An automatic spraying device based on three-dimensional visual imaging

Abstract

The present invention discloses an automatic spraying device based on three-dimensional visual imaging, and the present invention relates to the field of automatic spraying, including a base, a collaborative robot is installed on the top of the base, racks are symmetrically and movably connected on both sides of the inner cavity of a tooling workbench, light sources are symmetrically installed on the top of the opposite sides of the two racks, an adjustment frame is rotatably connected in the inner cavity of the tooling workbench, and a three-dimensional visual imaging component is arranged on the top of the tooling workbench. The automatic spraying device based on three-dimensional visual imaging described in the present invention can effectively improve the efficiency of spraying. Compared with manual spraying, the automated spraying of this device can process a large number of optical elements in a shorter time, and at the same time can ensure the spraying quality. The collaborative robot cooperates with the three-dimensional visual imaging component to ensure that the coating is evenly distributed on the surface of the optical element through precise parameter control, thereby effectively improving the optical performance of the optical element.

Description

Technical Field

[0001] The invention relates to the field of automatic spraying, and in particular to an automatic spraying device based on three-dimensional visual imaging. Background Art

[0002] In optical imaging systems, large-sized optical components such as prisms and reflectors often need to be sprayed to evenly coat the outer surface of the optical components. Currently, optical component spraying is mostly done manually, with a handheld spray gun spraying the pre-mixed paint onto the product surface. The main disadvantages of this method include:

[0003] Poor quality stability: its thickness is uneven. During manual operation, it is difficult to keep the force, speed, distance, etc. of spraying completely consistent, resulting in uneven coating thickness, which will affect the optical properties of optical components, such as changing the refraction, reflection and other characteristics of light, reducing the imaging quality or optical effect of optical components; there are flaws and defects, and manual operation is prone to problems such as leakage, dripping, and bubbles. Leakage will cause some areas of the optical component to have no coating protection, affecting its service life and performance; dripping will form uneven bulges on the surface of the component, affecting the propagation of light; bubbles will cause voids inside the coating, reducing the adhesion and optical performance of the coating;

[0004] Low production efficiency: The spraying speed is slow. Manual spraying requires workers to operate the optical components one by one. Compared with automated spraying equipment, the spraying speed is slow and it is difficult to meet the needs of large-scale production, which will extend the production cycle and increase production costs. The high labor intensity leads to fluctuations in work efficiency. Long-term manual spraying work can easily make workers tired. In a fatigued state, the workers' operating accuracy and speed will decrease, further affecting production efficiency. In addition, workers need to frequently change spraying tools and adjust spraying angles, etc. These operations will also take a lot of time.

[0005] Harmful to workers' health: Toxic substances. The paint used for spraying optical components usually contains organic solvents, heavy metals and other harmful substances. During the spraying process, these substances will evaporate into gases. If workers inhale these harmful gases for a long time, it will cause damage to the respiratory system, nervous system, etc., and cause health problems such as respiratory diseases, lung diseases, and nervous system diseases; Contact hazards: Direct contact of workers' skin with paint may cause skin allergies, dermatitis and other problems. If the paint enters the eyes, it will also cause damage to the eyes;

[0006] High cost: labor cost, a large number of skilled workers need to be hired for spraying operation, the labor cost is high, and with the changes in the labor market, the labor cost will continue to rise; serious material waste: due to the inaccuracy of manual operation, it is easy to lead to waste of paint, for example, overspraying may occur during the spraying process, which increases the use of paint and increases production costs;

[0007] Poor repeatability: For some optical components that require high precision and high consistency, manual spraying cannot guarantee that the results of each spraying are exactly the same. This means that if multiple optical components of the same specifications need to be produced, manual spraying is difficult to meet the requirements, which is not conducive to the standardized production of products.

[0008] Therefore, it is necessary to propose an automatic spraying device based on three-dimensional visual imaging to solve the above problems. Summary of the invention

[0009] The main purpose of the present invention is to provide an automatic spraying device based on three-dimensional visual imaging, which can effectively solve the problems in the background technology.

[0010] To achieve the above object, the technical solution adopted by the present invention is:

[0011] An automatic spraying device based on three-dimensional visual imaging includes a base, a collaborative robot is installed on the top of the base, a nozzle and a liquid storage tank connected by an infusion tube are installed on the collaborative robot, a tooling workbench is arranged on one side of the base, and a three-dimensional visual imaging component electrically connected to the collaborative robot is arranged above the tooling workbench.

