AI-based quick-change visual guidance robot terminal and method

Abstract

The present invention discloses an AI quick-change visual guidance robot terminal and method, which relate to the technical field of robot terminals, including a robot adjustment part, wherein the robot adjustment part is located at the left end of which a robot execution part is installed; the robot adjustment part is used to control the orientation of the robot execution part; the present invention arranges a video sensor, a laser radar and a quick-change disk, firstly, the video sensor can conveniently observe the image and position of the product, then the laser radar can conveniently observe the distance between the paint terminal and the product and control the processing position of the paint terminal, and at the same time, it can conveniently control the running state of the robot, thereby effectively improving the automation effect of the robot terminal, and finally the quick-change disk can facilitate the separation of the middle loading plate, so that the disassembly and replacement of the robot execution part can be quickly completed, and this disassembly method has a high degree of automation and saves time and effort.

Description

Technical Field

[0001] The present invention relates to the technical field related to robot terminals, and specifically to an AI-based quick-change visual guidance robot terminal and method. Background Art

[0002] At present, when disassembling the mechanical arm of the existing robot terminal, the bolts are mostly removed by tools. This method is time-consuming, labor-intensive and inconvenient. In addition, bubbles are prone to appear in the paint liquid in the barrel of the existing robot terminal, and the bubbles are inconvenient to handle, which leads to a decrease in the operating quality of the robot terminal of the product. At the same time, the robot needs to be shut down when manually handling the bubbles, thereby reducing the degree of automation of the robot terminal. Precipitation is prone to appear at the bottom of the barrel, resulting in a decrease in the utilization rate of the paint liquid, thereby reducing the practicality of the robot terminal. Summary of the invention

[0003] In order to solve the defects of the prior art, the present invention provides an AI-based quick-change visual guidance robot terminal and method.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0005] The present invention provides an AI quick-change visual guidance robot terminal and method, comprising a robot adjustment part, wherein the robot adjustment part is located at the left end thereof and a robot execution part is installed;

[0006] The robot adjustment part is used to control the position of the robot execution part;

[0007] The robot adjustment part includes a robot chassis, a main support column is embedded in a groove in the middle of the robot chassis through a bearing, a middle adjustment gear for steering is fixedly sleeved on the outer wall of the main support column at the lower end, a matching plate is fixedly connected to the front surface of the upper end of the robot chassis, a main motor is installed on the upper surface of the matching plate, and a front gear meshing with the middle adjustment gear is installed at the output end of the main motor located on the upper side thereof;

[0008] The robot adjustment part also includes a skeleton, the left side of the lower end of the skeleton is fixedly connected to the upper end of the main support column, the right side of the skeleton is installed with a video sensor, the left side of the lower end of the skeleton is installed with a laser radar, the lower surface of the upper end of the skeleton is installed with a quick-change disk, the bottom of the quick-change disk is connected to a middle load plate, the right side of the middle load plate is fixedly installed with a cylinder for adjusting the height, the lower end of the cylinder is fixedly connected to an L-shaped carrier, and the right side of the upper end of the L-shaped carrier is fixedly installed with an auxiliary motor;

[0009] The robot execution part includes an execution pump, the right end face of the execution pump is fixedly connected to the left end of the auxiliary motor, the outer side of the liquid extraction port at the upper end of the execution pump is sleeved with a barrel, the middle part of the upper surface of the barrel is embedded with a median shaft through a bearing, the outer wall of the upper end of the median shaft is fixedly sleeved with a left gear, a reduction motor is installed on the right side of the upper surface of the barrel, and the outer wall of the output shaft on the upper side of the reduction motor is installed with a right gear meshing with the left gear;

[0010] The robot execution part also includes a transfer groove, which is opened on the upper end surface of the median axis, and the inner wall of the upper end of the transfer groove is embedded with a defoaming cylinder through a bearing, and the lower surface of the left end of the defoaming cylinder is fixedly connected with a frame plate, and the lower end of the frame plate is installed on the upper surface of the barrel, and a ball valve is installed on the right outer wall of the lower end of the defoaming cylinder, and the lower end of the defoaming cylinder is connected with an inner slow pipe, and the bottom surface of the inner cavity of the transfer groove is fixedly connected with a diverter cone, and a diverter hole is opened on the outer side of the diverter cone and the outer wall of the median axis;

[0011] Two outer stirring rods are fixedly connected to the outer walls on both sides of the middle section of the median shaft, and two plug holes are provided on the sides of the two outer stirring rods away from each other, and the inner cavities of the plug holes are plugged with cross bars, and two scrapers are fixedly connected to the ends of the left and right cross bars away from each other, and the outer walls of the left and right cross bars close to one end are fixedly sleeved with matching rings, and the matching rings are fixedly connected with positioning springs on the sides opposite to the outer stirring rods;

[0012] Two inner stirring rods are fixedly connected to the ends of the left and right cross bars close to each other, the upper surfaces of the lower ends of the two scrapers are fixedly connected to offset rods, and the outer wall of the lower end of the middle shaft is fixedly sleeved with a lower output auger.

