Spraying robot based on image recognition and coating pollution control method
By using an image recognition-based spraying robot, which utilizes industrial cameras and dynamic interception technology, the problem of paint spillage and waste during the spraying process has been solved, enabling the complete recycling and reuse of paint.
Patent Information
- Application Number
- CN202511154394.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-18
- Publication Date
- 2025-11-21
AI Technical Summary
During the spraying process, paint escapes into the air, causing pollution, and some paint cannot be recycled, resulting in paint waste and increased pollution.
An image recognition-based spraying robot is used to acquire the coating range in real time using an industrial camera. The robot dynamically intercepts the excess coating through an open hopper and a lateral movement mechanism, and reduces coating adhesion through micro-movement air tubes and anti-sticking membrane technology, thus achieving complete coating recycling.
It reduces air pollution from paint, reduces paint waste, and enables timely recycling and reuse of paint.
Smart Images
Figure CN120984475A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of spraying manipulators, and particularly relates to a spraying robot based on image recognition and a paint pollution prevention and treatment method. BACKGROUND
[0002] Different coatings are sprayed on decorative plates to obtain different colors, gloss (such as matte and bright), and textures (such as wood grain and stone texture) to give the plates diversified visual effects and meet individual design requirements. In the spraying process, the traditional manual paint brushing method has been replaced by automatic spraying by spraying robots, and the finished decorative plates obtained by spraying robots can achieve consistent paint film reflection of light and achieve a "mirror effect".
[0003] In the application of existing spraying robots, the EcoRP series spraying robots in the Byd Europe coating line are more advanced. The seven-axis robot provides high precision and flexibility for painting the interior of a car, and can even reach the most difficult-to-reach areas of the car body. Some manufacturers combine spraying robots with machine vision to carry out spraying work under preset program control.
[0004] In the process of processing decorative plates by spraying robots, the following aspects can be improved: 1. When the spraying robot sprays, part of the paint escapes into the air. This part of the paint is often attracted by the nearby negative pressure component. If the suction force is too small, the escaped paint will be easily missed. If the suction force is too large, it will interfere with the paint flow sprayed by the spraying robot, making the spraying robot have a greater pressure in terms of paint pollution prevention.
[0005] 2. In the process of processing decorative plates by spraying robots, the spraying robot sprays paint in a circular range. Part of the circular range needs to exceed the plate, so that the part of the paint that exceeds the plate is not easy to recover, leading to waste of paint by the spraying robot or increased pollution of the paint. SUMMARY
[0006] The purpose of the present application is to provide a spraying robot based on image recognition and a paint pollution prevention and treatment method. According to the dynamic interception of machine vision, the recovery of paint is more complete and timely, the initiative to prevent and treat paint pollution is strong, and the pollution caused by the loss of paint to the air can be reduced.
[0007] The technical solutions adopted by the present application are as follows: A spraying robot based on image recognition, comprising a manipulator and a first industrial camera, further comprising: An atomizing spray head and a paint delivery pipe located outside the manipulator, the first industrial camera acquiring the range of paint sprayed by the atomizing spray head as a first area; An open hopper spaced from the atomizing nozzle, the first industrial camera further acquires a plane at the opening of the open hopper as a second region; And a transverse mechanism outside the mechanical arm; When the first region partially exceeds the part to be sprayed, the transverse mechanism moves the open hopper so that the second region coincides with the exceeding part, and the open hopper collects paint of the exceeding part.
[0008] As an option, a dividing piece is fixed to the edge of the opening of the open hopper close to the atomizing nozzle, and the dividing piece is located at the edge of the second region; An anti-sticking film in the shape of a funnel is fixed to the inner wall of the open hopper, and a recovery pipe is connected to the bottom of the open hopper; When the open hopper collects paint, the surface of the anti-sticking film slides the paint so that the paint slides into the recovery pipe.
[0009] As an option, a total air pipe, a first communication device, and a micro-motion air pipe are further sequentially connected, and the micro-motion air pipe partially extends into the space between the open hopper and the anti-sticking film; When the open hopper collects paint, the total air pipe intermittently supplies air so that the micro-motion air pipe can shake the anti-sticking film due to its own expansion, reducing the paint adhering to the anti-sticking film; Wherein, the wake flow of the micro-motion air pipe is used for the paint in the recovery pipe.
