Robot wax spraying anti-corrosion device for automobile chassis and wax spraying method of robot wax spraying anti-corrosion device

Abstract

The invention belongs to the technical field of robot spraying, and particularly relates to an automobile chassis robot wax spraying anti-corrosion device and a wax spraying method.The wax spraying anti-corrosion device comprises a pit and further comprises a vision initial positioning system, a base and an industrial robot, the vision initial positioning system is installed on the ground surface of the pit, the base is arranged in the center of the inner side of the pit, and the industrial robot is connected with the vision initial positioning system. The industrial robot is connected to the top of the base through a flange plate, the hand-eye device is installed at the top end, away from the base, of the industrial robot, the vision initial positioning system comprises a camera steel frame, the camera steel frame is installed on the ground surface on the side face of a pit, and an initial positioning mechanism is further arranged on the ground surface on the outer side of the pit; the initial positioning mechanism is located at the position, close to the pit, of the camera steel frame, and a visual camera is assembled on the top of the camera steel frame. The vehicle chassis surface wax spraying task can be autonomously completed, the position of a vehicle can be accurately positioned, and speed reduction, guiding, positioning and tunnel protection of the vehicle are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of robot spraying, and in particular relates to a robot wax spraying anti-corrosion device for an automobile chassis and a wax spraying method thereof. Background Art

[0003] At present, wax spraying robots are widely used in the automotive industry, but the existing vision-guided wax spraying robots still have shortcomings. For example, China Patent Publication No. CN212349196U discloses an intelligent spraying device for automobile frame primer, which uses spraying equipment instead of manual spraying, saves manpower, improves efficiency, avoids uneven spraying, has strong practicality, simple equipment, low cost, and high degree of automation. However, the disadvantage is that it relies on multiple infrared sensors for bottom scanning, which is easy to cause pollution; it does not have machine vision, and it is difficult to judge whether the car is in place, resulting in spraying deviation;

[0004] And the Chinese patent publication number CN214811986U discloses a fully automatic intelligent painting device, which can solve the marking problem of manual painting, adapt to the painting needs of different cars through programming, reduce labor, reduce load, and improve the automation rate, but the disadvantages are that it is limited by the working space and cannot spray the chassis of the car; it is impossible to judge whether the car is in place; the vision is arranged at the front end of the nozzle, which is easily contaminated by the liquid of the spray gun;

[0005] Therefore, a wax spraying anti-corrosion system is needed that can realize the task of spraying on the surface of automobile chassis. The system should have the functions of positioning, machine vision and robot collaboration. Summary of the invention

[0006] The purpose of the present invention is to provide a robot wax spraying anti-corrosion device for automobile chassis and a wax spraying method thereof, which can realize the task of spraying wax on the surface of the automobile chassis independently, can accurately locate the position of the automobile, and realize the deceleration, guidance, positioning and tunnel protection of the automobile.

[0007] The technical solution adopted by the present invention is as follows:

[0008] A robot wax spraying and anti-corrosion device for automobile chassis, comprising a pit, wherein the device also comprises:

[0009] A visual initial positioning system, wherein the visual initial positioning system is installed on the surface of the pit;

[0010] A base, the base being arranged at a central position inside the pit;

[0011] An industrial robot connected to the top of the base via a flange;

[0012] A hand-eye device is installed on the top of the industrial robot away from the base.

[0013] The visual initial positioning system includes a camera steel frame, which is installed on the ground surface on the side of the pit. An initial positioning mechanism is also provided on the ground surface outside the pit, and the initial positioning mechanism is located at a position of the camera steel frame close to the pit. A visual camera is installed on the top of the camera steel frame.

[0014] The initial positioning mechanism includes two guide rails, which are respectively installed on both sides of the surface outside the pit. The side of the guide rail close to the pit is the inner rail, and the side of the guide rail away from the pit is the outer rail. A plurality of deceleration devices are evenly arranged between the inner rail and the outer rail of the guide rail, and positioning components are installed at a position close to one end of the two guide rails and between the inner rail and the outer rail.

