阅读说明：本技术 一种小批量多型号产品自动化喷涂的精确调姿定位方法 (Accurate attitude adjusting and positioning method for automatic spraying of small-batch multi-model products ) 是由 张岩 赵欣 贺龙 郭玉杰 李佳祎 姚朋宇 刘连喜 于 2019-10-21 设计创作，主要内容包括：本发明提出一种小批量多型号产品自动化喷涂精确调姿定位方法,通过对多型产品在工装车上位姿进行精确测量和调整,将AGV运载车与工装车进行精确结合,实现AGV对产品的精确转运,确保产品能精确进入喷涂室,实现自动化喷涂过程中产品的精确调姿定位。通过本发明,产品在工装车上进行轴向和水平姿态调整,通过AGV运载车转运到精确喷涂位置,既能保证产品在自动化喷涂过程中不与机器人发生磕碰,同时也能保证其位置适应所编制的程序,运转操作自动化的实现,节省人力同时并大幅度提升喷涂效率。(The invention provides an automatic spraying accurate posture adjusting and positioning method for small-batch multi-model products. According to the invention, the product is axially and horizontally adjusted on the tool car, and is transferred to the accurate spraying position through the AGV carrier loader, so that the product is not collided with a robot in the automatic spraying process, and the position of the product is adapted to the programmed program, the automatic operation is realized, the labor is saved, and the spraying efficiency is greatly improved.)

1. A small-batch multi-model product automatic spraying accurate posture adjustment positioning method is characterized by comprising the steps of carrying out posture measurement and adjustment on a product on a tooling vehicle; and accurately transferring the product using an AGV.

2. The precise pose adjusting and positioning method according to claim 1, wherein when measuring and adjusting the pose of the product on the tooling vehicle, for different models of products, the support for multiple models of products is realized by replacing the product support of the tooling vehicle and moving and adjusting the position of the product support.

3. The method for accurately adjusting the posture of the product according to claim 2, wherein the product supporting member is a rolling support, and the product supporting member is fixed on the rolling support, so that products of different models can rotate around the axis of the rolling support, thereby adjusting the posture of the product.

4. The method of claim 1, wherein the measurement of the product attitude comprises both axial and horizontal directions.

5. The method according to claim 4, wherein the axial measurement is performed by measuring the trailing end face of the product with a laser distance sensor.

6. The method of claim 5 wherein the axial distance is measured using a laser distance sensor and the measured data is compared with preset data by a computer to determine the axial offset of the product.

7. The method of claim 4, wherein the two laser distance sensors measure the same cross section of the product to perform horizontal measurement.

8. The method according to claim 7, wherein the two laser distance sensors mounted on the slide rail of the level measuring device are adjusted to predetermined positions, so that the two laser distance sensors are positioned under the product, and the distance to the same section of the product is measured and compared to judge whether the product is level.

9. The method of claim 1, wherein when the AGV is used to accurately transfer the product, the AGV and the tooling vehicle are combined in a pin hole manner.

10. The method of claim 1, wherein the AGV transfers the product by scanning a two-dimensional code on the floor.

Technical Field

The invention belongs to the technical field of automatic spraying, and particularly relates to a small-batch multi-model product automatic spraying accurate posture adjusting and positioning method.

Background

The coating is an important link of product surface treatment, the main implementation mode of the coating is still finished manually, the input labor cost is high, and the damage is caused to the health of an operator. With the development of equipment technology, the traditional manual spraying operation is difficult to meet the preparation requirement of the coating, and the automatic spraying which is more reliable, more efficient and more environment-friendly becomes an ideal solution, which is a development trend in the coating field. In the automatic spraying process, the mode of detecting by a horizontal measuring instrument and manually adjusting the posture consumes long time, has poor precision and large operation difficulty; various potential safety hazards exist in manual transfer of products, and the products need to be completed by multiple persons in a matching mode, so that the flexibility is poor; the form of the transport vehicle used by each product is different, and the positioning precision and the repeatability of the manual product transport are poor.

Therefore, the posture of the product on the support vehicle is measured and adjusted, the product is accurately transferred to enter the spraying chamber, and the aim is to ensure that the product does not collide with a robot in the automatic spraying process and ensure that the posture and the position of the product adapt to the programmed program.

Disclosure of Invention

Technical problem to be solved

The invention provides a method for accurately adjusting and positioning the postures of small-batch multi-model products in automatic spraying, which aims to solve the technical problem of ensuring the postures of the products in the automatic spraying process.

(II) technical scheme

In order to solve the technical problem, the invention provides an automatic spraying accurate posture adjusting and positioning method for small-batch multi-model products, which comprises the steps of carrying out posture measurement and adjustment on the products on a tooling vehicle; and using the AGV to accurately transfer the product.