[0010] As an option, an elastic gasket is arranged in the space between the open hopper and the anti-sticking film, and the elastic gasket is used for resetting the micro-motion air pipe after shaking; Arc-shaped limiting rubber sheets are fixed to both sides of the elastic gasket, and the limiting rubber sheets semi-wrap the micro-motion air pipe.
[0011] As an option, a flange base, a load-bearing elbow, and a folded flange are sequentially connected to the end of the mechanical arm, and the load-bearing elbow is used for supporting the atomizing nozzle in suspension; The folded flange connects the first industrial camera, avoiding that the atomizing nozzle blocks the first industrial camera.
[0012] As an option, a flange ring, an elbow fork, and a suspended substrate are further sequentially connected to the end of the mechanical arm, and the suspended substrate is used for supporting the transverse mechanism; The space between the elbow fork and the load-bearing elbow is used for the transverse movement of the open hopper; An arc-shaped clamp for binding the atomizing nozzle is fixed to the outside of the elbow fork.
[0013] As an alternative, the horizontal moving mechanism comprises an electric push rod fixed outside the suspended substrate and a guide tube, and the output end of the electric push rod is connected to the outside of the open hopper; The outside of the open hopper is further fixed with a limiting slide rod parallel to the output end of the electric push rod, and the guide tube is used for limiting the movement of the limiting slide rod along with the open hopper.
[0014] As an alternative, the micro-motion air pipe is sequentially connected with a second communicating device located outside the open hopper and a range-extending pipe, and the range-extending pipe communicates with the recovery pipe. When the micro-motion air pipe flows with gas, the range-extending pipe collects the wake flow of the micro-motion air pipe and inputs the wake flow into the recovery pipe, so that the wake flow increases the kinetic energy of the paint in the recovery pipe; The range-extending pipe is provided with a one-way valve, and the one-way valve is used to prevent the paint in the recovery pipe from flowing into the range-extending pipe.
[0015] As an alternative, the mechanical hand is fixed with a second industrial camera at the bottom, and the second industrial camera is used to shoot the open hopper. The outside of the mechanical hand is sequentially connected with a slip ring and an elastic cable, and the elastic cable is used to pull the total air pipe.
[0016] A paint pollution prevention and control method comprises the following steps: The transmission roller assembly line conveys the to-be-sprayed part, and the to-be-sprayed part is parked in a fixed position opposite to the mechanical hand, the first industrial camera is called to obtain the image of the to-be-sprayed part, and a virtual model of the to-be-sprayed part and a virtual model of the spray head are constructed; The paint booster pump is started to suck the paint, the paint is supplied to the atomizing spray head along the paint conveying pipe, and the mechanical hand moves the atomizing spray head to travel at a specified height, so that the atomizing spray head sprays at a constant speed; The first industrial camera is called to obtain the first area and the second area, and the first area and the second area are synchronously projected into the virtual model of the to-be-sprayed part and the virtual model of the spray head. When the first area partially exceeds the to-be-sprayed part, the horizontal moving mechanism is controlled to move the open hopper to be close to the atomizing spray head, so that the second area is coincided with the exceeding part, the open hopper collects the paint of the exceeding part located outside the to-be-sprayed part, and the pollution caused by the paint loss to the air is reduced. When the open hopper collects the paint, the interval of the open hopper is intermittently supplied with gas, the spherical paint is shaken, the spherical paint is separated from the open hopper, and the paint adhering to the inner wall of the open hopper is reduced. The wake flow of the gas supplied to the interval of the open hopper is used for paint range extension, and the spherical paint remaining in the spraying robot is reduced. After the coincidence ends, the horizontal moving mechanism is controlled to move the open hopper to reset, and the first area is separated from the second area.
[0017] The technical effects obtained by the present application are: The present application synchronously acquires the first region and the second region through an industrial camera, projects the first region and the second region into a virtual model in real time, moves the open hopper close to the atomizing nozzle when the first region partially exceeds the to-be-sprayed part, makes the second region coincide with the exceeding part, makes the open hopper collect the paint of the exceeding part located outside the to-be-sprayed part, reduces the pollution caused by paint loss to the air, and resets the open hopper after the coincidence ends, separates the first region and the second region, and reuses the recycled paint.