[0015] The hand-eye device comprises a binocular 3D camera body, the binocular 3D camera body is mounted on the top of the industrial robot away from the base, a connecting shaft is mounted on one end of the binocular 3D camera body, a wax spray nozzle is mounted on the top of the connecting shaft, and a first camera lens and a second camera lens are mounted on the top of the binocular 3D camera body;

[0016] A heating and cleaning lens cover is also installed on the top of the binocular 3D camera body, and the heating and cleaning lens cover is used to shield the first camera lens and the second camera lens.

[0017] The heated and cleaned lens cover comprises a cover plate, which is mounted on the top of the binocular 3D camera body, a first convex lens cover and a second convex lens cover are fixed inside the cover plate and at positions corresponding to the first camera lens and the second camera lens, respectively, and a first heating resistance wire and a second heating resistance wire are wound around the inner sides of the first convex lens cover and the second convex lens cover, respectively.

[0018] The distance between the inner rail and the outer rail of the guide rail is greater than the width of the automobile tire, and the inner rail of the guide rail is arranged at the edge of the pit surface.

[0019] The entrance of the guide rail away from one end of the positioning component is arranged in an eight-shaped shape.

[0020] Protective inner rails are arranged on the edges of both ends of the pit surface.

[0021] A wax spraying method for a wax spraying anti-corrosion device of an automobile chassis robot, characterized in that the wax spraying method is applied to the wax spraying anti-corrosion device proposed above, and comprises the following steps:

[0022] S1: Preparation stage, the car is ready to enter the wax spraying operation area, and the first heating resistor wire and the second heating resistor wire on the hand-eye device start to heat;

[0023] S2: Initial positioning of the car. The car enters the wax spraying operation area. The wheels on both sides are guided by the guide rails and the protective inner rails through the deceleration device. After the visual camera detects the feature points on the car, the mechanical positioning components are activated to achieve the initial positioning of the car directly above the pit.

[0024] S3: Visual scanning of the car chassis. The industrial robot drives the binocular 3D camera on the hand-eye device to scan the entire positioning car chassis, identify the metal material, and build a map of the car chassis spraying area;

[0025] S4: Spraying and lens cleaning: the industrial robot drives the wax spray nozzle on the hand-eye device to carry out spraying operations according to the spraying area map of the car chassis;

[0026] S5: The first heating resistor wire and the second heating resistor wire respectively keep the surface temperature of the first convex lens cover and the second convex lens cover above the melting point of the wax spray material. When the wax oil drops onto the upper surface of the heated and cleaned lens cover, the wax spray material melts and flows to the surroundings due to the convex structure of the lens cover under the action of gravity, thereby keeping the lens clean and transparent;

[0027] S6: Wax spraying is completed: After the operation is completed, a completion signal is sent to the control end, the industrial robot returns to the Home point, and the car leaves the wax spraying operation area, completing a cycle of wax spraying action.

[0028] The technical effects achieved by the present invention are:

[0029] The present invention realizes the task of spraying wax on the surface of the chassis of the vehicle autonomously through machine vision, mechanical devices and industrial robots, and accurately locates the position of the vehicle through scanning and identification of the vehicle windows by a machine vision camera and an initial positioning mechanical device, and realizes the deceleration, guidance, positioning and tunnel protection of the vehicle through different vehicle tracks, and applies a binocular 3D camera and a wax spray nozzle to realize the guidance and accurate implementation of the wax spraying task, and carries a convex acrylic lens cover on the binocular 3D camera lens, and maintains the cleanliness and transparency of the camera lens to avoid contamination through a built-in heating resistor wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 is a cross-sectional view of the visual initial positioning system of the present invention;

[0032] Figure 3 is a top view of the visual initial positioning system of the present invention;

[0033] Figure 4 is a schematic diagram of the hand-eye device of the present invention;

[0034] Figure 5is a cross-sectional view of a heated and cleaned lens cover in the present invention;

[0035] Figure 6 It is a schematic diagram of the structure of the second heating resistance wire in the present invention;

[0036] Figure 7 It is a structural schematic diagram of the first heating resistance wire in the present invention.

