Automatic monitoring equipment for grinding and paint spraying of trailer body

Abstract

The invention discloses automatic monitoring equipment for grinding and paint spraying of a trailer body, and relates to the technical field of automobile production monitoring, the automatic monitoring equipment comprises a rack, a suspension type guide rail mechanism, a mechanical arm, a monitoring module, a control system and an execution module, an electromagnetic suspension assembly in the suspension type guide rail mechanism is arranged along a guide rail, the electromagnetic suspension assembly adjusts the magnetic field intensity through a Hall sensor and a control unit to achieve suspension support of the mechanical arm, linear servo driving assemblies are fixedly installed on the two sides of the outer wall of the guide rail, and the linear servo driving assemblies are used for being connected with the mechanical arm. By installing the suspension type guide rail mechanism and the linear servo driving assembly, friction-free high-precision movement of the mechanical arm is achieved, the problems that a traditional guide rail is large in friction loss and insufficient in positioning precision, and complex surface treatment requirements are difficult to meet are solved, the equipment operation stability is improved, the equipment maintenance cost is reduced, and the equipment service life is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of automobile production monitoring, in particular to an automatic monitoring device for polishing and painting a trailer body. Background Art

[0002] With the rapid development of the trailer industry, the body surface treatment process has become a key link. The traditional body grinding and spraying process mainly relies on manual operation, which is not only inefficient and labor-intensive, but also has problems such as uneven spraying quality, waste of resources and environmental pollution. In addition, due to the large surface area and complex structure of the trailer, manual operation is difficult to ensure high precision and high consistency.

[0003] In response to these technical bottlenecks, this design proposes an automated monitoring equipment for trailer body polishing and painting, which achieves efficient, precise and environmentally friendly body surface treatment through intelligent, modular and collaborative methods.

[0004] 1. Patent document CN108747743B discloses an integrated device for spraying and polishing a part of a car body. The above patent enables maintenance personnel to quickly spray paint and polish a part of a car body, effectively improving the maintenance personnel's progress in car maintenance. However, the above patent cannot achieve frictionless and high-precision movement of the robotic arm.

[0005] 2. Patent document CN113601325B discloses an intelligent repair device for paint defects on automobile body covering parts. The above patent realizes the integration of hot-blow softening, grinding and polishing, painting and dust removal. The whole repair process has the characteristics of automatic, controllable, efficient, precise and environmentally friendly. It replaces traditional manual grinding and spraying operations, improves the level of process automation and intelligence, improves the consistency and reliability of product defect repair, and improves the repair efficiency and quality level. However, the above patent cannot realize complex motion adjustment and rapid tool switching functions.

[0006] 3. Patent document CN107009086B discloses a method for repairing vehicle body parts. The above patent can effectively control the waste of materials and costs, but the above patent cannot realize the function of real-time monitoring of the operating status and dynamic adjustment of operating parameters.

[0007] 4. Patent document CN103708176B discloses a special trolley for friction conveying in automobile body painting workshops. The above patent has a light appearance, reasonable structure, strong balance, and can adapt to the special environmental requirements of automobile body painting workshops. It can effectively reduce the occurrence of friction line stoppage accidents in painting workshops, and can also improve the production quality of painting, gluing, polishing and other workstations. However, the above patent cannot achieve resource recycling and environmental protection treatment.

[0008] In summary, the above patents cannot realize the functions of frictionless high-precision movement of the robot arm, complex motion adjustment and rapid tool switching, real-time monitoring of the working status and dynamic adjustment of operating parameters, resource recycling and environmental protection, resulting in low production efficiency, substandard product quality, shortened equipment life, large errors in manual adjustment parameters, and waste of resources and environmental pollution. To this end, the present application proposes an automated monitoring device for trailer body polishing and painting that can realize frictionless high-precision movement of the robotic arm, complex motion regulation and rapid tool switching, real-time monitoring of the operating status and dynamic adjustment of operating parameters, and recycling and environmentally friendly treatment of resources. Summary of the invention

[0009] The purpose of the present invention is to provide an automated monitoring device for trailer body polishing and painting, so as to solve the technical problems proposed in the above-mentioned background technology that the robot arm cannot realize frictionless high-precision movement, complex motion adjustment and rapid tool switching functions, real-time monitoring of operation status and dynamic adjustment of operating parameters, resource recycling and environmental protection treatment, resulting in low production efficiency, substandard product quality, shortened equipment life, large errors in manual adjustment parameters, waste of resources and environmental pollution.

