Multifunctional mechanical arm tail end tool for automatic defect detection, grinding and polishing of automobile paint surface

Abstract

A multifunctional mechanical arm tail end tool for automatic defect detection, grinding and polishing of automobile paint surfaces relates to the technical field of automobile paint surface grinding and polishing tools and comprises a shell, the shell is assembled at the tail end of an external mechanical arm, and three sets of lifting air cylinders are assembled on the shell. According to the multifunctional mechanical arm end tool for automatic defect detection, grinding and polishing of the automobile paint surface, detection and calibration of defects can be continuously, effectively and uniformly completed, the detection efficiency is improved, the labor intensity of workers is reduced, the labor intensity of workers is reduced, and the working efficiency is improved. Conventional problems such as wrong marking and missing processing of workers are avoided, and good observability and recordability are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of automobile paint surface grinding and polishing tools, and in particular to a multifunctional robot arm end tool for automatically detecting defects and grinding and polishing automobile paint surfaces. Background Art

[0002] At present, the automobile industry has fully automatic and intelligent production lines. However, during the body painting process, there are still certain random surface defects on the body surface, such as scratches, color difference, orange peel phenomenon, etc. A common practice known to automobile OEMs is to polish the painted surface by manual processing through human visual observation. When the car body comes out of the painting area on the production line, engineers will use professional high-brightness lights and detection tools to conduct a comprehensive inspection of the car body. This inspection method can clearly show any subtle defects and ensure that technicians can accurately identify and locate the problem area. Once a random defect is detected, the repair team on the production line will take immediate action. For minor scratches or orange peel, technicians will use special polishes and tools for local treatment to quickly remove defects and restore the smoothness of the paint surface. For color differences or other more complex problems, the car body will be directed to a designated repair area for further processing; However, manual processing methods cannot guarantee that personnel can maintain continuous concentration and judgment even when they are tired, which can easily lead to common problems such as incorrect marking and missed processing. In addition, there is no unified evaluation standard for manual processing methods, and different operators often have different processing results. At the same time, manual processing methods do not have good observability and recordability, and there is no good reference template for continuous process improvement. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a multifunctional robotic arm end tool for automatic detection of defects and grinding and polishing of automobile paint surfaces, which can continuously, effectively and uniformly complete the detection and calibration of defects, avoid conventional problems such as workers' incorrect marking and omissions, have good observability and recordability, and have a good reference template for continuous process improvement, thereby being able to form a unified evaluation standard, which can effectively solve the problems in the background technology.

[0004] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical scheme: A multifunctional robot arm end tool for automatically detecting defects and grinding and polishing automobile paint surfaces comprises a shell, which is assembled at the end of an external robot arm, and three sets of lifting cylinders are assembled on the shell, and the lifting ends of the three sets of lifting cylinders are correspondingly equipped with a polishing unit, a flexible grinding unit and a spray unit, and a 3D camera is installed at the bottom of the shell.

[0005] Furthermore, the spray unit includes an atomizer and an atomizing nozzle. There are several atomizing nozzles, and the several atomizing nozzles are arranged at the lifting end of the lifting cylinder. The atomizer is installed at the bottom of the bracket of the shell, and the atomizer is connected to the inside of the atomizing nozzle through a pipe.

[0006] Furthermore, the flexible grinding unit includes a force control unit and a sandpaper grinding head. The force control unit is assembled at the lifting end of the lifting cylinder. A servo motor is provided at the end of the force control unit. The sandpaper grinding head is mounted on the output shaft of the servo motor.

[0007] Furthermore, the polishing unit includes an air motor and a polishing head. The air motor is installed at the lifting end of the lifting cylinder, and the polishing head is fixed on the output shaft of the air motor.

[0008] Compared with the prior art, the beneficial effects of the present invention are as follows: the multifunctional robotic arm end tool for automatic defect detection and grinding and polishing of automobile paint has the following advantages: it integrates manual hand movements into an overall tool, can continuously, effectively and uniformly complete defect detection and calibration, can perform actions such as flexible sandpaper grinding, spraying polishing liquid and polishing, and combined with an industrial robotic arm, can achieve defect processing in a larger area, avoiding conventional problems such as workers' incorrect marking and omissions, has good observability and recordability, and has a good reference template for continuous process improvement, thereby being able to form a unified evaluation standard. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional bottom structure of the present invention; Figure 3 It is a schematic diagram of the three-dimensional inner partial structure of the present invention; Figure 4 It is a schematic diagram of the three-dimensional inner partial side structure of the present invention.

[0010] In the figure: 1-housing, 2-atomizer, 3-3D camera, 4-sandpaper grinding head, 5-polishing head, 6-atomizing nozzle, 7-force control unit, 8-lifting cylinder. DETAILED DESCRIPTION

[0011] The present invention can be explained in detail by the following examples, and the purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0012] See also Figure 1-4The present embodiment provides a technical solution: a multifunctional robot arm end tool for automatically detecting defects and grinding and polishing automobile paint surfaces, comprising a shell 1, the shell 1 is assembled at the end of an external robot arm, three sets of lifting cylinders 8 are assembled on the shell 1, and the lifting ends of the three sets of lifting cylinders 8 are correspondingly equipped with polishing units, flexible grinding units and spray units, and a 3D camera 3 is installed at the bottom of the shell 1.