[0013] As a preferred technical solution of the present invention, a sensing end is provided at the front end of the video sensor.

[0014] As a preferred technical solution of the present invention, the surface of the diverter cone is provided with grooves corresponding to the diverter holes.

[0015] As a preferred technical solution of the present invention, the defoaming agent is filled in the defoaming cylinder, and the defoaming agent is in liquid state.

[0016] As a preferred technical solution of the present invention, the conical ends of the scraper are in opposite directions, and irregularly positioned blades are provided on opposite sides of the conical ends of the scraper.

[0017] As a preferred technical solution of the present invention, the directions of the offset rods are all different.

[0018] A method for spray painting with an AI-based quick-change visually guided robot comprises the following steps:

[0019] S1. First, observe the shape and position of the product through the video sensor, and then use the laser radar to detect the processing position of the product by the painting terminal;

[0020] S2. Then control the cylinder to start to adjust the height of the actuator pump, and then control the reduction motor to start to drive the outer stirring rod and the inner stirring rod to rotate at the same time. The paint liquid in the barrel is mixed evenly through the rotation of the outer stirring rod and the inner stirring rod. At this time, open the ball valve, and the inner slow pipe transfers the defoaming agent to the inside of the barrel through the diversion cone and the diversion hole respectively. The rotation of the outer stirring rod and the inner stirring rod can also speed up the defoaming rate of the defoaming agent on the paint liquid. Finally, control the actuator pump to start and spray the treated paint liquid onto the surface of the product;

[0021] S3. Then control the auxiliary motor to start to drive the actuator pump to rotate, and the surface of the product is sprayed in all directions through the rotation of the actuator pump;

[0022] S4. Then, the scraper is controlled to rotate by starting the reduction motor. The scraper rotates to clean the adhered material on the inner wall of the barrel in all directions. The removed adhered material is crushed by the blade on the scraper to speed up the fusion speed of the crushed material and the paint liquid, thus avoiding the waste of the paint liquid.

[0023] S5. Finally, the main motor is controlled to start the orientation conversion of the entire robot execution part, so as to facilitate the robot terminal to process products on both sides.

[0024] The beneficial effects of the present invention are:

[0025] 1. This AI quick-change visual guidance robot terminal and method, through the set video sensor, laser radar and quick-change disk, firstly, the video sensor can conveniently observe the image and position of the product, and then the laser radar can conveniently observe the distance between the paint terminal and the product and control the processing position of the paint terminal. At the same time, it can conveniently control the running state of the robot, thereby effectively improving the automation effect of the robot terminal. Finally, the quick-change disk can facilitate the detachment of the middle load plate, so that the disassembly and replacement of the robot's execution parts can be quickly completed. This disassembly method has a high degree of automation and saves time and effort.

[0026] 2. This AI-based quick-change visual guidance robot terminal and method, through the setting of the main motor, cylinder and auxiliary motor, first controls the main motor to start, which can drive the L-shaped carrier and the auxiliary motor to rotate horizontally at the same time. The rotation of the auxiliary motor can drive the robot execution part to rotate, so that the position adjustment of the paint terminal can be completed quickly, and it is convenient to convert the orientation of the entire robot execution part, so as to facilitate the robot terminal to process products on both sides, greatly improving the flexibility of the paint terminal, and then controls the cylinder to start, which can drive the auxiliary motor and the robot execution part to move downward at the same time, so that it is convenient to control the robot execution part to paint different positions of the product, and finally controls the auxiliary motor to start, which can drive the robot execution part to rotate, so that through the cooperation of the cylinder and the auxiliary motor, it is convenient to spray paint the product in all directions, greatly improving the work efficiency of the robot terminal.