[0010] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automated monitoring device for trailer body polishing and painting, comprising a frame, a suspended guide rail mechanism, a robotic arm, a monitoring module, a control system and an execution module, wherein the frame adopts a modular aluminum alloy frame structure, an adjustable support module is provided at the bottom of the frame, and the support module can adjust the overall height of the device according to the different heights of the trailer, a suspended guide rail mechanism is installed on the top of the frame, a power supply unit is also installed in the frame, an electromagnetic suspension component in the suspended guide rail mechanism is arranged along the guide rail, and the electromagnetic suspension component adjusts the magnetic field through a Hall sensor and a control unit. The field strength realizes the suspension support of the robot arm, ensuring that the robot arm is suspended and moves on the guide rail without friction. Linear servo drive components are fixedly installed on both sides of the outer wall of the guide rail. The linear servo drive component is used to connect the robot arm and drive the robot arm to move along the XY direction. Three robot arms are movably installed on the suspended guide rail mechanism. The working end module of the robot arm is connected to the execution module using a magnetic quick-release interface. The monitoring module is installed on the outer wall of the working end module of the robot arm. The monitoring module is connected to the control system through a data signal line. The control system establishes wireless communication with the robot arm and the execution module through an intelligent feedback module.

[0011] Preferably, the robotic arm comprises: a base, a multi-joint module, a rotary joint, a connecting rod, a working end module and a magnetic quick-release interface; The base on the top of the outer wall of the robot arm is fixed on the guide rail through a slide rail. The base is fixedly connected to the multi-joint module, which is connected to the rotating joint and connecting rod driven by a servo motor with six degrees of freedom. The working signal of the servo motor is fed back to the central controller through a torque sensor, which is convenient for real-time adjustment of the joint angle and load. The working end module of the robot arm adopts a magnetic quick-release interface to connect with the grinding tool module or the spray tool module. The working end module can quickly switch between different tasks. Three robotic arms form a surround-type cooperation module, which are located on the top, side and bottom of the trailer respectively. All robotic arms communicate with the central controller in the control system through a wireless network to achieve collaborative work, reduce duplication of work and improve production efficiency.

[0012] Preferably, the monitoring module includes: a laser scanning sensor, an ultrasonic film thickness sensor and a multi-spectral imaging camera; The monitoring module is installed on the side of the outer wall of the working end module of the robot arm, and is adapted to the spraying or grinding tool by adjusting the bracket; The laser scanning sensor is fixedly installed at the front end of the outer wall of the working end module to measure the surface flatness of the car body. The ultrasonic film thickness sensor is fixedly installed at the bottom of the outer wall of the working end module to detect the thickness of the paint film. The multispectral imaging camera is fixedly installed at the end of the outer wall of the robotic arm to collect real-time spraying uniformity and surface defect data.

[0013] Preferably, the control system comprises: a central controller and an intelligent feedback module; The central controller is connected to the laser scanning sensor, ultrasonic film thickness sensor, multispectral imaging camera and each servo motor through data signal lines, and establishes a communication connection with the remote operation platform through wireless communication. The central controller receives real-time collected data from the monitoring module, and adjusts the motion trajectory of the robotic arm and the working status of the execution module according to the real-time data through the intelligent feedback module.

[0014] Preferably, the execution module includes: a grinding tool module and a spraying tool module; The grinding tool module is installed on the working end module of the robot arm and connected through a magnetic quick-release interface. The grinding tool module includes: a high-speed rotating grinding wheel head and a flexible pressure sensor; The spray tool module is equipped with an electrostatic spray module and a retractable spray arm. The spray tool module is connected to the working end module through a magnetic quick-release interface. The retractable spray arm can adjust the angle and length according to task requirements during the spraying process.

[0015] Preferably, the suspended guide rail mechanism consists of an electromagnetic suspension component and a guide rail, the electromagnetic suspension component is connected to the control unit via a cable, and the linear servo drive component is connected to the slide rail via a mechanical coupling to ensure synchronous linkage between the linear servo drive component and the guide rail.

[0016] Preferably, each servo motor in the multi-joint module of the robotic arm is connected to the control system via a cable, and the working signal of the servo motor is fed back to the central controller through a torque sensor so as to adjust the joint angle and load in real time. The high-speed rotating grinding wheel head of the grinding tool module is driven by a servo motor, and the flexible pressure sensor on the high-speed rotating grinding wheel head is connected to the control system via a wire to transmit pressure data in real time. The electrostatic spraying module is connected to the power supply unit via a cable, and the spraying arm is connected to the electrostatic spraying module via a retractable support rod, so as to adjust the spraying angle during the spraying process.

[0017] Preferably, the laser scanning sensor, ultrasonic film thickness sensor and multi-spectral imaging camera in the monitoring module are connected to the control system via a transmission cable. The real-time data collected by the monitoring module is processed in real time by the central controller and fed back to the intelligent feedback module. The intelligent feedback module feeds back the adjustment signal of the central controller to the servo motor to dynamically adjust the positions of the grinding tool module and the spraying tool module.

[0018] Preferably, an automatic cleaning system is also installed at the bottom of the inner wall of the frame, and the automatic cleaning system cleans the spraying tool through a high-pressure air nozzle and a paint recovery module. The paint recovery module is connected to the electrostatic separation module through a pipeline, and the unattached paint is sucked into the recovery system and processed through the filtration module.

[0019] Preferably, an environmental detection module is also installed on the side of the inner wall of the rack, and the environmental detection module includes: a temperature and humidity sensor, a particulate matter sensor and a light intensity sensor. The temperature and humidity sensor, the particulate matter sensor and the light intensity sensor are connected to the central controller through wires to detect environmental parameters in real time to ensure that the spraying environment meets the specified standards.