[0012] Furthermore, a stirring device is installed on the liquid storage tank.

[0013] Furthermore, the stirring device includes a first servo motor fixedly installed at the center position above the liquid storage tank, and a plurality of stirring rollers rotatably arranged in the liquid storage tank.

[0014] Furthermore, racks are symmetrically and movably connected in the side walls on both sides of the tooling workbench, and light sources are symmetrically installed on the surfaces of the two racks facing the side of the tooling workbench. At the same time, rotating motors are symmetrically installed on both sides of the tooling workbench, and the rotating motors are installed with a third gear through a first rotating shaft. The third gear extends into the side wall of the tooling workbench, and the third gear is meshed with the racks.

[0015] Furthermore, a through hole is provided on the tooling workbench, an adjusting frame is rotatably connected in the through hole, and a flip driving device for driving the adjusting frame to rotate is provided on the tooling workbench.

[0016] Furthermore, a fixed positioning component is fixedly installed on the inner surface of the side wall of the adjusting frame, and a linear motor is installed on the inner surface of one side wall of the adjusting frame, and a movable positioning component is installed on the linear motor.

[0017] Furthermore, the fixed positioning assembly and the movable positioning assembly both include a frame, on which a fixed block and a movable block are provided, the fixed block is fixedly provided on the frame, the movable block can move closer to and away from the fixed block, and the frame is provided with a movable block driving device for driving the movable block to move.

[0018] Compared with the prior art, the present invention provides an automatic spraying device based on three-dimensional visual imaging, which has the following beneficial effects:

[0019] 1. The automatic spraying device based on three-dimensional visual imaging can effectively improve the efficiency of spraying. Compared with manual spraying, the automatic spraying of this device can process a large number of optical components in a shorter time, while ensuring the spraying quality. The collaborative robot cooperates with the three-dimensional visual imaging component to ensure that the paint is evenly distributed on the surface of the optical component through precise parameter control, which can effectively improve the optical performance of the optical component and reduce errors during spraying. Manual spraying is easily affected by factors such as the operator's technical level and working status, while this device can operate according to preset procedures and parameters, avoiding problems such as jitter and uneven thickness that may be caused by manual operation.

[0020] 2. The automatic spraying device based on three-dimensional visual imaging can play an important role in improving the efficiency and quality control of the spraying process of large-size optical components. It can automate and digitize the original product inspection process, save the workload of manual operation, and improve work efficiency and accuracy. Compared with the existing technology, the work intensity of operators is greatly reduced, the health protection of heat sources is greatly improved, the automation and digitization of the process are greatly improved, the work efficiency is greatly optimized, and the quality and output of product spraying are greatly improved.

[0021] 3. The automatic spraying device based on three-dimensional visual imaging can drive the middle stirring rod and the first gear to rotate by starting the first servo motor. After the first gear rotates, it can mesh with the second gear, thereby driving the other three stirring rollers to rotate. At this time, the spraying stock solution in the inner cavity of the liquid storage tank can be stirred, which can effectively improve the mixing efficiency of the stock solution. In the process of the stock solution being discharged, it can be filtered through a filter net to ensure the quality of the stock solution and further improve the spraying efficiency of the optical element. At the same time, the stock solution in the inner cavity of the liquid storage tank can be heated by the electric heating wire to prevent the stock solution from freezing when the temperature is low.

[0022] 4. The automatic spraying device based on three-dimensional visual imaging can drive the third gear to rotate by starting the rotating motor, so that the third gear can engage with the rack, thereby driving the light source to adjust the height, and when the three-dimensional visual imaging component performs three-dimensional visual imaging, its accuracy can be improved.

[0023] 5. The automatic spraying device based on three-dimensional visual imaging can drive the mobile positioning component to move by starting the set linear motor, so as to adjust the distance between the mobile positioning component and the fixed positioning component, so as to position the optical components of different lengths that need to be sprayed. At the same time, by starting the set second servo motor, the lead screw can be driven to rotate, so that the lead screw slider drives the sliding block to rise and fall, thereby controlling the distance between the mobile block and the fixed block, so as to position the optical components of different thicknesses that need to be sprayed.