[0027] 3. This AI quick-change visual guidance robot terminal and method, through the set robot execution part, first controls the reduction motor to start, which can drive the outer stirring rod and the inner stirring rod to rotate at the same time, and the paint liquid can be quickly stirred by the rotation of the outer stirring rod and the inner stirring rod, and then controls the ball valve to open, at this time the defoaming agent in the defoaming barrel will be transmitted to the diverter cone through the inner slow pipe, and at this time the diverter cone can transfer the defoaming agent to the inside of the diverter hole respectively, and at this time the diverter hole can evenly transfer the defoaming agent to the inside of the barrel, so that the defoaming of the paint liquid can be quickly completed by cooperating with the rotation of the outer stirring rod and the inner stirring rod, so as to improve the painting quality of the product, and then the rotation of the outer stirring rod can also drive the rotation of the cross bar, and the rotation of the cross bar can drive the scraper and the offset rod to rotate at the same time, and the rotation of the scraper can effectively clean and break the adhesion on the inner wall of the barrel, thereby greatly improving the utilization rate of the paint liquid and effectively avoiding the waste of resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0029] Figure 1 It is a schematic diagram of the structure of the present invention;

[0030] Figure 2 It is a right side view of the present invention;

[0031] Figure 3 is a bottom view of the present invention;

[0032] Figure 4 It is a longitudinal cross-sectional view of the barrel of the present invention and the middle position of the median axis;

[0033] Figure 5 The present invention Figure 4 Stereoscopic image of

[0034] Figure 6 is a longitudinal sectional view of the front end of the barrel of the present invention;

[0035] Figure 7 It is a schematic diagram of the connection structure between the scraper and the offset rod of the present invention;

[0036] Figure 8 It is a schematic structural diagram of the diverter cone of the present invention;

[0037] Fig. 9 The present invention Figure 5 The enlarged view of point A in the middle;

[0038] Fig.10 The present invention Figure 5 The enlarged view of point B in the middle;

[0039] Fig.11 The present invention Figure 7 Enlarged view of point C in the middle.

[0040] In the figure: 1. Robot adjustment part; 101. Robot chassis; 102. Main carrier column; 103. Middle adjustment gear; 104. Matching plate; 105. Main motor; 106. Front gear; 107. Frame; 108. Video sensor; 109. LiDAR; 110. Quick change plate; 111. Middle carrier plate; 112. Cylinder; 113. L-shaped carrier; 114. Auxiliary motor; 2. Robot execution part; 201. Execution pump; 202. Barrel; 2 03, center shaft; 204, left gear; 205, reduction motor; 206, right gear; 207, transfer tank; 208, bubble removal tube; 209, frame; 210, ball valve; 211, inner slow pipe; 212, diverter cone; 213, diverter hole; 214, outer stirring rod; 215, socket; 216, cross bar; 217, scraper; 218, matching ring; 219, positioning spring; 220, inner stirring rod; 221, offset rod; 222, lower output auger. DETAILED DESCRIPTION

[0041] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0042] Example: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the present invention is an AI quick-change visual guidance robot terminal and method, including a robot adjustment part 1, the robot adjustment part 1 is located at the left end of which a robot execution part 2 is installed; the robot adjustment part 1 is used to control the orientation of the robot execution part 2; the robot adjustment part 1 includes a robot frame 101, a main load column 102 is embedded in a groove at the middle position of the robot frame 101 through a bearing, the main load column 102 is located at the outer wall of the lower end thereof and is fixedly sleeved with a middle adjustment gear 103 for steering, the front surface of the upper end of the robot frame 101 is fixedly connected to a matching plate 104, the upper surface of the matching plate 104 is installed with a main motor 105, and the main motor 105 is located on the upper side thereof. The output end is equipped with a front gear 106 that meshes with the middle adjustment gear 103; the robot adjustment part 1 also includes a skeleton 107, the left side of the lower end of the skeleton 107 is fixedly connected to the upper end of the main support column 102, the right side of the skeleton 107 is equipped with a video sensor 108, the left side of the lower end of the skeleton 107 is equipped with a laser radar 109, the lower surface of the upper end of the skeleton 107 is equipped with a quick-change disk 110, the bottom of the quick-change disk 110 is connected to the middle load plate 111, the right side of the middle load plate 111 is fixedly installed with a cylinder 112 for adjusting the height, the lower end of the cylinder 112 is fixedly connected to an L-shaped carrier 113, and the right side of the upper end of the L-shaped carrier 113 is fixedly installed with an auxiliary motor 114.