[0037] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0038] 101. Visual initial positioning system; 102. Hand-eye device; 103. Industrial robot; 104. Base; 105. Pit; 201. Visual camera; 202. Camera steel frame; 203. Initial positioning mechanism; 301. Positioning component; 302. Guide track; 303. Protective inner track; 304. Speed ​​reduction device; 401. Heating and cleaning lens cover; 402. First camera lens; 403. Second camera lens; 404. Binocular 3D camera body; 405. Connecting shaft; 406. Wax spray nozzle; 501. First convex lens cover; 503. Second convex lens cover; 502. First heating resistor wire; 504. Second heating resistor wire; 505. Cover plate. DETAILED DESCRIPTION

[0039] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0040] Embodiment 1:

[0041] like Figure 1-7 As shown, a robot wax spraying anti-corrosion device for automobile chassis includes a pit 105, and protective inner rails 303 are arranged on both ends of the surface of the pit 105 to prevent the automobile tires from sliding out of the pit 105 and causing damage or danger, and also includes:

[0042] A visual initial positioning system 101, wherein the visual initial positioning system 101 is installed on the surface of the pit 105;

[0043] A base 104, the base 104 is arranged at the center of the inner side of the pit 105;

[0044] Industrial robot 103, industrial robot 103 is connected to the top of base 104 through a flange. Industrial robot 103 is a multi-joint mechanical arm with multiple degrees of freedom and flexible range of motion. It can move and rotate automatically or manually according to the command of the control end to realize wax spraying operation on various parts of the automobile chassis. The model and parameters of industrial robot 103 should be selected and configured according to different automobile models and wax spraying requirements to ensure the wax spraying effect and efficiency. The flange is used to connect the industrial robot 103 and the hand-eye device 102. It is installed at the end of the industrial robot 103 and has a certain strength and stability. It can withstand the weight and movement force of the hand-eye device 102 and can transmit the signal and power of the hand-eye device 102. The model and parameters of the flange should be matched and configured according to the model and parameters of the hand-eye device 102 to ensure the reliability and compatibility of the connection.

[0045] And it can be a platform made of metal or concrete, with certain strength and stability, which can bear the weight and movement force of the industrial robot 103. The model and parameters of the base 104 should be matched and configured according to the model and parameters of the industrial robot 103 to ensure the reliability and comfort of the fixation;

[0046] The pit 105 is a sunken space for accommodating the automobile chassis and industrial robots 103 and other equipment. Its size and shape should be designed and adjusted according to different automobile models to meet different wax spraying requirements. The surface of the pit 105 should be provided with anti-slip, waterproof and wear-resistant materials to ensure the safety and durability of the pit 105.

[0047] The hand-eye device 102 is installed on the top of the industrial robot 103 away from the base 104 .

[0048] Please refer to the attached Figure 2 As shown, the visual initial positioning system 101 includes a camera steel frame 202, which is installed on the surface of the side of the pit 105. An initial positioning mechanism 203 is also provided on the surface outside the pit 105, and the initial positioning mechanism 203 is located at a position of the camera steel frame 202 close to the pit 105. A visual camera 201 is installed on the top of the camera steel frame 202. The camera steel frame 202 is a metal structure for fixing the visual camera 201 and other equipment. Its height and position should be designed and adjusted according to different car models to ensure that the visual camera 201 can clearly capture the characteristic points of the car;

[0049] The visual camera 201 is a high-definition, high-speed, and high-stability camera used to take pictures and identify cars entering the wax spraying operation area. It can automatically identify various information of the car through image processing algorithms and transmit this information to the control end for subsequent wax spraying operations;

