CN112354718A - Automatic cleaning and switching method for spray gun - Google Patents
Automatic cleaning and switching method for spray gunDownload PDFInfo
- Publication number
- CN112354718A CN112354718ACN202011089347.XACN202011089347ACN112354718ACN 112354718 ACN112354718 ACN 112354718ACN 202011089347 ACN202011089347 ACN 202011089347ACN 112354718 ACN112354718 ACN 112354718A
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- spraying
- unit
- industrial robot
- cleaning
- camera
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- 239000007921spraySubstances0.000titleclaimsabstractdescription48
- 238000000034methodMethods0.000titleclaimsabstractdescription32
- 238000005507sprayingMethods0.000claimsabstractdescription125
- 238000000576coating methodMethods0.000claimsabstractdescription17
- 239000011248coating agentSubstances0.000claimsabstractdescription13
- 230000001276controlling effectEffects0.000claimsabstractdescription4
- 230000001105regulatory effectEffects0.000claimsabstractdescription4
- 239000007788liquidSubstances0.000claimsdescription28
- 239000003973paintSubstances0.000claimsdescription10
- 238000009434installationMethods0.000claimsdescription8
- 238000004891communicationMethods0.000claimsdescription6
- XLYOFNOQVPJJNP-UHFFFAOYSA-NwaterSubstancesOXLYOFNOQVPJJNP-UHFFFAOYSA-N0.000claimsdescription3
- 238000004804windingMethods0.000claimsdescription3
- 238000010422paintingMethods0.000description9
- 238000010009beatingMethods0.000description4
- 238000010586diagramMethods0.000description2
- 239000002184metalSubstances0.000description2
- 240000005561Musa balbisianaSpecies0.000description1
- 235000018290Musa x paradisiacaNutrition0.000description1
- 208000027418Wounds and injuryDiseases0.000description1
- 230000009286beneficial effectEffects0.000description1
- 230000006378damageEffects0.000description1
- 230000007547defectEffects0.000description1
- 238000007599dischargingMethods0.000description1
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- 238000011900installation processMethods0.000description1
- 238000004519manufacturing processMethods0.000description1
Images
Classifications
- 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
- 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
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
- B05B15/55—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter using cleaning fluids
Landscapes
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
Description
Technical Field
The invention relates to the technical field of object spraying, and particularly discloses a spray gun automatic cleaning and switching method.
Background
At present in car 4S shop, the spraying of car panel beating is mainly accomplished by the manual work, and the environment of spraying paint has certain injury to the personnel' S health that sprays paint. The automobile painting of automobile manufacturers is mainly finished by a painting robot, and one painting production line of automobile sheet metal of the automobile manufacturers only paints sheet metal of products with fixed models. The car panel beating spraying in car 4S shop has the motorcycle type kind many, and the panel beating is the different characteristics of spraying panel beating model at every turn, and the colour requirement of spraying paint is different, and single spray gun is accomplished and is consuming time longer relatively, leads to the spraying inefficiency.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention aims to provide an automatic cleaning and switching method of a spray gun, which is used for realizing automatic spraying of an object and automatic switching among different coatings and improving the spraying efficiency.
In order to achieve the above object, the present invention provides an automatic cleaning and switching method, comprising the steps of:
the method comprises the following steps that an industrial robot, a camera unit and an industrial personal computer are configured, the industrial robot, the camera unit and the industrial personal computer are electrically connected, the camera unit is arranged on the industrial robot and used for shooting images of an object to be sprayed, and the industrial robot generates spraying track data for regulating and controlling the industrial robot according to the shot images of the camera unit;
the method comprises the following steps that a plurality of spraying units and cleaning units for automatically cleaning the spraying units are arranged, a first spraying unit is arranged on an industrial robot, and an industrial personal computer regulates and controls the industrial robot to drive the first spraying unit to automatically spray a first coating on an object according to spraying track data;
the first spraying unit is detached from the industrial robot, the second spraying unit is installed on the industrial robot, the cleaning unit is used for cleaning the spraying unit detached from the industrial robot, and the industrial personal computer regulates and controls the industrial robot to drive the second spraying unit to automatically spray the second coating on the object according to the spraying track data.
