CN114147738B - Industrial robot-based 3D curved surface spray drawing system and working method thereof - Google Patents
Industrial robot-based 3D curved surface spray drawing system and working method thereof Download PDFInfo
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- CN114147738B CN114147738B CN202111423391.4A CN202111423391A CN114147738B CN 114147738 B CN114147738 B CN 114147738B CN 202111423391 A CN202111423391 A CN 202111423391A CN 114147738 B CN114147738 B CN 114147738B
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- 239000007921 spray Substances 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000007592 spray painting technique Methods 0.000 claims abstract description 83
- 238000010422 painting Methods 0.000 claims description 20
- 230000000694 effects Effects 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 2
- 238000007641 inkjet printing Methods 0.000 abstract description 8
- 230000001360 synchronised effect Effects 0.000 description 18
- 230000005540 biological transmission Effects 0.000 description 11
- 239000012636 effector Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a 3D curved surface spray drawing system based on an industrial robot and a working method thereof. The 3D curved surface spray drawing system based on the industrial robot comprises the industrial robot; the inkjet printer is connected with the industrial robot; a three-dimensional vision system; the point cloud data processing module is used for converting the scanned point cloud data into a three-dimensional model based on triangular patches and giving a spray painting path according to the spray painting shape and position decided by a designer; the industrial robot module is used for detecting whether the spray painting area is vertical to the spray nozzle and detecting the distance from the spray nozzle to the spray painting surface according to the characteristic surface of the workpiece to be sprayed and painted, captured by the 3D camera, controlling the industrial robot to adjust the gesture to enable the spray nozzle to be vertical to the curved surface to be sprayed and painted, and generating a spray painting path; the system module of the inkjet printer is used for performing inkjet printing according to the inkjet printing path generated by the point cloud data processing module and the inkjet printing path generated by the industrial robot module in combination with the control inkjet printer; the PLC central control system controls each module to work.
Description
Technical Field
The invention belongs to the technical field of 3D curved surface spray painting, and particularly relates to a 3D curved surface spray painting system based on an industrial robot and a working method thereof.
Background
Since the beginning of the 80 s of the 20 th century, large ink jet printers have been used in a variety of color inkjet jobs. With the progress of inkjet technology and the development of computing technology and 3D technology, more and more operation demands of 3D curved surfaces are emerging.
However, the existing inkjet printing apparatus only prints planar materials, and although the planar inkjet industry is currently mature and forms a stable and reliable planar printing system, it is not suitable for 3D curved inkjet.
Therefore, there is a strong need to develop a system suitable for 3D curved surface painting operation, which can finish painting on the 3D curved surface. The Chinese patent with the document number of CN103521410B discloses an automatic spray painting method of a three-dimensional pattern on the surface of a vehicle body. However, the using steps and structures of the system spray painting method are not clear.
In view of the above, the invention provides a 3D curved surface spray drawing system based on an industrial robot and a working method thereof.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the 3D curved surface spray drawing system based on the industrial robot and the working method thereof, which can effectively realize the 3D curved surface spray drawing.
The invention is realized by the following technical scheme: 3D curved surface spray drawing system based on industrial robot, characterized by: comprises the following steps:
inkjet printer: the device is used for spraying and painting a workpiece, is provided with a three-coordinate moving mechanism, can move along the X direction, the Y direction and the Z direction, and is provided with an ultrasonic positioning system;
Industrial robot: the device has six degrees of freedom, is connected with the inkjet printer, and meets the position requirement of the inkjet printer by adjusting the gesture;
three-dimensional vision system: comprises a 3D camera for collecting point cloud data of a workpiece to be painted and capturing a characteristic surface of the workpiece to be painted, guiding the industrial robot to adjust the posture;
The point cloud data processing module is used for: the method comprises the steps of converting scanned point cloud data into a three-dimensional model based on triangular patches, displaying a pre-spray painting effect by inputting codes on the surface of the model, and giving a spray painting path according to a spray painting shape and a position decided by a designer;
Industrial robot module: detecting whether the spray painting area is perpendicular to a spray painting machine spray nozzle and detecting the distance from the spray painting machine spray nozzle to the spray painting surface according to the characteristic surface of the workpiece to be sprayed and painted, which is captured by a 3D camera, controlling an industrial robot to adjust the gesture to enable the spray painting machine spray nozzle to be perpendicular to the curved surface to be sprayed and painted, and generating a spray painting path;
The inkjet printer system module: the spray painting is carried out according to the spray painting path generated by the point cloud data processing module and the spray painting path generated by the industrial robot module in combination with the control spray painting machine, and real-time simulation display is carried out;
and a PLC central control system: the system is used for controlling the point cloud data processing module, the industrial robot module and the inkjet printer system module to work.