[0020] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes frictionless and high-precision movement of the robot arm by installing a suspended guide rail mechanism and a linear servo drive assembly, solves the problems of large friction loss and insufficient positioning accuracy of traditional guide rails, and is difficult to meet the requirements of complex surface treatment, improves the operation stability of the equipment, reduces the maintenance cost of the equipment, and prolongs the life of the equipment; 2. The present invention realizes complex motion adjustment and tool fast switching functions by installing a magnetic quick-release interface and a six-degree-of-freedom rotating joint, solves the problem of poor flexibility of single-function robotic arms and long tool switching time affecting production efficiency, significantly improves operational flexibility and efficiency, adapts to diversified task requirements, and reduces downtime; 3. The present invention realizes the function of real-time monitoring of the operation status and dynamic adjustment of the operation parameters by installing a monitoring module and a control system, solves the problem of large error in manual parameter adjustment, improves the quality of spraying and grinding, and realizes intelligent control; 4. The present invention realizes resource recycling and environmental protection treatment by installing an automatic cleaning system and an environmental detection module, solves the problems of cumbersome maintenance of spray tools, serious waste of resources, and high environmental protection costs, reduces paint waste, reduces environmental pollution, and improves work quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front view structural schematic diagram of the present invention; Figure 2 It is a schematic structural diagram of a grinding tool module of the present invention; Figure 3 It is a schematic diagram of the structure of the spray tool module of the present invention; Figure 4 It is a schematic diagram of the structure of the monitoring module of the present invention; Figure 5 It is a schematic diagram of the structure of the suspended guide rail mechanism of the present invention; Figure 6 It is a schematic diagram of the structure of the linear servo drive assembly of the present invention; Figure 7 It is a schematic diagram of the structure of the magnetic quick-release interface of the present invention; Figure 8 It is a schematic diagram of the structure of the automatic cleaning system and the environment detection module of the present invention; Fig. 9 It is a schematic diagram of the control system of the present invention.

[0022] In the figure: 1. rack; 11. support module; 12. power supply unit; 2. suspended guide rail mechanism; 21. electromagnetic suspension assembly; 210. guide rail; 211. slide rail; 22. linear servo drive assembly; 23. Hall sensor; 24. control unit; 25. mechanical coupling; 3. robotic arm; 31. base; 32. multi-joint module; 33. working end module; 321. rotary joint; 322. connecting rod; 331. magnetic quick release interface; 4. monitoring module; 41. laser scanning sensor; 42. ultrasonic film thickness sensor; 43. multi-spectral imaging camera; 5. Control system; 51. Central controller; 52. Intelligent feedback module; 6. Execution module; 61. Grinding tool module; 62. Spraying tool module; 611. Flexible pressure sensor; 612. High-speed rotating grinding wheel head; 621. Electrostatic spraying module; 622. Retractable spraying arm; 7. Automatic cleaning system; 71. High-pressure air nozzle; 72. Paint recovery module; 721. Filter module; 722. Electrostatic separation module; 8. Surround cooperation module; 9. Environmental detection module; 91. Temperature and humidity sensor; 92. Particle sensor; 93. Light intensity sensor. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the modules or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] See also Figures 1 to 9, an embodiment of the present invention: an automatic monitoring device for trailer body polishing and painting, comprising a frame 1, a suspended guide rail mechanism 2, a mechanical arm 3, a monitoring module 4, a control system 5 and an execution module 6, the frame 1 adopts a modular aluminum alloy frame structure, the bottom of the frame 1 is equipped with an adjustable support module 11, the support module 11 can adjust the overall height of the device according to the different heights of the trailer, the top of the frame 1 is installed with a suspended guide rail mechanism 2, the frame 1 is also installed with a power supply unit 12, the electromagnetic suspension component 21 in the suspended guide rail mechanism 2 is arranged along the guide rail 210, the electromagnetic suspension component 21 adjusts the magnetic field strength through the Hall sensor 23 and the control unit 24 to realize the machine The suspension support of the mechanical arm 3 ensures that the mechanical arm 3 is suspended and moves on the guide rail 210 without friction. Linear servo drive components 22 are fixedly installed on both sides of the outer wall of the guide rail 210. The linear servo drive component 22 is used to connect the mechanical arm 3 and drive the mechanical arm 3 to move along the XY direction. Three mechanical arms 3 are movably installed on the suspended guide rail mechanism 2. The working end module 33 of the mechanical arm 3 is connected to the execution module 6 using a magnetic quick-release interface 331. The monitoring module 4 is installed on the outer wall of the working end module 33 of the mechanical arm 3. The monitoring module 4 is connected to the control system 5 through a data signal line. The control system 5 establishes wireless communication with the mechanical arm 3 and the execution module 6 through the intelligent feedback module 52; The base 31 at the top of the outer wall of the robot arm 3 is fixed on the guide rail 210 through the slide rail 211. The suspended guide rail mechanism 2 is composed of an electromagnetic suspension component 21 and a guide rail 210. The electromagnetic suspension component 21 is connected to the control unit 24 through a cable, and the linear servo drive component 22 is connected to the slide rail 211 through a mechanical coupling 25 to ensure synchronous linkage between the linear servo drive component 22 and the guide rail 210. Furthermore, the support module 11 adopts a spiral lifting mechanism, and each support leg is equipped with a manual adjustment knob or an electric lifting device. By adjusting the height of the support leg, the frame 1 is lifted as a whole to the adaptation height of the trailer body, and the power supply unit 12 supplies power to the electromagnetic suspension component 21, the linear servo drive component 22, the mechanical arm 3 and the control system 5; The electromagnetic suspension component 21 is composed of an electromagnet and a permanent magnet, which are evenly distributed along the inner wall of the guide rail 210. The Hall sensor 23 is arranged near the electromagnet to measure the suspension distance between the robot arm 3 and the guide rail 210 in real time. The control unit 24 adjusts the electromagnetic field strength based on the data fed back by the Hall sensor 23 to ensure that the suspension distance is within the range of 1-2mm to prevent contact friction. After the control system 5 activates the electromagnetic suspension component 21, the electromagnet generates a magnetic field to lift the robot arm 3 off the slide rail 211. The slide rail 211 has a built-in ball bearing, which cooperates with the base 31 to provide low-friction linear motion support; The linear servo drive assembly 22 is composed of a servo motor, a reducer, a transmission shaft and a mechanical coupling 25. The rotational motion of the servo motor outputs a high-torque linear thrust through the reducer, provides a linear driving force for the base 31, and guides the robot arm 3 to move along the XY direction through the slide rail 211. The mechanical coupling 25 absorbs the installation error between the servo motor and the slide rail 211 to prevent vibration from affecting the accuracy. The optical scale and encoder installed on the top of the inner wall of the frame 1 monitor the displacement of the base 31 in real time. The linear servo drive assembly 22 dynamically adjusts the output power according to the displacement data of the base 31 to ensure the motion accuracy. After receiving the task instruction, the servo motor starts, drives the rotating joint 321 and the connecting rod 322 to adjust the posture of the robot arm 3, moves the working end module 33 to the specified position, completes the automatic connection of the execution module 6 through the magnetic quick-release interface 331, and starts the task execution; the monitoring module 4 captures the status data of the vehicle body surface while the working end module 33 moves with the robot arm 3, and the control system 5 analyzes the data through an algorithm to adjust the motion trajectory and task parameters of the robot arm 3 and the execution module 6.

