Moving workpiece automatic spraying robot system based on machine vision and working method

Abstract

The invention discloses a moving workpiece automatic spraying robot system based on machine vision. The moving workpiece automatic spraying robot system comprises an area source vision acquisition device for acquiring feature information such as shape, size, position and posture of a to-be-sprayed workpiece through a vision image, an autorotation type hook guide rail capable of conveying the to-be-sprayed workpiece to a spraying working area and enabling the workpiece to autorotate at a constant speed after the workpiece enters the working area, a parameter-controllable air pressure type paintsupply system for spraying paint and providing dynamic spraying control parameters, a spraying robot used for executing a specific spraying action on the workpiece, and visual man-machine interactionequipment for providing a man-machine interaction interface to control the working mode and the working state of the spraying robot system and displaying the real-time working state and the working condition parameters of the system. The automatic spraying robot system is controlled through interactive interface input, a customized spraying scheme is generated for different workpieces through themachine vision technology, misoperation of manual control is avoided, operation is convenient, action is sensitive, and control is accurate.

Description

technical field [0001] The invention relates to the technical field of automatic spraying, in particular to a robot system and working method for automatic spraying of moving workpieces based on machine vision. Background technique [0002] With the continuous maturity of image processing technology and the gradual improvement of social environmental protection awareness, automatic spraying robots, especially those with image processing functions, are more and more widely used. The automatic spraying technology greatly improves the spraying efficiency while saving the spraying paint. The image processing technology further enriches the application scenarios of the spraying robot and improves the automation of the system. [0003] At present, the application of machine vision technology in the field of spraying robots is still in its infancy, and there are currently three main uses: the first category is to distinguish a limited number of typical workpieces through machine vi...

AI Technical Summary

Problems solved by technology

Before the workpiece enters the spraying area, most spraying systems require manual or mechanical correction of the workpiece so that it enters the spraying area at a certain angle and posture, otherwise it cannot be sprayed normally

[0006] 2. Unable to handle the case where the workpiece size is too large

Ordinary spraying systems are specially designed for one or several fixed workpieces. Usually, the spraying range can ensure the complete spraying of the workpieces. However, if the workpiece size is too large and exceeds the maximum spraying range of the robot, the spraying system will not work properly. Work

[0007] 3. Unable to dynamically adjust spray gun parameters

In most spraying systems, parameters such as the spray width, atomization, and flow rate of the spray gun are set to fixed values, and will not be dynamically adjusted according to the characteristics of different workpieces, the distance between the workpiece and the spray gun, and the type of painting, and the spraying effect will be affected.

[0008] 4. Unable to feedback the spraying result of the workpiece

The general spraying system can only feed back system error information such as motor failure, but cannot give real-time feedback on the spraying effect of the current workpiece. The staff can only find errors such as missed spraying through manual inspection.

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