[0018] The present application forms a flat paint flow interception surface, sets a dividing piece at the edge of the second region, divides the paint flow by the sharp edge of the dividing piece, the formed interception surface is relatively flat, there is no obvious deflected flow, adopts a PDMS film to receive the paint during interception, the paint contacting the PDMS film is easy to shrink into a bead shape to avoid adhesion, the beaded paint slides into the recovery pipe at the bottom of the open hopper and enters the recovery tank, the redundant paint can be automatically collected, and the paint can be ground and reused.
[0019] When the open hopper is used to collect paint, the air compressor is started to intermittently supply air to the total air pipe, the micro air pipe can shake the anti-adhesion film and the beaded paint on the surface of the anti-adhesion film due to its own expansion, the beaded paint deviates from the anti-adhesion film due to inertia, the amount of paint adhering to the anti-adhesion film is reduced, the wake of the micro air pipe can enter the recovery pipe, the kinetic energy of the wake is partially transferred to the beaded paint, the wake can be used to increase the range of the beaded paint in the recovery pipe, the beaded paint can smoothly reach the recovery tank, and the beaded paint remaining in the spraying robot is reduced.
[0020] According to the steps provided by the present application, in the edge spraying process, the coincidence signal of the first region and the second region can be converted into a displacement signal of the interception member according to machine vision, the position of the open hopper can be adjusted in real time, the interception is dynamic, negative pressure airflow is not required, the negative pressure airflow can be avoided to interfere with the paint flow, the recovery of the paint is relatively complete and timely, and the enthusiasm of preventing and treating paint pollution is relatively high. BRIEF DESCRIPTION OF DRAWINGS
[0021] Figure 1 is a structure schematic view of a spraying robot in embodiment one of the present application arranged in a spraying flow line; Figure 2 is a structure schematic view of a spraying robot in embodiment one of the present application; Figure 3 is a structure schematic view of a spraying robot in embodiment one of the present application; Figure 4 is a side view of a suspended substrate in embodiment one of the present application; Figure 5 is a structure schematic view of a flange base in embodiment one of the present application; Figure 6is a rear view of the open hopper in the embodiment one of the present application; Figure 7 is a sectional view of the open hopper in the embodiment one of the present application; Figure 8 is a rear view of the micro-motion air pipe in the embodiment one of the present application; Figure 9 is a schematic diagram of the first area and the second area in the separated state in the embodiment one of the present application; Figure 10 is a schematic diagram of the first area and the second area in the partially overlapped state in the embodiment one of the present application; Figure 11 is a system block diagram of the industrial computer control signal sending state in the embodiment one of the present application; Figure 12 is a flow chart of the paint pollution prevention method in the embodiment two of the present application.
[0022] In the drawings, the components represented by each reference numeral are listed as follows: 1, mechanical hand; 2, flange base; 3, bearing elbow; 4, first bolt; 5, folded flange; 6, first industrial camera; 7, jacket; 8, atomizing nozzle; 9, paint conveying pipe; 10, flange ring; 11, elbow fork; 12, second bolt; 13, suspended base plate; 14, electric push rod; 15, arc-shaped clamp; 16, open hopper; 17, split piece; 18, anti-sticking film; 19, recovery pipe; 20, recovery tank; 21, main air pipe; 22, first communication device; 23, micro-motion air pipe; 24, second communication device; 25, range-extending pipe; 26, one-way valve; 27, elastic gasket; 28, limiting rubber sheet; 29, limiting slide rod; 30, guide pipe; 31, second industrial camera; 32, slip ring; 33, elastic cable. DETAILED DESCRIPTION
[0023] In order to make the purpose and advantages of the present application more clear and explicit, the present application is specifically described below in combination with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present application, and does not strictly limit the protection scope of the present application.
[0024] The decorative board spraying assembly line is a professional production line for automatically spraying the surface of various decorative boards, such as density board, particle board, aluminum plastic board, PVC board, etc., and is widely used in furniture manufacturing, building decoration, interior decoration, etc.