[0027] See also Figure 1 , Figure 5 and Figure 7 , an embodiment provided by the present invention: an automatic monitoring device for trailer body polishing and painting, the mechanical arm 3 includes: a base 31, a multi-joint module 32, a rotary joint 321, a connecting rod 322, a working end module 33 and a magnetic quick-release interface 331; The base 31 at the top of the outer wall of the robot arm 3 is fixed on the guide rail 210 through the slide rail 211. The base 31 is fixedly connected to the multi-joint module 32, and is connected to the rotary joint 321 and the connecting rod 322 driven by the servo motor with six degrees of freedom. The working signal of the servo motor is fed back to the central controller 51 through the torque sensor, so as to facilitate the real-time adjustment of the joint angle and load. The working end module 33 of the robot arm 3 adopts a magnetic quick-release interface 331 to connect with the grinding tool module 61 or the spray tool module 62, and the working end module 33 can be quickly switched between different tasks; Three mechanical arms 3 form a surrounding cooperation module 8, which are respectively located on the top, side and bottom of the trailer. All mechanical arms 3 communicate with the central controller 51 in the control system 5 through a wireless network to achieve collaborative operation, reduce duplication of work and improve production efficiency; Furthermore, the base 31 is made of high-strength aluminum alloy material, with a slider embedded inside, which fits tightly with the slide rail 211 and is fixed to the guide rail 210 by bolts. The slide rail 211 has a built-in ball guide bearing, and the base 31 can move smoothly in the direction of the guide rail 210 while maintaining a high-precision linear position; each rotary joint 321 is driven by a servo motor, and an encoder is embedded inside the joint to record angle changes in real time. The connecting rod 322 is connected to the base 31 and other connecting rods 322 through the joint. The servo motor transmits the rotational force to the rotary joint 321 through the gear set to achieve multi-degree-of-freedom movement of the robot 3. The torque sensor is installed at the connection between the rotary joint 321 and the servo motor to monitor the force of the joint in real time. The torque sensor sends the detected force data to the central controller 51, and the central controller 51 dynamically adjusts the servo motor output according to the data to prevent overload and angle deviation; The magnetic quick-release interface 331 is composed of a permanent magnet and a mechanical buckle. The permanent magnet loads a quick connection, and the mechanical buckle provides additional fixation to ensure the stability of the execution module 6. The magnetic quick-release interface 331 can be automatically solved by an electromagnetic coil, and the grinding tool module 61 and the spray tool module 62 can be quickly replaced under the control command, and the switching time is less than 2 seconds; Each robot arm 3 establishes wireless communication with the central controller 51 through the WIFI module to transmit motion data and task execution status. The control system 5 plans the motion path according to the surface partition of the trailer. The top, side and bottom robot arms 3 work together to avoid task duplication; The control system 5 receives the trailer shape data, plans the initial position of the robotic arm 3, the base 31 moves along the slide rail 211 and adjusts to the starting working point, the robotic arm 3 starts the servo motor, the six-degree-of-freedom rotating joint 321 and the connecting rod 322 position the working end module 33 to the specified working point, the torque sensor monitors the joint load in real time, the central controller 51 adjusts the output power of the servo motor according to the feedback data, and according to the task requirements, the magnetic quick-release interface 331 switches from the grinding tool module 61 to the spray tool module 62, and the operation instructions are transmitted to the control system 5 via wireless signals.

