Visual intelligent control paint spraying robot

Abstract

The invention discloses a visual intelligent control paint spraying robot, and relates to the technical field of visual robots. The visual intelligent control paint spraying robot comprises a paint spraying robot body and a visual signal device which are arranged in a box body, the paint spraying robot body comprises a mechanical arm body and a spray head, the visual signal device comprises a first U-shaped frame fixedly connected to the top of the box body, and the bottom of the first U-shaped frame is fixedly connected with an image collecting and processing module. According to the visual intelligent control paint spraying robot, a workpiece can be adsorbed and fixed conveniently, the robot is more stable and reliable, shaking and inclination during subsequent paint spraying are avoided, and therefore the paint spraying quality can be guaranteed; the cleaning device is simple in structure and convenient to clean impurities on the surfaces of workpieces, meanwhile, the impurities attached to the surfaces of bristles can be absorbed, the cleaning efficiency is higher, the cleaning effect is better, and the subsequent paint spraying quality is guaranteed. And after paint spraying is completed, hot air can be automatically blown to the surface for drying, and the paint spraying efficiency and quality can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of visual robots, and in particular to a visual intelligent-controlled painting robot. Background Art

[0002] The visual intelligent control painting robot integrates advanced visual recognition technology and intelligent control algorithms to achieve automation and high-precision control of the painting process. It uses visual sensors to obtain the position and posture information of the workpiece in real time, and uses image processing and pattern recognition technology to accurately identify the target area for painting. Based on the recognition results, the system calculates the movement trajectory and painting parameters of the painting robot through an intelligent control algorithm, and adjusts the robot's movements in real time to ensure the uniformity and consistency of the paint. This helps to improve the efficiency and quality of painting operations, reduce the difficulty and error rate of manual operations, and provide strong support for the development of the industrial automation field.

[0003] However, when using existing visual intelligent control painting robots, it is not easy to clamp and fix some special-shaped workpieces during spraying, and they are not stable and reliable enough. They are prone to shaking and tilting during the painting process, affecting the quality of the painting. At the same time, some impurities are easily adhered to the surface of the workpiece, which is not only inconvenient to clean, but also affects the quality of subsequent painting. Moreover, after the painting is completed, it needs to be transferred to the drying device for drying operation. Not only is it easy to have an adverse effect on the paint surface during the circulation process, affecting the quality of the paint, but also the efficiency of subsequent drying is low, thereby affecting the efficiency of the painting. Summary of the invention

[0004] The purpose of the present invention is to provide a visual intelligent control painting robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a visual intelligent control painting robot, comprising a painting robot body and a visual signal device arranged in a box, the painting robot body comprising a mechanical arm body and a spray head, the visual signal device comprising a first U-shaped frame fixedly connected to the top of the box, and an image acquisition processing module is fixedly connected to the bottom of the first U-shaped frame, and the image acquisition processing module comprises a camera, and a painting path generation module, a calibration module, a communication module and a mechanical arm program control module are fixedly connected to the top of the first U-shaped frame;

[0006] The image acquisition and processing module is used to collect and process the original data of the painting target, and pass it to the painting path generation module to extract the machine painting path. The calibration module is used to convert the posture in the camera coordinate system into the posture in the robot body coordinate system. The communication module can send the processed painting path points to the robot arm program control module, and control the painting robot body to plan the trajectory according to the path points to complete the painting;

[0007] The side wall of the box body is provided with a feed port and a discharge port, and a conveyor belt is provided in the box body through a conveyor, a circular avoidance groove is provided on the conveyor belt, and workpieces are conveyed on the conveyor belt, a positioning mechanism for positioning and fixing the workpieces is provided at the bottom of the box body, a cleaning mechanism for cleaning the workpieces is provided in the box body, and a drying mechanism for blowing and drying the workpieces is provided in the box body;

[0008] The positioning mechanism includes a second U-shaped frame fixedly connected to the bottom of the box body, and the top of the second U-shaped frame is fixedly connected to a cylinder, the upper end of the cylinder is fixedly connected to a moving plate, and the top of the moving plate is fixedly connected to a fixed block, the side wall of the fixed block is rotatably connected to the first rotating block through a rotating rod, and the top of the first rotating block is fixedly connected to the rotating plate, the top of the rotating plate is connected to a plurality of moving tubes arranged in an array through a telescopic mechanism, and the top of the moving tube is fixedly connected to a first electromagnet, the side wall of the moving plate is provided with a first limiting mechanism for limiting the moving tube, the side wall of the moving plate is provided with a second limiting mechanism for limiting the rotating rod, and the rotation of the rotating rod is driven by a driving mechanism;

[0009] The cleaning mechanism includes a moving cover, and a moving module is fixedly connected between the moving cover and the box body, the top of the moving cover is connected to two symmetrically arranged L-shaped plates through a reset mechanism, and the side wall of the mounting block is rotatably connected to two symmetrically arranged rotating rollers through a rotating shaft, the side wall of the rotating roller is sleeved with a conveyor belt, and the side wall of the conveyor belt is fixedly connected to a plurality of array-arranged bristles, the side wall of the L-shaped plate is fixedly connected to a motor, and the output end of the motor is fixed to one end of the rotating shaft, the movement of the L-shaped plate is pushed by a pushing mechanism, and the side wall of the box body is fixedly inserted with a collecting trough arranged obliquely downward;

[0010] The drying mechanism includes a fixed hood fixedly connected to the side wall of the box body, and a sliding plate is slidably connected in the fixed hood, a connecting plate is fixedly connected between the sliding plate and the movable hood, and an electric heating module is arranged on the side wall of the fixed hood, an air suction hood is fixedly connected to the top of the L-shaped plate, and an air inlet pipe is fixedly connected between the air suction hood and the fixed hood, a first one-way valve is arranged in the air inlet pipe, and a filter box is arranged on the side wall of the air inlet pipe, a blowing pipe is fixedly connected between the fixed hood and the movable hood, and a second one-way valve is arranged in the blowing pipe, a plurality of blowing holes arranged in an array are opened at the bottom of the movable hood, and a sealing plate is connected to the bottom of the movable hood through a movable mechanism.

