A kind of automatic detection device and method of automobile surface paint defect

Abstract

The present invention relates to the field of automobile manufacturing technology, and discloses an automatic detection device and method for automobile surface paint defects, wherein an automatic detection device for automobile surface paint defects comprises a mobile platform, a mechanical arm connected to the mobile platform, and a paint surface detection mechanism connected to the mechanical arm; the present invention can construct a sealed chamber between an image acquisition device and a vehicle body paint surface, and apply suction away from the vehicle body to the vehicle body paint surface in the image acquisition area by generating negative pressure, thereby effectively driving the upper layer of the paint surface in the internal gap to bulge, crack, and other deformations, thereby facilitating the image acquisition device to accurately acquire image data at the defect, facilitating the image processing module to perform efficient identification, and facilitating subsequent repair workers to quickly point the corresponding defect position, and the entire detection process will not cause hard friction or collision to the paint surface, and will not cause wear to the intact paint surface.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile manufacturing, and more specifically, to an automatic detection device and method for automobile surface paint defects. Background Art

[0002] With the rapid development of my country's economy and the continuous improvement of people's living standards, cars have become an essential means of transportation for more and more families. At the same time, people's requirements for car performance and appearance are also getting higher and higher. The car painting effect is the most direct impression of the car's appearance. The car painting process is one of the four major processes in automobile manufacturing (stamping, welding, painting, and assembly), and its quality directly affects consumers' first impression of the car brand. Since the quality of car painting is affected by many factors, such as the paint itself, the painting environment, and the setting of various process parameters, car painting has become a high-precision and difficult task. Therefore, defect detection is still required after the car body is painted and dried.

[0003] At present, the coating defect detection process in my country's automobile enterprises has transitioned from manual detection to mechanical automated detection. Image acquisition is usually used to check whether there are irregular defects on the body paint surface. However, the following factors may cause gaps in the body paint surface while there are no defects on the outside:

[0004] Spraying Technique: Improper technique while spraying the paint may result in bubbles or uneven layers within the paint film.

[0005] Environmental factors: Environmental conditions such as temperature and humidity affect the drying and curing of paint during painting, which may cause internal voids to form.

[0006] Paint composition: The volatile components or curing agents of some paints may cause internal delamination or voids during the drying process.

[0007] Substrate problem: If the substrate is not properly prepared before painting, it may lead to poor adhesion of the paint film, resulting in the formation of space inside the paint film.

[0008] This kind of defect cannot be accurately judged by conventional image acquisition. Although thickness sensor detection can effectively detect internal gap defects, it is mostly fixed-point detection and cannot traverse the entire body. If the entire body is traversed, it will take too long and easily cause great work pressure on the staff. The rolling and pressing detection method can easily cause wear and tear on the body paint, which is usually a detection method abandoned by the industry. Summary of the invention

[0009] The purpose of the present invention is to provide a device and method for automatically detecting paint defects on a car surface in order to solve the above-mentioned problem.

[0010] The present invention provides an automatic detection device for paint defects on the surface of an automobile, comprising a mobile platform, a mechanical arm connected to the mobile platform, and a paint detection mechanism connected to the mechanical arm, wherein the mobile platform is used to drive the mechanical arm to move a set distance along a set direction, and the mechanical arm is used to drive the paint detection mechanism to contact the paint surface to be detected on the surface of the automobile in a set posture;

[0011] The paint surface detection mechanism includes a covering sealing mechanism connected to the mechanical arm, a linear driving mechanism arranged on the covering sealing mechanism, an image acquisition mechanism arranged in the covering sealing mechanism, and a suction mechanism arranged on the covering sealing mechanism;

[0012] The covering sealing mechanism comprises a hollow shell and a first expansion sealing component arranged at the lower end opening of the hollow shell, the first expansion sealing component is used to seal the gap between the lower end opening of the hollow shell and the paint surface to be tested on the surface of the automobile, and a sealed chamber is formed between the hollow shell, the first expansion sealing component and the paint surface to be tested on the surface of the automobile;

[0013] The suction mechanism is used to adjust the pressure in the sealed chamber;

[0014] The image acquisition mechanism is used to acquire image data of the paint surface to be inspected on the surface of the automobile under a set pressure state, and the linear drive mechanism is used to drive the image acquisition mechanism to move along the length direction of the hollow shell.

