Conveying method and system for automatic paint spraying of robot

Abstract

The invention discloses a conveying method and system for automatic paint spraying of a robot. Comprising the steps that a workpiece is positioned in the advancing direction, the workpiece moves towards an automatic paint spraying station in a multi-stage speed reduction mode till the workpiece reaches the automatic paint spraying station, and the workpiece is fixed on the automatic paint spraying station; detecting the position of the workpiece, and adjusting the position of the workpiece until the position of the workpiece meets the requirement; the height of the workpiece is adjusted in a self-adaptive mode, after the workpiece is positioned in the advancing direction, the height of the paint spraying working face of the workpiece is obtained, and the height of the workpiece is adjusted till the height meets the requirement; after workpiece information identification and transmission and workpiece height adjustment are completed, the workpiece information of the workpiece is read, and the integrity and validity of the workpiece information are verified until the integrity and validity of the workpiece information meet requirements; and after automatic paint spraying and workpiece information identification and transmission are completed, the paint spraying quality and the operation state are monitored in real time till the paint spraying quality and the operation state meet the requirements. The problems that the workpiece positioning precision is insufficient, the working space of the robot is limited, and automation of the production process is interrupted can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot paint spraying, in particular to a conveying method and system for robot automatic paint spraying. BACKGROUND

[0002] In the field of robot automatic paint spraying of structural parts, the repeated positioning accuracy of the workpiece, the working coverage of the robot, and the automation level of the production information are the key factors restricting the quality and efficiency of spraying. First, in terms of positioning accuracy of workpiece conveying, the traditional self-hoist conveying system often uses the method of cutting off the sliding contact line power supply to stop the workpiece. This method relies on friction to consume system kinetic energy. Due to the mass difference of the conveyed workpiece and the different degrees of mechanical wear of the self-hoist trolley, the inertial sliding distance of the system fluctuates greatly, and the stop position accuracy error can reach 50 cm. However, the robot automatic paint spraying process usually requires a repeated positioning accuracy of the workpiece in the forward direction of ±2.5 cm. The existing conveying system obviously cannot meet this accuracy requirement. Second, in terms of the working coverage of the robot, in the case of large structural parts, in order to expand the working radius of the robot, the existing technology usually needs to install external shafts such as walking shafts and lifting shafts for the robot. However, in the application scenario where the space is limited, it is difficult to install external shafts, which forces the production scheme to sacrifice the paint spraying coverage, and the workpiece cannot be fully and uniformly sprayed automatically. Third, in terms of the automatic interaction of production information, the existing system generally relies on manual selection and information input of the workpiece model. This human intervention not only increases the operation complexity, but also is more likely to cause the robot to stand by or misoperation due to negligence, resulting in work site vacancy, waste of production time and energy. It should be noted that the above information disclosed in this background section is only used to understand the background technology of the present application concept, and therefore can contain information that does not constitute prior art. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application discloses a conveying method and system for robot automatic paint spraying, which can solve the problems of insufficient workpiece positioning accuracy, limited robot working space, and interrupted production process automation.

[0004] To achieve the above purpose, the present application is implemented by the following technical solutions: The conveying method for robot automatic paint spraying comprises the following steps: Positioning the workpiece in the forward direction, moving the workpiece to the automatic paint spraying station at multiple levels of deceleration until the workpiece reaches the automatic paint spraying station, and fixing the workpiece at the automatic paint spraying station; Detecting the position of the workpiece and adjusting the position of the workpiece until the position of the workpiece meets the requirements; Self-adaptive adjustment of the height of the workpiece, after the positioning of the workpiece in the forward direction is completed, the height of the paint spraying working surface of the workpiece is obtained, and the height of the workpiece is adjusted until the height meets the requirements; Workpiece information recognition and transmission: after the workpiece height adjustment is completed, the workpiece information of the workpiece is read, and the integrity and validity of the workpiece information are verified until the integrity and validity of the workpiece information meet the requirements; Automatic paint spraying: after the workpiece information recognition and transmission are completed, the paint spraying quality and operating state are monitored in real time until the paint spraying quality and operating state meet the requirements.

[0005] The preferred technical solution comprises the following steps: The workpiece moves to the automatic paint spraying station at a rated speed; When the workpiece reaches the first position, a first deceleration signal is triggered, and the workpiece is decelerated to 50% of the rated speed; When the workpiece reaches the second position, a second deceleration signal is triggered, and the workpiece is decelerated to 10% of the rated speed; When the workpiece reaches the stop position, the power supply is stopped, and the position is fixed.