[0025] The density board, particle board, aluminum plastic board, PVC board, etc. are to-be-sprayed pieces, as shown in Figure 1The to-be-sprayed part is often placed on a transmission roller assembly line, and a KT50 / KT110 / VS series mechanical arm can be used at a spraying station of the assembly line to spray paint on the to-be-sprayed part parked at a fixed point under preset program control. After spraying one surface, the to-be-sprayed part is flowed downward or turned over, and single-sided spraying or double-sided spraying can be selected.
[0026] Embodiment one: As shown in Figures 1-10 , a spraying robot based on image recognition is controlled by an industrial computer of a spraying processing station, comprising a mechanical arm 1, a first industrial camera 6, an atomizing spray head 8 outside the mechanical arm 1, and a paint delivery pipe 9. In operation, under the control signal of the industrial computer, the paint booster pump is started to suck paint in the paint tank, supply paint to the atomizing spray head 8 along the paint delivery pipe 9, and the mechanical arm 1 moves the atomizing spray head 8 to a specified height above the to-be-sprayed part, and the atomizing spray head 8 reaches a uniform speed spraying state.
[0027] Among them, referring to Figure 9 and Figure 10 , the industrial computer constructs a to-be-sprayed part virtual model and a spray head virtual model in the same three-dimensional coordinate system based on Three.js, Unreal Engine, Unity and other software, the first industrial camera 6 obtains the characteristics of the range of paint sprayed by the atomizing spray head 8, which is recorded as the first area, and is projected into the to-be-sprayed part virtual model and the spray head virtual model, which is convenient for visual inspection.
[0028] Referring to the accompanying Figure 2 , Figure 3 and Figure 5 , to prevent machine vision from being blocked, the flange base 2, the load elbow 3 and the folded flange 5 are connected in sequence at the end of the mechanical arm 1, and the flange base 2 is fixed to the middle of the end of the mechanical arm 1 by the first bolt 4. Among them, the clamp sleeve 7 is fixed on the load elbow 3 by the first bolt 4, and the clamp sleeve 7 restrains the atomizing spray head 8 to support the atomizing spray head 8 in suspension, and the first industrial camera 6 is separated from the atomizing spray head 8. The folded flange 5 connects the first industrial camera 6 by screws, so that the first industrial camera 6 and the atomizing spray head 8 maintain a certain distance, avoiding the atomizing spray head 8 from blocking the first industrial camera 6.
[0029] Referring to the accompanying Figure 2 , Figure 9 and Figure 10The embodiment also externally and spacedly arranges the open hopper 16 outside the atomizing spray head 8, synchronously acquires a plane at the opening of the open hopper 16 as a second area by the first industrial camera 6, projects the second area into the virtual model of the spray head in real time, and controls the industrial computer to issue a command for moving the open hopper 16 forward when the first area partially exceeds the workpiece to be sprayed, so that the open hopper 16 is close to the atomizing spray head 8, the second area is coincided with the exceeding part, and the open hopper 16 collects the paint of the exceeding part located outside the workpiece to be sprayed, thereby reducing the pollution of paint loss to the air, and issuing a command for moving the open hopper 16 reversely after the coincidence is ended, so that the open hopper 16 is reset and the first area is separated from the second area.
[0030] Through the above operation, in the edge spraying process, the coincidence signal of the first area and the second area can be converted into the displacement signal of the intercepting workpiece according to the machine vision, the position of the open hopper 16 is adjusted in real time, the dynamic interception is realized, the negative pressure airflow is not required to be called, the negative pressure airflow can be avoided to interfere with the paint flow, the recovery of the paint is more complete and timely, and the positivity of preventing and treating the paint pollution is higher.
[0031] As an optional shape, the open hopper 16 is arranged in a half-hopper shape, so that the plane thereof is perpendicular to the top surface of the workpiece to be sprayed, the paint flow is relatively flat on the intercepting surface of the open hopper 16, the intercepting surface is aligned with the end surface of the workpiece to be sprayed, and the paint deviating from the workpiece to be sprayed is reduced as much as possible.
