CN116099692A - Multipurpose intelligent robot based on 3D visual navigation and spraying method thereof - Google Patents

Abstract

The invention provides a multipurpose intelligent robot based on 3D visual navigation, which comprises a 3D visual device, a conveying device, a truss and a manipulator spraying device, wherein the 3D visual device and the manipulator spraying device are respectively arranged on the truss, the conveying device is arranged below the truss, the 3D visual device scans a workpiece, 3D scanning data are collected and transmitted to an industrial personal computer, the industrial personal computer automatically generates a spraying path and transmits the spraying path to a manipulator control system, and the manipulator control system controls the manipulator spraying device to spray. The spraying efficiency is high, can realize intelligent spraying, and is safer. The invention also provides a spraying method of the multipurpose intelligent robot based on 3D visual navigation, which is suitable for automatic spraying and is convenient and quick to spray.

Description

Multipurpose intelligent robot based on 3D visual navigation and its spraying method

technical field

The invention relates to the technical field of spraying, in particular to a multipurpose intelligent robot based on 3D vision navigation and a spraying method thereof.

Background technique

It has been developed in the spraying industry for many years. The original spraying is based on manual spraying or PLC programming automatic spraying. The current problem is mainly that the level of intelligence is not high, which leads to waste of spraying materials, resulting in low spraying quality and low spraying efficiency. It is difficult to realize automatic spraying for special-shaped spraying and curved surface spraying. Artificial spraying is harmful to health and affects the natural environment, making it difficult to deal with environmental protection.

Contents of the invention

The aim of the present invention is to solve at least one of said technical drawbacks.

For this reason, an object of the present invention is to propose a multi-purpose intelligent robot based on 3D visual navigation, to solve the problems mentioned in the background technology and overcome the deficiencies in the prior art.

In order to achieve the above object, the present invention provides a multi-purpose intelligent robot based on 3D vision navigation, comprising 3D vision device, conveying device, truss and manipulator spraying device, 3D vision device and manipulator spraying device are respectively arranged on the truss, conveying device is set Below the truss, the 3D vision device scans the workpiece, collects 3D scanning data, and transmits it to the industrial computer. The industrial computer automatically generates the spraying path and transmits it to the manipulator control system. The manipulator control system controls the manipulator spraying device for spraying.

Preferably, the 3D visual device includes a casing, a camera, a lens and a supplementary light module, the camera is opposite to the lens, and the supplementary light module is arranged around the camera.

In any of the above schemes, preferably, the conveying device includes a conveying frame, a conveying chain and a conveying table, the conveying frame is provided with a conveying chain, and the conveying chain is provided with a conveying platform.

Preferably in any of the above schemes, the manipulator spraying device includes a five-axis manipulator and a spray gun, the five-axis manipulator is provided with two spray guns, and the five-axis manipulator includes a first transmission system, a second transmission system, a third transmission system, a first transmission system, and a second transmission system. Four transmission systems, the fifth transmission system; the first transmission system includes the first servo motor and the first transmission device, the second transmission system includes the second servo motor and the second transmission device, and the third transmission system includes the third servo motor and the first transmission device Three transmission devices, the fourth transmission system includes the fourth servo motor and the fourth transmission device, the fifth transmission system includes the fifth servo motor and the fifth transmission device; the output end of the first servo motor is connected with the first transmission device, and the second The output end of the servo motor is connected to the second transmission device, the output end of the third servo motor is connected to the third transmission device, the output end of the fourth servo motor is connected to the fourth transmission device, and the output end of the fifth servo motor is connected to the fifth The transmission device is connected; the second transmission device is arranged on the first transmission device.

In any of the above schemes, preferably, the first transmission system realizes the movement of the spray gun along the X-axis direction, the second transmission system realizes the movement of the spray gun along the Y-axis direction, the third transmission system realizes the rotation of the spray gun around the Z-axis direction, and the fourth transmission system realizes the movement of the spray gun along the Z-axis direction. The transmission system realizes the rotation of the spray gun around the R-axis direction, and the fifth transmission system realizes the movement of the spray gun along the C-axis direction.