[0050] Please refer to the attached Figure 3 As shown, the initial positioning mechanism 203 includes two guide rails 302, and the two guide rails 302 are respectively installed on both sides of the surface outside the pit 105. The side of the guide rail 302 close to the pit 105 is the inner rail, and the side of the guide rail 302 away from the pit 105 is the outer rail. A plurality of deceleration devices 304 are evenly arranged between the inner rail and the outer rail of the guide rail 302. The deceleration device 304 is used to prevent the car from traveling too fast and causing collision or scratching. The deceleration device 304 can be a protrusion made of rubber or plastic, or a metal or wooden baffle. Its shape and size should be designed and adjusted according to different car models to ensure the deceleration effect and safety. A positioning component 301 is installed between the inner and outer rails near one end of the two guide rails 302. The positioning component 301 can be a lifting block or a retractable hook, which can be automatically or manually raised or extended through the signal of the visual camera 201 or manual operation, and contact the front wheel or rear wheel of the car, so as to achieve the longitudinal positioning of the car. The shape and size of the positioning component 301 should be designed and adjusted according to different car models to ensure the positioning effect and safety. The entrance of the guide rail 302 away from the positioning component 301 is set in an eight-shaped shape to ensure that the car tires can be aligned with the inner and outer rails of the guide rail 302, so as to achieve the vertical positioning of the car.

[0051] The distance between the inner rail and the outer rail of the guide rail 302 is greater than the width of the automobile tire to ensure that the automobile tire can smoothly enter the pit 105, and the inner rail of the guide rail 302 is set at the edge of the surface of the pit 105 to ensure that the automobile tire can be aligned with the edge of the pit 105, thereby achieving horizontal positioning of the automobile;

[0052] Please refer to the attached Figure 4As shown, the hand-eye device 102 includes a binocular 3D camera body 404, which is installed on the top of the industrial robot 103 away from the base 104. It has a certain resolution, viewing angle, depth and speed, and can be automatically or manually moved and rotated according to the command of the control end to realize scanning and recognition of various parts of the automobile chassis. It can automatically recognize the shape, size, position, angle, material and other information of the automobile chassis through image processing algorithms, and transmit this information to the control end for subsequent wax spraying operations. The model and parameters of the binocular 3D camera body 404 should be based on different car models. The scanning requirements are selected and configured to ensure the scanning effect and efficiency. A connecting shaft 405 is installed at one end of the binocular 3D camera body 404. A wax spray nozzle 406 is installed on the top of the connecting shaft 405. The wax spray nozzle 406 can be a nozzle or a spray gun with a certain pressure, flow, temperature and spray range. It can be automatically or manually moved and rotated according to the instructions of the control end to realize the wax spraying operation on various parts of the automobile chassis. It can heat the anti-rust wax stored in the wax storage tank through air pressure or electricity and spray it onto the automobile chassis to form a uniform anti-rust wax layer to improve the anti-corrosion performance and appearance quality of the automobile. The model and parameters of the wax spray nozzle 406 should be selected and configured according to different automobile models and wax spraying requirements to ensure the wax spraying effect and efficiency. A first camera lens 402 and a second camera lens 403 are installed on the top of the binocular 3D camera body 404;

[0053] The connecting shaft 405 may be a tubular structure made of metal or plastic, which has certain strength and stability, can bear the weight and movement force of the binocular 3D camera body 404 and the wax spray nozzle 406, and can transmit the signal and power of the binocular 3D camera body 404 and the wax spray nozzle 406. The model and parameters of the connecting shaft 405 should be matched and configured according to the models and parameters of the binocular 3D camera body 404 and the wax spray nozzle 406 to ensure the reliability and compatibility of the connection;

[0054] The first camera lens 402 and the second camera lens 403 can be a common camera lens, or an infrared or laser camera lens, with a certain focal length, aperture, shutter and sensitivity, and can be adjusted automatically or manually according to the command of the control end to achieve shooting and scanning of the car chassis at different lighting and distances. It can convert the shot and scanned images into electronic signals in an optical or digital way, and transmit these signals to the control end for subsequent image processing and analysis. The models and parameters of the first camera lens 402 and the second camera lens 403 should be selected and configured according to different car models and scanning requirements;

[0055] A heating and cleaning lens cover 401 is also installed on the top of the binocular 3D camera body 404, and the heating and cleaning lens cover 401 is used to cover the first camera lens 402 and the second camera lens 403;