[0032] Referring to the accompanying drawings, Figure 3 , Figure 4 and Figure 11 To stably translate the open hopper 16, the embodiment fixes the electric push rod 14 and the guide pipe 30 outside the suspended base plate 13, connects the electric push rod 14 to the industrial computer through a relay or a signal converter, and connects the output end of the electric push rod 14 to the outside of the open hopper 16, so that the output end is elongated to move the open hopper 16 forward to approach the paint flow, and the output end is shortened to move the open hopper 16 reversely to separate from the paint flow. The outside of the open hopper 16 is also welded with the limiting sliding rod 29 parallel to the output end of the electric push rod 14, and the guide pipe 30 is used to limit the lateral translation of the limiting sliding rod 29 with the open hopper 16, so as to conveniently right the open hopper 16 and prevent the open hopper 16 from being inclined or shaken relative to the paint flow.
[0033] The electric push rod 14 can be selected as a C-shaped fixed electric cylinder, for example, a small-sized servo electric cylinder of a 42C-2S-200 model, which can be fastened on the suspended base plate 13 through a screw.
[0034] Referring to the accompanying drawings, Figure 2 , Figure 3 and Figure 4 The embodiment further sequentially connects the flange ring 10, the elbow fork 11 and the suspended base plate 13 at the end of the manipulator 1, and uses the suspended base plate 13 to support the lateral translation mechanism. The interval between the elbow fork 11 and the bearing elbow 3 is used for the transverse movement of the open hopper 16, leaving enough space for the paint flow to spray; The outer part of the elbow fork 11 is fixed with an arc-shaped clamp 15 for binding the atomizing nozzle 8 through the second bolt 12. The arc-shaped clamp 15 can clamp the atomizing nozzle 8, reducing the shaking of the atomizing nozzle 8 caused by its own inertia when the mechanical hand moves.
[0035] Refer to the attached Figure 2 , Figure 3 and Figure 6 , in order to form a flat cross section of the paint flow, the edge of the open hopper 16 near the atomizing nozzle 8 is welded with a partition piece 17 in this embodiment. The partition piece 17 is arranged at the edge of the second area, and the sharp edge of the partition piece 17 is used to divide the paint flow. The shaped cross section is relatively flat and has no obvious deflected flow; and the inner wall of the open hopper 16 is bonded with a funnel-shaped anti-sticking film 18. The anti-sticking film 18 made of PDMS (polydimethylsiloxane) film material has certain hydrophobicity and surface dynamic slip, so that the paint contacting the PDMS film is easy to shrink into beads to avoid sticking; The beaded paint has certain inertia and slides forward inside the open hopper 16. When the open hopper 16 collects paint, the anti-sticking film 18 surface slides the paint into the recovery pipe 19 connected to the bottom of the open hopper 16, and then into the recovery tank 20 connected to the recovery pipe 19, which can automatically collect the paint. The excess air is discharged from the air filtering window of the recovery tank 20.
[0036] When the recovery tank 20 collects paint to a certain extent, for example, to 75% of the volume, the spraying is stopped, and the paint in the recovery tank 20 is taken out, which can be re-ground for reuse.
[0037] Refer to the attached Figure 7 , Figure 8 and Figure 11 , this embodiment also adds a general air pipe 21, a first communication device 22 and a micro-motion air pipe 23 which are connected in sequence to the open hopper 16. For example Figure 8 , nine micro-motion air pipes 23 are connected to the first communication device 22 at the same time; When the open hopper 16 collects paint, referring to Figure 11 , the industrial computer starts the air compressor, the general air pipe 21 intermittently supplies air, so that the micro-motion air pipe 23 can shake the anti-sticking film 18 and the beaded paint on the surface of the anti-sticking film 18 due to its own expansion. The beaded paint deviates from the anti-sticking film 18 due to inertia, reducing the paint adhering to the anti-sticking film 18; The wake of the micro-motion air pipe 23 can enter the recovery pipe 19. Since the wake has a certain speed, the kinetic energy of the wake is transmitted to part of the bead-shaped coating, so that the wake can be used to increase the range of the bead-shaped coating in the recovery pipe 19, facilitate the smooth arrival of the bead-shaped coating in the recovery pipe 19, and reduce the bead-shaped coating retained in the spraying robot.