[0011] Preferably, the telescopic mechanism comprises a plurality of guide rods arranged in an array and fixedly connected to the top of the rotating plate, the movable tube sleeve is arranged on the side wall of the guide rod, and the side wall of the guide rod is sleeved with a first spring.

[0012] Preferably, the first limiting mechanism includes a plurality of limiting holes arranged in an array on the side walls of each movable tube, and the side wall of the rotating plate is fixedly connected to a fixed plate, the side wall of the fixed plate is inserted with two symmetrically arranged movable rods, and one end of the movable rod is fixedly connected to a first iron block, the other end of the movable rod is fixedly connected to a movable frame, and the side wall of the movable frame is fixedly connected with a plurality of array-arranged pins, the side wall of each movable rod is sleeved with a second spring, and the side wall of the fixed plate is fixedly connected to a second electromagnet.

[0013] Preferably, the second limiting mechanism comprises a fixing ring fixedly sleeved on the side wall of the rotating rod, and the side wall of the fixing ring is provided with a plurality of limiting grooves arranged in an array, and the side wall of the movable plate is connected to the limiting block via a reset assembly.

[0014] Preferably, the reset assembly includes an L-shaped block fixedly connected to the side wall of the movable plate, and two symmetrically arranged first T-shaped guide rods are inserted into the side wall of the L-shaped block, one end of the first T-shaped guide rod is fixed to the side wall of the limit block, and the side wall of each first T-shaped guide rod is sleeved with a third spring.

[0015] Preferably, the driving mechanism includes a sliding groove opened on the side wall of the rotating rod, and the sliding groove includes a first oblique groove, a wavy groove and a second oblique groove connected end to end, two symmetrically arranged second T-shaped guide rods are inserted at the bottom of the connecting plate, and the lower end of the second T-shaped guide rod is fixedly connected to a moving block, the side wall of the moving block is connected to a pushing rod through a one-way rotating mechanism, and one end of the pushing rod is inserted in the sliding groove.

[0016] Preferably, the one-way rotation mechanism includes a support block fixedly connected to the side wall of the moving block, and the side wall of the support block is rotatably connected to the second rotating block via a rotating pin, the other end of the push rod is fixed to the side of the second rotating block, and the side wall of the moving block is fixedly connected to an L-shaped stopper.

[0017] Preferably, the reset mechanism includes two symmetrically arranged third T-shaped guide rods inserted on the top of each L-shaped plate, the lower end of the third T-shaped guide rod is fixed to the top of the movable cover, and the side wall of each third T-shaped guide rod is sleeved with a fourth spring.

[0018] Preferably, the moving mechanism includes a connecting block fixedly connected to the side wall of the sealing plate, and the side wall of the connecting block is fixedly connected to a second iron block, the side wall of the second iron block is fixedly connected to two symmetrically arranged sleeve rods, and the side wall of each sleeve rod is sleeved with a sleeve, the other end of the sleeve is fixed to the side of the moving cover, the side wall of each sleeve is sleeved with a fifth spring, and the side wall of the moving cover is fixedly connected to a third electromagnet.

[0019] Preferably, the pushing mechanism includes a pushing plate fixedly connected between two L-shaped plates, a pushing block is fixedly connected to the top of the second iron block, and the pushing block includes an inclined surface.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) This type of visual intelligent control painting robot is provided with a cleaning mechanism, etc. When the workpiece needs to be painted, the workpiece is placed on the conveyor belt for transportation. When it is transported to the bottom of the image acquisition and processing module, the conveyor belt is stopped. Then, the cylinder is started to move the movable plate upward and drive the rotating plate upward, and then the movable tube and the first electromagnet are driven to move upward through the telescopic mechanism. When the first electromagnet contacts the bottom of the workpiece, the movable tube can move downward along the guide rod. At the same time, the first spring is gradually compressed, so that the first electromagnet can fit with the bottom of the workpiece and match its contour. Then, the first electromagnet is energized. After the first electromagnet is energized, it can adsorb and fix the workpiece. Then, the second electromagnet is energized to attract the first iron block. At the same time, the second spring is compressed and drives the movable frame and the latch to move through the movable rod, and the latch is inserted into the limit hole for limiting. It is more stable and reliable, avoiding shaking and tilting during subsequent painting. It is also suitable for special-shaped parts, so as to ensure the quality of painting.

