Automatic spraying device and method based on visual 3D reconstruction

Abstract

The invention relates to the technical field of intelligent spraying, in particular to an automatic spraying device and method based on visual 3D reconstruction. The automatic spraying device based on visual 3D reconstruction includes an assembly line conveyor belt and a camera group for conveying and detecting the components to be sprayed, and also includes a spraying mechanism. The spraying mechanism includes a spraying robot arm and a spraying device connected with the spraying robot arm. ; The assembly line conveyor belt, the first camera, the second camera, the third camera, the position sensor, the spraying robot arm and the spraying device are all connected to the embedded computing unit; An automatic spraying device and method based on visual 3D reconstruction, which simplifies operations, thereby improves work efficiency, saves production costs, and improves the uniformity of spraying thickness.

Description

technical field [0001] The invention relates to the technical field of intelligent spraying, in particular to an automatic spraying device and method based on visual 3D reconstruction. Background technique [0002] At present, with the upgrading of my country's industrial structure, the demand for steel structural components is increasing year by year. The traditional spraying methods for steel structural components are mainly manual spraying, teaching off-line spraying robots, etc. However, manual spraying has disadvantages such as low efficiency, poor quality, inability to ensure the uniformity of the paint film thickness, and harm to the health of the sprayers. The teaching offline spraying robot has many disadvantages, such as poor flexible operation, high cost, low efficiency, large programming workload, complicated and cumbersome operation, and high requirements for the relative positioning accuracy of the workpiece. In addition, it has high professional requirements ...

AI Technical Summary

Problems solved by technology

However, manual spraying has disadvantages such as low efficiency, poor quality, inability to guarantee the uniformity of paint film thickness, and endangering the health of sprayers.

The teaching offline spraying robot has many shortcomings such as poor flexibility, high cost, low efficiency, heavy programming workload, complicated and cumbersome operation, and high requirements for the relative positioning accuracy of the workpiece. In addition, it has high professional requirements for the staff

Workpieces of different models, series, and sizes all need to customize a set of spraying process procedures. The operation is extremely cumbersome, and it cannot adapt to the mixed spraying of multiple types of steel components in an assembly line or the parallel spraying of a single type of steel component.

[0003] The degree of automation of the teaching offline spraying robot also needs to be improved. During the operation, the operator often needs to pay attention to the spraying status at all times, and make appropriate adjustments to the spraying robot or components when necessary to meet the spraying process requirements. The same set of spraying process algorithms can only It is suitable for exactly the same components, but cannot be adapted to components of the same model, different series and different sizes, and cannot achieve certain compatibility. It consumes a lot of labor costs, and the spraying efficiency and coverage are relatively low.

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