Automatic gluing equipment with visual identification system

Abstract

The utility model relates to automatic gluing equipment with a visual identification system, which comprises a conveying line for conveying workpieces into a spraying chamber, a 3D scanner arranged on the outer side of the spraying chamber and used for identifying the workpieces on the conveying line, a glue spraying robot arranged in the spraying chamber, and a controller arranged in an electric cabinet, a display screen operation area is arranged on the electric cabinet, and a visual identification system is arranged on the display screen operation area. A control operation module for adjusting the spraying mode of the glue spraying robot is arranged on the display screen operation area, and the control operation module is a control key or a touch type control display screen. A workpiece fixed-point spraying mode and a workpiece tracking spraying mode are displayed on an operation area of the display screen so that spraying operators can manually select the modes; if no operation is carried out on the operation area of the display screen within the corresponding time, the corresponding spraying mode can be automatically selected according to the shape and size information of the workpiece so as to control the glue spraying robot to carry out spraying operation on the workpiece, the corresponding spraying mode is selected through manual and automatic intelligent control, and the equipment is more intelligent and humanized.

Description

Technical Field

[0001] The utility model relates to a gluing method, in particular to an automatic gluing device with a visual recognition system. Background Art

[0002] Chinese patent document No. CN110918320A discloses a wooden door spraying system and a spraying method thereof. The wooden door spraying system is provided with a scanning station, a first spraying station, a flipping station and a second spraying station on the double-speed line bracket in sequence. A 3D scanning device is provided above the scanning station and the flipping station. A spraying robot and a spraying control module are provided on one side of the first spraying station and one side of the second spraying station. The spraying method of the utility model includes the following steps: scanning the wooden door to be sprayed and transmitting back data modeling; generating running trajectory information; spraying one side of the wooden door to be sprayed; making the other side of the wooden door to be sprayed face up, scanning and transmitting back data modeling; generating running trajectory information of the spraying robot; spraying the other side to obtain a sprayed wooden door. This structure is provided with a 3D scanning device at each station, which is relatively costly and has a single spraying mode. Therefore, it needs to be further improved. Utility Model Content

[0003] The purpose of the utility model is to provide an automatic gluing device with a visual recognition system, which can spray the upper surface, inner and outer edges, surface grooves and bosses of the workpiece through the workpiece fixed-point spraying mode and the workpiece tracking spraying mode, and allow the operator to select the corresponding spraying mode in the display screen operation area according to the shape of the workpiece to ensure the quality of the workpiece spraying, so as to overcome the shortcomings of the prior art.

[0004] An automatic glue coating device with a visual recognition system designed for this purpose includes a conveyor line for conveying workpieces to a spraying room, a 3D scanner for identifying workpieces on the conveyor line is arranged outside the spraying room, a glue spraying robot is arranged in the spraying room, and a controller is also included, the controller is arranged in an electric control box, a display screen operation area is arranged on the electric control box, and the controller is electrically connected with various electric control devices;

[0005] When the workpiece enters the spraying room through the conveyor line, the 3D scanner simultaneously performs laser line scanning on the workpiece on the conveyor line to identify the shape and size of the workpiece.

[0006] The display screen operation area is provided with a control operation module for adjusting the spraying mode of the glue spraying robot, and the control operation module is a control button or a touch control display screen;

[0007] One side of the conveyor line is provided with a sensor for cooperating with the spraying mode and detecting the conveying position of the workpiece corresponding to the corresponding spraying mode. By providing a sensor for detecting the conveying position of the workpiece, the glue spraying robot can further realize the workpiece fixed-point spraying mode and workpiece tracking spraying mode. When the sensor detects that the workpiece has reached the corresponding position, the conveyor belt stops conveying, and the glue spraying robot performs fixed-point spraying at the position of the workpiece; or a camera is provided on the glue spraying robot, and the workpiece is tracked by the camera, and the glue spraying robot follows the workpiece for spraying.