According to the invention, the industrial robot adjusts the posture under the guidance of the three-dimensional vision system, so that the spray head of the inkjet printer is kept perpendicular to the curved surface to be printed at any time, and the inkjet printer performs inkjet printing according to the combination of the inkjet printing path generated by the point cloud data processing module and the inkjet printing path generated by the industrial robot module, thereby realizing the inkjet printing operation on the 3D curved surface.
The working method of the industrial robot-based 3D curved surface spray drawing system comprises the following steps: (1) The method comprises the steps that a 3D camera detects that a workpiece enters a workpiece to-be-painted area on line, and a PLC central control system simultaneously starts a point cloud data processing module and an industrial robot module; the point cloud data processing module converts the scanned point cloud data into a three-dimensional model based on a triangular surface patch, a code is input on the surface of the model to display a pre-spray painting effect, a designer decides the spray painting shape and position of the pre-spray painting effect, and then a spray painting path is given out by the point cloud data processing module;
Meanwhile, the industrial robot module enters a preset position to print a workpiece, whether a spray painting area is perpendicular to a spray nozzle of a spray painting machine or not is detected according to a characteristic surface of the workpiece captured by a 3D camera, whether the distance from the spray nozzle of the spray painting machine to a spray painting surface is smaller than 5mm or not is detected, if yes, a spray painting path is generated, if not, the 3D camera guides the industrial robot to adjust the gesture to meet the requirement, and the spray nozzle of the spray painting machine is guided to reach the characteristic point position, so that the spray painting path is generated;
(2) The system module of the inkjet printer works, the three-coordinate moving mechanism of the inkjet printer returns to the original point, the distance between the spray head and the inkjet surface is regulated by the ultrasonic positioning system in an auxiliary way, after the distance is regulated to a proper position, the spray head performs inkjet pattern under the cooperation of the three-coordinate moving mechanism, and during inkjet, the inkjet is performed according to the combination of the inkjet path generated by the point cloud data processing module and the inkjet path generated by the industrial robot, and real-time simulation display is performed until the inkjet work is finally completed.
The beneficial effects of the invention are as follows: according to the invention, the spray painting machine, the industrial robot and the three-dimensional vision system are combined, and the posture is adjusted by the industrial robot under the guidance of the three-dimensional vision system, so that the spray nozzle of the spray painting machine is kept perpendicular to the curved surface to be sprayed and painted at all times, and the spray painting machine performs spray painting according to the combination of the spray painting path generated by the point cloud data processing module and the spray painting path generated by the industrial robot module, thereby effectively realizing the spray painting operation on the 3D curved surface.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic block diagram of a point cloud data processing module in the present invention;
FIG. 3 is a schematic block diagram of a printer system module according to the present invention;
FIG. 4 is a schematic block diagram of a robotic module of the present invention;
FIG. 5 is a schematic block diagram of a PLC central control system in the present invention;
FIG. 6 is a schematic perspective view of an inkjet printer according to the present invention;
FIG. 7 is a schematic view of the X-direction transmission mechanism of the inkjet printer according to the present invention;
FIG. 8 is a schematic perspective view of another view of the inkjet printer according to the present invention;
In the figure, 1, a workpiece to be painted, 2, a painting machine, 3, a three-dimensional vision system, 4, an industrial robot, 2-1, a robot end effector connecting device, 2-2, a side rail wheel, 2-3, an X-direction transmission gear, 2-4, a synchronous pulley, 2-5, a Z-direction telescopic nozzle, 2-6, a telescopic nozzle shell, 2-7, a Y-direction movement motor, 2-8, a guide rail painting machine guide rail, 2-9, a small synchronous pulley, 2-10, an X-direction movement motor, 2-11, a front rail wheel, 2-12, a Z-direction telescopic movement motor, 2-13, a rack, 2-14, a limiting block, 2-15, a painting machine bottom plate, 2-16, a shaft, 2-17, a large synchronous pulley, 2-18, an ultrasonic positioning module, 2-19, an X-direction guide rail frame, and a 2-20Y-direction support.
