised in that the three-dimensional scanning positioning device (4) is a three-dimensional laser scanner.
7. Workpiece spray painting device based on three-dimensional scanning positioning according to claim 5, characterised in that the controller (6) is connected to the rail drive of the rail-mounted spray painting robot.
8. Workpiece spray painting device based on three-dimensional scanning positioning according to any of the claims 3-7, characterised in that the spray painting robot (3) is a hollow wrist IRB 5400 spray painting robot.
9. The workpiece spray coating device based on three-dimensional scanning positioning according to any of the claims 1-7, characterized in that the controller (6) is a PLC controller.
10. Workpiece spray painting device based on three-dimensional scanning positioning according to any of the claims 1-7, characterised in that the number of spray booths (1) is 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022072936.9U CN213255221U (en) | 2020-09-18 | 2020-09-18 | Workpiece spraying device based on three-dimensional scanning positioning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022072936.9U CN213255221U (en) | 2020-09-18 | 2020-09-18 | Workpiece spraying device based on three-dimensional scanning positioning |
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| CN213255221U true CN213255221U (en) | 2021-05-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113477435A (en) * | 2021-07-28 | 2021-10-08 | 北京极为感控科技有限公司 | Liquid spraying method, system and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113477435A (en) * | 2021-07-28 | 2021-10-08 | 北京极为感控科技有限公司 | Liquid spraying method, system and device |
| CN113477435B (en) * | 2021-07-28 | 2025-02-14 | 北京极为感控科技有限公司 | Liquid spraying method, system and device |
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