[0038] Referring to the drawings Figure 7 and Figure 8 In order to limit the shaking degree of the anti-sticking film 18, the embodiment is provided with elastic pads 27 bonded between the open hopper 16 and the anti-sticking film 18. The elastic pads 27 made of bubble capsule material can slightly deform when the micro-motion air pipe 23 expands, so as to leave enough deformation space for the micro-motion air pipe 23, or the elastic pads 27 restore the deformation to reset the micro-motion air pipe 23 after the micro-motion air pipe 23 shrinks. The elastic pads 27 are embedded with arc-shaped limiting rubber sheets 28 on both sides, the limiting rubber sheets 28 are half-wrapped around the micro-motion air pipe 23, and two adjacent elastic pads 27 can clamp the micro-motion air pipe 23 to prevent the micro-motion air pipe 23 from falling off due to expansion.
[0039] Referring to the drawings Figure 7 and Figure 8 The micro-motion air pipe 23 is sequentially connected with a second communication device 24 located outside the open hopper 16 and a range-increasing pipe 25, the wake of the micro-motion air pipe 23 flows into the second communication device 24 for collection, and the range-increasing pipe 25 is connected with the recovery pipe 19, so that the wake can enter the recovery pipe 19 along the range-increasing pipe 25. When the micro-motion air pipe 23 flows gas, the range-increasing pipe 25 collects the wake of the micro-motion air pipe 23 to input into the recovery pipe 19, so as to increase the kinetic energy of the coating in the recovery pipe 19; The range-increasing pipe 25 is connected with a one-way valve 26, the wake in the range-increasing pipe 25 can push open the one-way valve 26 to enter the recovery pipe 19, while the air and coating in the recovery pipe 19 cannot push open the one-way valve 26, so the one-way valve 26 can be used to prevent the coating in the recovery pipe 19 from flowing into the range-increasing pipe 25.
[0040] Referring to the drawings Figure 1 and Figure 2 The second industrial camera 31 is fixed to the bottom of the manipulator 1 by screws, and is used to shoot the open hopper 16, and the first area and the second area are also obtained. The two kinds of first area and second area can be compared to correct the visual detection result and reduce the deviation of visual detection. The mechanical arm 1 is externally bonded with a slip ring 32 and an elastic cable 33 in sequence, the recovery pipe 19 and the total air pipe 21 can pass through the slip ring 32 to reach a suspended state, and the elastic cable 33 can be bifurcated at one end, and the two ends of the bifurcated end are bonded to the recovery pipe 19 and the total air pipe 21 respectively, used for elastically pulling the recovery pipe 19 and the total air pipe 21, and based on the recovery of the elastic cable 33 made of strong rubber band material, the recovery pipe 19 and the total air pipe 21 can be pulled back to prevent them from contacting the to-be-sprayed part.
[0041] The first industrial camera 6 and the second industrial camera 31 can be selected from the D03THINK series of industrial area array cameras, such as the M3ST1209M-H-02C type of black and white area array camera, which are driven through SDK software, based on the YOLOv8 model (You only Look once) or a lightweight CNN model (Convolutional Neural Networks, convolutional neural network), to capture features in black and white images, and output the first area and the second area.