[0015] As a further optimization solution of the present invention, a negative pressure chamber adjustment mechanism is provided in the hollow shell, and an auxiliary sealing mechanism is connected between the negative pressure chamber adjustment mechanism and the inside of the hollow shell, and the negative pressure chamber adjustment mechanism is used to adjust the volume of the sealed chamber;

[0016] The negative pressure chamber regulating mechanism includes a moving component and a second expandable sealing component arranged on the moving component, the second expandable sealing component is used to seal the gap between the moving component and the first expandable sealing component, and the second expandable sealing component is connected to the first expandable sealing component through an auxiliary sealing mechanism.

[0017] As a further optimization scheme of the present invention, the first expandable sealing assembly includes a U-shaped groove arranged at the opening of the lower end of the hollow shell, a first expansion bladder fixedly connected to the inside of the U-shaped groove, a first channel arranged inside the hollow shell, and a first conduit fixedly connected to the hollow shell, and the first conduit is connected to the internal space of the first expansion bladder through the first channel.

[0018] As a further optimization scheme of the present invention, the linear drive mechanism includes a third motor fixedly connected to the outer wall of the hollow shell and a second screw movably connected to the inner wall of the hollow shell, the output shaft end of the third motor is connected to the second screw, and the image acquisition mechanism is threadedly connected to the second screw.

[0019] As a further optimization scheme of the present invention, the image acquisition mechanism includes an integrated shell slidably connected to the inner wall of the hollow shell, an image acquisition module, a ranging sensor and a lighting module arranged on the integrated shell, and a cable bundle tube passing through the hollow shell, a seal is provided between the cable bundle tube and the integrated shell, and the integrated shell is threadedly connected to the second screw.

[0020] As a further optimization solution of the present invention, the suction mechanism includes a second conduit connected to the hollow shell and a through hole provided inside the hollow shell, and the second conduit is connected to the sealed chamber through the through hole.

[0021] As a further optimization scheme of the present invention, the moving component includes a piston plate arranged in the hollow shell, a first screw movably connected to the inner wall of the hollow shell, and a second motor fixedly connected to the outer wall of the hollow shell, the output shaft end of the second motor is connected to the first screw, the piston plate is threadedly connected to the first screw, and the piston plate is provided with a through hole for the second screw to pass through.

[0022] As a further optimization scheme of the present invention, the second expansion sealing assembly includes an I-shaped groove arranged at the lower end of the piston plate and a second expansion bladder fixedly connected to the inside of the I-shaped groove, the second expansion bladder is used to seal the gap between the piston plate and the first expansion bladder, and the second expansion bladder is connected to the first channel through an auxiliary sealing mechanism.

[0023] As a further optimization scheme of the present invention, the auxiliary sealing mechanism includes a coaxially arranged outer telescopic bellows and an inner telescopic bellows, a second channel arranged inside the hollow shell and a third channel arranged inside the piston plate, the two ends of the outer telescopic bellows and the inner telescopic bellows are respectively fixedly connected to the piston plate and the inner wall of the hollow shell, an auxiliary sealing cavity is formed between the inner telescopic bellows, the inner wall of the hollow shell and the piston plate, the auxiliary sealing cavity is connected to the sealing chamber through perforations and the threaded connection between the first screw and the piston plate, an annular sealing channel is formed between the outer telescopic bellows, the inner telescopic bellows, the inner wall of the hollow shell and the piston plate, one end of the second channel and the third channel are both connected to the annular sealing channel, and the other ends of the second channel and the third channel are respectively connected to the first channel and the internal space of the second expansion bladder.