[0006] The preferred technical solution comprises the following steps: Detect the sliding distance difference of the workpiece. If the sliding distance difference is greater than ±2.5 cm, a positioning deviation alarm is issued, and the workpiece position is adjusted until the sliding distance difference is less than ±2.5 cm.

[0007] The preferred technical solution comprises the following steps: Real-time measurement of the height of the paint spraying working surface of the workpiece, and uploading the height data; If the height data is different from the preset optimal paint spraying height parameter, the workpiece is lifted until the height data is the same as the preset optimal paint spraying height parameter.

[0008] The preferred technical solution comprises the following steps: The workpiece information of the workpiece includes model, size, and paint spraying parameters, and the read workpiece information is uploaded; Verify the information integrity and validity. If the information is missing or invalid, issue an identification failure alarm, check the workpiece information or re-enter the information until the information is complete and valid.

[0009] The preferred technical solution comprises the following steps: According to the workpiece information, the paint spraying operation is performed, and the paint spraying quality and operating state are monitored in real time; If the paint spraying process is abnormal, an abnormal alarm is issued, the operation is stopped to investigate the abnormal reason, and the paint spraying operation is restarted or performed after adjusting the parameters; If the paint spraying is completed and the quality is qualified, the workpiece leaves the paint spraying station and goes to the next process.

[0010] In addition, the application also discloses a conveying system for automatic paint spraying of a robot, comprising: Walking motor and frequency converter, the walking motor and frequency converter are used for moving workpieces to the automatic paint spraying station with multi-stage deceleration, and the frequency converter is electrically connected with the walking motor; Buncher and retainer, the buncher and retainer are used for fixing the workpieces together in the automatic paint spraying station, and the buncher is arranged on the walking motor; Laser ranging sensor and lifting cage, the laser ranging sensor is used for obtaining the height of the paint spraying work surface of the workpiece, and the lifting cage is used for adjusting the height of the workpiece; Code carrier and RFID read-write head, the code carrier is used for storing workpiece information, and the RFID read-write head is used for reading the workpiece information of the workpiece.

[0011] Preferably, the technical scheme further comprises a conveying track, and the driving wheel arranged on the walking motor drives the workpiece to move to the automatic paint spraying station along the conveying track.

[0012] Preferably, the technical scheme further comprises a lifting tool arranged in connection with the lifting cage, and the workpiece is arranged below the lifting tool.

[0013] The application discloses a conveying method and system for robot automatic paint spraying, and has the following advantages: The application sets twice deceleration programs in the frequency converter matched with the walking motor, so that the running speed of the system is reduced to 10% of the rated speed before power supply is stopped, and the buncher function of the motor and the retainer of the conveying device are cooperated, according to the kinetic energy theorem, the inertial sliding kinetic energy of the system is greatly reduced, so that the repeated positioning accuracy of the workpiece in the advancing direction is strictly controlled within ±2.5 cm, and the harsh requirements of the robot automatic paint spraying are met.

[0014] The application sets the laser ranging sensor in the height direction of the conveying system, realizes accurate positioning and self-adaptive adjustment of the lifting mechanism in the height direction. This enables the workpiece to be automatically conveyed to the optimal working height of the robot paint spraying, effectively expands the effective working range of the robot, and solves the problem of low spraying coverage caused by the limitation of the site when the external shaft of the robot cannot be added.

[0015] The application sets the code carrier on the conveying system beam, and arranges the RFID read-write head at the corresponding position of the robot paint spraying station, and constructs an automatic identification and transmission link of the workpiece information. This scheme eliminates errors and delays caused by manual input, realizes seamless connection of the workpiece information from the conveying system to the robot control system, and truly realizes the automation and intelligentization of the whole process. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below.

[0017] It is obvious that the following description of the drawings is only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative labor.

[0018] Figure 1 is a schematic diagram of the workpiece conveying start stage of the present application; Figure 2 is a schematic diagram of the workpiece advancing direction positioning stage of the present application; Figure 3 is a schematic diagram of the height self-adaptive adjustment stage of the present application; Figure 4 is a schematic diagram of the workpiece information identification and transmission stage of the present application; Figure 5 is a schematic diagram of the robot automatic paint spraying and subsequent process stage of the present application; Figure 6 is a schematic diagram of the present application in the front view direction; Figure 7 is a schematic diagram of the present application in the top view direction Figure 8 is an enlarged schematic diagram of the self-propelled hoist trolley in the present application. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are some embodiments of the present application, not all the embodiments.