[0043] Among them, through the setting of the robot adjustment part, the main motor 105 is first controlled to start, and the main motor 105 can drive the front gear 106 to rotate when it starts. The rotation of the front gear 106 can drive the middle adjustment gear 103 and the main carrier column 102 to rotate at the same time. The rotation of the main carrier column 102 can drive the skeleton 107 and the quick-change disk 110 to rotate at the same time. The rotation of the quick-change disk 110 can drive the middle carrier plate 111 and the cylinder 112 to rotate at the same time. The rotation of the cylinder 112 can drive the L-shaped carrier 113 and the auxiliary motor 114 to rotate at the same time. The rotation of the auxiliary motor 114 can drive the robot execution part 2 to rotate. In this way, the position adjustment of the paint terminal can be completed quickly, and the orientation conversion of the entire robot execution part 2 is convenient, so as to facilitate the robot terminal to process products on both sides.

[0044] like Figure 1-Figure 11As shown, the robot execution part 2 includes an execution pump 201, the right end face of the execution pump 201 is fixedly connected to the left end of the auxiliary motor 114, the outer sleeve of the liquid extraction port at the upper end of the execution pump 201 is connected with a barrel 202, the middle part of the upper surface of the barrel 202 is embedded with a center shaft 203 through a bearing, the outer wall of the upper end of the center shaft 203 is fixedly connected with a left gear 204, a reduction motor 205 is installed on the right side of the upper surface of the barrel 202, and the outer wall of the output shaft on the upper side of the reduction motor 205 is installed The robot execution part 2 also includes a transfer groove 207, which is opened on the upper end surface of the median axis 203, and the inner wall of the upper end of the transfer groove 207 is embedded with a bubble tube 208 through a bearing, and the lower surface of the left end of the bubble tube 208 is fixedly connected with a frame plate 209, and the lower end of the frame plate 209 is installed on the upper surface of the barrel 202, and the right outer wall of the lower end of the bubble tube 208 is installed with a ball valve 210, and the lower end of the bubble tube 208 is fixedly connected with a frame plate 209, and the lower end of the frame plate 209 is installed on the upper surface of the barrel 202. The end is connected with an inner slow pipe 211, and the bottom surface of the inner cavity of the transfer tank 207 is fixedly connected with a diverter cone 212, and the outer wall of the diverter cone 212 and the outer wall of the median axis 203 is provided with a diverter hole 213; the outer walls of both sides of the middle section of the median axis 203 are fixedly connected with two outer stirring rods 214, and the two outer stirring rods 214 are provided with two plug holes 215 on the sides away from each other, and the inner cavities of the plug holes 215 are connected with cross bars 216, and the left and right cross bars 216 are on the sides away from each other. Two scrapers 217 are fixedly connected to the ends, and the outer walls of the left and right cross bars 216 close to one end are fixedly sleeved with matching rings 218, and the sides of the matching rings 218 opposite to the outer stirring rod 214 are fixedly connected with positioning springs 219; two inner stirring rods 220 are fixedly connected to the ends of the left and right cross bars 216 close to each other, and the upper surfaces of the lower ends of the two scrapers 217 are fixedly connected with offset rods 221, and the outer wall of the lower end of the mid-position axis 203 is fixedly sleeved with a lower output auger 222.

[0045] Among them, through the setting of the robot execution part 2, first control the reduction motor 205 to start, the reduction motor 205 starting can drive the right gear 206 to rotate, the rotation of the right gear 206 can drive the left gear 204 and the center shaft 203 to rotate at the same time, the rotation of the center shaft 203 can drive the outer stirring rod 214 and the inner stirring rod 220 to rotate at the same time, the rotation of the outer stirring rod 214 and the inner stirring rod 220 can quickly complete the stirring of the paint liquid, and then control the ball valve 210 to open, at this time the defoaming agent in the defoaming barrel 208 will be transmitted to the diverter cone 212 through the inner slow pipe 211, at this time the diverter cone 212 can transfer the defoaming agent to the inside of the diverter hole 213 respectively, at this time the diverter hole 213 can evenly transfer the defoaming agent to the inside of the barrel 202, so that The combined rotation of the outer stirring rod 214 and the inner stirring rod 220 can quickly complete the defoaming of the paint liquid, thereby improving the paint spraying quality of the product. Then, the rotation of the outer stirring rod 214 can also drive the cross bar 216 to rotate. The rotation of the cross bar 216 can drive the scraper 217 and the offset rod 221 to rotate at the same time. The rotation of the scraper 217 can effectively clean and break the adhesion material on the inner wall of the barrel 202. Finally, the rotation of the center shaft 203 can also drive the rotation of the lower delivery auger 222. The rotation of the lower delivery auger 222 can uniformly transfer the paint liquid in the barrel 202 downward to the inside of the execution pump 201. At this time, the execution pump 201 can be started to spray the paint liquid evenly onto the surface of the product. This promotes a high degree of automation of the robot execution part 2 and greatly improves the practicality of the robot terminal.