[0008] The workpiece fixed-point spraying mode and the workpiece tracking spraying mode are displayed on the display screen operation area for manual selection by the spraying operator; if no operation is performed on the display screen operation area within the corresponding time, the corresponding spraying mode can be automatically selected according to the shape and size information of the workpiece to control the glue spraying robot to spray the workpiece, realizing manual and automatic intelligent control to select the corresponding spraying mode, making the equipment more intelligent and humane.

[0009] When the control operation module is a control button, a first control button for selecting a workpiece fixed-point spraying mode and a second control button for selecting a workpiece tracking spraying mode are provided on the display screen operation area.

[0010] The control operation module is a touch-type control display screen, and the touch-type control display screen switches to a workpiece fixed-point spraying mode selection interface and a workpiece tracking spraying mode selection interface.

[0011] When the glue spraying robot is spraying the workpiece, the workpiece fixed-point spraying mode or the workpiece tracking spraying mode is switched manually through the display operation area.

[0012] The 3D scanner is arranged on a support frame and is above the conveying end of the conveying line. Both sides of the support frame are respectively fixedly connected to the frame of the conveying line.

[0013] Several fans are arranged on the outside of the top of the spraying room, and a first filter is arranged below the corresponding air outlets of the fans in the spraying room. When the glue spraying robot performs the spraying operation, the fan draws the outside air into the spraying room and rectifies it through the first filter. The glue mist sprayed by the glue spraying robot is evenly sprayed on the workpiece under the forced action of wind pressure to ensure uniform spraying.

[0014] The fan is driven by a motor and includes a motor speed signal sensor for detecting the motor speed. The controller is electrically connected to the motor speed signal sensor via wireless or wired communication to adjust the motor speed in real time. The speed of the fan driven by the motor is adjusted according to the corresponding process, thereby adjusting the air volume.

[0015] The display screen operation area is provided with a control interface for the on-site spraying operator to manually input the wind speed flowing downward toward the workpiece.

[0016] An exhaust duct is provided on the outer side of the top of the spray room, and an outlet duct connected to the exhaust duct is provided on one side or both sides of the spray room. A second filter is provided on the air inlet of the outlet duct. The glue mist particles generated after spraying do not stay in the air of the spray room, but after being filtered by the second filter, enter the outlet duct and the exhaust duct and are discharged outside the spray room, thereby ensuring the air quality inside the spray room.

[0017] The electric control box is equipped with a fault signal light for alarm. The fault point is fed back through the electric control signal. When a safety fault alarm occurs, the equipment automatically shuts down and the fault signal light flashes.

[0018] The electric control box is equipped with a communication interface for access to external monitoring equipment, which is convenient for users to access the workshop management monitoring system and realize online monitoring and parameter setting.

[0019] The beneficial effects of the utility model are as follows:

[0020] According to the glue spraying mode of the glue spraying robot, there are workpiece fixed-point spraying mode and workpiece tracking spraying mode. Through the workpiece fixed-point spraying mode and workpiece tracking spraying mode, the upper surface, inner and outer edges, surface grooves and bosses of the workpiece are sprayed. The corresponding spraying mode is selected according to the shape of the workpiece to ensure the spraying quality of the workpiece.

[0021] A dust-free spray room is built in the painting area. The top of the spray room must have a full pressure function (a fan is installed on the top of the spray room), and a second-level air inlet filter is installed (a first filter is installed under the fan inlet). The air supply volume at the spraying position is ≥20000m 3 / h, passing through the first filter to evenly cover the space in the spraying room.

[0022] The dust-free spraying room is equipped with an overspray glue mist treatment device (the exhaust duct is connected to the exhaust system through a pipeline or the exhaust duct outlet is equipped with a fan). The exhaust volume of the overspray glue mist treatment device is ≥15000m 3 / h, the particles generated by the overspray are filtered and purified, and then discharged after secondary filtration (passing through the second filter) through the centralized filtration and purification system in the production workshop.

[0023] Four axial flow fans are used to supply air, and the top air supply filter adopts a mesh frame three-dimensional spray-glue fine filtration system (filter mesh or filter cotton) to ensure uniform airflow in different locations in the room.

[0024] A reasonable full-pressure wind speed is recommended to flow downward at a speed of 0.2-0.3m / s, so that the glue mist particles generated after spraying do not stay in the air, but directly enter the overspray glue mist treatment device for purification and then discharge.