Detailed Description
The invention is further illustrated by the following non-limiting examples, in conjunction with the accompanying drawings:
as shown in the drawing, the 3D curved surface spray painting system based on the industrial robot is used for spray painting the 3D curved surface of the workpiece 1 and comprises a spray painting machine 2, a three-dimensional vision system 3, an industrial robot 4, a point cloud data processing module, a spray painting machine system module, an industrial robot module and a PLC central control system.
The inkjet printer 2 comprises a robot end effector connecting device 2-1, an X-direction guide rail frame 2-19, a Y-direction bracket 2-20, an inkjet printer bottom plate 2-15 and a Z-direction telescopic spray head 2-5. The robot end effector connecting device 2-1 is arranged at the lower part of the X-direction guide rail frame 2-19 and is used for being connected with an end effector of the industrial robot 4, two sprayer guide rails 2-8 arranged along the X direction are arranged at the upper part of the X-direction guide rail frame 2-19, and a rack 2-13 parallel to the sprayer guide rails 2-8 is also arranged between the two sprayer guide rails 2-8 at the upper part of the X-direction guide rail frame 2-19. The two sides of the bottom plate 2-15 of the inkjet printer are respectively arranged on the guide rail 2-8 of the inkjet printer in a sliding way through two front rail wheels 2-11 and two side rail wheels 2-2. The Y-direction support 2-20 is of a portal structure, the Y-direction support 2-20 is vertically and fixedly arranged on the upper portion of the inkjet printer bottom plate 2-15, a transmission shaft is arranged at the upper end of the Y-direction support 2-20, a synchronous pulley is arranged on the transmission shaft, a shaft 2-16 is arranged on the inkjet printer bottom plate 2-15 corresponding to the lower end of the Y-direction support 2-20, a synchronous pulley 2-4 is arranged on the shaft 2-16 corresponding to the synchronous pulley arranged at the upper end of the Y-direction support 2-20, and a synchronous belt is arranged between the two synchronous pulleys. The transmission side of the shaft 2-16 is also fitted with a small synchronous pulley 2-9. The upper part of the bottom plate 2-15 of the inkjet printer is fixedly provided with an X-direction movement motor 2-10 and a Y-direction movement motor 2-7. An X-direction transmission gear 2-3 is arranged on a motor shaft of the X-direction movement motor 2-10, the X-direction transmission gear 2-3 is in meshed transmission with the rack 2-13, and the X-direction movement motor 2-10 drives the inkjet printer bottom plate 2-15 to move along the inkjet printer guide rail 2-8 through the meshed transmission of the X-direction transmission gear 2-3 and the rack 2-13. The motor shaft of the Y-direction movement motor 2-7 is provided with a large synchronous pulley 2-17 which is matched and driven with a small synchronous pulley 2-9 arranged on the shaft 2-16 through a synchronous belt, and the Y-direction movement motor 2-7 drives the shaft 2-16 to rotate through the synchronous belt transmission, so that the synchronous belt on the synchronous pulley 2-4 is driven to move. the Z-direction telescopic spray head 2-5 is fixed with the synchronous belt on the synchronous pulley 2-4 through the outer telescopic spray head shell 2-6, and the Z-direction telescopic spray head 2-5 can be driven to move through the synchronous belt. The Z-direction telescopic movement motor 2-12 is fixedly arranged on the telescopic spray head shell 2-6, and the Z-direction telescopic movement motor 2-12 controls the Z-direction telescopic spray head 2-5 to move in the Z direction so as to adjust the distance between the telescopic spray head 2-5 and the surface of the workpiece 1 to be painted. The X-direction movement mechanism, the Y-direction movement mechanism and the Z-direction movement mechanism form a three-coordinate movement mechanism. The telescopic spray head moves up and down in the Y direction to carry out spray painting operation, and the spray painting operation is completed by the movement of the spray head in the X direction of the spray painting machine and the movement of the spray head in the Y direction. The Z-direction telescopic spray head 2-5 is provided with an ultrasonic positioning module 2-18. Limiting blocks 2-14 are arranged on the guide rails 2-8 of the inkjet printer and are used for limiting the moving range of the inkjet printer in the X direction and preventing derailment caused by overlarge moving range of the inkjet printer.