[0022] (2) This type of visual intelligent control painting robot is provided with a cleaning mechanism and a driving mechanism. After the fixing is completed, the moving module is used to move the moving cover and the connecting plate in the direction away from the fixed cover, and the reset mechanism is used to drive the L-shaped plate to move. At the same time, the motor is started, and the rotation of the motor drives the rotation of the rotating shaft and the rotating roller, thereby driving the conveyor belt and the bristles for transportation, so that the upper surface of the workpiece can be cleaned and dropped into the collection tank for collection, thereby ensuring the quality of subsequent painting. In addition, when the connecting plate moves, the second T-shaped guide rod is used to drive the moving block to move synchronously. At the same time, the one-way rotation mechanism is used to drive the push rod to slide in the sliding groove in the direction close to the fixed ring. When the push rod slides along the first inclined groove, it can push the rotating rod to rotate. When the rotating rod rotates, the first rotating block drives the rotating plate to rotate, which can The workpiece is tilted to the side close to the collecting groove, and when the pushing rod slides in the wave groove, it can push the rotating plate to swing back and forth, thereby driving the workpiece to swing back and forth, forming a shaking effect, which is convenient for the impurities on the surface of the workpiece to be separated, thereby improving the efficiency and effect of cleaning, thereby ensuring the quality of subsequent painting, and when the pushing rod slides along the second inclined groove, it can push the rotating rod to rotate and reset, thereby the rotating plate and the workpiece can be rotated and reset to a horizontal state, and when the rotating rod rotates, it can drive the fixed ring to rotate synchronously, so that the limit block can slide out of the limit groove and slide on the side wall of the fixed ring, and at the same time, the third spring is compressed, and after the rotating rod rotates, when the limit block and the limit groove are aligned again, under the action of the third spring, the limit block and the limit groove can be offset, so that the rotating rod can be limited, which is more stable and reliable.

[0023] (3) This type of visual intelligent control painting robot is provided with a drying mechanism, etc., so that when the mobile hood moves away from the fixed hood during cleaning, negative pressure is generated in the fixed hood. At the same time, the first one-way valve is opened and the second one-way valve is closed. At this time, air can be sucked out through the suction hood, so that impurities after cleaning and impurities adhering to the surface of the brush bristles can be absorbed, making the cleaning efficiency higher and the effect better. At the same time, impurities in the air can enter the filter box for filtration and collection, and the filtered air enters the fixed hood for temporary storage and is heated by the electric heating module. After the cleaning is completed, the mobile hood is driven by the mobile module to move toward the fixed hood and reset. At this time, the hot air in the fixed hood can be squeezed. At the same time, the first one-way valve is closed and the second one-way valve is opened, and the hot air in the fixed hood is squeezed out. At the same time, the pushing rod slides along the side wall of the rotating rod. At this time, the second rotating block can rotate along the rotating pin, so as not to push the rotating rod to rotate, and when the movable cover moves to the top of the workpiece, the third electromagnet is energized. After the third electromagnet is energized, it attracts the second iron block, so that the sealing plate opens the blowing hole. At the same time, the fifth spring is compressed, and when the second iron block moves, it drives the pushing block to move synchronously, and makes the inclined surface abut against the side wall of the pushing plate, thereby pushing the L-shaped plate to move upward, and then drives the conveyor belt and the bristles to move upward to avoid the bristles from affecting the paint surface. At the same time, the fourth spring is compressed. At this time, the hot air in the fixed cover can enter the movable cover through the blowing pipe and blow out through the blowing hole, so as to facilitate the drying of the workpiece after painting and ensure the efficiency and quality of painting. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the internal structure of the box body in the present invention;

[0026] Figure 3 A schematic diagram of the internal structure of the box body in another perspective of the present invention;

[0027] Figure 4 It is a schematic diagram of the position of the driving mechanism in the present invention;

[0028] Figure 5 It is a schematic diagram of the position of the telescopic mechanism in the present invention;

[0029] Figure 6 It is a structural schematic diagram of the cleaning mechanism in the present invention;

[0030] Figure 7 for Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0031] Figure 8 for Figure 3A schematic diagram of the enlarged structure at B in the middle;

[0032] Fig. 9 for Figure 4 Schematic diagram of the enlarged structure at C in the middle;

[0033] Fig.10 for Figure 5 Schematic diagram of the enlarged structure at D in the middle;

[0034] Fig.11 for Figure 5 Schematic diagram of the enlarged structure at E in the middle;

[0035] Fig.12 for Fig. 9 The enlarged structural diagram at F in the middle;

[0036] Fig.13 for Fig.11 Schematic diagram of the enlarged structure at G in the middle;

[0037] Fig.14 for Fig.11 Schematic diagram of the enlarged structure at H in the middle.