[0024] A method for automatically detecting paint defects on a car surface, using the above-mentioned automatic detection device for paint defects on a car surface, specifically comprises the following steps:

[0025] Step 100: driving the robot arm and the paint surface detection mechanism to move to the set coordinates through the mobile platform;

[0026] Step 200, driving the paint surface detection mechanism by the mechanical arm to move toward the paint surface area to be detected on the surface of the automobile in a set posture, until the distance between the lower end opening of the hollow shell and the paint surface to be detected on the surface of the automobile reaches a set value;

[0027] Step 300: The gap between the hollow shell and the paint surface to be tested on the automobile surface is sealed by the first expandable sealing component. At this time, the first expandable sealing component is pressed on the paint surface to be tested on the automobile surface at a set pressure, and a sealed chamber is formed between the hollow shell, the first expandable sealing component and the paint surface to be tested on the automobile surface;

[0028] Step 400, adjusting the pressure in the sealed chamber to a set value through a suction mechanism;

[0029] Step 500, acquiring image data of the paint surface to be inspected on the surface of the automobile within the coverage area of ​​the sealed chamber by an image acquisition mechanism;

[0030] Step 600, reset, and repeat the above steps 100 to 500 until the entire vehicle body is traversed.

[0031] The beneficial effects of the present invention are as follows: the present invention can construct a sealed chamber between the image acquisition device and the vehicle body paint surface, and by generating negative pressure, apply suction to the vehicle body paint surface in the image acquisition area away from the vehicle body, thereby effectively driving the upper paint surface in the internal gap to bulge, crack, and other deformations, thereby facilitating the image acquisition device to accurately acquire image data at the defect, facilitating the image processing module to perform efficient identification, and facilitating subsequent repair personnel to quickly locate the corresponding defect position, and the entire detection process will not cause hard friction or collision to the paint surface, and will not cause wear to the intact paint surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 It is a structural schematic diagram of the paint surface detection mechanism of the present invention;

[0034] Figure 3 It is a diagram showing the coordination of the mechanical arm and the paint surface detection mechanism of the present invention;

[0035] Figure 4 is a partial cross-sectional view of the paint surface detection mechanism of the present invention;

[0036] Figure 5 The present invention Figure 2 A magnified view of point A in FIG.

[0037] Figure 6 The present invention Figure 2 A magnified view of point B in FIG.

[0038] Figure 7 The present invention Figure 4 A magnified view of point C in FIG.

[0039] Figure 8 The present invention Figure 4 A magnified view at D in FIG.

[0040] Fig. 9 It is a structural schematic diagram of the mobile platform of the present invention.

[0041] In the figure: 1, mobile platform; 101, fixed track; 102, sliding platform; 103, first motor; 2, mechanical arm; 3, paint surface detection mechanism; 31, covering sealing mechanism; 3101, hollow shell; 3102, U-shaped groove; 3103, first expansion bladder; 3104, first conduit; 3105, first channel; 32, negative pressure chamber adjustment mechanism; 3201, piston plate; 3202, I-shaped groove; 3203, second expansion bladder; 3204, first screw; 3205, first Two motors; 33. Linear drive mechanism; 3301. Third motor; 3302. Second screw; 34. Image acquisition mechanism; 3401. Integrated shell; 3402. Image acquisition module; 3403. Distance measurement sensor; 3404. Illumination module; 3405. Cable cluster tube; 35. Auxiliary sealing mechanism; 3501. External telescopic bellows; 3502. Internal telescopic bellows; 3503. Second channel; 3504. Third channel; 36. Suction mechanism; 3601. Second conduit; 3602. Through hole. DETAILED DESCRIPTION

[0042] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only intended to enable those skilled in the art to better understand and implement the subject matter described herein. In addition, the features described relative to some examples may also be combined in other examples.

[0043] like Figure 1-Figure 9 As shown, an automatic detection device for paint defects on the surface of an automobile comprises a mobile platform 1, a mechanical arm 2 connected to the mobile platform 1, and a paint detection mechanism 3 connected to the mechanical arm 2, wherein the mobile platform 1 is used to drive the mechanical arm 2 to move a set distance along a set direction, and the mechanical arm 2 is used to drive the paint detection mechanism 3 to contact the paint surface to be detected on the surface of the automobile in a set posture;

[0044] The paint surface detection mechanism 3 includes a covering sealing mechanism 31 connected to the robot arm 2, a linear driving mechanism 33 arranged on the covering sealing mechanism 31, an image acquisition mechanism 34 arranged in the covering sealing mechanism 31, and a suction mechanism 36 arranged on the covering sealing mechanism 31;

[0045] The covering sealing mechanism 31 comprises a hollow shell 3101 and a first expansion sealing component provided at the lower end opening of the hollow shell 3101. The first expansion sealing component is used to seal the gap between the lower end opening of the hollow shell 3101 and the paint surface to be tested on the surface of the automobile. A sealed chamber is formed between the hollow shell 3101, the first expansion sealing component and the paint surface to be tested on the surface of the automobile.