[0025] The indoor air is continuously circulated and converted, which can make the indoor air cleanliness reach more than 95%. The air supplied is pressurized, which can form a constant airflow in the spraying area to remove overspray glue mist and ensure the overspray quality.

[0026] During installation, electrical appliances, lighting and other electrical control facilities in the dust-free spray room should meet safety supervision requirements; the floor of the dust-free spray room should be coated with floor paint to ensure the cleanliness of the indoor space.

[0027] The above-mentioned gluing method is applied in the furniture industry, mainly suitable for solid wood, medium-density fiberboard, plastic board, and online gluing operation.

[0028] Through the 3D visual recognition system, the robot is controlled to spray automatically, which is suitable for painting operations on the upper surface, inner and outer edges, surface grooves, bosses, etc. of panel furniture. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The figure is a three-dimensional structural diagram of a dust-free spray booth according to an embodiment of the utility model.

[0030] Figure 2 The figure is a schematic diagram of the plan structure of a dust-free spray booth according to an embodiment of the utility model.

[0031] Figure 3 This is a schematic diagram of the planar structure of a dust-free spray booth in another aspect of an embodiment of the utility model.

[0032] Figure 4 for Figure 2 Schematic diagram of the AA cross-section structure.

[0033] Figure 5 for Figure 3 Schematic diagram of the BB cross-section structure.

[0034] Figure 6 This is a structural schematic diagram of a dust-free spray room equipped with a glue spraying robot and a conveying platform in one embodiment of the utility model.

[0035] Figure 7 for Figure 6 Enlarged view of center C. DETAILED DESCRIPTION

[0036] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0037] See also Figure 1-Figure 7 , an automatic gluing device with a visual recognition system, comprising a conveyor line 2 for conveying a workpiece to a spraying room 1, a 3D scanner for identifying the workpiece on the conveyor line 2 is arranged outside the spraying room 1, a gluing robot 3 is arranged inside the spraying room 1, and a controller is also included, the controller is arranged in an electric control box 4, a display screen operation area 5 is arranged on the electric control box 4, and the controller is electrically connected with various electric control devices;

[0038] When the workpiece enters the spraying room 1 through the conveyor line 2, the 3D scanner simultaneously performs laser line scanning on the workpiece on the conveyor line 2 to identify the shape and size of the workpiece.

[0039] The display screen operation area 5 is provided with a control operation module for adjusting the spraying mode of the glue spraying robot 3, and the control operation module is a control button or a touch control display screen;

[0040] One side of the conveying line 2 is provided with a sensor corresponding to the spraying mode and used to cooperate with the spraying mode and detect the conveying position of the workpiece.

[0041] When the control operation module is a control button, the display screen operation area 5 is provided with a first control button for selecting a workpiece fixed-point spraying mode, and a second control button for selecting a workpiece tracking spraying mode.

[0042] The control operation module is a touch-type control display screen, and the touch-type control display screen switches to a workpiece fixed-point spraying mode selection interface and a workpiece tracking spraying mode selection interface.

[0043] During the process of the glue spraying robot 3 spraying the workpiece, the workpiece fixed-point spraying mode or the workpiece tracking spraying mode is switched manually through the display operation area 5 .

[0044] The 3D scanner is arranged on a support frame and is above the conveying end of the conveyor line 2 , and two sides of the support frame are fixedly connected to the frame of the conveyor line 2 respectively.

[0045] A plurality of fans 6 are provided on the outer side of the top of the spraying room 1, and a first filter 7 is provided below the air outlets of the corresponding plurality of fans 6 in the spraying room 1. When the glue spraying robot 3 performs the spraying operation, the fan 6 draws the outside air into the spraying room 1 and after being rectified by the first filter 7, the glue mist sprayed by the glue spraying robot 3 is evenly sprayed on the workpiece under the forced action of the wind pressure.

[0046] The fan 6 is driven to rotate by a motor and also includes a motor speed signal sensor for detecting the motor speed. The controller is electrically connected to the motor speed signal sensor via wireless or wired communication to adjust the motor speed in real time.