Further, when the posture of the product is measured and adjusted on the tooling vehicle, for the products of different models, the product supporting pieces of the tooling vehicle are replaced, and the positions of the product supporting pieces are moved and adjusted, so that the supporting of the products of multiple models is realized.

Furthermore, the product supporting piece is supported in a rolling mode and fixed on the rolling supporting piece, so that products of different models can rotate along the axis of the rolling supporting piece, and the posture of the products can be adjusted.

Further, the measurement of the product attitude includes both axial and horizontal directions.

Further, the axial measurement is performed by measuring the trailing end face of the product by means of a laser distance sensor.

Further, the laser distance sensor is used for measuring the axial distance, and the computer is used for comparing the measured data with preset data to determine the axial offset of the product.

Further, the same section of the product is measured by two laser distance sensors to carry out horizontal measurement.

Further, two laser distance sensors arranged on a slide rail of the horizontal measuring device are adjusted to preset positions, so that the two laser distance sensors are positioned under the product, and the two laser distance sensors are compared by measuring the distance to the same section of the product to judge whether the product is horizontal.

Further, when the AGV is used for accurately transferring products, the AGV is combined with the tooling vehicle in a pin hole mode.

Furthermore, the AGV transfers the product by scanning the mode of paving and pasting the two-dimensional code on the ground.

(III) advantageous effects

According to the automatic spraying accurate posture adjusting and positioning method for the small-batch multi-model products, the postures of the multi-model products on the tooling vehicle are accurately measured and adjusted, the AGV carrying vehicle and the tooling vehicle are accurately combined, the AGV is enabled to accurately transfer the products, the products can be ensured to accurately enter the spraying chamber, and accurate posture adjusting and positioning of the products in the automatic spraying process are achieved.

According to the invention, the product is axially and horizontally adjusted on the tool car, and is transferred to the accurate spraying position through the AGV carrier loader, so that the product is not collided with a robot in the automatic spraying process, and the position of the product is adapted to the programmed program, the automatic operation is realized, the labor is saved, and the spraying efficiency is greatly improved.

Drawings

FIG. 1 is a flowchart of an accurate pose adjusting and positioning method according to an embodiment of the present invention.

Detailed Description

In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.

The embodiment provides an automatic spraying and accurate posture adjusting positioning method for small-batch multi-model products, and the flow of the method is shown in fig. 1. The accurate posture adjusting and positioning method comprises the following steps:

s1, carrying out attitude measurement and adjustment on the product on the tooling vehicle

For products of different models, the supporting of various products is realized by replacing the product supporting piece of the tooling vehicle and moving and adjusting the position of the product supporting piece.

According to the posture adjusting requirement, the product supporting piece is supported in a rolling mode and fixed on the rolling supporting piece through the bolts, products of different models can rotate along the axis of the rolling supporting piece, and therefore the posture of the products is adjusted.

The measurement of the product attitude comprises an axial direction and a horizontal direction.

The axial measurement is the measurement of the trailing face of the product by means of a laser distance sensor. In this embodiment, the CD5-W2000 laser distance sensor is used to measure the axial distance, and the computer compares the measured data with the preset data to determine the axial offset of the product.

The horizontal measurement is to measure the same section of the product by two laser sensors. In this embodiment, the measurement of the horizontal special-shaped product is to adjust two CD33-250CP-422 laser distance sensors mounted on the slide rail of the horizontal measuring device to a predetermined position, to make them located right below the product, and to measure the distance to the same section of the product for comparison to determine whether the product is horizontal.

And adjusting the posture of the product which does not reach the level. By manually shaking the hand wheel, the power finally drives the support piece and the product to rotate through the hand wheel shaft, the worm gear speed reducer, the driving shaft, the driving gear, the carrier roller and the product support piece. After the product is leveled, the hand wheel shaft is locked by the anti-rotating part, so that the horizontal posture of the product is prevented from changing in the transferring process.

S2 accurate transfer of product using AGV

The AGV carrying cart is combined with the tooling cart in a pin hole mode. In the embodiment, 8 taper pins are designed on the AGV carrying vehicle, and 8 taper pin holes are arranged on the tool vehicle; 2 pin holes at the front diagonal and the rear diagonal are used for positioning, and 6 taper pins are used for jacking; the AGV carrier loader and the tooling vehicle are combined to the precision of 2 mm.

AGV transports through scanning two-dimensional code mode. In this embodiment, AGV carrier loader transports through the mode of subaerial shop pasting the two-dimensional code, records path information, product position and the distance information of AGV walking in the two-dimensional code, and the AGV car acquires positional information through probe scanning two-dimensional code and pinpoints, and the position precision reaches 2 mm.

By the method, the axial and horizontal measurement and posture adjustment of the multi-type product can be completed; ensure the accurate combination of frock car and AGV, realize that AGV transports the product accuracy, satisfy gesture, the position demand of automatic spraying product.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.