[0046] The suction mechanism 36 is used to adjust the pressure in the sealed chamber;

[0047] The image acquisition mechanism 34 is used to obtain image data of the paint surface to be inspected on the surface of the automobile under a set pressure state, and the linear drive mechanism 33 is used to drive the image acquisition mechanism 34 to move along the length direction of the hollow shell 3101.

[0048] It should be noted that when automatically detecting paint defects on the surface of a car, the mobile platform 1 drives the mechanical arm 2 and the paint surface detection mechanism 3 to move to the set coordinates;

[0049] The paint surface detection mechanism 3 is driven by the robot arm 2 to move toward the paint surface area to be detected on the surface of the automobile in a set posture until the distance between the lower end opening of the hollow shell 3101 and the paint surface to be detected on the surface of the automobile reaches a set value;

[0050] The gap between the hollow shell 3101 and the paint surface to be tested on the automobile surface is sealed by the first inflatable sealing component. At this time, the first inflatable sealing component is pressed on the paint surface to be tested on the automobile surface with a set pressure, and a sealed chamber is formed between the hollow shell 3101, the first inflatable sealing component and the paint surface to be tested on the automobile surface;

[0051] The pressure in the sealed chamber is adjusted to a set value through the suction mechanism 36;

[0052] The image data of the paint surface to be inspected on the surface of the automobile within the coverage area of ​​the sealed chamber is acquired by the image acquisition mechanism 34;

[0053] Reset, and repeat the above process until the entire vehicle body is traversed;

[0054] By generating negative pressure, suction is applied to the paint surface of the vehicle body in the image acquisition area away from the vehicle body, which can effectively cause the upper paint surface in the internal gap to bulge, crack, and other deformations, making it easier for the image acquisition device to accurately collect image data at the defect and facilitate efficient identification by the image processing module.

[0055] In one embodiment of the present invention, Figure 2 and Figure 4 As shown, a negative pressure chamber adjustment mechanism 32 is provided in the hollow shell 3101, and an auxiliary sealing mechanism 35 is connected between the negative pressure chamber adjustment mechanism 32 and the inside of the hollow shell 3101, and the negative pressure chamber adjustment mechanism 32 is used to adjust the volume of the sealed chamber;

[0056] The negative pressure chamber regulating mechanism 32 includes a moving component and a second expandable sealing component arranged on the moving component. The second expandable sealing component is used to seal the gap between the moving component and the first expandable sealing component. The second expandable sealing component is connected to the first expandable sealing component through an auxiliary sealing mechanism 35.

[0057] It should be noted that, since the area covered by the hollow shell 3101 cannot evenly divide the surface area of ​​the vehicle body, there will definitely be a small part of irregular areas or edge areas. In order to enable the hollow shell 3101 to adapt to the corresponding area, it is necessary to adjust the sealing chamber of the covered area, and when adjusting, it is necessary to consider the removed area as a blank area. Therefore, it is necessary to perform secondary sealing on the gap between the sealed chamber and the adjusted non-working sealed space to ensure that the sealed chamber can always maintain a stable sealing state. Therefore, a negative pressure chamber adjustment mechanism 32 is provided, which can drive the second expansion sealing component to move in the hollow shell 3101 through a moving component, so as to adjust the volume of the initial sealing chamber, and the removed area is sealed by the auxiliary sealing mechanism 35, which will not affect the sealing of the adjusted sealed chamber, and the second expansion sealing component is connected to the first expansion sealing component through the auxiliary sealing mechanism 35, and can be synchronously regulated to achieve synchronization of sealing.