[0042] Embodiment two: As shown in Figure 12 A paint pollution prevention method is applied to the spraying robot in embodiment one, and includes the following steps: The transmission roller pipeline conveys the to-be-sprayed part, and the to-be-sprayed part is parked in front of the mechanical arm 1, the first industrial camera 6 is called to obtain the image of the to-be-sprayed part, and a virtual model of the to-be-sprayed part and a virtual model of the spray head are constructed in the same three-dimensional coordinate system; The paint booster pump is started to suck the paint in the paint tank, the paint is supplied to the atomizing spray head 8 along the paint conveying pipe 9, and the mechanical arm 1 moves the atomizing spray head 8 to travel at a specified height above the to-be-sprayed part, and the atomizing spray head 8 reaches a uniform speed spraying state; The first industrial camera 6 is called to obtain the feature of the range of paint sprayed by the atomizing spray head 8, which is recorded as the first area, and the plane at the opening of the open hopper 16 is recorded as the second area, and the first area and the second area are projected into the virtual model of the to-be-sprayed part and the virtual model of the spray head; When the first area partially exceeds the to-be-sprayed part, the industrial computer is controlled to issue a command to move the open hopper 16 forward, the open hopper 16 is close to the atomizing spray head 8, the second area is coincided with the exceeding part, and the open hopper 16 collects the paint of the exceeding part located outside the to-be-sprayed part, so as to reduce the pollution caused by paint loss to the air; Wherein, the output end of the electric push rod 14 is connected to the outside of the open hopper 16, and when the output end is elongated, the open hopper 16 is moved forward to approach the paint flow, and vice versa, the output end is shortened, the open hopper 16 is moved backward to separate from the paint flow; When the open hopper 16 collects the paint, referring to Figure 11, the industrial computer starts the air compressor, the total air pipe 21 intermittently sends air, the micro air pipe 23 can shake the anti-adhesion film 18 and the beaded coating on the anti-adhesion film 18 due to its own expansion, the beaded coating deviates from the anti-adhesion film 18 due to inertia, and the coating adhering to the anti-adhesion film 18 is reduced; Wherein, the wake of the micro air pipe 23 can be introduced into the recovery pipe 19, since the wake has a certain speed, the kinetic energy of the wake is transmitted to part of the beaded coating, so that the wake can be used to increase the range of the beaded coating in the recovery pipe 19, facilitate the beaded coating to reach the recovery tank 20 smoothly, and reduce the beaded coating retained in the internal spraying robot; When the superposition is finished, the command of moving the open hopper 16 in the reverse direction is issued, the open hopper 16 is reset, and the first area is separated from the second area.
[0043] In summary, through the above operation, in the edge spraying process, the coincidence signal of the first area and the second area can be converted into the displacement signal of the flow cutting member according to the machine vision, the position of the open hopper 16 is adjusted in real time, the flow is dynamically cut, the negative pressure airflow does not need to be called, the negative pressure airflow can be avoided to interfere with the coating flow, and the recovery of the coating is more complete and timely, and the prevention and control of the coating pollution is more active.
[0044] The above is only the optional embodiment of the present application, it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, these improvements and refinements should also be considered as the protection scope of the present application. The structures, devices and operation methods not specifically described and explained in the present application, such as no special description and limitation, are implemented according to the conventional means in the art.
Claims
1. An image recognition-based painting robot comprising a robot hand (1) and a first industrial camera (6), characterized in that, Also comprising: An atomizing nozzle (8) and a paint delivery pipe (9) outside the mechanical arm (1), the first industrial camera (6) acquires the range of paint sprayed by the atomizing nozzle (8) as a first area; An open hopper (16) spaced from the atomizing nozzle (8), the first industrial camera (6) also acquires the plane at the opening of the open hopper (16) as a second area; And a horizontal moving mechanism outside the mechanical arm (1); When the first area partially exceeds the part to be sprayed, the horizontal moving mechanism moves the open hopper (16) so that the second area coincides with the exceeding part, and the open hopper (16) collects paint of the exceeding part.
2. The spray robot according to claim 1, characterized in that: The edge of the opening of the open hopper (16) is fixed with a dividing piece (17) close to the atomizing nozzle (8), and the dividing piece (17) is located at the edge of the second area; The inner wall of the open hopper (16) is fixed with an anti-sticking film (18) in the shape of a funnel, and the bottom of the open hopper (16) is communicated with a recovery pipe (19); When the open hopper (16) collects paint, the surface of the anti-sticking film (18) slides the paint, so that the paint slides into the recovery pipe (19).
3. The spray robot according to claim 2, characterized in that, Also comprising a total air pipe (21), a first communication device (22) and a micro-motion air pipe (23) communicated in sequence, and the micro-motion air pipe (23) partially extends into the space between the open hopper (16) and the anti-sticking film (18); When the open hopper (16) collects paint, the total air pipe (21) intermittently supplies air, so that the micro-motion air pipe (23) can shake the anti-sticking film (18) due to its own expansion, reducing the paint adhering to the anti-sticking film (18); Wherein, the wake flow of the micro-motion air pipe (23) is used for the paint in the recovery pipe (19).
4. The spray robot according to claim 3, characterized in that: The space between the open hopper (16) and the anti-sticking film (18) is provided with a elastic gasket (27), which is used for resetting the micro-motion air pipe (23) after shaking; Both sides of the elastic gasket (27) are fixed with arc-shaped limiting rubber sheets (28), and the limiting rubber sheets (28) semi-wrap the micro-motion air pipe (23).