[0038] In the figure: 1, box body; 101, feed port; 102, discharge port; 2, telescopic mechanism; 201, guide rod; 202, first spring; 3, first limiting mechanism; 301, limiting hole; 302, moving frame; 303, latch; 304, fixed plate; 305, moving rod; 306, first iron block; 307, second electromagnet; 308, second spring; 4, second limiting mechanism; 401, fixing ring; 402, limiting groove; 403, limiting block; 5, reset assembly; 501, L-shaped block; 502, first T-shaped guide rod; 503, third spring; 6, driving mechanism; 601, first inclined slot; 602 , wave groove; 603, second inclined groove; 604, second T-shaped guide rod; 605, moving block; 606, pushing rod; 7, one-way rotation mechanism; 701, support block; 702, rotating pin; 703, second rotating block; 704, stopper; 8, reset mechanism; 801, L-shaped plate; 802, third T-shaped guide rod; 803, fourth spring; 9, moving mechanism; 901, connecting block; 902, second iron block; 903, sleeve; 904, sleeve rod; 905, fifth spring; 906, third electromagnet; 10, pushing mechanism; 1001, pushing plate; 1002, pushing block; 1003, inclined plane; 11 , painting robot body; 1101, mechanical arm body; 1102, nozzle; 12, visual signal device; 1201, first U-shaped frame; 1202, image acquisition and processing module; 1203, painting path generation module; 1204, calibration module; 1205, communication module; 1206, mechanical arm program control module; 13, conveyor; 1301, conveyor belt; 1302, avoidance groove; 14, workpiece; 15, positioning mechanism; 1501, second U-shaped frame; 1502, cylinder; 1503, moving plate; 1504, rotating plate; 1505, moving tube; 1506, first electromagnet; 150 7. Fixed block; 1508. Rotating rod; 1509. First rotating block; 16. Cleaning mechanism; 1601. Moving module; 1602. Moving cover; 1603. Mounting block; 1604. Rotating shaft; 1605. Rotating roller; 1606. Conveyor belt; 1607. Motor; 1608. Brush; 1609. Collecting tank; 17. Drying mechanism; 1701. Fixed cover; 1702. Electric heating module; 1703. Suction cover; 1704. Air inlet pipe; 1705. Filter box; 1706. Blowing pipe; 1707. Blowing hole; 1708. Connecting plate; 1709. Sliding plate; 1710. Sealing plate. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] See also Figure 1-Figure 14 The present invention provides a technical solution: a visual intelligent control painting robot, comprising a painting robot body 11 and a visual signal device 12 arranged in a box body 1, the painting robot body 11 comprises a mechanical arm body 1101 and a nozzle 1102, the visual signal device 12 comprises a first U-shaped frame 1201 fixedly connected to the top of the box body 1, and the bottom of the first U-shaped frame 1201 is fixedly connected with an image acquisition processing module 1202, and the image acquisition processing module 1202 comprises a camera, and the top of the first U-shaped frame 1201 is fixedly connected with a painting path generation module 1203, a calibration module 1204, a communication module 1205 and a mechanical arm program control module 1206, the image acquisition processing module 1202, the painting path generation module 1203, the calibration module 1204, the communication module 1205 and the mechanical arm program control module 1206 are well-known technologies in the technical field and are not repeated here;

[0041] The image acquisition and processing module 1202 is used to collect and process the original data of the painting target, and pass it to the painting path generation module 1203 to extract the machine painting path. The calibration module 1204 is used to convert the posture in the camera coordinate system into the posture in the coordinate system of the robot body 1101. The communication module 1205 can send the processed painting path points to the robot arm program control module 1206, and control the painting robot body 11 to plan the trajectory according to the path points to complete the painting.

[0042] The side wall of the box body 1 is provided with a feed port 101 and a discharge port 102, and a conveyor belt 1301 is conveyed in the box body 1 through a conveyor 13, a circular avoidance groove 1302 is provided on the conveyor belt 1301, and a workpiece 14 is conveyed on the conveyor belt 1301, a positioning mechanism 15 for positioning and fixing the workpiece 14 is provided at the bottom of the box body 1, a cleaning mechanism 16 for cleaning the workpiece 14 is provided in the box body 1, and a drying mechanism 17 for blowing and drying the workpiece 14 is provided in the box body 1;

[0043] The positioning mechanism 15 includes a second U-shaped frame 1501 fixedly connected to the bottom of the box body 1, and the top of the second U-shaped frame 1501 is fixedly connected to a cylinder 1502, the upper end of the cylinder 1502 is fixedly connected to a moving plate 1503, and the top of the moving plate 1503 is fixedly connected to a fixed block 1507, the side wall of the fixed block 1507 is rotatably connected to a first rotating block 1509 through a rotating rod 1508, and the top of the first rotating block 1509 is fixedly connected to a rotating plate 1504, the top of the rotating plate 1504 is connected to a plurality of moving tubes 1505 arranged in an array through a telescopic mechanism 2, and the top of the moving tube 1505 is fixedly connected to a first electromagnet 1506, the side wall of the moving plate 1503 is provided with a first limiting mechanism 3 for limiting the moving tube 1505, the side wall of the moving plate 1503 is provided with a second limiting mechanism 4 for limiting the rotating rod 1508, and the rotation of the rotating rod 1508 is driven by a driving mechanism 6;

[0044] The cleaning mechanism 16 includes a moving cover 1602, and a moving module 1601 is fixedly connected between the moving cover 1602 and the box body 1, the top of the moving cover 1602 is connected to two symmetrically arranged L-shaped plates 801 through a reset mechanism 8, and the side wall of the mounting block 1603 is rotatably connected to two symmetrically arranged rotating rollers 1605 through a rotating shaft 1604, the side wall of the rotating roller 1605 is sleeved with a conveyor belt 1606, and the side wall of the conveyor belt 1606 is fixedly connected to a plurality of array-arranged bristles 1608, the side wall of the L-shaped plate 801 is fixedly connected to a motor 1607, and the output end of the motor 1607 is fixed to one end of the rotating shaft 1604, the movement of the L-shaped plate 801 is pushed by the pushing mechanism 10, and a collecting trough 1609 arranged obliquely downward is fixedly inserted into the side wall of the box body 1;