[0024] 6. The automatic spraying device based on three-dimensional visual imaging can drive the optical element to flip through the adjustment frame by starting the set rotating drive motor, so that the other side can be sprayed, which can greatly improve the spraying efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the reverse internal structure of the liquid storage tank of the present invention;

[0027] Figure 3 It is a structural schematic diagram of the tooling workbench of the present invention;

[0028] Figure 4 It is a schematic diagram of the structure of the rack of the present invention;

[0029] Figure 5 It is a structural schematic diagram of the positioning component of the present invention.

[0030] In the figure: 1. base; 2. collaborative robot; 3. nozzle; 4. infusion tube; 5. liquid storage tank; 6. first servo motor; 7. drive disk; 8. first gear; 9. second gear; 10. stirring roller; 11. electric heating wire; 12. filter; 13. tooling workbench; 14. rack; 15. light source; 16. limit block; 17. third gear; 18. rotating motor; 19. first rotating cylinder; 20. adjustment frame; 21. linear motor; 22. mobile positioning assembly; 23. sliding groove; 24. slider; 25. second servo motor; 26. frame; 27. screw rod; 28. sliding block; 29. ​​moving block; 30. support frame; 31. three-dimensional visual imaging assembly; 32. fixed block. DETAILED DESCRIPTION

[0031] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0032] Embodiment 1:

[0033] like Figure 1 , Figure 2 As shown, an automatic spraying device based on three-dimensional visual imaging includes a base 1, a collaborative robot 2 is installed on the top of the base 1, a nozzle 3 is installed on the side of the collaborative robot 2, an infusion tube 4 is installed on the side of the nozzle 3, a liquid storage tank 5 is installed on the side of the infusion tube 4, and the liquid storage tank 5 is communicated with the inner cavity of the nozzle 3 through the infusion tube 4.

[0034] In this embodiment, a liquid inlet is provided on the top of the liquid storage tank 5, a liquid outlet is provided on the bottom of the liquid storage tank 5, the infusion tube 4 is installed at the liquid outlet, and a filter screen 12 is installed in the inner cavity of the liquid storage tank 5 and at the liquid outlet.

[0035] The liquid storage tank 5 is provided with a stirring device. Specifically, the stirring device comprises a first servo motor 6 fixedly installed at the center position above the liquid storage tank 5. A driving disk 7 is installed above the inner cavity of the liquid storage tank 5. A stirring roller 10 is rotatably connected in the inner cavity of the liquid storage tank 5. The stirring rollers 10 have four parts.

[0036] Among them, a first gear 8 is installed on the stirring rod (hereinafter referred to as the middle stirring roller) 10 located in the middle position, and the first gear 8 is embedded in the outer surface of the middle stirring roller 10, and one end of the middle stirring roller 10 passes through the driving disk 7 and the liquid storage tank 5 and is connected to the output shaft of the first servo motor 6; at the same time, one end of the remaining stirring rollers 10 is installed with a second gear 9, the first gear 8 is meshed with the second gear 9, and the first gear 8 and the second gear 9 are both rotatably connected to the lower surface of the driving disk 7.

[0037] In this embodiment, the inner wall of the middle stirring roller 10 is a cavity structure, and an electric heating wire 11 is installed inside.

[0038] By starting the first servo motor 6, the middle stirring rod 10 and the first gear 8 can be driven to rotate. After the first gear 8 rotates, it can mesh with the second gear 9, thereby driving the other three stirring rollers 10 to rotate. At this time, the spraying stock solution in the inner cavity of the liquid storage tank 5 can be stirred, which can effectively improve the mixing efficiency of the stock solution. In the process of the stock solution being discharged, it can be filtered through the filter net 12 to ensure the quality of the stock solution and further improve the spraying efficiency of the optical element. At the same time, the electric heating wire 11 can be used to heat the stock solution in the inner cavity of the liquid storage tank 5 to prevent the stock solution from freezing when the temperature is low.

[0039] Embodiment 2:

[0040] like Figure 1 , Figure 3 , Figure 4 As shown, an automatic spraying device based on three-dimensional visual imaging is provided on the left side of the base 1. A tooling workbench 13 is provided on the left side of the base 1. Racks 14 are symmetrically and movably connected in the left and right side walls of the tooling workbench 13. Light sources 15 are symmetrically installed on the surfaces of the two racks 14 facing the side of the tooling workbench. Meanwhile, a rotating motor 18 is symmetrically installed on the left and right sides of the tooling workbench 13. The output shaft of the rotating motor 18 is fixedly connected to the first rotating shaft. A third gear 17 is installed on the first rotating shaft. The third gear 17 extends into the side wall of the tooling workbench 13, and the third gear 17 is meshed with the rack 14.