[0056] Please refer to the attached Figure 5 As shown, the heated cleaning lens cover 401 includes a cover plate 505, which is installed on the top of the binocular 3D camera body 404. The cover plate 505 can be a flat plate made of metal or plastic, which has certain strength and stability, and can prevent the top of the binocular 3D camera body 404 from being polluted by dust, water droplets, wax oil, etc., and can also prevent the top of the binocular 3D camera body 404 from being disturbed by light, temperature, humidity, etc. The model and parameters of the cover plate 505 should be matched and configured according to the model and parameters of the binocular 3D camera body 404 to ensure the reliability and adaptability of the coverage. A first convex lens cover 501 and a second convex lens cover 503 are fixed inside the cover plate 505 and at positions corresponding to the first camera lens 402 and the second camera lens 403, respectively;

[0057] The first convex lens cover 501 and the second convex lens cover 503 may be a convex structure made of transparent glass or plastic, and have a certain refractive index and light transmittance, which can prevent the first camera lens 402 and the second camera lens 403 from being polluted and disturbed by the outside world, and at the same time keep the first camera lens 402 and the second camera lens 403 clean and clear;

[0058] The first convex lens cover 501 and the second convex lens cover 503 are respectively wound with a first heating resistance wire 502 and a second heating resistance wire 504;

[0059] Embodiment 2:

[0060] This embodiment provides a wax spraying method for a wax spraying anti-corrosion device of an automobile chassis robot. The wax spraying method is applied to the wax spraying anti-corrosion device proposed above, and specifically includes the following steps:

[0061] Preparation stage: the wax spraying room indicator light is on, allowing the car to enter the wax spraying room, and the car is ready to enter the wax spraying operation area; the first heating resistor wire 502 and the second heating resistor wire 504 on the hand-eye device 102 start to heat;

[0062] Initial positioning of the car: When the car enters the wax spraying operation area, the wheels on both sides are guided by the guide rail 302 and the protective inner rail 303 through the deceleration device 304. After the visual camera 201 detects the feature points on the car, the mechanical positioning component 301 is activated to realize the initial positioning of the car just above the pit 105;

[0063] Visual scanning of the automobile chassis: the industrial robot 103 drives the binocular 3D camera body 404 on the hand-eye device 102 to scan the entire positioning automobile chassis, identify the metal material, and build a map of the automobile chassis spraying area;

[0064] Spraying and lens cleaning: The industrial robot 103 drives the wax spray nozzle 406 on the hand-eye device 102 to perform spraying according to the spraying area map of the automobile chassis. At the same time, the first heating resistor 502 and the second heating resistor 504 respectively keep the surface temperature of the first convex lens cover 501 and the second convex lens cover 503 constant above the melting point of the wax spray material. When wax oil drips onto the upper surface of the heated and cleaned lens cover 401, the wax spray material melts and flows to the surroundings under the action of gravity due to the convex structure of the lens cover, thereby keeping the lens clean and transparent;

[0065] Wax spraying is completed: after the operation is completed, a completion signal is sent to the control end, the industrial robot 103 returns to the Home point, and the car leaves the wax spraying operation area, completing a cycle of wax spraying action.

[0066] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A robot wax spraying anti-corrosion device for automobile chassis, comprising a pit (105), It is characterized in that Also included are: A visual initial positioning system (101), wherein the visual initial positioning system (101) is installed on the surface of the pit (105); A base (104), the base (104) being arranged at a central position inside the pit (105); An industrial robot (103), the industrial robot (103) being connected to the top of the base (104) via a flange; A hand-eye device (102) is installed on the top of the industrial robot (103) away from the base (104).

2. The automobile chassis robot wax spraying anti-corrosion device according to claim 1, Features: The visual initial positioning system (101) includes a camera steel frame (202), and the camera steel frame (202) is installed on the ground surface on the side of the pit (105). An initial positioning mechanism (203) is also arranged on the ground surface outside the pit (105), and the initial positioning mechanism (203) is located at a position of the camera steel frame (202) close to the pit (105). A visual camera (201) is installed on the top of the camera steel frame (202).