[0013] When performing defect detection, the previous process first determines the approximate location of the defect. In the current process, the 3D camera 3 performs local scanning and shooting to determine the type of defect. The upper computer processes and issues a processing mode, such as a conventional processing mode, which integrates manual hand movements into an overall tool, and can continuously, effectively and uniformly complete defect detection and calibration. It can perform actions such as flexible sandpaper grinding, spraying polishing liquid and polishing. Combined with an industrial robot arm, it can achieve defect processing in a larger area. It avoids common problems such as workers' incorrect marking and omitted processing, has good observability and recordability, and has a good reference template for continuous process improvement, thereby forming a unified evaluation standard.

[0014] The spray unit includes an atomizer 2 and an atomizing nozzle 6. There are several atomizing nozzles 6, and the several atomizing nozzles 6 are arranged at the lifting end of the lifting cylinder 8. The atomizer 2 is installed at the bottom of the bracket of the shell 1. The atomizer 2 is connected with the inside of the atomizing nozzle 6 through a pipeline. The atomizing nozzle 6 sprays deionized water at the surface to be treated. The atomizer 2 can quantitatively transport the atomized liquid to the atomizing nozzle 6 under the control of the air path, and it can also adjust the spraying area by itself. It improves the quality of automobile production by spraying deionized water or polishing liquid.

[0015] The flexible grinding unit includes a force control unit 7 and a sandpaper grinding head 4. The force control unit 7 is assembled at the lifting end of the lifting cylinder 8. A servo motor is provided at the end of the force control unit 7. The sandpaper grinding head 4 is installed on the output shaft of the servo motor. The sandpaper grinding head 4 is extended under the lifting action of the internal lifting cylinder 8 to perform local grinding. Constant force grinding is achieved through the force control unit 7 to avoid collision damage to the paint surface. The output shaft of the servo motor drives the sandpaper grinding head 4 to rotate, thereby performing grinding operations.

[0016] The polishing unit includes an air motor and a polishing head 5. The air motor is installed at the lifting end of the lifting cylinder 8. The polishing head 5 is fixed on the output shaft of the air motor. The polishing head 5 is extended under the lifting action of the lifting cylinder 8. After dipping in the polishing paste squeezed out from a fixed position, it performs polishing. The output shaft of the air motor drives the polishing head 5 to rotate, thereby performing flexible polishing.

[0017] The working principle of a multifunctional robot arm end tool for automatic defect detection and polishing of automobile paint provided by the present invention is as follows: when performing defect detection, the previous process first determines the approximate position of the defect, and in the current process, the 3D camera 3 performs local scanning and shooting to determine the type of the defect, and the upper computer processes and issues a processing mode, such as a conventional processing mode, the atomizing nozzle 6 sprays deionized water at the surface to be processed, the sandpaper polishing head 4 is extended under the lifting action of the internal lifting cylinder 8, and local polishing is performed, and constant force polishing is achieved through the force control unit 7, thereby avoiding collision damage to the paint surface, and after the polishing is completed, the sandpaper polishing head 4 is retracted, and the polishing head 5 is extended under the lifting action of the lifting cylinder 8. After dipping the polishing paste squeezed out from the fixed position, it performs a polishing operation, and the output shaft of the pneumatic motor drives the polishing head 5 to rotate, thereby performing flexible polishing until the operation is completed, the atomizer 2 can quantitatively deliver the atomized liquid to the atomizing nozzle 6 under the control of the air path, and it can also adjust the spraying area by itself, and the shell 1 is mainly used to protect the internal structure to prevent dust from entering the moving mechanism.

[0018] It is worth noting that the components disclosed in the above embodiments are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods. The force control unit 7 can adopt the force control unit in the patent with authorization announcement number CN 114654308 B.

[0019] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances, for example, the rotational connection can be a rotational connection through a bearing.

[0020] The parts of the present invention that are not described in detail are prior art. Although the present invention is specifically demonstrated and introduced in conjunction with the preferred implementation scheme, there are many methods and approaches to specifically implement the technical solution. The above is only a preferred implementation scheme of the present invention, but technical personnel in the relevant field should understand that various changes can be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined in the attached claims, and all of them are within the scope of protection of the present invention.

Claims

1. A multifunctional robot arm end tool for automatically detecting defects and polishing automobile paint surfaces, comprising a housing (1), characterized in that: The shell (1) is mounted on the end of an external mechanical arm. Three groups of lifting cylinders (8) are mounted on the shell (1). The lifting ends of the three groups of lifting cylinders (8) are respectively mounted with a polishing unit, a flexible polishing unit and a spray unit. A 3D camera (3) is mounted on the bottom of the shell (1).

2. The multifunctional robot arm end tool for automatic defect detection and polishing of automobile paint surface according to claim 1 is characterized in that: The spray unit comprises an atomizer (2) and an atomizing nozzle (6). A plurality of atomizing nozzles (6) are provided. The plurality of atomizing nozzles (6) are arranged at the lifting end of a lifting cylinder (8). The atomizer (2) is mounted at the bottom of a bracket of the housing (1). The atomizer (2) is connected to the inside of the atomizing nozzle (6) through a pipeline.

3. The multifunctional robot arm end tool for automatic defect detection and polishing of automobile paint surface according to claim 1 is characterized in that: The flexible grinding unit comprises a force control unit (7) and a sandpaper grinding head (4); the force control unit (7) is mounted on the lifting end of a lifting cylinder (8); a servo motor is provided at the end of the force control unit (7); and the sandpaper grinding head (4) is mounted on the output shaft of the servo motor.

4. The multifunctional robot arm end tool for automatic defect detection and polishing of automobile paint surface according to claim 1 is characterized in that: The polishing unit comprises an air motor and a polishing head (5); the air motor is mounted on the lifting end of a lifting cylinder (8); and the polishing head (5) is fixed on the output shaft of the air motor.

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