A control system of an automatic lacquer spraying machine

Abstract

The utility model discloses a kind of raw lacquer automatic spraying machine control systems, including spraying machine, host computer control end, lower computer control end and sensor module, spraying machine includes chassis moving module, support, executor moving module being installed on support, recycling baffle structure and spraying module;Sensor module includes pressure sensor, laser ranging sensor, depth camera and laser radar;Lower computer control end is separately connected with host computer control end, sensor module, chassis moving module, two-dimensional plane movement mechanism I, two-dimensional plane movement mechanism II, mechanical arm mechanism, spraying module electricity. System realizes positioning and identification to workpiece by laser radar and depth camera, realizes automatic spraying task in space range in combination with chassis moving module, executor moving module and spraying module, improves the automation and intelligent degree of raw lacquer spraying operation, effectively improves spraying operation efficiency, reduces the harm of raw lacquer to person and artificial labor intensity.

Description

Technical Field

[0001] This utility model relates to the field of raw lacquer equipment technology, specifically to a control system for an automatic raw lacquer spraying machine. Background Technology

[0002] Before finished processing, handicrafts typically require surface painting. Currently, the most common method is manual air spraying, where compressed air atomizes the paint, which is then applied to the surface by an operator holding a spray gun. This method has several drawbacks. For example, the atomized paint easily diffuses during spraying, and the sprayed surface releases large amounts of volatile organic compounds (VOCs), increasing the concentration of toxic and harmful substances in the working environment and seriously threatening the health of operators. Furthermore, the efficiency and consistency of manual spraying are difficult to guarantee, making it difficult to meet the requirements of refined and standardized production. Therefore, developing an automatic lacquer spraying machine with automatic identification and precise spraying functions can not only improve spraying quality and efficiency but also effectively reduce harm to operator health and the environment, making it of significant value for widespread application. Summary of the Invention

[0003] To achieve the above objectives, this utility model provides a control system for an automatic lacquer spraying machine. The system includes a spraying machine, an upper-level computer and a lower-level computer control terminal, and a sensor module. It utilizes lidar and a depth camera to achieve precise identification and positioning of the workpiece to be sprayed, and uses pressure sensors and laser rangefinders to achieve fine control of spraying flow rate, pressure, and atomization degree. The spraying machine adopts a coordinate-system-based end effector structure, supporting precise multi-point spraying operations in space. The chassis movement module and the actuator movement module on the support work together to achieve automatic wrapping and spraying of the workpiece. The chassis is equipped with a transparent baffle and opening / closing mechanism, which, together with the control system, achieves closed management of the spraying environment, improving the overall intelligence level of the spraying operation.

[0004] This utility model is achieved using the following technical solution:

[0005] An automatic lacquer spraying machine control system includes a spraying machine, a sensor module, a lower-level control terminal, and an upper-level control terminal. The spraying machine includes a chassis moving module, a support, a recovery baffle structure, an actuator moving module, and a spraying module. The lower-level control terminal is electrically connected to the upper-level control terminal, the sensor module, two-dimensional planar motion mechanism I, two-dimensional planar motion mechanism II, a robotic arm mechanism, the chassis moving module, and the spraying module.

[0006] Furthermore, the chassis moving module includes a vehicle body, a steering mechanism, and tires. The wheel hub motor and the steering mechanism are respectively connected to the lower-level control terminal to control the movement of the mechanism and feed back the speed information to the upper-level control terminal.

[0007] Furthermore, the actuator movement module includes a robotic arm mechanism, a two-dimensional planar motion mechanism I, and a two-dimensional planar motion mechanism II. The lower-level control terminal is connected to the stepper motor driver in the planar motion mechanism and the joint driver in the robotic arm mechanism, respectively, receives position information feedback, and controls the planar motion mechanism and the robotic arm mechanism respectively to cooperate in realizing the spatial position movement of the nozzle.

[0008] Furthermore, the spraying module includes a main spray head, detail spray heads, an air compressor, a diaphragm pump, a paint bucket, an air pipe, a material delivery pipe, and a return pipe. The proportional solenoid valves on the main spray head and the detail spray heads are respectively connected to the lower-level control terminal, and the upper-level control terminal sends control signals to control the spraying effect.