The three-dimensional vision system 3 comprises a 3D industrial camera and a camera mount, on which the industrial camera is arranged.
The industrial robot 4 is a heavy-duty industrial robot having six degrees of freedom, which is an industrial robot of the prior art, such as ABB. The inkjet printer 2 is connected to an end effector of the industrial robot 4 via a robot end effector connecting device 2-1.
The point cloud data processing module is used for: the method is used for converting the scanned point cloud data into a three-dimensional model based on triangular patches, displaying the pre-spray painting effect by inputting codes on the surface of the model, and giving a spray painting path according to the spray painting shape and position decided by a designer.
Industrial robot module: according to the characteristic surface of the workpiece to be painted captured by the 3D camera, detecting whether the painting area is vertical to the spray head of the painting machine or not and detecting the distance from the spray head of the painting machine to the painting surface, controlling the industrial robot to adjust the gesture to enable the spray head of the painting machine to be vertical to the curved surface to be painted, and generating a painting path.
The inkjet printer system module: and carrying out spray painting according to the spray painting path generated by the point cloud data processing module and the spray painting path generated by the industrial robot module in combination with a control spray painting machine, and carrying out real-time simulation display.
And a PLC central control system: the system is used for controlling the point cloud data processing module, the industrial robot module and the inkjet printer system module to work.
The working method of the 3D curved surface spray drawing system based on the industrial robot is as follows: firstly, a 3D camera detects that a workpiece enters a workpiece to-be-painted area on line, and a PLC central control system simultaneously starts a point cloud data processing module and an industrial robot module. The point cloud data processing module converts the scanned point cloud data into a three-dimensional model based on a triangular surface patch, a pre-spray painting effect can be displayed by inputting codes on the surface of the model, a designer decides the spray painting shape and position of the pre-spray painting effect, and then the point cloud data processing module gives a spray painting path.
Meanwhile, the industrial robot module enters a preset position of a workpiece to be painted, whether a painting area is perpendicular to a Z-direction telescopic nozzle 2-5 of the painting machine is detected according to a characteristic surface captured by a 3D camera, whether the distance from the Z-direction telescopic nozzle 2-5 of the painting machine to the painting surface is smaller than 5mm is detected, if yes, a painting path is generated, if not, the 3D camera guides the industrial robot 4 to adjust the gesture to meet the requirement, the Z-direction telescopic nozzle 2-5 is guided to reach the position of a characteristic point, the painting path is regenerated, and then the painting system at the tail end works.
Then, the spray drawing system works, the three-coordinate moving mechanism returns to the original point, the ultrasonic positioning module 2-18 assists in adjusting the distance between the Z-direction telescopic spray head 2-5 and the spray drawing surface, after adjusting to a proper position, the Z-direction telescopic spray head 2-5 sprays and draws patterns, the three-coordinate moving mechanism cooperates with the Z-direction telescopic spray head 2-5 to spray and draw patterns, and the spray drawing paths generated by the point cloud data processing module and the spray drawing paths generated by the industrial robot are combined to spray and draw patterns, and are simulated and displayed in real time until the spray drawing work is completed finally.
Other parts in this embodiment are all of the prior art, and are not described herein.