Wherein, still include the following step:
the cleaning unit is provided with a liquid supply assembly, an air compressor assembly and a vibration assembly, the liquid supply assembly is used for inputting cleaning liquid into the spraying unit, the vibration assembly is used for swinging and vibrating the cleaning liquid in the spraying unit, the spraying unit is cleaned by the vibrated cleaning liquid, the air compressor assembly pumps high-pressure gas into the spraying unit containing the cleaning liquid, and the cleaning liquid after the spraying unit is cleaned is sprayed out of the spraying unit by means of the high-pressure gas.
The cleaning liquid is Nakansui water, and the oscillating assembly oscillates the cleaning liquid in the oscillating spraying unit for three minutes; the cleaning unit cleans the spray unit at least twice.
Wherein, still include the following step:
the spraying unit is provided with a carrier, a spray gun and a spray can, wherein the spray gun is arranged on the carrier, the carrier is arranged on the industrial robot, the spray can is used for containing paint, and the spraying is used for supplying and conveying the paint to the spray gun.
Wherein, the spraying unit still includes and holds carrier, the balancing weight that sets up in the lower extreme that holds carrier with the carrier rotation setting, holds the horizontal setting of axis of rotation between carrier, the watering can with hold carrier and can dismantle the connection.
The bearing piece is provided with a lifting lug positioned above the balancing weight, the lifting lug is provided with a horizontal part and a stopping part bent from the horizontal part, the ring is sleeved on the outer side of the horizontal part, and the stopping part is used for stopping the abutting ring so as to prevent the ring from being separated from the horizontal part.
The lifting lug further comprises a fixing part bent from one end of the horizontal part far away from the stopping part, the fixing part is arranged on the bearing part, the stopping part is formed by winding from one end of the horizontal part far away from the fixing part, and the arc-shaped convex surface of the stopping part is used for stopping the abutting ring.
Wherein, still include the following step:
the spraying unit is provided with a quick-change connector, the industrial robot and the cleaning unit are provided with a quick-change clamp, and the quick-change connector is clamped and fixed by the quick-change clamp to be used for realizing the installation communication of the industrial robot and the spraying unit or the installation communication of the cleaning unit and the spraying unit.
Wherein, still include the following step:
the camera shooting unit is provided with a 2D camera and a 3D camera, the 2D camera is used for shooting an overall image of an object to be sprayed, an industrial personal computer is used for marking out a closed line on the overall image shot by the 2D camera, the 3D camera is used for scanning the area selected by the closed line frame to form a three-dimensional image, and the industrial personal computer generates spraying track data according to the three-dimensional image to regulate and control the industrial robot to drive the spraying unit to spray the three-dimensional image.
The camera shooting unit further comprises a datum plate, the 2D camera and the 3D camera are detachably arranged on the same side of the datum plate, and the central axis of the 2D camera and the central axis of the 3D camera are arranged in parallel.
The invention has the beneficial effects that: the industrial personal computer regulates and controls the industrial robot to drive the first spraying unit to automatically spray the first coating on the object according to the spraying track data; the first spraying unit is detached from the industrial robot, the second spraying unit is installed on the industrial robot, the cleaning unit is used for cleaning the spraying unit detached from the industrial robot, and the industrial personal computer regulates and controls the industrial robot to drive the second spraying unit to automatically spray a second coating on an object according to the spraying track data; the automatic spraying of the object and the automatic switching among different coatings are realized, and the spraying efficiency is improved.
Drawings
FIG. 1 is a block flow diagram of the present invention;
FIG. 2 is a schematic structural diagram of an industrial robot, a camera unit and a spraying unit of the invention;
fig. 3 is a schematic structural view of the spray unit of the present invention.
The reference numerals include:
1-carrier 2-carrier 3-counterweight
4-spray gun 5-sprinkling can 6-lifting lug
7-stopper 100-industrial robot 101-camera unit
102 — a spray unit.