[0046] like Figure 1 As shown, a sensing end is disposed at the front end of the video sensor 108 .

[0047] Among them, the sensing end is convenient for observing the shape and position of the product.

[0048] like Figure 8 and Fig. 9 As shown, the surface of the diverter cone 212 is provided with grooves corresponding to the diverter holes 213 .

[0049] The groove can divert the falling defoaming agent, thereby facilitating the diversion hole 213 to evenly transfer the defoaming agent to the inside of the barrel 202, and facilitating the defoaming agent to evenly enter the inside of the paint liquid.

[0050] like Figure 4 As shown, the defoaming agent is contained in the defoaming cylinder 208, and the defoaming agent is in liquid state.

[0051] Among them, the defoaming agent can effectively remove the bubbles generated when the paint liquid is stirred, thereby improving the painting quality of the product.

[0052] like Figure 6 and Fig.11As shown, the conical ends of the scraper 217 are in opposite directions, and the opposite sides of the conical ends of the scraper 217 are provided with irregularly positioned blades.

[0053] The blade can crush the adhesive material scraped off by the scraper 217, so that the crushed material can be quickly dissolved in the paint liquid, effectively preventing the waste of the paint liquid.

[0054] like Figure 7 As shown, the directions of the offset rods 221 are all different.

[0055] The offset rod 221 can stir the paint liquid at the bottom of the barrel 202, thereby effectively improving the mixing efficiency of the paint liquid.

[0056] During operation, first, the video sensor 108 can conveniently observe the image and position of the product, and then the laser radar 109 can conveniently observe the distance between the paint spraying terminal and the product and control the processing position of the paint spraying terminal. At this time, the cylinder 112 is controlled to start, and the cylinder 112 can drive the auxiliary motor 114 and the robot execution part 2 to move downward at the same time, and then the execution pump 201 is controlled to start. When the execution pump 201 is started, the paint liquid in the barrel 202 can be sprayed onto the surface of the product, and then the auxiliary motor 114 is controlled to start. When the auxiliary motor 114 is started, it can drive the execution pump 201 to rotate. In this way, through the cooperation of the cylinder 112 and the auxiliary motor 114, it is convenient to spray paint on the product in all directions, and finally the main motor is controlled to start. 105 is started, the main motor 105 is started and can drive the front gear 106 to rotate, the front gear 106 rotates and can drive the middle adjustment gear 103 and the main carrier column 102 to rotate at the same time, the main carrier column 102 rotates and can drive the skeleton 107 and the quick change plate 110 to rotate at the same time, the quick change plate 110 rotates and can drive the middle carrier plate 111 and the cylinder 112 to rotate at the same time, the cylinder 112 rotates and can drive the L-shaped carrier 113 and the auxiliary motor 114 to rotate at the same time, the auxiliary motor 114 rotates and can drive the robot execution part 2 to rotate, so that the position adjustment of the painting terminal can be completed quickly, and the orientation conversion of the entire robot execution part 2 is convenient, so as to facilitate the robot terminal to process products at both sides;