[0009] Furthermore, the sensor module includes a lidar, a depth camera, a camera rotation servo, a pressure sensor I, a hydraulic sensor I, a pressure sensor II, a hydraulic sensor II, and a laser rangefinder. The lidar and depth camera are connected to the host computer control terminal to acquire the spatial position information and three-dimensional contour data of the workpiece to be sprayed. The pressure sensor is connected to the slave computer control terminal to monitor the air pressure and hydraulic parameters during the spraying process in real time and feed the collected data back to the host computer control terminal to achieve closed-loop control of the spraying accuracy.

[0010] Furthermore, both sides of the main nozzle and the detail nozzle are equipped with hydraulic sensors I and II for detecting the pressure of the raw paint, and air pressure sensors I and II for detecting the atomization air pressure required for spraying. All pressure sensors are connected to the lower-level control terminal. The lower-level control terminal collects the data parameters of each pressure sensor in real time and feeds them back to the upper-level control terminal. The upper-level control terminal schedules the spraying process as a whole according to the spraying strategy and sends parameter adjustment commands to the lower-level control terminal to achieve specific spraying effect control.

[0011] Furthermore, both the depth camera and the lidar are connected to the host computer control terminal to collect the workpiece's shape and spatial position information. The host computer control terminal performs fusion analysis on the collected data to generate real-time workpiece posture information and a spraying path planning scheme, and sends the planning results to the slave computer control terminal. The slave computer control terminal controls the actuator movement module and spraying module in the spraying system according to the path planning scheme sent by the host computer, accurately executes the spraying trajectory and parameter adjustment, and realizes high-precision spraying operation on the workpiece.

[0012] Furthermore, laser rangefinders are installed on both sides of the vehicle body to detect the surrounding environment and the position of obstacles in real time. The laser rangefinders are connected to the lower-level control terminal to realize safe monitoring and path adjustment of vehicle movement.

[0013] Furthermore, the chassis moving module is equipped with a four-wheel independent steering drive mechanism, with each wheel controlled by an independent motor. The motor driver is connected to the lower-level control terminal to enable flexible vehicle movement to adapt to the needs of different workpieces and painting environments.

[0014] This utility model has the following beneficial effects:

[0015] (1) The system is simple in structure and easy to operate. It realizes the automation of spraying. Through the coordinated work of the main nozzle and the detail nozzle, it can complete large-area and local fine spraying, improve spraying efficiency and quality, and reduce labor intensity and environmental pollution.

[0016] (2) The chassis moving module and the actuator moving module work together to realize the multi-angle spraying strategy. Combined with the depth camera, lidar and laser range sensor, the system can identify the target workpiece and accurately plan the spraying path, thereby improving the system's recognition accuracy of the workpiece contour and the coverage integrity of the sprayed surface.

[0017] (3) The lower-level machine and the upper-level machine form a closed-loop control system. The spraying parameters are monitored in real time through air pressure and hydraulic sensors, and the operating status of the diaphragm pump and air compressor is dynamically adjusted. When there is an abnormality, an alarm mechanism is triggered to ensure the safety and stability of the spraying process. At the same time, the upper-level machine control terminal serves as the core decision-making unit to realize the centralized control and collaborative operation of the system. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the control system of this utility model.

[0019] Figure 2 This is a schematic diagram of the structure of the automatic lacquer spraying machine of this utility model.

[0020] Figure 3 This is a schematic diagram of the actuator moving module of this utility model.

[0021] Figure 4 This is a schematic diagram of the spraying module of this utility model.

[0022] Figure 5 This is a schematic diagram of the electrical equipment connection of this utility model.

[0023] In the diagram, the markings are as follows: 100, spray painting machine; 110, chassis moving module; 111, vehicle body; 112, steering mechanism; 113, hub motor; 114, tire; 120, bracket; 130, recovery baffle structure; 140, actuator moving module; 141, two-dimensional planar motion mechanism I; 142, two-dimensional planar motion mechanism II; 143, robotic arm mechanism; 150, spray painting module; 151, main spray nozzle; 152, detail spray nozzle; 153, air pressure. 154. Shrink compressor; 155. Diaphragm pump; 156. Paint bucket; 157. Air pipe; 158. Material conveying pipe; 159. Return pipe; 200. Sensor module; 201. LiDAR; 202. Depth camera; 203. Camera rotation servo; 204. Air pressure sensor I; 205. Hydraulic sensor I; 206. Air pressure sensor II; 207. Hydraulic sensor II; 208. Laser rangefinder sensor; 300. Lower-level control terminal; 400. Upper-level control terminal. Detailed Implementation