The present invention also provides a spraying method utilizing the above-mentioned multi-purpose intelligent robot based on 3D visual navigation, comprising the steps of:

Step S1: visually photographing the workpiece by a 3D vision device;

Step S2: the computer generates a working path according to the photographs taken to survey and map the workpiece;

Step S3: the processed workpiece is transported to the designated area by the material conveying system;

Step S4: the robot control system receives the path code, and executes the code to carry out the spraying operation;

Step S5: After completing the operation, send the workpiece to the designated location.

Preferably, the computer surveys and maps the workpiece according to the photographs taken, and generating the working path specifically includes:

Step S21: taking pictures of the workpiece;

Step S22: separating the workpiece and the photographing background, extracting the workpiece image;

Step S23: extracting the edge of the workpiece to obtain the contour of the workpiece;

Step S24: according to the extraction to the edge of workpiece, set up three-dimensional model of workpiece;

Step S25: Generate a working path according to the three-dimensional model.

Compared with prior art, the advantages and beneficial effects that the present invention has are:

1. A multi-purpose intelligent robot based on 3D vision navigation of the present invention can automatically recognize the shapes of various workpieces through a 3D vision device, and then sprays various aspects of the workpiece through a manipulator spraying device, realizing a high degree of automatic spraying, The spraying efficiency is high, avoiding manual participation, and spraying is safer.

2. A multi-purpose intelligent robot based on 3D visual navigation of the present invention solves the spraying problems of various curved surfaces and the spraying of various workpieces with height differences through 3D visual technology; it can work in a closed environment and realize the integration of spraying and exhaust gas processing.

3. The spraying method of a multi-purpose intelligent machine based on 3D visual navigation of the present invention has high spraying efficiency, can realize intelligent spraying, and is suitable for fully automatic generation of spraying paths in machine production operations. The method is simple and effective, and can automatically identify various workpieces Shape, to achieve automatic spraying.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and understandable from the description of the embodiments in conjunction with the following drawings, wherein:

Fig. 1 is a schematic structural diagram of a multi-purpose intelligent robot based on 3D visual navigation according to an embodiment of the present invention;

Fig. 2 is a front view of a multipurpose intelligent robot based on 3D visual navigation according to an embodiment of the present invention;

Fig. 3a is a structural schematic diagram of a part structure of a five-axis manipulator of a multi-purpose intelligent robot based on 3D vision navigation and a spray gun according to an embodiment of the present invention.

Fig. 3b is a structural schematic diagram of a part structure of a five-axis manipulator of a multi-purpose intelligent robot based on 3D vision navigation and a spray gun according to an embodiment of the present invention.

Among them: 1-3D visual device; 2-conveying device; 3-truss; 4-manipulator spraying device; 5-conveying frame; 6-conveying chain; 7-conveying table; 8-spray gun; -the first transmission device; 11-the second servo motor; 12-the second transmission device; 13-the third servo motor; 14-the third transmission device; 15-the fourth servo motor; 16-the fourth transmission device; 17- The fifth servo motor; 18—the fifth transmission.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

As shown in Figure 1, Figure 2, Figure 3a and Figure 3b, a multi-purpose intelligent robot based on 3D vision navigation in the embodiment of the present invention includes a 3D vision device 1, a conveying device 2, a truss 3 and a manipulator spraying device 4, The 3D vision device 1 and the manipulator spraying device 4 are respectively installed on the truss 3, and the conveying device 2 is installed under the truss 3. The 3D vision device 1 scans the workpiece, collects 3D scanning data, and transmits them to the industrial computer, which automatically generates The spraying path is transmitted to the manipulator control system, and the manipulator control system controls the manipulator spraying device 4 for spraying.

A multi-purpose intelligent robot based on 3D vision navigation of the present invention can automatically recognize the shapes of various workpieces through the 3D vision device 1, and then sprays various aspects of the workpiece through the manipulator spraying device 4, realizing a high degree of automatic spraying, The spraying efficiency is high, avoiding manual participation, and spraying is safer.