[0045] The drying mechanism 17 includes a fixed cover 1701 fixedly connected to the side wall of the box body 1, and a sliding plate 1709 is slidably connected in the fixed cover 1701, a connecting plate 1708 is fixedly connected between the sliding plate 1709 and the movable cover 1602, and an electric heating module 1702 is arranged on the side wall of the fixed cover 1701, a suction cover 1703 is fixedly connected to the top of the L-shaped plate 801, and an air inlet pipe 1704 is fixedly connected between the suction cover 1703 and the fixed cover 1701, a first one-way valve is arranged in the air inlet pipe 1704, and the conducting direction of the first one-way valve is from the suction cover 1703 to the fixed cover 1701, and a filter box 1705 is arranged on the side wall of the air inlet pipe 1704, and a blowing pipe 1706 is fixedly connected between the fixed cover 1701 and the movable cover 1602 , and a second one-way valve is arranged in the blowing pipe 1706, the conduction direction of the second one-way valve is from the fixed cover 1701 to the movable cover 1602, and a plurality of blowing holes 1707 arranged in an array are opened at the bottom of the movable cover 1602, and the bottom of the movable cover 1602 is connected with a sealing plate 1710 through a movable mechanism 9, which is convenient for adsorbing and fixing the workpiece 14, which is more stable and reliable, and avoids shaking and tilting during subsequent painting, thereby ensuring the quality of painting; it is convenient to clean impurities on the surface of the workpiece 14, and at the same time, it can absorb impurities adhered to the surface of the bristles 1608, so that the cleaning efficiency is higher and the effect is better, thereby ensuring the quality of subsequent painting; after the painting is completed, the surface can be automatically blown with hot air to dry, thereby ensuring the efficiency and quality of painting.

[0046] The telescopic mechanism 2 includes a plurality of guide rods 201 arranged in an array and fixedly connected to the top of the rotating plate 1504, the movable tube 1505 is sleeved on the side wall of the guide rod 201, and the side wall of the guide rod 201 is sleeved with a first spring 202. When the first electromagnet 1506 contacts the bottom of the workpiece 14, the movable tube 1505 can move downward along the guide rod 201, and at the same time, the first spring 202 is gradually compressed.

[0047] The first limiting mechanism 3 includes a plurality of limiting holes 301 arranged in an array and opened on the side walls of each moving tube 1505, and the side wall of the rotating plate 1504 is fixedly connected to the fixed plate 304, and two symmetrically arranged moving rods 305 are inserted into the side wall of the fixed plate 304, and one end of the moving rod 305 is fixedly connected to the first iron block 306, and the other end of the moving rod 305 is fixedly connected to the moving frame 302, and the side wall of the moving frame 302 is fixedly connected to a plurality of array-arranged latches 303, and the side wall of each moving rod 305 is sleeved with a second spring 308, and the side wall of the fixed plate 304 is fixedly connected to the second electromagnet 307, and the second electromagnet 307 is energized to attract the first iron block 306. At the same time, the second spring 308 is compressed, and the moving frame 302 and the latch 303 are driven to move through the moving rod 305, and the latch 303 is inserted into the limiting hole 301 for limiting, which is more stable and reliable.

[0048] The second limiting mechanism 4 includes a fixed ring 401 fixedly mounted on the side wall of the rotating rod 1508, and the side wall of the fixed ring 401 is provided with a plurality of limiting grooves 402 arranged in an array. The side wall of the movable plate 1503 is connected to the limiting block 403 through the reset component 5. When the rotating rod 1508 rotates, it can drive the fixed ring 401 to rotate synchronously, so that the limiting block 403 can slide out of the limiting groove 402 and slide on the side wall of the fixed ring 401. After the rotating rod 1508 completes its rotation, when the limiting block 403 and the limiting groove 402 are aligned again, the limiting block 403 and the limiting groove 402 can be abutted against each other under the action of the reset component 5, so that the rotating rod 1508 can be limited, which is more stable and reliable.

[0049] The reset assembly 5 includes an L-shaped block 501 fixedly connected to the side wall of the movable plate 1503, and two symmetrically arranged first T-shaped guide rods 502 are inserted into the side wall of the L-shaped block 501, one end of the first T-shaped guide rod 502 is fixed to the side wall of the limit block 403, and the side wall of each first T-shaped guide rod 502 is sleeved with a third spring 503, which guides and resets the movement of the limit block 403.

[0050] The driving mechanism 6 includes a sliding groove provided on the side wall of the rotating rod 1508, and the sliding groove includes a first inclined groove 601, a wave groove 602 and a second inclined groove 603 connected end to end. Two symmetrically arranged second T-shaped guide rods 604 are inserted at the bottom of the connecting plate 1708, and the lower end of the second T-shaped guide rod 604 is fixedly connected to a moving block 605. The side wall of the moving block 605 is connected to a push rod 606 through a one-way rotating mechanism 7, and one end of the push rod 606 is inserted in the sliding groove. When the connecting plate 1708 moves, the moving block 605 is driven to move synchronously through the second T-shaped guide rod 604, and at the same time, the push rod 606 is driven to slide in the sliding groove through the one-way rotating mechanism 7. When the push rod 606 slides along the first inclined groove 601, it can push the rotating rod 1508 to rotate. When the rotating rod 1508 rotates, the rotating plate 1504 is driven to rotate through the first rotating block 1509, so that the workpiece 14 can be tilted to the side close to the collecting groove 1609. Moreover, when the push rod 606 slides in the wave groove 602, it can push the rotating plate 1504 to swing back and forth, thereby driving the workpiece 14 to swing back and forth, forming a shaking effect. When the push rod 606 slides along the second inclined groove 603, it can push the rotating rod 1508 to rotate and reset, so that the rotating plate 1504 and the workpiece 14 can be rotated and reset to a horizontal state.

[0051] The one-way rotation mechanism 7 includes a support block 701 fixedly connected to the side wall of the moving block 605, and the side wall of the support block 701 is rotatably connected to the second rotating block 703 through a rotating pin 702. The other end of the push rod 606 is fixed to the side of the second rotating block 703, and the side wall of the moving block 605 is fixedly connected to an L-shaped stopper 704. When the push rod 606 slides in the sliding groove in a direction close to the fixed ring 401, under the action of the stopper 704, the push rod 606 will not rotate, ensuring that the rotating rod 1508 can be pushed to rotate. When the push rod 606 moves in the sliding groove in a direction away from the fixed ring 401 to reset, the second rotating block 703 can rotate along the rotating pin 702, thereby not pushing the rotating rod 1508 to rotate.