3. The robot wax spraying anti-corrosion device for automobile chassis according to claim 2, Features: The initial positioning mechanism (203) includes two guide rails (302), the two guide rails (302) are respectively installed on both sides of the surface outside the pit (105), the side of the guide rail (302) close to the pit (105) is the inner rail, and the side of the guide rail (302) away from the pit (105) is the outer rail, and a plurality of deceleration devices (304) are evenly arranged between the inner rail and the outer rail of the guide rail (302), and positioning components (301) are installed at positions close to one end of the two guide rails (302) and between the inner rail and the outer rail.

4. The automobile chassis robot wax spraying anti-corrosion device according to claim 1, Features: The hand-eye device (102) comprises a binocular 3D camera body (404), the binocular 3D camera body (404) is mounted on the top of the industrial robot (103) away from the base (104), a connecting shaft (405) is mounted on one end of the binocular 3D camera body (404), a wax spray head (406) is mounted on the top of the connecting shaft (405), and a first camera lens (402) and a second camera lens (403) are mounted on the top of the binocular 3D camera body (404); A heating and cleaning lens cover (401) is also installed on the top of the binocular 3D camera body (404), and the heating and cleaning lens cover (401) is used to shield the first camera lens (402) and the second camera lens (403).

5. The robot wax spraying anti-corrosion device for automobile chassis according to claim 4, Features: The heating and cleaning lens cover (401) comprises a cover plate (505), wherein the cover plate (505) is mounted on the top of the binocular 3D camera body (404), wherein a first convex lens cover (501) and a second convex lens cover (503) are fixed inside the cover plate (505) at positions corresponding to the first camera lens (402) and the second camera lens (403), respectively, and a first heating resistance wire (502) and a second heating resistance wire (504) are respectively wound around the inner sides of the first convex lens cover (501) and the second convex lens cover (503).

6. The automobile chassis robot wax spraying anti-corrosion device according to claim 3, Features: The distance between the inner rail and the outer rail of the guide rail (302) is greater than the width of a car tire, and the inner rail of the guide rail (302) is arranged at the edge of the surface of the pit (105).

7. The automobile chassis robot wax spraying anti-corrosion device according to claim 3, Features: The entrance of the guide rail (302) at one end away from the positioning component (301) is arranged in an eight-shaped shape.

8. The automobile chassis robot wax spraying anti-corrosion device according to claim 3, Features: Protective inner rails (303) are provided on both ends of the surface edge of the pit (105).

9. A wax spraying method for a wax spraying anti-corrosion device of a car chassis robot, Features: The wax spraying method is applied to the wax spraying anti-corrosion device according to any one of claims 1 to 8, and comprises the following steps: S1: preparation stage, the car is ready to enter the wax spraying operation area, and the first heating resistance wire (502) and the second heating resistance wire (504) on the hand-eye device (102) start heating; S2: Initial positioning of the vehicle. The vehicle enters the wax spraying operation area. The wheels on both sides are guided by the guide rail (302) and the protective inner rail (303) through the deceleration device (304). After the visual camera (201) detects the characteristic points on the vehicle, the mechanical positioning component (301) is started to realize the initial positioning of the vehicle just above the pit (105); S3: visual scanning of the automobile chassis, the industrial robot (103) drives the binocular 3D camera body (404) on the hand-eye device (102) to scan the entire positioning automobile chassis, identify the metal material, and construct a map of the automobile chassis spraying area; S4: spraying and lens cleaning, the industrial robot (103) drives the wax spraying nozzle (406) on the hand-eye device (102) to perform spraying operations according to the spraying area map of the automobile chassis; S5: The first heating resistance wire (502) and the second heating resistance wire (504) respectively keep the surface temperature of the first convex lens cover (501) and the second convex lens cover (503) above the melting point of the wax spray material. When the wax drops onto the upper surface of the heated and cleaned lens cover (401), the wax spray material melts and flows to the surroundings due to the convex structure of the lens cover under the action of gravity, thereby keeping the lens clean and transparent; S6: Wax spraying is completed: After the operation is completed, a completion signal is sent to the control end, the industrial robot (103) returns to the Home point, and the car leaves the wax spraying operation area, completing a cycle of wax spraying action.

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