Automobile surface spraying device

Abstract

The invention provides an automobile surface spraying device, which relates to the technical field of spraying, and comprises a base, a stand column frame structure arranged on the base, and a coating mechanism arranged on the stand column frame structure, the stand column frame structure comprises two first electric sliding rails and a second electric sliding rail, the two first electric sliding rails are symmetrically distributed on the base about the vertical center line of the base, the two ends of the second electric sliding rail are fixed to guide blocks of the first electric sliding rails correspondingly, and the first electric sliding rails drive the second electric sliding rail to move along the vertical center line. A sliding groove is formed in the side wall of the second electric sliding rail, and a driving part and a coating mechanism are installed in the sliding groove. According to the automobile surface spraying device, the first motor drives the tooth column to rotate in the tooth groove, the positions of the corresponding mechanical arms are adjusted, after it is ensured that the position error of the spraying guns on the two sides reaches the specified value, the corresponding automobile model is input, the spraying track is guided in, the mechanical arms on the two sides start to symmetrically move for spraying, and it is ensured that the spraying effects on the two sides of an automobile cover are consistent.

Description

Technical Field

[0001] The invention relates to the technical field of spraying, in particular to an automobile surface spraying device. Background Art

[0002] When a car is being processed, the entire frame needs to be painted, dried, and cooled to form a car cover to protect the car.

[0003] The Chinese patent, publication number CN211613217U, discloses a device for spraying paint on the surface of automobile carbon fiber, including a spray box, which is arranged into a rectangular box body and has a feed port on one end face, a closed door is arranged on the outside of the feed port, a set of storage boxes is fixed on the outer wall of the other end face of the spray box, a set of bakers is arranged on the top surface of the spray box, a set of sprayers is arranged below the bakers, and a movable plate moves back and forth in the spray box to facilitate uniform adhesion of paint on the surface of automobile carbon fiber and improve coating uniformity. The surface of automobile carbon fiber after spraying is placed on the storage plate, and hot air is used to bake the surface of automobile carbon fiber, and the first motor drives the first screw rod to rotate, and the transmission of the first screw rod and the first threaded sleeve drives the baking box to move back and forth, which facilitates uniform baking of the surface of automobile carbon fiber and facilitates quick and efficient adhesion of paint to the surface of automobile carbon fiber.

[0004] In response to different needs, the types of paint used for car cover painting are also different. The most in-demand paints on the market are mostly divided into two types, oil-based paint and water-based paint. The two types have different physical properties and require different types of spray guns. The above-mentioned device lacks a structure for replacing the spray gun when facing different paints. Moreover, when repainting the car cover on a modified car, the vehicle needs to be driven into the painting area. Due to slight errors in the driving method, accurate positioning cannot be achieved, and the distance between the spray guns on both sides cannot be kept consistent, which easily leads to different painting effects on both sides. Summary of the Invention

[0005] The present invention proposes an automobile surface spraying device, which solves the problem that different types of paints are used for painting car covers. Most of the paints with the greatest demand on the market are divided into two types, oil-based paint and water-based paint. The two types have different physical properties and require different types of spray guns. The above device lacks a structure for replacing the spray gun when facing different paints. Moreover, when repainting the car cover on a modified car, the vehicle needs to be driven into the painting area. Due to slight errors in the driving method, accurate positioning cannot be achieved, and the distance between the spray guns on both sides cannot be kept consistent, which easily leads to the problem of different painting effects on the two sides.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a car surface spraying device, comprising a base, a column frame structure arranged on the base, and a painting mechanism arranged on the column frame structure, the column frame structure comprising two first electric slide rails and a second electric slide rail, the two first electric slide rails are symmetrically distributed on the base about the vertical center line of the base, the two ends of the second electric slide rail are respectively fixed on the guide blocks of the first electric slide rail, the first electric slide rail drives the second electric slide rail to move along the vertical center line, the side wall of the second electric slide rail has a slide groove, the slide groove is equipped with a driving unit and a painting mechanism, the driving unit drives the painting mechanism to reciprocate in the slide groove, the top wall of the second electric slide rail has a guide groove, a 3D camera is installed in the guide groove, the second electric slide rail drives the 3D camera to move in the guide groove, the base is provided with a sensing area between the two first electric slide rails for detecting the position of the car in the column frame structure, and the base is also equipped with a spray pot replacement mechanism.

[0007] Preferably, the coating mechanism includes a mounting seat, the driving part includes a first motor and a gear column, the output shaft of the first motor is fixed with a gear column, a gear groove is provided in the slide groove, the gear column is meshed and connected in the gear groove, and the first motor drives the mounting seat to move in the gear groove.

[0008] Preferably, the coating mechanism further comprises a robotic arm, which is mounted on a mounting base. The bottom of the robotic arm has an output end, and spray guns are mounted on both sides of the output end, respectively for oil-based paint and water-based paint.

[0009] Preferably, side brackets are installed on both sides of the output end, both ends of the output end are rotatable, and separators are installed on the two side brackets, and the separators are installed on the air inlet of the spray gun.

[0010] Preferably, the spray gun for spraying oil-based paint is equipped with a first nozzle at its output port, and the separator is specifically an oil-water separator; the spray gun for spraying water-based paint is equipped with a second nozzle at its output port, and the separator is specifically a centrifugal separator.