[0052] The reset mechanism 8 includes two symmetrically arranged third T-shaped guide rods 802 inserted on the top of each L-shaped plate 801, the lower end of the third T-shaped guide rod 802 is fixed to the top of the movable cover 1602, and the side wall of each third T-shaped guide rod 802 is sleeved with a fourth spring 803, which guides and resets the movement of the L-shaped plate 801.

[0053] The moving mechanism 9 includes a connecting block 901 fixedly connected to the side wall of the sealing plate 1710, and the side wall of the connecting block 901 is fixedly connected to the second iron block 902, and the side wall of the second iron block 902 is fixedly connected to two symmetrically arranged sleeve rods 904, and the side wall of each sleeve rod 904 is sleeved with a sleeve 903, and the other end of the sleeve 903 is fixed to the side of the moving cover 1602, and the side wall of each sleeve 903 is sleeved with a fifth spring 905, and the side wall of the moving cover 1602 is fixed. A third electromagnet 906 is fixedly connected and energized. After being energized, the third electromagnet 906 attracts the second iron block 902, so that the sealing plate 1710 opens the blowing hole 1707. At the same time, the fifth spring 905 is compressed, and when the second iron block 902 moves, the L-shaped plate 801 is pushed upward by the pushing mechanism 10, thereby driving the conveyor belt 1606 and the bristles 1608 to move upward, thereby preventing the bristles 1608 from affecting the paint surface.

[0054] The pushing mechanism 10 includes a pushing plate 1001 fixedly connected between two L-shaped plates 801, and a pushing block 1002 is fixedly connected to the top of the second iron block 902, and the pushing block 1002 includes an inclined surface 1003. When the second iron block 902 moves, the pushing block 1002 is driven to move synchronously, and the inclined surface 1003 is abutted against the side wall of the pushing plate 1001, thereby pushing the L-shaped plate 801 to move upward.

[0055] Working principle: During use, when the workpiece 14 needs to be spray-painted, the workpiece 14 is placed on the conveyor belt 1301 for conveying. When it is conveyed to the bottom of the image acquisition and processing module 1202, the conveyor belt 1301 stops conveying. Then, the cylinder 1502 is started to move the movable plate 1503 upward, and drives the rotating plate 1504 to move upward, and then drives the movable tube 1505 and the first electromagnet 1506 to move upward through the telescopic mechanism 2. When the first electromagnet 1506 contacts the bottom of the workpiece 14, the movable tube 1505 can move downward along the guide rod 201. At the same time, the first spring 202 is gradually compressed, so that the first electromagnet 1506 can fit the bottom of the workpiece 14 and match its contour.

[0056] Next, the first electromagnet 1506 is energized, and the first electromagnet 1506 can adsorb and fix the workpiece 14 after being energized. Next, the second electromagnet 307 is energized to attract the first iron block 306. At the same time, the second spring 308 is compressed, and the moving frame 302 and the latch 303 are driven to move through the moving rod 305, and the latch 303 is inserted into the limiting hole 301 for limiting, which is more stable and reliable, avoiding shaking and tilting during subsequent painting, and is also suitable for special-shaped parts, so as to ensure the quality of painting;

[0057] After the fixing is completed, the moving cover 1602 and the connecting plate 1708 are moved away from the fixed cover 1701 through the moving module 1601, and the L-shaped plate 801 is driven to move through the reset mechanism 8. At the same time, the motor 1607 is started, and the rotation of the motor 1607 drives the rotation of the rotating shaft 1604 and the rotating roller 1605, thereby driving the conveyor belt 1606 and the bristles 1608 for transportation, so that the upper surface of the workpiece 14 can be cleaned and fall into the collection tank 1609 for collection, so as to ensure the quality of subsequent painting;

[0058] Furthermore, when the connecting plate 1708 moves, the moving block 605 is driven to move synchronously through the second T-shaped guide rod 604. At the same time, the push rod 606 is driven to slide in the sliding groove toward the fixed ring 401 through the one-way rotating mechanism 7. When the push rod 606 slides along the first inclined groove 601, it can push the rotating rod 1508 to rotate. When the rotating rod 1508 rotates, the rotating plate 1504 is driven to rotate through the first rotating block 1509, so that the workpiece 14 can be tilted toward the side close to the collecting groove 1609. Moreover, when the push rod 606 slides in the wave groove 602, it can push the rotating plate 1504 to swing back and forth, thereby driving the workpiece 14 to swing back and forth, forming a shaking effect, which is convenient for the impurities on the surface of the workpiece 14 to be separated, thereby improving the efficiency and effect of cleaning, and thus ensuring the quality of subsequent painting.

[0059] When the push rod 606 slides along the second inclined groove 603, it can push the rotating rod 1508 to rotate and reset, so that the rotating plate 1504 and the workpiece 14 can be rotated and reset to a horizontal state, and when the rotating rod 1508 rotates, it can drive the fixed ring 401 to rotate synchronously, so that the limit block 403 can slide out of the limit groove 402 and slide on the side wall of the fixed ring 401. At the same time, the third spring 503 is compressed. After the rotation of the rotating rod 1508 is completed, when the limit block 403 and the limit groove 402 are aligned again, the limit block 403 and the limit groove 402 can be abutted against each other under the action of the third spring 503, so that the rotating rod 1508 can be limited, which is more stable and reliable.