Further, the 3D visual device 1 includes a casing, a camera, a lens and a supplementary light module, the camera is opposite to the lens, and the supplementary light module is arranged around the camera. The camera is used to take pictures, the lens is used to zoom in on the camera,

The camera is a binocular 20 million camera. The lens is 20 million lenses; fill light module;

Measurement area of 3D vision device 1: 1000x800x500mm; position accuracy: ±0.1mm; angle accuracy: ±0.2; marked object size: 20mmx20mm; measurement frame rate: 2HZ.

Specifically, the conveying device 2 includes a conveying frame 5 , a conveying chain 6 and a conveying platform 7 , the conveying frame 5 is provided with a conveying chain 6 , and the conveying chain 6 is provided with a conveying platform 7 . The motor drives the conveyor chain 6 to rotate, and the conveyor chain 6 drives the conveyor table 7 to drive, and the workpiece is placed on the conveyor table 7, and the conveyor table 7 conveys the workpiece.

Further, the manipulator spraying device 4 includes a five-axis manipulator and a spray gun 8, two spray guns 8 are arranged on the five-axis manipulator, and the five-axis manipulator includes a first servo motor 9, a second servo motor 11, a third servo motor 13, a fourth Servo motor 15, the fifth servo motor 17, the first transmission device 10, the second transmission device 12, the third transmission device 14, the fourth transmission device 16 and the fifth transmission device 18; the output end of the first servo motor 9 and the first transmission device A transmission device 10 is connected, the output end of the second servo motor 11 is connected with the second transmission device 12, the output end of the third servo motor 13 is connected with the third transmission device 14, the output end of the fourth servo motor 15 is connected with the fourth transmission device The device 16 is connected, and the output end of the fifth servo motor 17 is connected with the fifth transmission device 18 ; the second transmission device 12 is arranged on the first transmission device 10 .

The manipulator spraying device 4 includes a five-axis manipulator and a spray gun 8. The five-axis manipulator is provided with two spray guns 8. The five-axis manipulator includes a first transmission system, a second transmission system, a third transmission system, a fourth transmission system, and a fifth transmission system. System; the first transmission system includes the first servo motor 9 and the first transmission device 10, the second transmission system includes the second servo motor 11 and the second transmission device 12, and the third transmission system includes the third servo motor 13 and the third transmission Device 14, the 4th transmission system comprises the 4th servo motor 15 and the 4th transmission device 16, the 5th transmission system comprises the 5th servo motor 17 and the 5th transmission device 18; The output end of the first servo motor 9 is connected with the first transmission device 10 connection, the output end of the second servo motor 11 is connected with the second transmission device 12, the output end of the third servo motor 13 is connected with the third transmission device 14, and the output end of the fourth servo motor 15 is connected with the fourth transmission device 16 , the output end of the fifth servo motor 17 is connected to the fifth transmission device 18 ; the second transmission device 12 is arranged on the first transmission device 10 .

The first transmission system realizes the movement of the spray gun 8 along the X-axis direction, the second transmission system realizes the movement of the spray gun 8 along the Y-axis direction, the third transmission system realizes the rotation of the spray gun 8 around the Z-axis, and the fourth transmission system realizes the spray gun 8 around the R-axis Rotating, the fifth transmission system realizes the square movement of the spray gun 8 along the C axis.

The manipulator spraying device 4 realizes the movement of the spray gun 8 along different directions, and the double spray gun 8 is installed to realize precise spraying for parts with complex shapes, and the spraying efficiency is high.

Optionally, the first transmission device 10 is a guide rail device, the output end of the first servo motor 9 is connected to the guide rail device, the second transmission device 12 is arranged on the first transmission device 10, the second transmission device 12 is a guide rail device, and the third The transmission device 14 includes a horizontal rotation device, the output end of the third servo motor 13 is connected with one end of the horizontal rotation device, the third servo motor 13 is connected with the horizontal rotation device through a conveyor belt, and the fourth transmission device 16 is arranged on the horizontal rotation device. The rotating device drives the fourth transmission device 16 to rotate horizontally, one end of the fourth transmission device 16 is connected to the output end of the fourth servo motor 15, the other end of the fourth transmission device 16 is connected to the spray gun 8, and the fourth transmission device 16 drives the spray gun 8 to rotate around the R axis. The third transmission device 14 is arranged on the fifth transmission device 18, the fifth transmission device 18 is a rack and pinion drive, the output end of the fifth servo motor 17 is connected with the fifth transmission device 18, and the fifth transmission device 18 drives the third transmission device The device 14 translates in the vertical direction, and the fifth transmission device 18 is arranged on the second transmission device 12 .