[0058] In one embodiment of the present invention, Figure 4-5 and Figure 7 As shown, the first expandable sealing assembly includes a U-shaped groove 3102 provided at the lower end opening of the hollow shell 3101, a first expansion bladder 3103 fixedly connected to the U-shaped groove 3102, a first channel 3105 provided inside the hollow shell 3101, and a first conduit 3104 fixedly connected to the hollow shell 3101, and the first conduit 3104 is connected to the internal space of the first expansion bladder 3103 through the first channel 3105.

[0059] It should be noted that, as mentioned above, when the lower opening of the hollow shell 3101 moves to the set distance of the paint surface to be tested on the surface of the automobile, the pump body is connected to the first conduit 3104. The pump body can be an air pump or a hydraulic pump. By introducing gas or liquid, the gas or liquid flows through the first conduit 3104 and the first channel 3105 in sequence and then enters the first expansion bladder 3103, so that the first expansion bladder 3103 continues to expand and seals the gap between the lower opening of the hollow shell 3101 and the paint surface to be tested on the surface of the automobile, until the set pressure is reached in the first expansion bladder 3103. The first expansion bladder 3103 is pressed on the paint surface to be tested on the surface of the automobile with the set pressure, thereby forming a stable sealing effect. The pressure should be large enough to overcome the negative pressure generated in the sealed chamber.

[0060] In one embodiment of the present invention, Figure 4 and Figure 8 As shown, the linear drive mechanism 33 includes a third motor 3301 fixedly connected to the outer wall of the hollow shell 3101 and a second screw 3302 movably connected to the inner wall of the hollow shell 3101, the output shaft end of the third motor 3301 is connected to the second screw 3302, and the image acquisition mechanism 34 is threadedly connected to the second screw 3302.

[0061] It should be noted that while adjusting the volume of the sealed chamber and when corresponding defects are detected, the linear drive mechanism 33 can be used to drive the image acquisition mechanism 34 to move in the hollow shell 3101 to achieve position adjustment and capture more accurate image data. Specifically, the second screw 3302 is driven to rotate by the third motor 3301. Since the second screw 3302 is threadedly connected to the image acquisition mechanism 34, when the second screw 3302 rotates, the image acquisition mechanism 34 can be driven to move along the length direction of the second screw 3302, that is, along the length direction of the hollow shell 3101.

[0062] In one embodiment of the present invention, Figure 6 As shown, the image acquisition mechanism 34 includes an integrated shell 3401 slidably connected to the inner wall of the hollow shell 3101, an image acquisition module 3402, a ranging sensor 3403 and a lighting module 3404 arranged on the integrated shell 3401, and a cable bundle tube 3405 passing through the hollow shell 3101, a seal is provided between the cable bundle tube 3405 and the integrated shell 3401, and the integrated shell 3401 is threadedly connected to the second screw 3302.

[0063] It should be noted that when the image acquisition mechanism 34 acquires image data of the paint surface to be detected on the surface of the automobile, it irradiates the paint surface to be detected on the surface of the automobile through the illumination module 3404 to provide a light source, and then acquires the image of the paint surface to be detected on the surface of the automobile through the image acquisition module 3402. The ranging sensor 3403 is used to obtain the distance between the paint surface to be detected on the surface of the automobile. On the one hand, it is used when constructing a sealed chamber, and on the other hand, it is used for error calculation during image data processing. This is a prior art and will not be repeated here.

[0064] In one embodiment of the present invention, Figure 8 As shown, the suction mechanism 36 includes a second conduit 3601 connected to the hollow shell 3101 and a through hole 3602 provided inside the hollow shell 3101 , and the second conduit 3601 is connected to the sealed chamber through the through hole 3602 .

[0065] It should be noted that, as mentioned above, after the sealed chamber is formed, an external air pump is connected through the second conduit 3601, and the gas in the sealed chamber is extracted to form a stable negative pressure environment in the sealed chamber. The suction force generated by the negative pressure can force the defect to undergo deformations such as bulging and cracking, thereby enabling image acquisition and identification through the image acquisition module 3402.

[0066] In one embodiment of the present invention, Figure 4-5 and Figure 7-8 As shown, the moving component includes a piston plate 3201 arranged in a hollow shell 3101, a first screw 3204 movably connected to the inner wall of the hollow shell 3101, and a second motor 3205 fixedly connected to the outer wall of the hollow shell 3101, the output shaft end of the second motor 3205 is connected to the first screw 3204, the piston plate 3201 is threadedly connected to the first screw 3204, and the piston plate 3201 is provided with a through hole for the second screw 3302 to pass through.