[0024] Example 1:

[0025] like Figure 1 , 2 As shown, this embodiment provides an automatic lacquer spraying machine 100, including a chassis moving module 110, a support 120, a retraction baffle structure 130, an actuator moving module 140, and a spraying module 150. The chassis moving module 110 is symmetrically arranged on the left and right sides and fixed by the support 120. A steering mechanism 112 is provided under the vehicle body 111, and a wheel hub motor 113 provides power to drive the tires 114 for steering. This module supports multiple modes such as forward, backward, stationary rotation, and diagonal movement, significantly improving the mobility and path flexibility of the spraying machine in complex environments, and providing a stable motion platform for precise spraying.

[0026] like Figure 2 , 3 As shown, the actuator movement module 140 includes a two-dimensional planar motion mechanism I 141, a two-dimensional planar motion mechanism II 142, and a robotic arm structure 143. The two-dimensional planar motion mechanism I 141 consists of two linear modules, each driven by a stepper motor and equipped with a high-precision magnetic encoder. It is connected to the lower-level control terminal 300 via an SPI interface to achieve position feedback and closed-loop control, ensuring the precise positioning and dynamic adjustment of the robotic arm structure 143 base in two-dimensional space.

[0027] The two-dimensional planar motion mechanism II142 is mounted on the bracket 120. Its structure is similar to that of the two-dimensional planar motion mechanism I141. The main nozzle 151 is mounted on the moving slider of the two-dimensional planar motion mechanism II142. The stepper motor is controlled by the lower computer control terminal 300 to adjust the position of the main nozzle 151. In conjunction with the chassis moving module 110, the large-area spraying operation needs can be met. The main nozzle 151 mainly undertakes the basic coverage spraying task and provides the coating base for subsequent detailed spraying.

[0028] The robotic arm structure 143 is fixed to the moving platform of the two-dimensional planar motion mechanism I 141. It is a multi-degree-of-freedom serial structure with multiple joint motors, supporting flexible multi-angle adjustments. Each joint motor is equipped with a high-precision magnetic encoder and is linked with the lower-level control terminal 300 to achieve real-time attitude calculation and three-dimensional trajectory planning. The end effector connects to a detail spray nozzle 152, which is connected to the paint supply system via piping. Working in conjunction with the main spray nozzle 151, it performs touch-up spraying on edges and complex areas, improving the uniformity and integrity of the coating. The actuator movement module 140, combined with the sensor module 200 and the path planning algorithm of the upper-level control terminal 400, dynamically generates the spraying path based on the workpiece surface features, achieving high-precision, intelligent spraying suitable for automatic coating of diverse workpieces such as complex curved surfaces.

[0029] like Figure 4 As shown, the air compressor 153 provides a stable atomizing air source for the spraying module 150, which is delivered to the main nozzle 151 and detail nozzle 152 through the air pipe 156, ensuring that the raw paint can be effectively atomized during the spraying process to form a uniform spray. The diaphragm pump 154 ​​is connected between the paint tank 155 and the nozzle paint supply system, and delivers the raw paint to the nozzle through the feed pipe 157, ensuring the continuity and stability of the paint supply during the spraying process. The return pipe 158 is used to collect excess raw paint, realizing paint recycling, improving efficiency and reducing waste. Hydraulic sensors I 205 and II 207 detect the raw paint pressure during the spraying process, and air pressure sensors I 204 and II 206 detect the atomizing air pressure. The data collected by the sensors is connected to the lower-level control terminal 300 through signal lines. The lower-level control terminal 300 automatically adjusts the working status of the diaphragm pump 154 ​​and the air compressor 153 according to the real-time data, dynamically adjusting the paint spraying air pressure and the feed pressure to ensure the stability of the spraying parameters and avoid spraying defects.

[0030] Example 2:

[0031] like Figure 1As shown, this embodiment provides a control system for controlling the spraying machine 100 in Embodiment 1, including a host computer control terminal 400, a slave computer control terminal 300, and a sensor module 200. The sensor module 200 includes a lidar 201 for contour recognition and obstacle detection of the spraying environment, a depth camera 202 for dynamically adjusting the shooting angle according to the position of the spraying target via a servo motor to acquire three-dimensional information of the spraying area, and pressure sensors installed on both sides of the main nozzle 151 and the detail nozzle 152 for real-time monitoring of material supply and air pressure during the spraying process. In addition, laser rangefinders 208 are respectively installed on the left and right sides of the vehicle body 111 for obstacle detection on both sides of the vehicle body, assisting other sensors in realizing the obstacle avoidance function of the spraying machine.