[0041] By starting the rotating motor 18, the third gear 17 can be driven to rotate, so that the third gear 17 can engage with the rack 14, thereby driving the light source 15 to adjust the height, and when the three-dimensional visual imaging component 31 performs three-dimensional visual imaging, its accuracy can be improved.

[0042] Embodiment three:

[0043] like Figure 1 , Figure 3 , Figure 5 As shown, an automatic spraying device based on three-dimensional visual imaging is provided, and a three-dimensional visual imaging component 31 electrically connected to the collaborative robot 2 is provided above the tooling workbench 13. Specifically, a support frame 30 is provided on the left side of the tooling workbench 13, and the three-dimensional visual imaging component 31 is installed on the support frame 30. The three-dimensional visual imaging component 31 includes a three-dimensional camera and a three-dimensional light source. Since this application does not improve the three-dimensional visual imaging component 31, it will not be described in detail.

[0044] The three-dimensional visual imaging component 31 is used to perform real-time three-dimensional visual shaping of the tooling workbench 13 below, thereby facilitating the work of the collaborative robot 2.

[0045] In this embodiment, a through hole is provided on the tooling workbench 13, and an adjustment frame 20 is rotatably connected in the through hole, and a flip driving device for driving the adjustment frame 20 to rotate is provided on the tooling workbench. Specifically, a rotation driving motor 19 is installed on the front side wall of the tooling workbench 13, and the output shaft of the rotation driving motor 19 passes through the front side wall of the tooling workbench 3 and is fixedly connected to the outer surface of the front side wall of the adjustment frame 20, and the outer surface of the rear side wall of the adjustment frame 20 is rotatably connected to the inner surface of the rear side wall of the workbench through a rotating shaft.

[0046] In this embodiment, the rotary drive motor is a servo motor, so that the adjustment frame 20 is driven to rotate in the through hole by the rotary drive motor 19, and the rotary drive motor is set as a servo motor, so that the rotation angle can be better controlled to facilitate spraying.

[0047] A fixed positioning assembly (not shown in the figure) is fixedly installed on the inner surface of the front side wall of the adjustment frame 20, and the two are fixedly connected together by bolts.

[0048] At the same time, a linear motor 21 is installed on the inner surface of the left side wall of the adjusting frame 20, and a movable positioning component 22 is installed on the linear motor 21. One end of the movable positioning component 22 is installed on the linear motor, and the other end is slidably set on the inner surface of the right side wall of the adjusting frame 20. Specifically, a slider 24 is set at one end of the movable positioning component 22, and a sliding groove is opened on the inner surface of the right side wall of the adjusting frame 20, and the slider 24 slides in the sliding groove.

[0049] Meanwhile, in the present embodiment, the fixed positioning assembly and the movable positioning assembly 22 both include a frame 26, on which a fixed block 32 and a movable block 29 are disposed, wherein the fixed block 32 is fixedly disposed on the frame 26, and the movable block 29 can move closer to and away from the fixed block 32, and a movable block driving device for driving the movable block 29 to move is disposed on the frame 26.

[0050] Specifically, the fixed block is fixedly installed on the frame, and the moving block driving device includes a sliding groove 23 opened on the upper surface of the frame 26, and a second servo motor 25 is fixedly installed on the upper surface of the frame 26 and on one side of the sliding groove 23. The output shaft of the second servo motor 25 penetrates the frame 26 and extends into the frame 26 and is fixedly connected to a screw rod 27. A screw slider is slidably arranged on the screw rod 27, and a sliding block 28 is fixedly connected to the screw slider. The sliding block 28 is slidably arranged in the sliding groove 23, one end of the sliding block 28 is fixedly connected to the screw slider, and a sliding block lug is arranged on the other end, and a lug slide groove for the lug to slide is opened on the right surface of the sliding groove 23.

[0051] At the same time, the surface of the sliding block 28 away from the rear side wall of the adjustment frame is fixedly connected with a moving block 29, and the two are fixedly connected by bolts.

[0052] By starting the linear motor 21, the movable positioning assembly 22 can be driven to move, so that the distance between the movable positioning assembly 22 and the fixed positioning assembly can be adjusted, so that the optical elements of different lengths that need to be sprayed can be positioned. At the same time, by starting the second servo motor 25, the screw rod 27 can be driven to rotate, so that the screw rod slider drives the sliding block 28 to move up and down, thereby controlling the distance between the movable block 29 and the fixed block 32, so that the optical elements of different thicknesses that need to be sprayed can be positioned.