[0060] When cleaning, when the movable cover 1602 moves in the direction away from the fixed cover 1701, negative pressure is generated in the fixed cover 1701. At the same time, the first one-way valve is opened and the second one-way valve is closed. At this time, the suction operation can be performed through the suction cover 1703, so that the impurities after cleaning and the impurities adhering to the surface of the bristles 1608 can be absorbed, so that the cleaning efficiency is higher and the effect is better. At the same time, the impurities in the air can enter the filter box 1705 for filtration and collection, and the filtered air enters the fixed cover 1701 for temporary storage and is heated by the electric heating module 1702;

[0061] After the cleaning is completed, the mobile cover 1602 is driven by the mobile module 1601 to move and reset in the direction close to the fixed cover 1701. At this time, the hot air in the fixed cover 1701 can be squeezed. At the same time, the first one-way valve is closed and the second one-way valve is opened. At the same time, the push rod 606 slides along the side wall of the rotating rod 1508. At this time, the second rotating block 703 can rotate along the rotating pin 702, so as not to push the rotating rod 1508 to rotate. Moreover, when the mobile cover 1602 moves to the top of the workpiece 14, the third electromagnet 906 is energized. After the third electromagnet 906 is energized, it attracts the second iron block 902, so that the sealing plate 1710 will blow air. The hole 1707 is opened, and at the same time, the fifth spring 905 is compressed. When the second iron block 902 moves, it drives the push block 1002 to move synchronously, and makes the inclined surface 1003 abut against the side wall of the push plate 1001, thereby pushing the L-shaped plate 801 to move upward, and then drives the conveyor belt 1606 and the bristles 1608 to move upward, so as to prevent the bristles 1608 from affecting the paint surface. At the same time, the fourth spring 803 is compressed. At this time, the hot air in the fixed cover 1701 can enter the movable cover 1602 through the blowing pipe 1706 and be blown out through the blowing hole 1707, so as to facilitate the drying of the workpiece 14 after painting and ensure the efficiency and quality of painting.

Claims

1. A visual intelligent control painting robot, comprising a painting robot body (11) and a visual signal device (12) arranged in a box (1), wherein the painting robot body (11) comprises a mechanical arm body (1101) and a spray head (1102), characterized in that: The visual signal device (12) comprises a first U-shaped frame (1201) fixedly connected to the top of the box (1), and the bottom of the first U-shaped frame (1201) is fixedly connected to an image acquisition processing module (1202), and the image acquisition processing module (1202) comprises a camera, and the top of the first U-shaped frame (1201) is fixedly connected to a painting path generation module (1203), a calibration module (1204), a communication module (1205) and a robot arm program control module (1206); The image acquisition and processing module (1202) is used to collect and process the original data of the painting target, and transmit it to the painting path generation module (1203) to extract the machine painting path. The calibration module (1204) is used to convert the posture in the camera coordinate system into the posture in the coordinate system of the robot body (1101). The communication module (1205) can send the processed painting path points to the robot arm program control module (1206), and control the painting robot body (11) to plan the trajectory according to the path points to complete the painting. The side wall of the box body (1) is provided with a feed inlet (101) and a discharge outlet (102), and a conveyor belt (1301) is conveyed in the box body (1) through a conveyor (13), the conveyor belt (1301) is provided with an annular avoidance groove (1302), and a workpiece (14) is conveyed on the conveyor belt (1301), a positioning mechanism (15) for positioning and fixing the workpiece (14) is provided at the bottom of the box body (1), a cleaning mechanism (16) for cleaning the workpiece (14) is provided in the box body (1), and a drying mechanism (17) for blowing and drying the workpiece (14) is provided in the box body (1); The positioning mechanism (15) comprises a second U-shaped frame (1501) fixedly connected to the bottom of the box body (1), and the top of the second U-shaped frame (1501) is fixedly connected to a cylinder (1502), the upper end of the cylinder (1502) is fixedly connected to a moving plate (1503), and the top of the moving plate (1503) is fixedly connected to a fixed block (1507), the side wall of the fixed block (1507) is rotatably connected to a first rotating block (1509) via a rotating rod (1508), and the top of the first rotating block (1509) is fixedly connected to the rotating plate (150 4), the top of the rotating plate (1504) is connected to a plurality of movable tubes (1505) arranged in an array via a telescopic mechanism (2), and the top of the movable tube (1505) is fixedly connected to a first electromagnet (1506), the side wall of the movable plate (1503) is provided with a first limiting mechanism (3) for limiting the movable tube (1505), the side wall of the movable plate (1503) is provided with a second limiting mechanism (4) for limiting the rotating rod (1508), and the rotation of the rotating rod (1508) is driven by a driving mechanism (6); The cleaning mechanism (16) comprises a movable cover (1602), and a movable module (1601) is fixedly connected between the movable cover (1602) and the box body (1), the top of the movable cover (1602) is connected to two symmetrically arranged L-shaped plates (801) via a reset mechanism (8), and the side wall of the mounting block (1603) is rotatably connected to two symmetrically arranged rotating rollers (1605) via a rotating shaft (1604), and the side wall of the rotating roller (1605) is sleeved with a A conveyor belt (1606) is provided, and a plurality of bristles (1608) arranged in an array are fixedly connected to the side wall of the conveyor belt (1606); a motor (1607) is fixedly connected to the side wall of the L-shaped plate (801), and the output end of the motor (1607) is fixed to one end of the rotating shaft (1604); the movement of the L-shaped plate (801) is driven by a driving mechanism (10), and a collecting trough (1609) arranged obliquely downward is fixedly inserted into the side wall of the box body (1); The drying mechanism (17) comprises a fixed cover (1701) fixedly connected to the side wall of the box body (1), and a sliding plate (1709) is slidably connected inside the fixed cover (1701), a connecting plate (1708) is fixedly connected between the sliding plate (1709) and the movable cover (1602), and an electric heating module (1702) is arranged on the side wall of the fixed cover (1701), a suction cover (1703) is fixedly connected to the top of the L-shaped plate (801), and a suction cover (1703) is fixedly connected to the fixed cover (1701). An air inlet pipe (1704), wherein a first one-way valve is arranged in the air inlet pipe (1704), and a filter box (1705) is arranged on the side wall of the air inlet pipe (1704); a blowing pipe (1706) is fixedly connected between the fixed cover (1701) and the movable cover (1602), and a second one-way valve is arranged in the blowing pipe (1706); a plurality of blowing holes (1707) arranged in an array are opened at the bottom of the movable cover (1602), and a sealing plate (1710) is connected to the bottom of the movable cover (1602) via a movable mechanism (9).

