Automatic spraying system and method based on workpiece contour information three-dimensional reconstruction

Abstract

The invention discloses an automatic spraying system and method based on workpiece contour information three-dimensional reconstruction. The system involves a control system, a three-dimensional reconstruction module, a conveying system and automatic spraying equipment, the conveying system is connected with the control system and the automatic spraying equipment, the three-dimensional reconstruction module can model a contour of a workpiece to be sprayed and send the model to the control system for spraying path planning, paint spraying equipment comprises a paint spraying chamber, the paintspraying chamber is connected with the control system, and the workpiece to be sprayed can be automatically sprayed according to the spraying path through the the paint spraying chamber. According tothe system and method, the problems of single function and low spraying flexibility in an existing coating industry are solved, and the efficiency of spraying production line is improved.

Description

technical field [0001] The invention belongs to the technical field of machine vision and automatic coating, and in particular relates to an automatic spraying system and method based on three-dimensional reconstruction of workpiece contour information, especially an intelligent spraying system capable of analyzing and obtaining arbitrary workpiece contour information and automatically performing operations. Background technique [0002] At present, in the existing coating lines, the robot spraying is mostly done manually through the robot teaching device to teach the outer contour of the workpiece to be sprayed, and then preset the spraying path to generate the robot trajectory program, so as to perform a single mechanical spraying operation. Its flexibility The degree is not high. When encountering workpieces with complex contours and many mutations, the preset spraying path takes a long time and faces local uneven spraying due to the limitations of the artificially preset ...

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Problems solved by technology

[0002] At present, in the existing coating lines, the robot spraying is mostly done manually through the robot teaching device to teach the outer contour of the workpiece to be sprayed, and then preset the spraying path to generate the robot trajectory program, so as to perform a single mechanical spraying operation. Its flexibility The degree is not high. When encountering workpieces with complex contours and many mutations, the preset spraying path takes a long time and faces local uneven spraying due to the limitations of the artificially preset path in the later stage. Multiple optimizations are required and manual touch-ups are required. ;A production line can only spray the predetermined workpiece. If it is necessary to replace the workpiece to be sprayed, it is necessary to re-define the spraying process parameters for the robot, and the advantages of the robot for spraying operations have not been fully utilized.

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