The first transmission device 10 is provided with a second transmission device 12, the first transmission device 10 drives the second transmission device 12 to move along the X-axis direction, the second transmission device 12 is provided with a fifth transmission device 18, and the second transmission device 12 12 drives the fifth transmission device 18 to move along the Y-axis direction, the fifth transmission device 18 is provided with a third transmission device 14, the fifth transmission device 18 drives the third transmission device 14 to move along the C-axis direction, the third transmission device 14 is provided with a fourth transmission device 16, the third transmission device 14 drives the fourth transmission device 16 to rotate horizontally around the third transmission device 14, the fourth transmission device 16 is provided with a spray gun 8, and the fourth transmission device 16 drives the spray gun 8 Rotate around the R axis.

When the first transmission device 10 is the first guide rail device, the X axis is the axis that coincides with the first transmission device 10, that is, the longitudinal direction of the first guide rail device. When the second transmission device 12 is the second guide rail device, the Y axis and the first guide rail device The second transmission device 12 is the axis coincident with the length direction of the second guide rail device, the Z axis coincides with the axis of the third transmission device 14 length direction, that is, the Z axis coincides with the axis of the horizontal rotation device along the length direction, and the R axis coincides with the axis of the two spray guns 8. The straight lines connected between them coincide, the C axis is parallel to the vertical direction, perpendicular to the horizontal plane, and the C axis is perpendicular to the X axis and the Y axis.

A kind of multipurpose intelligent robot working principle based on 3D vision navigation of the present invention is:

The conveying device transports the workpiece to the bottom of the truss, takes a visual photo of the workpiece through the 3D vision device, collects 3D scanning data, and transmits it to the industrial computer. The industrial computer automatically generates the spraying path and transmits it to the manipulator control system. The manipulator control system controls the manipulator. The spraying device sprays and completes the spraying.

A kind of multipurpose intelligent robot based on 3D vision navigation of the present invention

Through the workpiece delivery line: the motor drives the conveyor chain to feed the material forward, and the workpiece is placed on the workbench on the upper side of the conveyor chain.

When the workpiece walks directly under the 3D vision device on the left, the 3D vision device scans the workpiece, collects 3D scanning data, and transmits it to the industrial computer.

The industrial computer automatically generates the spraying path and transmits it to the manipulator control system, and the manipulator control system executes the spraying command.

After the spraying is completed, the material is automatically discharged into the drying room to complete the follow-up process.

FPGA timing control is used to synchronize the image display output with the camera acquisition hardware, and finally realize the optical-mechanical 8bit raster output of 360FPS, equipped with the corresponding global exposure camera, to achieve a system acquisition speed of 360FPS.

3D vision device acquisition speed: 20 global point cloud acquisitions per second.

Measurement accuracy: under the format of 200mmx150mm, the absolute accuracy is higher than 0.05mm, which can realize:

1. Complete data collection and processing in a short period of time, and give workpiece coordinate values.

2. Higher positioning accuracy (0.1mm) can be obtained.

3. It can give information such as workpiece flatness deviation.

The present invention also provides a spraying method of a multipurpose intelligent robot based on 3D visual navigation, comprising the steps of:

Step S1: Take a visual photo of the workpiece through a 3D vision device.

Step S2: The computer surveys and maps the workpiece according to the photographs taken, and generates a working path.

Step S3: The processed workpiece is transported to the designated area by the material conveying system.

Step S4: the robot control system receives the path code, and executes the code to carry out the spraying operation.

Step S5: After completing the operation, send the workpiece to the designated location.

The computer surveys and maps the workpiece according to the photos taken, and generates the working path, which specifically includes:

Step S21: taking pictures of the workpiece.

Step S22: Separating the workpiece from the background of the photo, and extracting the image of the workpiece.

Step S23: extracting the edge of the workpiece to obtain the contour of the workpiece.