[0067] The second expansion sealing assembly includes a straight groove 3202 provided at the lower end of the piston plate 3201 and a second expansion bladder 3203 fixedly connected to the straight groove 3202. The second expansion bladder 3203 is used to seal the gap between the piston plate 3201 and the first expansion bladder 3103. The second expansion bladder 3203 is connected to the first channel 3105 via an auxiliary sealing mechanism 35.

[0068] It should be noted that, as mentioned above, when adjusting the volume of the sealed chamber, the first screw 3204 is driven to rotate by the second motor 3205. When the first screw 3204 rotates, the piston plate 3201 can be driven to move along the length direction of the hollow shell 3101. The first screw 3204 is in close contact with the inner wall of the hollow shell 3101. When the first screw 3204 moves to the set position, gas or liquid is introduced into the first conduit 3104 through an external air pump or hydraulic pump. The gas or liquid flows through the first channel 3105 and the auxiliary sealing mechanism 35 and then enters the second expansion capsule 3203, so that the second expansion capsule 3203 and the first expansion capsule 3103 can be expanded synchronously, and the internal pressure is finally balanced, so that the second expansion capsule 3203 can seal the gap between the piston plate 3201, the first expansion capsule 3103 and the paint surface to be tested on the surface of the automobile, thereby forming a stable sealed chamber;

[0069] It should be noted that the positions at which the first expansion bladder 3103 and the second expansion bladder 3203 contact the paint surface to be tested on the surface of the automobile are different. The shape of the paint surface to be tested on the surface of the automobile may be affected by the shape of the vehicle body. The final deformation amounts of the first expansion bladder 3103 and the second expansion bladder 3203 are different, but it will not affect the balance of their internal pressures. In essence, a stable pressing force can be formed on the paint surface to be tested on the surface of the automobile and the internal area can be sealed.

[0070] In one embodiment of the present invention, Figure 7 As shown, the auxiliary sealing mechanism 35 includes an outer telescopic bellows 3501 and an inner telescopic bellows 3502 coaxially arranged, a second channel 3503 arranged inside the hollow shell 3101, and a third channel 3504 arranged inside the piston plate 3201. Both ends of the outer telescopic bellows 3501 and the inner telescopic bellows 3502 are fixedly connected to the piston plate 3201 and the inner wall of the hollow shell 3101, respectively, and an auxiliary sealing cavity is formed between the inner telescopic bellows 3502, the inner wall of the hollow shell 3101 and the piston plate 3201. The auxiliary sealing cavity is connected with the sealing chamber through the perforation and the threaded connection between the first screw 3204 and the piston plate 3201. An annular sealing channel is formed among the outer telescopic bellows 3501, the inner telescopic bellows 3502, the inner wall of the hollow shell 3101 and the piston plate 3201. One end of the second channel 3503 and the third channel 3504 are both connected with the annular sealing channel, and the other ends of the second channel 3503 and the third channel 3504 are respectively connected with the first channel 3105 and the internal space of the second expansion bladder 3203.

[0071] It should be noted that when negative pressure is formed in the sealed chamber by the suction mechanism 36, the auxiliary sealing cavity formed between the inner telescopic bellows 3502, the inner wall of the hollow shell 3101 and the piston plate 3201 can effectively prevent the space in the sealed chamber from connecting with the vacant area of ​​the vehicle body through the perforation or screw hole, so that the sealed chamber can always remain sealed. When adjusting the expansion deformation of the first expansion bladder 3103 and the second expansion bladder 3203, the gas or liquid flows through the first conduit 3104 and the first channel 3105 in turn and enters the first expansion bladder 3103 and the second channel 3503 respectively. The gas or liquid entering the second channel 3503 continues to flow through the annular sealing channel and the third channel 3504 and then enters the second expansion bladder 3203, so that the first expansion bladder 3103 and the second expansion bladder 3203 can finally be adjusted synchronously and reach the same pressure state.