[0028] See also Figure 2 , Figure 3 , Figure 4 and Fig. 9 , an embodiment provided by the present invention: an automated monitoring device for trailer body polishing and painting, the monitoring module 4 comprises: a laser scanning sensor 41, an ultrasonic film thickness sensor 42 and a multi-spectral imaging camera 43; The monitoring module 4 is mounted on the outer wall side of the working end module 33 of the robot arm 3, and is adapted to the spraying or grinding tool by adjusting the bracket; The laser scanning sensor 41 is fixedly mounted on the front end of the outer wall of the working end module 33 to measure the surface flatness of the vehicle body. The ultrasonic film thickness sensor 42 is fixedly mounted on the bottom of the outer wall of the working end module 33 to detect the thickness of the paint film. The multi-spectral imaging camera 43 is fixedly mounted on the end of the outer wall of the robotic arm 3 to collect spraying uniformity and surface defect data in real time. The control system 5 includes: a central controller 51 and an intelligent feedback module 52; The central controller 51 is connected to the laser scanning sensor 41, the ultrasonic film thickness sensor 42, the multi-spectral imaging camera 43 and each servo motor through a data signal line, and establishes a communication connection with the remote operation platform 54 through wireless communication. The central controller 51 receives the real-time collected data from the monitoring module 4, and adjusts the motion trajectory of the robot arm 3 and the working state of the execution module 6 according to the real-time data through the intelligent feedback module 52; The laser scanning sensor 41, ultrasonic film thickness sensor 42, and multi-spectral imaging camera 43 in the monitoring module 4 are connected to the control system 5 via a transmission cable. The real-time data collected by the monitoring module 4 is processed in real time by the central controller 51 and fed back to the intelligent feedback module 52. The intelligent feedback module 52 feeds back the adjustment signal of the central controller 51 to the servo motor to dynamically adjust the positions of the grinding tool module 61 and the spraying tool module 62. Further, the monitoring module 4 is fixedly mounted on the outer wall of the working end module 33, connected by a metal bracket and an adjustment bracket, the adjustment bracket is made of high-strength aluminum alloy, equipped with a linear slide rail and a rotation adjustment mechanism, and can freely adjust the position and angle of the laser scanning sensor 41, the ultrasonic film thickness sensor 42 and the multi-spectral imaging camera 43 in the vertical and horizontal directions, and can adjust the direction within the range of 0-90° to meet the measurement requirements of the vehicle body surface at different angles, and is connected to the control system 5 through a transmission cable, and real-time feedback of point cloud data, film thickness data and image data is used for real-time analysis of the unevenness of the vehicle body surface, dynamic adjustment of spraying parameters and analysis of the spraying uniformity, paint color distribution and minor defects on the vehicle body surface; The central controller 51 adopts an industrial-grade embedded processor, receives data from the monitoring module 4 in real time, and generates adjustment signals through built-in algorithms, supports laser point cloud processing, ultrasonic thickness calculation and multi-spectral analysis, and ensures fast and accurate feedback; the central controller 51 communicates with the remote operation platform 54 through the wireless communication module, and the intelligent feedback module 52 receives the adjustment signal output by the central controller 51 in real time, transmits the adjustment signal to the servo motor, and dynamically adjusts the motion trajectory of the robot arm 3 and the position of the execution module 6; when the laser scanning sensor 41 detects that the surface unevenness exceeds the threshold, it triggers the servo motor to adjust the posture of the robot arm 3, so that the polishing tool module 61 fits the surface of the car body for polishing; when the ultrasonic film thickness sensor 42 detects that the paint film thickness deviates from the standard, it adjusts the spraying parameters of the spraying tool module 62 in real time.