Detailed Description
For the understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1 to 3, an automatic cleaning and switching method of the present invention includes the following steps:
the method comprises the following steps that anindustrial robot 100, acamera unit 101 and an industrial personal computer are configured, theindustrial robot 100, thecamera unit 101 and the industrial personal computer are electrically connected, thecamera unit 101 is installed at the tail end of theindustrial robot 100 and used for shooting images of an object to be sprayed, and theindustrial robot 100 generates spraying track data for regulating and controlling theindustrial robot 100 according to the shot images of thecamera unit 101;
a plurality ofspraying units 102 and cleaning units for automatically cleaning thespraying units 102 are configured, afirst spraying unit 102 is arranged at the tail end of theindustrial robot 100, and the industrial personal computer regulates and controls theindustrial robot 100 to drive thefirst spraying unit 102 to automatically spray a first coating on an object according to spraying track data;
thefirst spraying unit 102 is detached from theindustrial robot 100, thesecond spraying unit 102 is installed on theindustrial robot 100, the cleaning unit is used for cleaning thespraying unit 102 detached from theindustrial robot 100, and the industrial personal computer controls theindustrial robot 100 to drive thesecond spraying unit 102 to automatically spray the second type of coating to the object according to the spraying track data.
The automatic cleaning and switching method provided by the invention can be used for automatically spraying the object and automatically switching between different coatings without manual spraying by operators or manual cleaning of thespraying unit 102 by the operators, so that the spraying efficiency is improved.
The automatic cleaning and switching method further comprises the following steps:
the cleaning unit is provided with a liquid supply assembly, an air compressor assembly and an oscillating assembly, the liquid supply assembly is used for inputting cleaning liquid into thespraying unit 102, the oscillating assembly is used for oscillating the cleaning liquid in thespraying unit 102, the oscillating cleaning liquid is used for cleaning thespraying unit 102, and the cleaning efficiency and the cleaning yield of thespraying unit 102 are improved. The air compressor assembly pumps high-pressure gas into thespray unit 102 containing the cleaning liquid, and the cleaning liquid after cleaning thespray unit 102 is sprayed out of thespray unit 102 by means of the high-pressure gas.
After the cleaning solution finishes cleaning thespraying unit 102, the cleaning solution in thespraying unit 102 is sprayed out by means of the high-pressure gas, and compared with the case that the cleaning solution in thespraying unit 102 is discharged by means of gravity, the discharging efficiency of the cleaning solution is improved, and meanwhile, the cleaning yield of the cleaning unit is improved.
The cleaning liquid is Naemarrhena water, which is also called banana oil, and the oscillating component oscillates and oscillates the cleaning liquid in thespraying unit 102 for three minutes, so that the coating in thespraying unit 102 is fully dissolved in the cleaning liquid, and poor cleaning caused by the coating adhering to thespraying unit 102 is avoided. The cleaning unit cleans thespraying unit 102 at least twice, and the cleaning yield of thespraying unit 102 is improved by means of multiple times of cleaning of thespraying unit 102 by the cleaning unit.
The automatic cleaning and switching method further comprises the following steps:
thepainting unit 102 is provided with acarriage 1, apainting gun 4 mounted on thecarriage 1, and apainting pot 5, thecarriage 1 being mounted on theindustrial robot 100, thepainting pot 5 being for containing paint, and the painting being for supplying the paint to thepainting gun 4 for delivery. During the in-service use,spray gun 4, watering can 5 constitute a unified whole, via the setting ofcarrier 1, the quick, accurate installation of thespraying unit 102 of being convenient for andindustrial robot 100 realizes the rapidity that thespraying unit 102 dismantled, ensures simultaneously thatspray gun 4 and watering can 5 can once only wash simultaneously, promotes cleaning efficiency.
Thespraying unit 102 further comprises abearing part 2 rotatably arranged on thecarrier 1, and a balancingweight 3 arranged on the lower end of thebearing part 2, wherein the rotation axis between thebearing part 2 and thecarrier 1 is horizontally arranged, and the sprayingpot 5 is detachably connected with thebearing part 2. During the in-service use, whenindustrial robot 100 removes and drives sprayingunit 102 and remove, with the help of balancingweight 3's setting, guarantee that watering can 5 remains throughout at required posture, avoid watering can 5 to followindustrial robot 100 and remove together and lead to the posture to change, ensure the stability of spraying supply coating, promote the spraying yield.