2. A visual intelligent control painting robot according to claim 1, characterized in that: The telescopic mechanism (2) comprises a plurality of guide rods (201) arranged in an array and fixedly connected to the top of a rotating plate (1504); the moving tube (1505) is sleeved on the side wall of the guide rod (201); and the side wall of the guide rod (201) is sleeved with a first spring (202).

3. The visual intelligent control painting robot according to claim 1, characterized in that: The first limiting mechanism (3) comprises a plurality of limiting holes (301) arranged in an array and opened on the side walls of each moving tube (1505), and the side wall of the rotating plate (1504) is fixedly connected to a fixed plate (304), the side wall of the fixed plate (304) is inserted with two symmetrically arranged moving rods (305), and one end of the moving rod (305) is fixedly connected to a first iron block (306), the other end of the moving rod (305) is fixedly connected to a moving frame (302), and the side wall of the moving frame (302) is fixedly connected to a plurality of array-arranged latches (303), the side wall of each moving rod (305) is sleeved with a second spring (308), and the side wall of the fixed plate (304) is fixedly connected to a second electromagnet (307).

4. The visual intelligent control painting robot according to claim 1, characterized in that: The second limiting mechanism (4) comprises a fixing ring (401) fixedly mounted on the side wall of the rotating rod (1508), and the side wall of the fixing ring (401) is provided with a plurality of limiting grooves (402) arranged in an array, and the side wall of the movable plate (1503) is connected to the limiting block (403) via a reset assembly (5).

5. The visual intelligent control painting robot according to claim 4, characterized in that: The reset assembly (5) comprises an L-shaped block (501) fixedly connected to the side wall of the moving plate (1503), and two symmetrically arranged first T-shaped guide rods (502) are inserted into the side wall of the L-shaped block (501), one end of the first T-shaped guide rod (502) is fixed to the side wall of the limit block (403), and the side wall of each first T-shaped guide rod (502) is sleeved with a third spring (503).

6. The visual intelligent control painting robot according to claim 1, characterized in that: The driving mechanism (6) includes a sliding groove provided on the side wall of the rotating rod (1508), and the sliding groove includes a first inclined groove (601), a wave groove (602) and a second inclined groove (603) connected end to end. Two symmetrically arranged second T-shaped guide rods (604) are inserted at the bottom of the connecting plate (1708), and a moving block (605) is fixedly connected to the lower end of the second T-shaped guide rod (604). The side wall of the moving block (605) is connected to a pushing rod (606) via a one-way rotating mechanism (7), and one end of the pushing rod (606) is inserted in the sliding groove.

7. The visual intelligent control painting robot according to claim 6, characterized in that: The one-way rotation mechanism (7) comprises a support block (701) fixedly connected to the side wall of the moving block (605), and the side wall of the support block (701) is rotatably connected to a second rotating block (703) via a rotating pin (702), the other end of the push rod (606) is fixed to the side of the second rotating block (703), and the side wall of the moving block (605) is fixedly connected to an L-shaped stopper (704).

8. The visual intelligent control painting robot according to claim 1, characterized in that: The reset mechanism (8) comprises two symmetrically arranged third T-shaped guide rods (802) inserted on the top of each L-shaped plate (801), the lower end of the third T-shaped guide rod (802) is fixed to the top of the movable cover (1602), and the side wall of each third T-shaped guide rod (802) is sleeved with a fourth spring (803).

9. The visual intelligent control painting robot according to claim 1, characterized in that: The moving mechanism (9) comprises a connecting block (901) fixedly connected to the side wall of the sealing plate (1710), and the side wall of the connecting block (901) is fixedly connected to a second iron block (902), the side wall of the second iron block (902) is fixedly connected to two symmetrically arranged sleeve rods (904), and the side wall of each sleeve rod (904) is sleeved with a sleeve (903), the other end of the sleeve (903) is fixed to the side of the moving cover (1602), the side wall of each sleeve (903) is sleeved with a fifth spring (905), and the side wall of the moving cover (1602) is fixedly connected to a third electromagnet (906).

10. The visual intelligent control painting robot according to claim 9, characterized in that: The pushing mechanism (10) comprises a pushing plate (1001) fixedly connected between two L-shaped plates (801), a pushing block (1002) is fixedly connected to the top of the second iron block (902), and the pushing block (1002) comprises an inclined surface (1003).

Images