[0047] The display screen operation area 5 is provided with a control interface for the on-site spraying operator to manually input the wind speed flowing downward toward the workpiece.

[0048] An exhaust duct 8 is provided on the outer side of the top of the spraying room 1, and an outlet channel 9 connected to the exhaust duct 8 is provided on one side or both sides of the spraying room 1. A second filter 10 is provided on the air inlet of the outlet channel 9. The glue mist particles generated after spraying do not stay in the air of the spraying room 1, but after being filtered by the second filter 10, enter the outlet channel 9 and the exhaust duct 8 and are discharged outside the spraying room 1.

[0049] The electric control box 4 is provided with a fault signal lamp 11 for alarming.

[0050] The electric control box 4 is provided with a communication interface for accessing external monitoring equipment.

[0051] In this embodiment, a support frame is provided outside the spray chamber 1, and a 3D scanner is provided inside the support frame.

[0052] Specifically, the process is as follows:

[0053] Process flow: 3D visual positioning recognition → automatic optimization of control program → automatic transmission → automatic spraying operation.

[0054] In the loading scanning area, one end of the conveyor line 2 is connected to the upstream transmission machinery to realize automatic loading of workpieces.

[0055] The workpiece passes through the 3D scanner on conveyor line 2, and the 3D scanner simultaneously performs laser line scanning on the workpiece. The 3D scanner automatically generates a spraying trajectory through manually preset parameters.

[0056] The workpiece is transported to the spraying room 1, and the glue spraying robot 3 automatically sprays the surface of the workpiece, and fixed-point spraying or tracking spraying can be selected.

[0057] In this embodiment, the fixed-point spraying mode means that the workpiece stops being transported in the spraying room, and the glue spraying robot sprays the workpiece, and the tracking spraying mode means that the glue spraying robot sprays glue following the transport of the workpiece.

[0058] The tracking spraying mode can be provided with a camera on the glue spraying robot to track the workpiece through the camera, or a light sensor for detecting the conveying position of the workpiece can be provided on the conveyor line, and the electrical signal emitted by the light sensor can enable the glue spraying robot to track the workpiece.

[0059] After spraying is completed, the workpiece is transported to the unloading area, and the other end of the conveyor line 2 is connected to the downstream transmission machinery to realize automatic unloading of the workpiece.

[0060] The Glue Spray Robot 3 features a wide wrist range of motion, high force and penetration ratings; an extra-long reach for precise performance to optimize production capabilities; and the ability to mount peripherals in multiple locations, making it ideal for spraying tasks.

[0061] The glue spraying system of the glue spraying robot 3 consists of a pressure barrel, A25 automatic spray gun, flow control valve, pressure regulating valve, pressure gauge, air inlet valve, exhaust valve, safety valve, drain valve (ball valve), oil pipe, air pipe and installation accessories. It is highly safe, time-saving and labor-saving, energy-saving and environmentally friendly. The glue is sealed and non-volatile and non-oxidizing. It is suitable for a variety of high-viscosity glue spraying requirements, such as plastic suction glue, foam glue, white latex, etc.

[0062] See also Figure 7 The glue spraying robot 1 includes a six-axis manipulator, a connecting support 12 is provided at one end of the six-axis manipulator, a swing arm 13 is provided on the connecting support 12, a rotating cylinder 14 is provided on the outer side of the swing arm 13, the rotating cylinder 14 is transmission-connected to the swing arm 13, the swing arm 13 is rotatably arranged on the connecting support 12, a glue spraying gun 15 is provided on the swing arm 13, and the rotating cylinder 14 drives the glue spraying gun 15 to rotate through the swing arm 13.

[0063] The six-axis manipulator is provided with a valve body connected to the glue spray gun 13 through an oil pipe, and the six-axis manipulator is provided with a valve body connected to the rotating cylinder 12 through an air pipe.

[0064] In this embodiment, the first filter 7 and the second filter 10 are filter nets or filter cotton. The first filter 7 and the second filter 10 are detachably arranged on the spray chamber, and the first filter 7 and the second filter 10 can be detached and assembled by snapping or plugging. Among them, the first filter 7 is arranged at a distance from the top wall of the spray chamber, and an air inlet bin is formed between the first filter 7 and the top wall of the spray chamber.