Thebearing piece 2 is provided with a lifting lug 6 positioned above the balancingweight 3, the lifting lug 6 is provided with a horizontal part and a stoppingpart 7 bent from the horizontal part, the ring is sleeved on the outer side of the horizontal part, and the stoppingpart 7 is used for stopping the abutting ring so as to prevent the ring from being separated from the horizontal part.
In the installation process of the watering can 5, the ring of the watering can 5 is sleeved on the lifting lug 6 to be pre-positioned, then the watering can 5 and thebearing part 2 are installed together, and the watering can 5 is ensured to be quickly and fixedly installed on thebearing part 2. Thestop 7 stops the abutting ring, preventing the watering can 5 from falling off thecarrier 2.
The lifting lug 6 further comprises a fixing part bent from one end of the horizontal part far away from thestop part 7, preferably, the fixing part and the horizontal part are vertically arranged, the fixing part is arranged on thebearing part 2, thestop part 7 is formed by winding from one end of the horizontal part far away from the fixing part, and the arc-shaped convex surface of thestop part 7 is used for stopping the abutting ring.
Preferably, thestop portion 7 is O-shaped, and the arc-shaped convex surface is abutted against the stop ring, so that the free end of thestop portion 7 is abutted against the stop ring, thereby preventing thestop portion 7 from damaging the stop ring.
The automatic cleaning and switching method of thespray gun 4 further comprises the following steps:
thespraying unit 102 is provided with a quick-change connector, theindustrial robot 100 and the cleaning unit are provided with a quick-change fixture, and the quick-change fixture clamps and fixes the quick-change connector so as to realize the installation and communication of theindustrial robot 100 and thespraying unit 102 or the installation and communication of the cleaning unit and thespraying unit 102. The quick-change connector and the quick-change clamp are in the prior art, and the installation efficiency and the disassembly efficiency of theindustrial robot 100 and thespraying unit 102 and the cleaning unit are improved by means of the arrangement of the quick-change connector and the quick-change clamp.
The automatic cleaning and switching method of thespray gun 4 further comprises the following steps:
theimage pickup unit 101 is provided with a 2D camera and a 3D camera, the 2D camera is used for shooting an overall image of an object to be sprayed, an industrial personal computer is used for marking a line frame on the overall image shot by the 2D camera to select a closed line, the 3D camera is used for scanning the area selected by the closed line frame to form a three-dimensional image, and the industrial personal computer generates track data according to the three-dimensional image to regulate and control theindustrial robot 100 to drive thespraying unit 102 to spray the three-dimensional image.
The characteristic of wide field of vision is shot with the help of the 2D camera for the 2D camera snatchs the whole figure of treating the spraying article fast, shoots accurate characteristic with the help of the 3D camera, ensures to obtain the shape of the position of treating the spraying on the article accurately.
Thecamera unit 101 further includes a reference plate, the 2D camera and the 3D camera are detachably disposed on the same side of the reference plate, and the central axis of the 2D camera and the central axis of the 3D camera are disposed in parallel. The 2D camera and the 3D camera take the same reference plate as a reference, so that the consistency of the shooting reference positions of the two cameras is ensured, and the spraying accuracy is further ensured.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (10)
1. An automatic cleaning and switching method for a spray gun is characterized by comprising the following steps:
the method comprises the following steps that an industrial robot, a camera unit and an industrial personal computer are configured, the industrial robot, the camera unit and the industrial personal computer are electrically connected, the camera unit is arranged on the industrial robot and used for shooting images of an object to be sprayed, and the industrial robot generates spraying track data for regulating and controlling the industrial robot according to the shot images of the camera unit;
the method comprises the following steps that a plurality of spraying units and cleaning units for automatically cleaning the spraying units are arranged, a first spraying unit is arranged on an industrial robot, and an industrial personal computer regulates and controls the industrial robot to drive the first spraying unit to automatically spray a first coating on an object according to spraying track data;
the first spraying unit is detached from the industrial robot, the second spraying unit is installed on the industrial robot, the cleaning unit is used for cleaning the spraying unit detached from the industrial robot, and the industrial personal computer regulates and controls the industrial robot to drive the second spraying unit to automatically spray the second coating on the object according to the spraying track data.