[0057] Self-cleaning of the paint spraying terminal: first, control the reduction motor 205 to start. The reduction motor 205 can drive the right gear 206 to rotate when it starts. The rotation of the right gear 206 can drive the left gear 204 and the center shaft 203 to rotate at the same time. The rotation of the center shaft 203 can drive the outer stirring rod 214 and the inner stirring rod 220 to rotate at the same time. The paint liquid can be quickly stirred by the rotation of the outer stirring rod 214 and the inner stirring rod 220. Then control the ball valve 210 to open. At this time, the defoaming agent in the defoaming cylinder 208 will be transmitted to the diverter cone 212 through the inner slow pipe 211. At this time, the diverter cone 212 can transmit the defoaming agent to the inside of the diverter hole 213 respectively. At this time, the diverter hole 213 can evenly distribute the defoaming agent The paint liquid is then transferred to the interior of the barrel 202, so that the defoaming of the paint liquid can be quickly completed by cooperating with the rotation of the outer stirring rod 214 and the inner stirring rod 220, thereby improving the quality of the paint spraying of the product. Then, the rotation of the outer stirring rod 214 can also drive the cross bar 216 to rotate, and the rotation of the cross bar 216 can drive the scraper 217 and the offset rod 221 to rotate at the same time. The rotation of the scraper 217 can effectively clean and break the adhesion material on the inner wall of the barrel 202. Finally, the rotation of the center shaft 203 can also drive the rotation of the lower delivery auger 222. The rotation of the lower delivery auger 222 can transfer the paint liquid in the barrel 202 downward at a uniform speed to the interior of the execution pump 201. At this time, the execution pump 201 is started to spray the paint liquid evenly onto the surface of the product.

[0058] A method for spray painting with an AI-based quick-change visually guided robot comprises the following steps:

[0059] S1. First, observe the shape and position of the product through the video sensor 108, and then detect the processing position of the product by the laser radar 109;

[0060] S2. Then control the cylinder 112 to start to adjust the height of the execution pump 201, and then control the reduction motor 205 to start to drive the outer stirring rod 214 and the inner stirring rod 220 to rotate simultaneously, and complete the uniform mixing of the paint liquid in the barrel 202 through the rotation of the outer stirring rod 214 and the inner stirring rod 220. At this time, open the ball valve 210, and the inner slow pipe 211 transfers the defoaming agent to the inside of the barrel 202 through the diverter cone 212 and the diverter hole 213 respectively, and the rotation of the outer stirring rod 214 and the inner stirring rod 220 can also speed up the defoaming rate of the defoaming agent on the paint liquid. Finally, control the execution pump 201 to start and spray the treated paint liquid onto the surface of the product;

[0061] S3. Then control the auxiliary motor 114 to start to drive the execution pump 201 to rotate, and the surface of the product is sprayed in all directions by rotating the execution pump 201;

[0062] S4. Then, the scraper 217 is rotated by starting the reduction motor 205, and the scraper 217 rotates to clean the adhesive material on the inner wall of the barrel 202 in all directions, and the removed adhesive material is crushed by the blade on the scraper 217 to accelerate the fusion speed of the crushed material and the paint liquid, thereby avoiding the waste of the paint liquid;

[0063] S5. Finally, the main motor 105 is controlled to start the orientation conversion of the entire robot execution part 2, thereby facilitating the robot terminal to process products at both sides.