[0032] The host computer control terminal 400 is an industrial control computer, serving as the core decision-making unit for the spraying operation. It is connected to the slave computer control terminal 300 via a CAN bus to monitor the overall status and control the operation of the spraying machine 100. Based on the environmental and target information collected by the sensor module 200 and combined with the preset spraying task requirements, the host computer control terminal 400 plans the motion parameters and spraying trajectory of the chassis moving module 110 and the actuator moving module 140 in real time, and sends the corresponding control commands to the slave computer control terminal 300. The slave computer then executes the control tasks of each driver to complete the precise spraying operation.

[0033] The working function of the control system of Bensheng Paint Automatic Spraying Machine:

[0034] (1) During operation, the host computer control terminal 400 uses the laser radar 201 and depth camera 202 to identify the position of the workpiece to be sprayed and process the three-dimensional information in real time. The laser radar 201 is responsible for scanning the external contour of the workpiece and obtaining position information. The depth camera 202 dynamically adjusts the shooting angle through the rotation servo motor 203 to capture the three-dimensional information of the workpiece. When the position of the workpiece is confirmed, the front baffle of the spraying machine automatically opens, and the chassis moving module 110 drives the spraying machine to move to the target center position, and the front baffle automatically closes. After the spraying machine reaches the center of the workpiece, the depth camera 202 turns to shoot inside under the drive of the servo motor 203. The chassis moving module 110 rotates itself to help obtain complete data of the workpiece, determine each spraying surface, and then generate a high-precision spraying trajectory to improve the spraying accuracy.

[0035] (2) When the chassis moving module 110 of the spraying machine 100 is working, the laser radar 201 and the laser range sensors 208 on both sides work together to provide real-time obstacle detection and position adjustment, ensuring that the spraying machine 100 will not collide with obstacles around the workpiece, and enhancing the obstacle avoidance ability and movement flexibility during the spraying process.

[0036] (3) During the spraying process, the main nozzle 151 first performs large-area spraying. The position of the nozzle is precisely adjusted through the moving platform of the two-dimensional planar motion mechanism I 141 to ensure uniform coverage of the large-area coating and complete the basic spraying. The robotic arm structure 143 works in conjunction with the two-dimensional planar motion mechanism II 142 and the chassis moving module 110 to precisely adjust the position of the detail nozzle 152 and perform fine spraying in conjunction with the spraying trajectory generated by the host computer control terminal 400.

[0037] (4) In addition, during the spraying process, the air pressure sensors 204 and 206 and the hydraulic sensors 205 and 207 equipped on both sides of the main nozzle 151 and the detail nozzle 152 are used to monitor the air pressure and material supply pressure in real time during the spraying process. The data collected by the above sensors are fed back to the lower-level control terminal 300, and an alarm is triggered when the pressure is abnormal. The lower-level control terminal 300 dynamically adjusts the working status of the diaphragm pump 154 ​​and the air compressor 153 according to the real-time feedback, so as to realize the closed-loop precise control of the spraying air pressure and material supply pressure, thereby ensuring the stability and reliability of the spraying process, avoiding spraying defects, and improving the spraying quality.

[0038] Through this highly integrated control system, the spraying machine can automatically identify the workpiece, accurately plan the spraying path, and dynamically adjust the spraying trajectory and parameters according to the information of the workpiece to be sprayed, so as to achieve efficient and accurate automatic spraying of raw paint.