2. The method for automatically cleaning and switching spray guns according to claim 1, characterized by further comprising the steps of:
the cleaning unit is provided with a liquid supply assembly, an air compressor assembly and a vibration assembly, the liquid supply assembly is used for inputting cleaning liquid into the spraying unit, the vibration assembly is used for swinging and vibrating the cleaning liquid in the spraying unit, the spraying unit is cleaned by the vibrated cleaning liquid, the air compressor assembly pumps high-pressure gas into the spraying unit containing the cleaning liquid, and the cleaning liquid after the spraying unit is cleaned is sprayed out of the spraying unit by means of the high-pressure gas.
3. The method of claim 1, wherein the method comprises: the cleaning liquid is Navy water, and the oscillating assembly oscillates the cleaning liquid in the oscillating spraying unit for three minutes; the cleaning unit cleans the spray unit at least twice.
4. The method for automatically cleaning and switching spray guns according to claim 1, characterized by further comprising the steps of:
the spraying unit is provided with a carrier, a spray gun and a spray can, wherein the spray gun is arranged on the carrier, the carrier is arranged on the industrial robot, the spray can is used for containing paint, and the spraying is used for supplying and conveying the paint to the spray gun.
5. The method of claim 4, wherein the method comprises: the spraying unit further comprises a bearing piece and a balancing weight, wherein the bearing piece is rotatably arranged on the carrier, the balancing weight is arranged at the lower end of the bearing piece, the rotating axis between the bearing piece and the carrier is horizontally arranged, and the spray can is detachably connected with the bearing piece.
6. The method of claim 5, wherein the method further comprises: the bearing piece is provided with a lifting lug positioned above the balancing weight, the lifting lug is provided with a horizontal part and a stopping part bent from the horizontal part, the ring is sleeved on the outer side of the horizontal part, and the stopping part is used for stopping the abutting ring so as to prevent the ring from being separated from the horizontal part.
7. The method of claim 6, wherein the method comprises: the lifting lug further comprises a fixing part bent from one end of the horizontal part far away from the stopping part, the fixing part is arranged on the bearing part, the stopping part is formed by winding from one end of the horizontal part far away from the fixing part, and the arc-shaped convex surface of the stopping part is used for stopping the abutting ring.
8. The method for automatically cleaning and switching spray guns according to claim 1, characterized by further comprising the steps of:
the spraying unit is provided with a quick-change connector, the industrial robot and the cleaning unit are provided with a quick-change clamp, and the quick-change connector is clamped and fixed by the quick-change clamp to be used for realizing the installation communication of the industrial robot and the spraying unit or the installation communication of the cleaning unit and the spraying unit.
9. The method for automatically cleaning and switching spray guns according to claim 1, characterized by further comprising the steps of:
the camera shooting unit is provided with a 2D camera and a 3D camera, the 2D camera is used for shooting an overall image of an object to be sprayed, an industrial personal computer is used for marking out a closed line on the overall image shot by the 2D camera, the 3D camera is used for scanning the area selected by the closed line frame to form a three-dimensional image, and the industrial personal computer generates spraying track data according to the three-dimensional image to regulate and control the industrial robot to drive the spraying unit to spray the three-dimensional image.
10. The method of claim 9, wherein the method further comprises: the camera shooting unit further comprises a datum plate, the 2D camera and the 3D camera are detachably arranged on the same side of the datum plate, and the central axis of the 2D camera and the central axis of the 3D camera are arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011089347.XACN112354718A (en) | 2020-10-13 | 2020-10-13 | Automatic cleaning and switching method for spray gun |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011089347.XACN112354718A (en) | 2020-10-13 | 2020-10-13 | Automatic cleaning and switching method for spray gun |
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| CN112354718Atrue CN112354718A (en) | 2021-02-12 |
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| CN202011089347.XAPendingCN112354718A (en) | 2020-10-13 | 2020-10-13 | Automatic cleaning and switching method for spray gun |
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