[0072] In one embodiment of the present invention, Figure 1 and Fig. 9 As shown, the mobile platform 1 includes a fixed track 101, a sliding platform 102 slidably connected to the fixed track 101, a first motor 103 fixedly connected to the sliding platform 102, and a wheel body connected to the output shaft end of the first motor 103. The wheel body is in close contact with the fixed track 101. The first motor 103 drives the wheel body to move along the fixed track 101, thereby driving the sliding platform 102 to move in the same direction and at the same distance.

[0073] The present embodiment is described above, but the present embodiment is not limited to the above-mentioned specific implementation manner. The above-mentioned specific implementation manner is merely illustrative and not restrictive. Under the guidance of the present embodiment, ordinary technicians in this field can also make many forms, which are all within the protection of the present embodiment.

Claims

1. An automatic detection device for paint defects on automobile surface, characterized in that: The invention comprises a mobile platform (1), a mechanical arm (2) connected to the mobile platform (1), and a paint surface detection mechanism (3) connected to the mechanical arm (2), wherein the mobile platform (1) is used to drive the mechanical arm (2) to move a set distance along a set direction, and the mechanical arm (2) is used to drive the paint surface detection mechanism (3) to contact the paint surface to be detected on the surface of the automobile in a set posture; The paint surface detection mechanism (3) comprises a covering sealing mechanism (31) connected to the mechanical arm (2), a linear driving mechanism (33) provided on the covering sealing mechanism (31), an image acquisition mechanism (34) provided in the covering sealing mechanism (31), and a suction mechanism (36) provided on the covering sealing mechanism (31); The covering sealing mechanism (31) comprises a hollow shell (3101) and a first expansion sealing component arranged at the lower end opening of the hollow shell (3101), the first expansion sealing component being used to seal the gap between the lower end opening of the hollow shell (3101) and the paint surface to be tested on the surface of the automobile, and a sealed chamber is formed between the hollow shell (3101), the first expansion sealing component and the paint surface to be tested on the surface of the automobile; The suction mechanism (36) is used to adjust the pressure in the sealed chamber; The image acquisition mechanism (34) is used to acquire image data of the paint surface to be inspected on the surface of the automobile under a set pressure state, and the linear drive mechanism (33) is used to drive the image acquisition mechanism (34) to move along the length direction of the hollow shell (3101).

2. The automatic detection device for paint defects on automobile surface according to claim 1 is characterized in that: A negative pressure chamber adjustment mechanism (32) is provided in the hollow shell (3101), and an auxiliary sealing mechanism (35) is connected between the negative pressure chamber adjustment mechanism (32) and the inside of the hollow shell (3101), wherein the negative pressure chamber adjustment mechanism (32) is used to adjust the volume of the sealed chamber; The negative pressure chamber adjustment mechanism (32) comprises a moving component and a second expandable sealing component arranged on the moving component, the second expandable sealing component is used to seal the gap between the moving component and the first expandable sealing component, and the second expandable sealing component is connected to the first expandable sealing component via an auxiliary sealing mechanism (35).

3. The automatic detection device for automobile surface paint defects according to claim 2 is characterized in that: The first inflatable sealing component comprises a U-shaped groove (3102) provided at the opening of the lower end of the hollow shell (3101), a first inflatable bladder (3103) fixedly connected to the U-shaped groove (3102), a first channel (3105) provided inside the hollow shell (3101), and a first conduit (3104) fixedly connected to the hollow shell (3101), wherein the first conduit (3104) is connected to the internal space of the first inflatable bladder (3103) via the first channel (3105).

4. The automatic detection device for automobile surface paint defects according to claim 3 is characterized in that: The linear drive mechanism (33) comprises a third motor (3301) fixedly connected to the outer wall of the hollow shell (3101) and a second screw (3302) movably connected to the inner wall of the hollow shell (3101), the output shaft end of the third motor (3301) is connected to the second screw (3302), and the image acquisition mechanism (34) is threadedly connected to the second screw (3302).