[0065] The above is a preferred embodiment of the utility model, which shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. The utility model may have various changes and improvements without departing from the spirit and scope of the utility model, and these changes and improvements fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. An automatic glue coating device with a visual recognition system, comprising a conveyor line (2) for conveying workpieces to a spraying room (1), a 3D scanner for identifying workpieces on the conveyor line (2) is arranged outside the spraying room (1), and a glue spraying robot (3) is arranged inside the spraying room (1), characterized in that: It also includes a controller, which is arranged in an electric control box (4), and a display screen operation area (5) is provided on the electric control box (4), and the controller is electrically connected to each electric control device; When the workpiece enters the spray chamber (1) through the conveyor line (2), the 3D scanner simultaneously performs a laser line scan on the workpiece on the conveyor line (2) to identify the shape and size of the workpiece. A control operation module for adjusting the spraying mode of the glue spraying robot (3) is provided on the display screen operation area (5), and the control operation module is a control button or a touch-type control display screen; One side of the conveying line (2) is provided with a sensor corresponding to the corresponding spraying mode, which is used to cooperate with the spraying mode and to detect the conveying position of the workpiece.

2. The automatic gluing equipment with visual recognition system according to claim 1 is characterized by: When the control operation module is a control button, a first control button for selecting a workpiece fixed-point spraying mode and a second control button for selecting a workpiece tracking spraying mode are provided on the display screen operation area (5); The control operation module is a touch-type control display screen, and the touch-type control display screen switches to a workpiece fixed-point spraying mode selection interface and a workpiece tracking spraying mode selection interface.

3. The automatic gluing equipment with visual recognition system according to claim 1 is characterized in that: During the process of the glue spraying robot (3) spraying the workpiece, manual operation is performed on the display screen operation area (5) to switch between the workpiece fixed-point spraying mode and the workpiece tracking spraying mode.

4. The automatic gluing equipment with visual recognition system according to claim 1 is characterized in that: The 3D scanner is arranged on a support frame and is located above the conveying end of the conveyor line (2), and both sides of the support frame are respectively fixedly connected to the frame of the conveyor line (2).

5. The automatic gluing equipment with visual recognition system according to claim 1 is characterized by: A plurality of fans (6) are arranged on the outside of the top of the spraying room (1), and a first filter (7) is arranged below the air outlets of the corresponding plurality of fans (6) in the spraying room (1). When the glue spraying robot (3) performs a spraying operation, the fan (6) draws outside air into the spraying room (1) and after being rectified by the first filter (7), the glue mist sprayed by the glue spraying robot (3) is evenly sprayed on the workpiece under the forced action of wind pressure.

6. The automatic gluing device with visual recognition system according to claim 5, characterized in that: The fan (6) is driven to rotate by a motor and also includes a motor speed signal sensor for detecting the motor speed. The controller is electrically connected to the motor speed signal sensor via wireless or wired communication to adjust the motor speed in real time.

7. The automatic gluing equipment with visual recognition system according to claim 5, characterized in that: The display screen operation area (5) is provided with a control interface for the on-site spraying operator to manually input the wind speed flowing downward toward the workpiece.

8. The automatic gluing equipment with visual recognition system according to claim 1 is characterized by: An exhaust duct (8) is provided on the outer side of the top of the spraying room (1), an outlet duct (9) connected to the exhaust duct (8) is provided on one side or both sides of the spraying room (1), and a second filter (10) is provided on the air inlet of the outlet duct (9). The glue mist particles generated after spraying do not stay in the air of the spraying room (1), but are filtered by the second filter (10) and then enter the outlet duct (9) and the exhaust duct (8) to be discharged outside the spraying room (1).

9. The automatic gluing equipment with visual recognition system according to claim 1, characterized in that: The electric control box (4) is provided with a fault signal light (11) for alarming.

10. The automatic gluing equipment with visual recognition system according to claim 1, characterized in that: The electric control box (4) is provided with a communication interface for facilitating access to external monitoring equipment.

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