[0064] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An AI-based quick-change visual guidance robot terminal, comprising a robot adjustment part (1), characterized in that: The robot adjusting part (1) is located at the left end thereof and a robot executing part (2) is installed; The robot adjustment part (1) is used to control the position of the robot execution part (2); The robot adjustment part (1) comprises a robot chassis (101), a main support column (102) is embedded in a groove at a middle position of the robot chassis (101) through a bearing, a center adjustment gear (103) for steering is fixedly sleeved on the outer wall of the main support column (102) at the lower end thereof, a matching plate (104) is fixedly connected to the front surface of the upper end of the robot chassis (101), a main motor (105) is installed on the upper surface of the matching plate (104), and a front gear (106) meshing with the center adjustment gear (103) is installed on the output end of the main motor (105) at the upper side thereof; The robot adjustment part (1) also includes a skeleton (107), the left side of the lower end of the skeleton (107) is fixedly connected to the upper end of the main support column (102), the right side of the skeleton (107) is installed with a video sensor (108), the left side of the lower end of the skeleton (107) is installed with a laser radar (109), the lower surface of the upper end of the skeleton (107) is installed with a quick-change disk (110), the bottom of the quick-change disk (110) is connected to a middle load plate (111), the right side of the middle load plate (111) is fixedly installed with a cylinder (112) for adjusting the height, the lower end of the cylinder (112) is fixedly connected with an L-shaped carrier (113), and the right side of the upper end of the L-shaped carrier (113) is fixedly installed with an auxiliary motor (114); The robot execution part (2) comprises an execution pump (201), the right end face of the execution pump (201) is fixedly connected to the left end of the auxiliary motor (114), the liquid extraction port at the upper end of the execution pump (201) is sleeved with a barrel (202) on the outside, a middle shaft (203) is embedded in the middle of the upper surface of the barrel (202) through a bearing, a left gear (204) is fixedly sleeved on the outer wall of the upper end of the middle shaft (203), a reduction motor (205) is installed on the right side of the upper surface of the barrel (202), and a right gear (206) meshing with the left gear (204) is installed on the outer wall of the output shaft on the upper side of the reduction motor (205); The robot execution part (2) also includes a transfer groove (207), the transfer groove (207) is opened on the upper end surface of the median axis (203), the inner wall of the upper end of the transfer groove (207) is embedded with a defoaming tube (208) through a bearing, the lower surface of the left end of the defoaming tube (208) is fixedly connected with a frame plate (209), and the lower end of the frame plate (209) is installed on the upper surface of the barrel (202), the right outer wall of the lower end of the defoaming tube (208) is installed with a ball valve (210), the lower end of the defoaming tube (208) is connected with an inner slow pipe (211), the bottom surface of the inner cavity of the transfer groove (207) is fixedly connected with a diverter cone (212), and a diverter hole (213) is opened on the outer side of the diverter cone (212) and located on the outer wall of the median axis (203); Two outer stirring rods (214) are fixedly connected to the outer walls on both sides of the middle section of the median axis (203); two insertion holes (215) are provided on the sides of the two outer stirring rods (214) away from each other; the inner cavities of the insertion holes (215) are plugged with cross bars (216); two scrapers (217) are fixedly connected to the ends of the left and right cross bars (216) away from each other; matching rings (218) are fixedly sleeved on the outer walls of the left and right cross bars (216) close to one end; and the matching rings (218) are fixedly connected to the sides opposite to the outer stirring rods (214) with positioning springs (219); Two inner stirring rods (220) are fixedly connected to the ends of the left and right cross bars (216) close to each other, the upper surfaces of the lower ends of the two scrapers (217) are fixedly connected to offset rods (221), and the outer wall of the lower end of the middle axis (203) is fixedly sleeved with a lower output auger (222).

2. According to claim 1, the AI ​​quick-change visual guidance robot terminal is characterized in that: The front end of the video sensor (108) is provided with a sensing end.

3. The AI ​​quick-change visual guidance robot terminal according to claim 1 is characterized in that: The surface of the diverter cone (212) is provided with a groove corresponding to the diverter hole (213).

4. The AI ​​quick-change visual guidance robot terminal according to claim 1 is characterized in that: The defoaming cylinder (208) is filled with a defoaming agent in a liquid state.

5. The AI ​​quick-change visual guidance robot terminal according to claim 1 is characterized in that: The conical ends of the scraper (217) are in opposite directions, and the opposite sides of the conical ends of the scraper (217) are both provided with irregularly positioned blades, and the deflection rods (221) are all directed in different directions.

6. A method for spray painting based on an AI quick-change vision-guided robot, according to the AI ​​quick-change vision-guided robot terminal according to claim 1, characterized in that: The following steps are involved: S1. First, the shape and position of the product are observed by a video sensor (108), and then the processing position of the product by the painting terminal is detected by a laser radar (109); S2. Then control the cylinder (112) to start to adjust the height of the execution pump (201), and then control the reduction motor (205) to start to drive the outer stirring rod (214) and the inner stirring rod (220) to rotate simultaneously. The paint liquid in the barrel (202) is mixed evenly by the rotation of the outer stirring rod (214) and the inner stirring rod (220). At this time, the ball valve (210) is opened, and the inner slow pipe (211) transmits the defoaming agent evenly to the inside of the barrel (202) through the diverter cone (212) and the diverter hole (213). The rotation of the outer stirring rod (214) and the inner stirring rod (220) can also accelerate the defoaming rate of the defoaming agent on the paint liquid. Finally, control the execution pump (201) to start and spray the treated paint liquid onto the surface of the product; S3. Then control the auxiliary motor (114) to start to drive the execution pump (201) to rotate, and the surface of the product is sprayed in all directions by rotating the execution pump (201); S4. Then, the scraper (217) is controlled to rotate by starting the reduction motor (205). The scraper (217) rotates to clean the adhesive material on the inner wall of the barrel (202) in all directions. The removed adhesive material is crushed by the blade on the scraper (217), thereby accelerating the fusion speed of the crushed material and the paint liquid, and finally avoiding the waste of the paint liquid. S5. Finally, the main motor (105) is controlled to start the orientation conversion of the entire robot execution part (2), thereby facilitating the robot terminal to process products at both sides.

Images