[0020] Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0021] Embodiment 1 As shown in the following description, the conveying method of the robot automatic paint spraying described in the present application. Figures 1 to 5

[0022] In the workpiece conveying start stage, the operator confirms the workpiece type according to the issued production task, mounts the workpiece to the self-propelled hoist trolley, starts the self-propelled hoist system, and the walking motor starts to operate to drive the trolley to advance.

[0023] ​In the forward direction positioning stage, when the workpiece approaches the preset distance from the paint spraying station, the first deceleration signal is triggered, the frequency converter receives the signal, and the motor speed is reduced to 50% of the rated speed. Continue to move to the close distance of the paint spraying station, trigger the second deceleration signal, and the frequency converter adjusts again to reduce the motor speed to 10% of the rated speed. Arrive at the preset stop position, stop power supply, walking motor brake immediately starts, prevent the trolley from retreating, and the conveying device stopper synchronously triggers to double fix the trolley position.

[0024] Detect the sliding distance difference and confirm whether it is within ±2.5 cm. If it is not within ±2.5 cm, the system issues a positioning deviation alarm, manual intervention is adjusted, and the trolley moves to the automatic paint spraying station at the rated speed. If it is within ±2.5 cm, the forward direction positioning is completed, and the height self-adaptive adjustment stage is entered.

[0025] After the forward direction positioning is completed, the height self-adaptive adjustment stage is entered. The laser ranging sensor starts, the sensor measures the height difference between the trolley and the robot paint spraying working surface in real time, transmits the height difference data to the electric control cabinet control system, and the system compares the preset best paint spraying height parameter. If there is a height deviation, control the lifting cage to start and drive the trolley to rise and fall. If the height meets the requirements, the height self-adaptive adjustment is completed, and the workpiece information recognition stage is entered.

[0026] After the height adjustment is completed, the workpiece information recognition and transmission stage is entered. Trigger the RFID read-write head work signal, the RFID read-write head scans the code carrier on the self-lifting cage trolley beam, reads the workpiece information stored in the code carrier such as model, size, paint spraying parameters, etc., transmits the read workpiece information to the robot control system, and the robot system verifies the information integrity and validity. If the information is missing or invalid, the system issues an information recognition failure alarm, manually checks the code carrier or re-enters the information, and if the information is complete and valid, the information transmission is completed, and the robot automatic paint spraying stage is entered.

[0027] After the information transmission is completed, the automatic paint spraying and subsequent process stage is entered. The robot system issues a paint spraying instruction, the paint spraying robot starts, and performs the paint spraying operation according to the workpiece information. During the paint spraying process, the system monitors the paint spraying quality and the robot running state in real time. If the paint spraying process is abnormal, the system issues an abnormal alarm, the robot stops working, and the abnormal reason is checked manually, such as equipment failure, parameter error, etc. After troubleshooting, restart the paint spraying operation or adjust the parameters. If the paint spraying is completed and the quality is qualified, the self-lifting cage trolley releases the brake and the stopper, the walking motor starts, drives the trolley away from the paint baking station, and goes to the next process such as the drying station. Whether there is a next workpiece to be painted, if there is a next workpiece to be painted, the above process is repeated, and if there is no next workpiece to be painted, the self-lifting cage system stops running, and the production task is completed.

[0028] Example 2 like Figures 6 to 8 As shown, the conveying system of the robot automatic painting system described in this application includes a self-propelled hoist trolley equipped with a travel motor 1. This travel motor 1 is equipped with a brake to prevent the trolley from rolling backward after stopping. Simultaneously, a mechanical backstop is installed on the conveying device, forming a double anti-backward protection system with the motor brake. The travel motor 1 is connected to a frequency converter 2, which is programmed to achieve a two-stage deceleration process. When the workpiece approaches the target station, the frequency converter 2 controls the travel motor 1 to perform a first deceleration, reducing the travel motor 1's operating speed to 50% of its rated speed. A second deceleration occurs before reaching the stopping point, ensuring that when the main power is cut off, the travel motor 1's operating speed is reduced to 10% of its rated speed. This measure significantly reduces the kinetic energy of inertial sliding, thereby precisely controlling the final sliding distance deviation of the workpiece within ±2.5 cm, meeting the repeatability requirements of the robot 3 automatic painting system.

[0029] The conveying system integrates a lifting hoist 4 to adjust the workpiece's height. A laser rangefinder 5 is installed on the lifting hoist 4 to detect the current height of the workpiece or lifting device in real time. The system receives the feedback signal from the laser rangefinder 5 through a controller and compares it with a preset target height value, thereby controlling the lifting hoist 4 in a closed-loop manner to achieve automatic and precise height positioning. This allows the workpiece to be adaptively adjusted to the optimal working height for the robot 3's painting operation.