Step S24: According to the extraction of the edge of the workpiece, a three-dimensional model of the workpiece is established.

Step S25: Generate a working path according to the three-dimensional model.

The spraying method of a multi-purpose intelligent robot based on 3D visual navigation in the embodiment of the present invention is suitable for intelligent automatic spraying, has high spraying efficiency, convenient and fast spraying, and improves productivity.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

It is not difficult for those skilled in the art to understand that the present invention includes any combination of the summary of the invention and the specific embodiments of the above description and the parts shown in the accompanying drawings, and there are no schemes in which these combinations are formed due to space limitations and to make the description concise. Describe them one by one. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limitations to the present invention. Variations, modifications, substitutions, and modifications to the above-described embodiments are possible within the scope of the present invention. The scope of the invention is defined by the appended claims and their equivalents.

Claims (7)

1. The utility model provides a multipurpose intelligent robot based on 3D visual navigation, its characterized in that includes 3D visual device, conveyor, truss and manipulator spraying device, 3D visual device with manipulator spraying device establishes respectively on the truss, conveyor establishes the below of truss, 3D visual device scans the work piece, collects 3D scan data, conveys to the industrial computer, the industrial computer automatically generates the spraying route, conveys to manipulator control system in, manipulator control system control manipulator spraying device sprays.

2. The multipurpose intelligent robot based on 3D visual navigation of claim 1, wherein the 3D visual device comprises a housing, a camera, a lens, and a light supplementing module, the camera being opposite the lens, the light supplementing module being disposed around the camera.

3. The multipurpose intelligent robot based on 3D visual navigation according to claim 1, wherein the conveying device comprises a conveying frame, a conveying chain and a conveying table, the conveying chain is arranged on the conveying frame, and the conveying table is arranged on the conveying chain.

4. The multipurpose intelligent robot based on 3D visual navigation according to claim 1, wherein the manipulator spraying device comprises a five-axis manipulator and a spray gun, wherein two spray guns are arranged on the five-axis manipulator, and the five-axis manipulator comprises a first transmission system, a second transmission system, a third transmission system, a fourth transmission system and a fifth transmission system; the first transmission system comprises a first servo motor and a first transmission device, the second transmission system comprises a second servo motor and a second transmission device, the third transmission system comprises a third servo motor and a third transmission device, the fourth transmission system comprises a fourth servo motor and a fourth transmission device, and the fifth transmission system comprises a fifth servo motor and a fifth transmission device; the output end of the first servo motor is connected with the first transmission device, the output end of the second servo motor is connected with the second transmission device, the output end of the third servo motor is connected with the third transmission device, the output end of the fourth servo motor is connected with the fourth transmission device, and the output end of the fifth servo motor is connected with the fifth transmission device; the second transmission device is arranged on the first transmission device.

5. The multipurpose intelligent robot based on 3D visual navigation according to claim 4, wherein the first transmission system enables movement of the spray gun in the X-axis direction, the second transmission system enables movement of the spray gun in the Y-axis direction, the third transmission system enables rotation of the spray gun about the Z-axis direction, the fourth transmission system enables rotation of the spray gun about the R-axis direction, and the fifth transmission system enables movement of the spray gun in the C-axis direction.

6. The spraying method of the multipurpose intelligent robot based on 3D visual navigation according to claim 1, comprising the steps of:

s1, performing visual photographing on a workpiece through a 3D visual device;

step S2, the computer surveys and maps the workpiece according to the photographed photo, and a working path is generated;

s3, conveying the processed workpiece to a designated area in a material conveying system;

s4, the robot control system receives the path codes, executes the codes and performs spraying operation;

and S5, after the operation is completed, conveying the workpiece to a designated position.

7. The method for spraying a multipurpose intelligent robot based on 3D visual navigation according to claim 6, wherein the computer generating the working path from the photographed photo to map the workpiece comprises:

s21, photographing a workpiece;

s22, separating a workpiece from a photographing background, and extracting a workpiece picture;

s23, extracting the edge of the workpiece to obtain the contour of the workpiece;

step S24, a three-dimensional model of the workpiece is built according to the extraction of the edge of the workpiece;

and S25, generating a working path according to the three-dimensional model.

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