Claims (2)
1. 3D curved surface spray drawing system based on industrial robot, characterized by: comprises the following steps:
inkjet printer: the device is used for spraying and painting a workpiece, is provided with a three-coordinate moving mechanism, can move along the X direction, the Y direction and the Z direction, and is provided with an ultrasonic positioning system;
Industrial robot: the device has six degrees of freedom, is connected with the inkjet printer, and meets the position requirement of the inkjet printer by adjusting the gesture;
three-dimensional vision system: comprises a 3D camera for collecting point cloud data of a workpiece to be painted and capturing a characteristic surface of the workpiece to be painted, guiding the industrial robot to adjust the posture;
The point cloud data processing module is used for: the method comprises the steps of converting scanned point cloud data into a three-dimensional model based on triangular patches, displaying a pre-spray painting effect by inputting codes on the surface of the model, and giving a spray painting path according to a spray painting shape and a position decided by a designer;
Industrial robot module: detecting whether the spray painting area is perpendicular to a spray painting machine spray nozzle and detecting the distance from the spray painting machine spray nozzle to the spray painting surface according to the characteristic surface of the workpiece to be sprayed and painted, which is captured by a 3D camera, controlling an industrial robot to adjust the gesture to enable the spray painting machine spray nozzle to be perpendicular to the curved surface to be sprayed and painted, and generating a spray painting path;
The inkjet printer system module: the spray painting is carried out according to the spray painting path generated by the point cloud data processing module and the spray painting path generated by the industrial robot module in combination with the control spray painting machine, and real-time simulation display is carried out;
and a PLC central control system: the system is used for controlling the point cloud data processing module, the industrial robot module and the inkjet printer system module to work.
2. A method for operating the industrial robot-based 3D curved surface spray painting system of claim 1, wherein: the method comprises the following steps: (1) The method comprises the steps that a 3D camera detects that a workpiece enters a workpiece to-be-painted area on line, and a PLC central control system simultaneously starts a point cloud data processing module and an industrial robot module; the point cloud data processing module converts the scanned point cloud data into a three-dimensional model based on a triangular surface patch, a code is input on the surface of the model to display a pre-spray painting effect, a designer decides the spray painting shape and position of the pre-spray painting effect, and then a spray painting path is given out by the point cloud data processing module;
Meanwhile, the industrial robot module enters a preset position to print a workpiece, whether a spray painting area is perpendicular to a spray nozzle of a spray painting machine or not is detected according to a characteristic surface of the workpiece captured by a 3D camera, whether the distance from the spray nozzle of the spray painting machine to a spray painting surface is smaller than 5mm or not is detected, if yes, a spray painting path is generated, if not, the 3D camera guides the industrial robot to adjust the gesture to meet the requirement, and the spray nozzle of the spray painting machine is guided to reach the characteristic point position, so that the spray painting path is generated;
(2) The system module of the inkjet printer works, the three-coordinate moving mechanism of the inkjet printer returns to the original point, the distance between the spray head and the inkjet surface is regulated by the ultrasonic positioning system in an auxiliary way, after the distance is regulated to a proper position, the spray head performs inkjet pattern under the cooperation of the three-coordinate moving mechanism, and during inkjet, the inkjet is performed according to the combination of the inkjet path generated by the point cloud data processing module and the inkjet path generated by the industrial robot, and real-time simulation display is performed until the inkjet work is finally completed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107899814A (en) * | 2017-12-20 | 2018-04-13 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot spraying system and its control method |
| CN110341323A (en) * | 2018-04-08 | 2019-10-18 | 上海大学 | A kind of real-time curved surface ink-jet print system and method |
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| CN102151634B (en) * | 2011-03-02 | 2012-12-19 | 上海大学 | Intelligent tree trunk white paining robot |
| CN107908152A (en) * | 2017-12-26 | 2018-04-13 | 苏州瀚华智造智能技术有限公司 | A kind of movable robot automatic spray apparatus, control system and method |
| CN109483369B (en) * | 2018-12-13 | 2023-09-29 | 中国船舶集团有限公司第七一六研究所 | Robot polishing system with three-dimensional vision and control method thereof |
| CN112482699B (en) * | 2020-12-04 | 2022-04-22 | 重庆机电职业技术大学 | Multifunctional wall body color painting integrated machine |
| CN113019763B (en) * | 2020-12-10 | 2022-01-14 | 浙江工业大学 | Spraying robot track planning method based on grid projection algorithm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107899814A (en) * | 2017-12-20 | 2018-04-13 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot spraying system and its control method |
| CN110341323A (en) * | 2018-04-08 | 2019-10-18 | 上海大学 | A kind of real-time curved surface ink-jet print system and method |
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