5. The spray robot of claim 1, wherein: The end of the mechanical arm (1) is sequentially connected with a flange base (2), a load-bearing elbow (3) and a folded flange (5), and the load-bearing elbow (3) is used for supporting the atomizing nozzle (8) to be suspended; The folded flange (5) is connected with the first industrial camera (6), avoiding that the atomizing nozzle (8) blocks the first industrial camera (6).
6. The spray robot according to claim 5, characterized in that: The end of the mechanical arm (1) is also sequentially connected with a flange ring (10), an elbow fork (11) and a suspended substrate (13), and the suspended substrate (13) is used for supporting the horizontal moving mechanism; The elbow fork (11) is spaced from the load-bearing elbow (3) and is used for horizontal movement of the open hopper (16); The outside of the elbow fork (11) is fixed with an arc-shaped clamp (15) used for binding the atomizing nozzle (8).
7. The spray robot according to claim 6, characterized in that: The horizontal moving mechanism comprises an electric push rod (14) fixed to the outside of the suspended substrate (13) and a guide pipe (30), and the output end of the electric push rod (14) is connected to the outside of the open hopper (16); The open hopper (16) is further fixed with a limiting slide rod (29) parallel to the output end of the electric push rod (14), and the guide pipe (30) is used for limiting the transverse movement of the limiting slide rod (29) along with the open hopper (16).
8. The spray robot of claim 3, wherein: The micro-motion air pipe (23) is sequentially connected with a second communication device (24) located outside the open hopper (16) and a range increasing pipe (25), and the range increasing pipe (25) is connected with the recovery pipe (19). When the micro-motion air pipe (23) flows gas, the range increasing pipe (25) collects the wake flow of the micro-motion air pipe (23) and inputs the wake flow into the recovery pipe (19), so as to increase the kinetic energy of the paint in the recovery pipe (19); The range increasing pipe (25) is provided with a one-way valve (26), and the one-way valve (26) is used for preventing the paint in the recovery pipe (19) from flowing into the range increasing pipe (25).
9. The spray robot according to claim 3, characterized in that: The mechanical arm (1) is fixed with a second industrial camera (31) at the bottom, and the second industrial camera (31) is used for shooting the open hopper (16); The mechanical arm (1) is sequentially connected with a slip ring (32) and an elastic cable (33) outside, and the elastic cable (33) is used for pulling the total air pipe (21).
10. A method for preventing paint contamination, applied to the paint spraying robot according to any one of claims 1 to 9, characterized by, The method comprises the following steps: The transmission roller pipeline conveys the to-be-sprayed part, and the to-be-sprayed part is parked in front of the mechanical arm (1) at a fixed point, the first industrial camera (6) is called to obtain the image of the to-be-sprayed part, and a virtual model of the to-be-sprayed part and a virtual model of the spray head are constructed in the same three-dimensional coordinate system; The atomizing spray head (8) is moved by the mechanical arm (1) to travel at a specified height, and the atomizing spray head (8) is uniformly sprayed; The first industrial camera (6) is called to obtain the first area and the second area, and the first area and the second area are synchronously projected into the virtual model of the to-be-sprayed part and the virtual model of the spray head; When the first area partially exceeds the to-be-sprayed part, the transverse movement mechanism is controlled to move the open hopper (16) to be close to the atomizing spray head (8), so that the second area is coincided with the exceeding part, the open hopper (16) collects the paint of the exceeding part located outside the to-be-sprayed part, and the pollution of the paint scattering to the air is reduced; When the open hopper (16) collects the paint, the gas is intermittently input at the interval of the open hopper (16), the pearl-like paint is shaken, the pearl-like paint is separated from the open hopper (16), and the paint adhering to the inner wall of the open hopper (16) is reduced; The wake flow of the gas input at the interval of the open hopper (16) is used for increasing the range of the paint, and the pearl-like paint remaining in the spraying robot is reduced; After the coincidence is ended, the transverse movement mechanism is controlled to move the open hopper (16) to reset, and the first area and the second area are separated.