[0029] See also Figure 2 , Figure 3 , Figure 7 and Fig. 9 , an embodiment provided by the present invention: an automatic monitoring device for grinding and painting of a trailer body, the execution module 6 comprises: a grinding tool module 61 and a spraying tool module 62; The grinding tool module 61 is installed on the working end module 33 of the robot arm 3 and connected via a magnetic quick-release interface 331. The grinding tool module 61 includes: a high-speed rotating grinding wheel head 612 and a flexible pressure sensor 611; The spray tool module 62 is equipped with an electrostatic spray module 621 and a retractable spray arm 622. The spray tool module 62 is connected to the working end module 33 via a magnetic quick-release interface 331. The retractable spray arm 622 can adjust the angle and length according to task requirements during the spraying process. Each servo motor in the multi-joint module 32 of the robotic arm 3 is connected to the control system 5 via a cable, and the working signal of the servo motor is fed back to the central controller 51 via a torque sensor so as to adjust the joint angle and load in real time. The high-speed rotating grinding wheel head 612 of the grinding tool module 61 is driven by a servo motor, and the flexible pressure sensor 611 on the high-speed rotating grinding wheel head 612 is connected to the control system 5 via a wire to transmit pressure data in real time. The electrostatic spraying module 621 is connected to the power supply unit 12 via a cable, and the retractable spraying arm 622 is connected to the electrostatic spraying module 621 via a retractable support rod 623, so as to adjust the spraying angle during the spraying process; Furthermore, the flexible pressure sensor 611 is installed on the bracket below the high-speed rotating grinding wheel head 612, and can sense the contact pressure between the high-speed rotating grinding wheel head 612 and the surface of the vehicle body in real time, and is connected to the central controller 51 through a signal cable to feedback pressure data to ensure uniform pressure and prevent damage to the surface of the vehicle body. After the grinding tool module 61 is installed on the working end module 33, the central controller 51 receives the position information of the surface grinding area, and the high-speed rotating grinding wheel head 612 is started. The rotation speed and grinding path are adjusted according to the flatness data detected on the surface. The flexible pressure sensor 611 detects the contact pressure of the grinding wheel head in real time. If the pressure exceeds the set range, the feedback signal triggers the robot arm 3 to adjust the posture or reduce the propulsion force of the high-speed rotating grinding wheel head 612. The electrostatic spraying module 621 includes a high-voltage electrostatic generator and a spray gun head, which can charge paint particles and adsorb them to the surface of the car body through electrostatic adsorption. The spray gun head is equipped with a replaceable nozzle, which is suitable for the spraying needs of different paints. The retractable spray arm 622 adopts a hydraulic telescopic mechanism, and the length can be adjusted within the range of 500-1500mm. The retractable spray arm 622 is equipped with a rotating joint 321 and an angle adjustment structure, which can achieve 360° rotation and 90° tilt to meet the spraying needs of complex parts of the car body; after the spray tool module 62 is installed, the central control The device 51 generates a spraying path based on the vehicle body detection data, and controls the spraying tool module 62 to move to the starting position, the electrostatic spraying module 621 is started, the paint is ionized by the high-voltage electrostatic generator and atomized at the nozzle, and the paint particles are evenly distributed on the surface of the vehicle body after being charged. The central controller 51 monitors the spraying uniformity data in real time. If a certain area is not sprayed enough, the spraying posture is automatically adjusted for re-painting. During the spraying process, the rotating joint 321 of the retractable spray arm 622 is linked with the multi-joint module 32 of the robot arm 3 to dynamically adjust the spraying angle and coverage range to avoid blind spots in spraying.

[0030] See also Figure 8 and Fig. 9 , an embodiment provided by the present invention: an automatic monitoring device for polishing and painting of a trailer body, wherein an automatic cleaning system 7 is also installed at the bottom of the inner wall of the frame 1, and the automatic cleaning system 7 cleans the spraying tool through a high-pressure air nozzle 71 and a paint recovery module 72, and the paint recovery module 72 is connected to an electrostatic separation module 722 through a pipeline, and unattached paint is sucked into the recovery system and processed through a filter module 721; An environment detection module 9 is also installed on the inner wall side of the frame 1. The environment detection module 9 includes: a temperature and humidity sensor 91, a particle sensor 92 and a light intensity sensor 93. The temperature and humidity sensor 91, the particle sensor 92 and the light intensity sensor 93 are connected to the central controller 51 through wires to detect environmental parameters in real time to ensure that the spraying environment meets the specified standards; Further, the high-pressure air nozzle 71 is installed at the bottom of the inner wall of the frame 1 and is distributed around the working range of the spray tool module 62. The high-pressure air nozzle 71 is connected to the high-pressure air source through a high-pressure air pipe. The direction of the high-pressure air nozzle 71 is adjustable to ensure that the key parts of the spray tool module 62, such as the spray gun head and the paint pipeline outlet, are cleanly covered; the paint recovery module 72 is installed at the bottom of the inner wall of the frame 1 and is connected to the frame 1 through a fixed bracket, including an electrostatic separation module 722 and a filtering module 721. The electrostatic separation module 722 is connected to the central controller 51 through a cable to separate and recover the attached paint particles. The filtering module 721 removes the particles and impurities mixed in the paint through a fine filter to ensure that the recovered paint can be reused; the paint recovery module 72 is connected to the sewage discharge buckle of the high-pressure air nozzle 71 through a pipeline, and is also connected to the electrostatic separation module 722 to form a closed-loop recovery structure; The temperature and humidity sensor 91 is fixedly mounted on the top of the inner wall of the frame 1, close to the spraying area, and is connected to the central controller 51 through a wire to monitor the temperature and humidity data in the spraying environment in real time; the particle sensor 92 is installed at the downwind position of the spraying area to detect the concentration of particles in the air to ensure that the cleanliness of the environment meets the spraying requirements; the light intensity sensor 93 is fixed on the top of the frame 1 to detect the light uniformity and brightness level of the spraying area, and is connected to the central controller 51 through a signal line. If the light is insufficient, the control system 5 will adjust the ambient light source through the fill light device; If it is detected that the temperature and humidity exceed the set range, the central controller 51 sends a signal to start the air conditioner or humidifier to adjust the environmental conditions. When the particle concentration exceeds the standard, the control system 5 will trigger the air purification equipment to clean the air to ensure that the spraying effect is not affected by the particles. After the automatic cleaning system 7 completes the cleaning task, it will detect the concentration of residual particles in the cleaned air through the particle sensor 92. If the concentration is higher than the set standard, the central controller 51 starts the air purification equipment for further processing. During the cleaning process, the temperature and humidity sensor 91 detects whether the ambient temperature and humidity have changed due to the cleaning of the spraying tools. If the humidity is too high, the exhaust equipment is started for adjustment.