[0053] Furthermore, since the moving block 29 and the sliding block 28 are connected by bolts, and the fixed block 32 and the frame 26 are connected by bolts, the fixed block and the moving block can be replaced according to optical components of different shapes, so that it is suitable for clamping more types of optical components.

[0054] Finally, the rotating drive motor 19 can be started to drive the optical element to flip through the adjusting frame 20, so that the other side can be sprayed, which can greatly improve the spraying efficiency.

[0055] The stock solution is injected into the inner cavity of the liquid storage tank 5, and the first servo motor 6 is started to drive the first gear 8 to rotate. After the first gear 8 rotates, it meshes with the second gear 9. At this time, the four stirring rollers 10 can stir the stock solution. After stirring, the stock solution can be input into the nozzle 3 through the infusion tube 4;

[0056] The three-dimensional visual imaging component 31 performs three-dimensional visual imaging on the optical element, and based on this, the collaborative robot 2 drives the nozzle 3 to move accordingly, so as to spray the optical element.

[0057] This device can effectively improve the efficiency of spraying. Compared with manual spraying, the automated spraying of this device can process a large number of optical components in a shorter time, while ensuring the spraying quality. The collaborative robot 2 cooperates with the three-dimensional visual imaging component 31 to ensure that the coating is evenly distributed on the surface of the optical component through precise parameter control, thereby effectively improving the optical performance of the optical component and reducing errors during spraying. Manual spraying is easily affected by factors such as the operator's technical level and working status, while this device can be operated according to preset procedures and parameters, avoiding problems such as jitter and uneven thickness that may be caused by manual operation;

[0058] This device can play an important role in improving the efficiency and quality control of the spraying process of large-size optical components. It can automate and digitize the original product inspection process, save the workload of manual operations, and improve work efficiency and accuracy. Compared with the existing technology, the workload of operators is greatly reduced, the health protection of heat sources is greatly improved, the automation and digitization of the process are greatly improved, the work efficiency is greatly optimized, and the quality and output of product spraying are greatly improved.

[0059] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic spraying device based on three-dimensional visual imaging, characterized in that: It includes a base, a collaborative robot is installed on the top of the base, a nozzle and a liquid storage tank connected by an infusion tube are installed on the collaborative robot, a tooling workbench is arranged on one side of the base, and a three-dimensional visual imaging component electrically connected to the collaborative robot is arranged above the tooling workbench.

2. The automatic spraying device based on three-dimensional visual imaging according to claim 1, characterized in that: A stirring device is installed on the liquid storage tank.

3. The automatic spraying device based on three-dimensional visual imaging according to claim 2 is characterized in that: The stirring device comprises a first servo motor fixedly installed at the center position above the liquid storage tank, and a plurality of stirring rollers rotatably arranged in the liquid storage tank.

4. The automatic spraying device based on three-dimensional visual imaging according to claim 1 is characterized in that: Racks are symmetrically and movably connected in the side walls on both sides of the tooling workbench, and light sources are symmetrically installed on the surfaces of the two racks facing the side of the tooling workbench. At the same time, rotating motors are symmetrically installed on both sides of the tooling workbench, and the rotating motors are installed with a third gear through a first rotating shaft. The third gear extends into the side wall of the tooling workbench, and the third gear is meshed with the racks.

5. The automatic spraying device based on three-dimensional visual imaging according to claim 1 is characterized in that: A through hole is provided on the tooling workbench, an adjusting frame is rotatably connected in the through hole, and a flip driving device for driving the adjusting frame to rotate is arranged on the tooling workbench.

6. The automatic spraying device based on three-dimensional visual imaging according to claim 5 is characterized in that: A fixed positioning component is fixedly installed on the inner surface of the side wall of the adjusting frame, and a linear motor is installed on the inner surface of one side wall of the adjusting frame, and a movable positioning component is installed on the linear motor.

7. The automatic spraying device based on three-dimensional visual imaging according to claim 6 is characterized in that: The fixed positioning assembly and the movable positioning assembly both include a frame, on which a fixed block and a movable block are arranged, the fixed block is fixedly arranged on the frame, the movable block can move closer to and away from the fixed block, and a movable block driving device for driving the movable block to move is arranged on the frame.

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