[0030] A code carrier 7 storing workpiece information is fixedly installed on the crossbeam of the self-propelled hoist trolley. Correspondingly, an RFID reader / writer 6 is arranged at the entrance or a specific location of the robot 3 painting station. When the self-propelled hoist trolley carrying the workpiece moves to the painting station, the RFID reader / writer 6 automatically reads the workpiece information carried in the code carrier 7 on the crossbeam, such as model, size, and painting parameters, and transmits this information to the robot 3 control system. The robot 3 control system then automatically calls the corresponding painting program, starting the automatic painting operation without manual intervention.

[0031] It should be noted that, in this article, relational terms are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0032] Moreover, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0033] Without further restrictions, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0034] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices, which can be centralized on a single computing device or distributed on a network of multiple computing devices.

[0035] Alternatively, they can be implemented using computer-executable program code, so that they can be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module.

[0036] This invention is not limited to any particular combination of hardware and software.

[0037] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A conveying method for automated robotic painting, wherein, Including the following steps: The workpiece is positioned in the forward direction and moves towards the automatic painting station with multi-stage deceleration until it reaches the automatic painting station, where it is then fixed. Detect the position of the workpiece and adjust its position until it meets the requirements; The workpiece height is adaptively adjusted. After the workpiece is positioned in the forward direction, the height of the workpiece's painting surface is obtained, and the workpiece height is adjusted until the height meets the requirements. Workpiece information identification and transmission: After the workpiece height is adjusted, the workpiece information is read and the integrity and validity of the workpiece information are verified until the integrity and validity of the workpiece information meet the requirements. After the automatic painting process is completed and the workpiece information is identified and transmitted, the painting quality and operating status are monitored in real time until they meet the requirements.

2. The robotic automatic painting conveying method according to claim 1, wherein, Including the following steps: The workpiece moves toward the automatic painting station at a rated speed; When the workpiece reaches the first position, the first deceleration signal is triggered, and the speed is reduced to 50% of the rated speed; When the workpiece reaches the second position, a second deceleration signal is triggered, reducing the speed to 10% of the rated speed; Power is cut off when the workpiece reaches the stop position, thus fixing the position.

3. The robotic automatic painting conveying method according to claim 1, wherein, Including the following steps: The system detects the difference in sliding distance of the workpiece. If the difference in sliding distance is greater than ±2.5cm, a positioning deviation alarm is issued, and the workpiece position is adjusted until the difference in sliding distance is less than ±2.5cm.

4. The robotic automatic painting conveying method according to claim 1, wherein, Including the following steps: Measure the height of the paint spraying surface of the workpiece in real time and upload the height data; If the height data differs from the preset optimal painting height parameter, the workpiece will be raised or lowered until the height data matches the preset optimal painting height parameter.

5. The robotic automatic painting conveying method according to claim 1, wherein, Including the following steps: The workpiece information includes model, size, painting parameters, and uploaded / read workpiece information; Verify the completeness and validity of the information. If the information is missing or invalid, issue an identification failure alarm, check the workpiece information or re-enter the information until the information is complete and valid.

6. The robotic automatic painting conveying method according to claim 1, wherein, Including the following steps: Perform painting operations according to workpiece information, and monitor painting quality and operating status in real time; If the painting process is abnormal, an abnormal alarm will be issued, the operation will be stopped to investigate the cause of the abnormality, and the painting operation will be restarted or the parameters will be adjusted before execution. If the painting is completed and the quality is satisfactory, the workpiece leaves the painting station and proceeds to the next process.

7. A conveyor system for automated robotic painting, wherein, include: The walking motor and frequency converter are used to move the workpiece to the automatic painting station in multiple stages of deceleration, and the frequency converter is electrically connected to the walking motor. A brake and a backstop are used together to fix the workpiece at the automatic painting station, and the brake is mounted on the travel motor. A laser rangefinder and a lifting hoist are provided. The laser rangefinder is used to obtain the height of the paint spraying surface of the workpiece, and the lifting hoist is used to adjust the height of the workpiece. The code carrier is used to store workpiece information, and the RFID reader is used to read the workpiece information.

8. The robotic automatic painting conveying system according to claim 7, wherein, Also includes: The conveyor track drives the workpiece to move towards the automatic painting station via the drive wheel of the walking motor.

9. The robotic automatic painting conveying system according to claim 7, wherein, Also includes: A lifting device is configured to connect to a hoist, and the workpiece is positioned below the lifting device.

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