[0031] Working principle: The laser scanning sensor 41, ultrasonic film thickness sensor 42 and multi-spectral imaging camera 43 in the monitoring module 4 accurately scan and analyze the flatness, paint film thickness and surface defects of the trailer surface in real time. The signals collected by the monitoring module 4 are transmitted to the control system 5 to calculate the working trajectory of the robot arm 3 and the specific operating parameters of the execution module 6; The robot arm 3 performs grinding and spraying tasks through the six-degree-of-freedom rotation joint 321 and the connecting rod 322 system, combined with the high-precision positioning of the guide rail 210; the working end module 33 adopts a magnetic quick-release interface 331 to quickly switch the grinding tool module 61 and the spraying tool module 62. The robot arm 3 cooperates with the linear servo drive component 22 to move accurately under the command of the central controller 51 to achieve efficient operation; After the task is completed, the automatic cleaning system 7 cleans the spraying tools through the high-pressure air nozzle 71 and the paint recovery module 72 to prevent paint waste and tool clogging. The environmental detection module 9 monitors the temperature and humidity, particle concentration and light intensity in real time to ensure that the spray environment meets the optimal process conditions.

[0032] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An automated monitoring device for trailer body polishing and painting, comprising a frame (1), a suspended guide rail mechanism (2), a mechanical arm (3), a monitoring module (4), a control system (5) and an execution module (6), characterized in that: The frame (1) adopts a modular aluminum alloy frame structure. The bottom of the frame (1) is equipped with an adjustable support module (11). The support module (11) can adjust the overall height of the equipment according to the different heights of the trailer. The top of the frame (1) is equipped with a suspended guide rail mechanism (2). The frame (1) is also equipped with a power supply unit (12). The electromagnetic suspension component (21) in the suspended guide rail mechanism (2) is arranged along the guide rail (210). The electromagnetic suspension component (21) adjusts the magnetic field strength through the Hall sensor (23) and the control unit (24) to achieve suspension support for the robot arm (3), ensuring that the robot arm (3) is suspended and moves on the guide rail (210) without friction. The guide rail (2 10) Linear servo drive components (22) are fixedly installed on both sides of the outer wall, and the linear servo drive components (22) are used to connect the mechanical arm (3) to drive the mechanical arm (3) to move along the XY direction. Three mechanical arms (3) are movably installed on the suspended guide rail mechanism (2). The working end module (33) of the mechanical arm (3) is connected to the execution module (6) using a magnetic quick-release interface (331). The monitoring module (4) is installed on the outer wall of the working end module (33) of the mechanical arm (3). The monitoring module (4) is connected to the control system (5) through a data signal line. The control system (5) establishes wireless communication with the mechanical arm (3) and the execution module (6) through an intelligent feedback module (52).

2. The automatic monitoring equipment for trailer body polishing and painting according to claim 1 is characterized by: The mechanical arm (3) comprises: a base (31), a multi-joint module (32), a rotary joint (321), a connecting rod (322), a working end module (33) and a magnetic quick-release interface (331); The base (31) at the top of the outer wall of the robot arm (3) is fixed on the guide rail (210) via a slide rail (211); the base (31) is fixedly connected to the multi-joint module (32); the rotating joint (321) driven by a servo motor with six degrees of freedom is connected to the connecting rod (322); the working signal of the servo motor is fed back to the central controller (51) via a torque sensor, so as to facilitate real-time adjustment of the joint angle and load; the working end module (33) of the robot arm (3) is connected to the grinding tool module (61) or the spray tool module (62) using a magnetic quick-release interface (331); the working end module (33) can be quickly switched between different tasks; Three robotic arms (3) form a surrounding cooperation module (8), which are respectively located on the top, side and bottom of the trailer. All the robotic arms (3) communicate with a central controller (51) in the control system (5) via a wireless network to achieve collaborative operation, reduce duplication of work and improve production efficiency.