[0039] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the implementation of the present invention is not limited to the above method. Any improvements made by adopting the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. A control system for an automatic lacquer spraying machine, characterized in that: The system includes a spray painting machine (100), a sensor module (200), a lower-level control terminal (300), and an upper-level control terminal (400). The spray painting machine (100) includes a chassis moving module (110), a bracket (120), a recovery baffle structure (130), an actuator moving module (140), and a spraying module (150). The chassis moving module (110) includes a vehicle body (111), a steering mechanism (112), and tires (114). The hub motor (113) and the steering mechanism (112) are respectively connected to the lower-level control terminal (300) to control the movement of the mechanism and feed back the position information to the upper-level control terminal (400). 00); The actuator moving module (140) includes a robotic arm mechanism (143), a two-dimensional planar motion mechanism I (141) and a two-dimensional planar motion mechanism II (142). The lower-level control terminal (300) is connected to the stepper motor driver in the planar motion mechanism and the joint driver of the robotic arm mechanism (143) respectively, receives position information feedback and controls the planar motion mechanism and the robotic arm mechanism (143) respectively; The spraying module (150) includes a main spray nozzle (151), a detail spray nozzle (152), an air compressor (153), a diaphragm pump (154), a paint bucket (155), an air pipe (156), and a material conveying pipe (157). The proportional solenoid valves on the main nozzle (151) and detail nozzle (152) are respectively connected to the lower-level control terminal (300), and the upper-level control terminal (400) sends control signals to control the spraying; the sensor module (200) includes a laser radar (201), a depth camera (202), a camera rotation servo (203), a pressure sensor I (204), a hydraulic sensor I (205), a pressure sensor II (206), a hydraulic sensor II (207), and a laser rangefinder (208). The laser radar (201) and the depth camera (202) are connected to the return pipe (158). 2) Connected to the host computer control terminal (400) to obtain the spatial position information and three-dimensional contour data of the workpiece to be sprayed. The pressure sensor is connected to the lower computer control terminal (300) to monitor the air pressure and hydraulic parameters in the spraying process in real time and feed the collected data back to the lower computer control terminal (300) to realize the closed-loop control of the spraying accuracy. The lower computer control terminal (300) is electrically connected to the host computer control terminal (400), the sensor module (200), the two-dimensional planar motion mechanism I (141), the two-dimensional planar motion mechanism II (142), the robotic arm mechanism (143), the chassis moving module (110), and the spraying module (150).

2. The automatic lacquer spraying machine control system according to claim 1, characterized in that: Both sides of the main nozzle (151) and the detail nozzle (152) are equipped with hydraulic sensor I (205) and hydraulic sensor II (207) for detecting the pressure of raw paint, and air pressure sensor I (204) and air pressure sensor II (206) for detecting the atomization air pressure required for painting. The pressure sensors are all connected to the lower computer control terminal (300). The lower computer control terminal (300) collects the data parameters of each pressure sensor in real time and feeds them back to the upper computer control terminal (400). The upper computer control terminal (400) schedules the painting process as a whole according to the painting strategy and sends parameter adjustment instructions to the lower computer control terminal (300) to realize specific painting effect control.

3. The automatic lacquer spraying machine control system according to claim 1, characterized in that: The depth camera (202) and lidar (201) are both connected to the host computer control terminal (400) and are used to collect workpiece shape and spatial position information; The host computer control terminal (400) performs fusion analysis on the collected data, generates real-time workpiece posture information and spraying path planning scheme, and sends the planning results to the lower computer control terminal (300). The lower computer control terminal (300) controls the actuator moving module (140) and spraying module (150) in the spraying system according to the path planning scheme sent by the host computer, accurately executes the spraying trajectory and parameter adjustment, and realizes high-precision spraying operation on the workpiece.

4. The automatic lacquer spraying machine control system according to claim 1, characterized in that: The base of the depth camera (202) is equipped with a camera rotation servo (203) that can rotate 360°, which automatically adjusts the shooting angle of the depth camera according to the position of the target to be sprayed; the camera rotation servo (203) is connected to the lower computer control terminal (300) through the servo driver, and the lower computer control terminal (300) receives the control command issued by the upper computer control terminal (400) to control the camera rotation servo (203) to adjust the angle, thereby realizing precise dynamic control of the depth camera's field of view and improving the coverage and accuracy of workpiece recognition.

5. The automatic lacquer spraying machine control system according to claim 1, characterized in that: The vehicle body (111) is equipped with laser rangefinders (208) on both sides for real-time detection of the surrounding environment and obstacle positions. The laser rangefinders (208) are connected to the lower-level control terminal (300) to realize safe monitoring and path adjustment of vehicle movement.

6. The automatic lacquer spraying machine control system according to claim 1, characterized in that: The chassis moving module (110) is equipped with a four-wheel independent steering drive mechanism. Each wheel is controlled by an independent motor. The motor driver is connected to the lower-level control terminal (300) to realize the flexible movement of the vehicle to adapt to the needs of different workpieces and spraying environments.

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