5. The automatic detection device for automobile surface paint defects according to claim 4 is characterized in that: The image acquisition mechanism (34) comprises an integrated shell (3401) slidably connected to the inner wall of the hollow shell (3101), an image acquisition module (3402), a distance measuring sensor (3403) and an illumination module (3404) arranged on the integrated shell (3401), and a cable bundle tube (3405) passing through the hollow shell (3101), a sealing member is provided between the cable bundle tube (3405) and the integrated shell (3401), and the integrated shell (3401) is threadedly connected to the second screw (3302).

6. The automatic detection device for automobile surface paint defects according to claim 5 is characterized in that: The suction mechanism (36) comprises a second conduit (3601) connected to the hollow shell (3101) and a through hole (3602) provided inside the hollow shell (3101); the second conduit (3601) is connected to the sealed chamber via the through hole (3602).

7. The automatic detection device for automobile surface paint defects according to claim 6 is characterized in that: The moving component comprises a piston plate (3201) disposed in a hollow shell (3101), a first screw rod (3204) movably connected to the inner wall of the hollow shell (3101), and a second motor (3205) fixedly connected to the outer wall of the hollow shell (3101), wherein the output shaft end of the second motor (3205) is connected to the first screw rod (3204), the piston plate (3201) is threadedly connected to the first screw rod (3204), and a through hole is provided on the piston plate (3201) for the second screw rod (3302) to pass through.

8. The automatic detection device for automobile surface paint defects according to claim 7 is characterized in that: The second expansion sealing assembly comprises an I-shaped groove (3202) provided at the lower end of the piston plate (3201) and a second expansion bladder (3203) fixedly connected to the inside of the I-shaped groove (3202), wherein the second expansion bladder (3203) is used to seal the gap between the piston plate (3201) and the first expansion bladder (3103), and the second expansion bladder (3203) is connected to the first channel (3105) via an auxiliary sealing mechanism (35).

9. The automatic detection device for automobile surface paint defects according to claim 8, characterized in that: The auxiliary sealing mechanism (35) comprises an outer telescopic bellows (3501) and an inner telescopic bellows (3502) which are coaxially arranged, a second channel (3503) arranged inside the hollow shell (3101), and a third channel (3504) arranged inside the piston plate (3201). Both ends of the outer telescopic bellows (3501) and the inner telescopic bellows (3502) are fixedly connected to the piston plate (3201) and the inner wall of the hollow shell (3101), respectively. An auxiliary sealing space is formed between the inner telescopic bellows (3502), the inner wall of the hollow shell (3101), and the piston plate (3201). The auxiliary sealing cavity is connected to the sealing chamber through the perforation and the threaded connection between the first screw (3204) and the piston plate (3201); an annular sealing channel is formed between the outer telescopic bellows (3501), the inner telescopic bellows (3502), the inner wall of the hollow shell (3101) and the piston plate (3201); one end of the second channel (3503) and the third channel (3504) are both connected to the annular sealing channel, and the other ends of the second channel (3503) and the third channel (3504) are respectively connected to the first channel (3105) and the internal space of the second expansion bladder (3203).

10. A method for automatically detecting paint defects on a car surface, characterized in that: The automatic detection device for automobile surface paint defects according to any one of claims 1 to 9 is used, which specifically comprises the following steps: Step 100: driving the robot arm (2) and the paint surface detection mechanism (3) to move to a set coordinate by using the mobile platform (1); Step 200, driving the paint surface detection mechanism (3) to move toward the paint surface area to be detected on the surface of the automobile in a set posture by means of the mechanical arm (2), until the distance between the lower end opening of the hollow shell (3101) and the paint surface to be detected on the surface of the automobile reaches a set value; Step 300, sealing the gap between the hollow shell (3101) and the paint surface to be tested on the surface of the automobile by means of a first expandable sealing component. At this time, the first expandable sealing component is pressed onto the paint surface to be tested on the surface of the automobile at a set pressure, and a sealed chamber is formed between the hollow shell (3101), the first expandable sealing component and the paint surface to be tested on the surface of the automobile; Step 400, adjusting the pressure in the sealed chamber to a set value through the suction mechanism (36); Step 500, acquiring image data of the paint surface to be inspected on the surface of the automobile within the coverage area of ​​the sealed chamber through the image acquisition mechanism (34); Step 600, reset, and repeat the above steps 100 to 500 until the entire vehicle body is traversed.

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