3. The automatic monitoring equipment for trailer body polishing and painting according to claim 1 is characterized by: The monitoring module (4) comprises: a laser scanning sensor (41), an ultrasonic film thickness sensor (42) and a multi-spectral imaging camera (43); The monitoring module (4) is mounted on the side of the outer wall of the working end module (33) of the robot arm (3), and is adapted to the spraying or grinding tool by adjusting the bracket; The laser scanning sensor (41) is fixedly mounted on the front end of the outer wall of the working end module (33) and is used to measure the surface flatness of the vehicle body. The ultrasonic film thickness sensor (42) is fixedly mounted on the bottom of the outer wall of the working end module (33) and is used to detect the thickness of the paint film. The multispectral imaging camera (43) is fixedly mounted on the end of the outer wall of the robotic arm (3) and is used to collect spraying uniformity and surface defect data in real time.

4. The automatic monitoring equipment for trailer body polishing and painting according to claim 1 is characterized by: The control system (5) comprises: a central controller (51) and an intelligent feedback module (52); The central controller (51) is connected to the laser scanning sensor (41), the ultrasonic film thickness sensor (42), the multi-spectral imaging camera (43) and each servo motor via a data signal line, and establishes a communication connection with the remote operation platform (54) via wireless communication. The central controller (51) receives real-time collected data from the monitoring module (4), and adjusts the motion trajectory of the robot arm (3) and the working state of the execution module (6) according to the real-time data via the intelligent feedback module (52).

5. The automatic monitoring equipment for trailer body polishing and painting according to claim 1 is characterized by: The execution module (6) comprises: a grinding tool module (61) and a spraying tool module (62); The grinding tool module (61) is mounted on the working end module (33) of the robot arm (3) and connected via a magnetic quick-release interface (331). The grinding tool module (61) comprises: a high-speed rotating grinding wheel head (612) and a flexible pressure sensor (611); The spray tool module (62) is equipped with an electrostatic spray module (621) and a retractable spray arm (622). The spray tool module (62) is connected to the working end module (33) via a magnetic quick-release interface (331). The retractable spray arm (622) can adjust the angle and length according to task requirements during the spraying process.

6. The automatic monitoring equipment for trailer body polishing and painting according to claim 1 is characterized by: The suspended guide rail mechanism (2) is composed of an electromagnetic suspension component (21) and a guide rail (210); the electromagnetic suspension component (21) is connected to a control unit (24) via a cable; the linear servo drive component (22) is connected to the slide rail (211) via a mechanical coupling (25), thereby ensuring synchronous linkage between the linear servo drive component (22) and the guide rail (210).

7. The automatic monitoring equipment for trailer body polishing and painting according to claim 1 is characterized by: Each servo motor in the multi-joint module (32) of the robot arm (3) is connected to the control system (5) via a cable, and the working signal of the servo motor is fed back to the central controller (51) via a torque sensor so as to adjust the joint angle and load in real time. The high-speed rotating grinding wheel head (612) of the grinding tool module (61) is driven by the servo motor, and the flexible pressure sensor (611) on the high-speed rotating grinding wheel head (612) is connected to the control system (5) via a wire to transmit pressure data in real time. The electrostatic spraying module (621) is connected to the power supply unit (12) via a cable, and the spraying arm (622) is connected to the electrostatic spraying module (621) via a retractable support rod (623) so as to adjust the spraying angle during the spraying process.

8. The automatic monitoring equipment for trailer body polishing and painting according to claim 1 is characterized by: The laser scanning sensor (41), ultrasonic film thickness sensor (42), and multi-spectral imaging camera (43) in the monitoring module (4) are connected to the control system (5) via a transmission cable. The real-time data collected by the monitoring module (4) is processed in real time by the central controller (51) and fed back to the intelligent feedback module (52). The intelligent feedback module (52) feeds back the adjustment signal of the central controller (51) to the servo motor to dynamically adjust the positions of the grinding tool module (61) and the spraying tool module (62).

9. The automatic monitoring equipment for trailer body polishing and painting according to claim 1 is characterized by: An automatic cleaning system (7) is also installed at the bottom of the inner wall of the frame (1). The automatic cleaning system (7) cleans the spraying tool through a high-pressure air nozzle (71) and a paint recovery module (72). The paint recovery module (72) is connected to the electrostatic separation module (722) through a pipeline. Unattached paint is sucked into the recovery system and processed through the filter module (721).

10. The automatic monitoring equipment for trailer body polishing and painting according to claim 1, characterized in that: An environment detection module (9) is also installed on the inner wall side of the frame (1). The environment detection module (9) includes: a temperature and humidity sensor (91), a particle sensor (92) and a light intensity sensor (93). The temperature and humidity sensor (91), the particle sensor (92) and the light intensity sensor (93) are connected to the central controller (51) via wires to detect environmental parameters in real time to ensure that the spraying environment meets the specified standards.

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