[0011] Preferably, a bracket extends from the side wall of the spray gun, and a support is provided at the top of the bracket. A spray pot is detachably connected to the support. The spray pot is a container for holding paint, and a detachably connected pot cover is provided at the upper end thereof, and an external thread is provided at the lower end. An internal thread is provided on the inner wall of the support, and the external and internal threads are engaged with each other. A discharge port is provided at the bottom of the spray pot, and a discharge valve is provided at the discharge port. The discharge port cooperates with the through hole, and the tail end of the through hole is provided on the output port of the spray gun.

[0012] Preferably, the mechanism for replacing the watering can includes a mounting plate, which is fixed on the base, an electric guide rail installed on the mounting plate, a linear module installed on the electric guide rail, the electric guide rail drives the linear module to move horizontally left and right, a guide seat installed on the linear module, the linear module drives the guide seat to move vertically up and down, an electric clamp installed on the guide seat, a card slot is provided on the side wall of the pot cover, which cooperates with the electric clamp, and the fixed claw is provided with a deformation part in the middle part.

[0013] Preferably, a laser rangefinder is also installed at the output port of the spray gun.

[0014] Preferably, a drying room is installed on the base.

[0015] Compared with the existing technology, this automobile surface spraying device has the following beneficial effects: 1. The robotic arms on both sides send out commands, and the laser rangefinder on the output end detects the relative distance between the spray guns on both sides and the corresponding vehicle frames. If a large error occurs, the first motor can be used to drive the gear column to rotate in the tooth groove to adjust the position of the corresponding robotic arm. After ensuring that the position error of the spray guns on both sides reaches the specified value, the corresponding vehicle model is input, the spray trajectory is imported, and the robotic arms on both sides begin to move symmetrically for spraying, ensuring that the spraying effect on both sides of the car cover is consistent.

[0016] 2. During spraying, when the paint in the spray pot has run out and needs to be replaced, the electric guide rail drives the linear module to move horizontally to the top of the spray pot filled with paint. The linear module drives the electric clamp with the fixed claw opened to contact the pot cover. The pot cover is provided with a slot corresponding to the electric clamp. After the fixed claw is closed, as shown in the figure, the spray pot with no paint is taken out and placed on the spare rack. Then the spray pot filled with paint is taken out and placed on the support. The spray pot is driven to rotate by the second motor to complete the fixation of the spray pot and the replacement process of the spray pot. During this process, no human intervention and frequent entry and exit of the spray room are required. The operator solves the problem of manual pot replacement, absorption of paint mist in the spray room and waiting process, reduces the physical impact of the operator staying in the spray room for a long time, and designs a quick-change structure for the spray pot to realize the whole vehicle spraying process. The automatic online switching of topcoat, color paint and varnish improves the spraying efficiency.

[0017] 3. The nozzles and separators installed on the two spray guns are different to cope with oil-based paint and water-based paint. The first nozzle is a large-diameter nozzle. Due to the high viscosity of oil-based paint, it is uniformly atomized and avoids clogging. The separator is a centrifugal separator to prevent moisture in the air from mixing into the paint film and causing bubbling. The second nozzle is composed of several small-diameter nozzles. Due to the characteristics of water-based paint, the spraying efficiency is improved. The separator is configured as a high-efficiency oil-water separator to ensure clean air and avoid contact between moisture in the air and oil-based paint. Two sets of spray guns are designed. The output end rotates through the R-axis rotation so that the corresponding spray gun faces the frame and can be replaced and used to meet the needs of oil-based and water-based paints at the same time.

[0018] 4. By setting up a data center and configuring a 3D scanning module in the data center, the required vehicle 3D contour scanning is completed in the data center, and the spray trajectory is obtained through the algorithm. The cloud data is then shared to each spray booth. The spray booth only needs to be equipped with a vehicle positioning module to complete the whole vehicle spraying or car cover repair.

[0019] Other advantages, objects and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be learned from the practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the column frame structure and the watering can replacement mechanism of the present invention; Figure 3 This is a schematic structural diagram of the mounting plate and the electric guide rail of the present invention; Figure 4 For the present invention Figure 3 A in the middle is an enlarged structural diagram; Figure 5 This is a schematic structural diagram of the first electric slide rail and the second electric slide rail of the present invention; Figure 6 Schematic diagram of the coating mechanism structure of the present invention; Figure 7 This is a schematic diagram of the structure of the watering can and the support of the present invention; Figure 8 This is a schematic diagram of the structure of the output end of the robotic arm and the laser rangefinder of the present invention; Figure 9 This is a structural diagram of the present invention when both first electric slide rails are provided with mechanical arms; Figure 10 This is a diagram showing the corresponding positions of the robotic arm and the electric gripper when replacing a watering can according to the present invention; Figure 11 It is a structural schematic diagram of the electric clamping jaw and the deformation part of the present invention.

[0021] In the picture: 1. Base; 2. Drying room; 3. Induction area; 4. Column frame structure; 401. First electric slide rail; 402. Second electric slide rail; 403. Slideway; 404. Guide groove; 5. Sprayer replacement mechanism; 501. Mounting plate; 502. Electric guide rail; 503. Linear module; 504. Guide seat; 505. Electric gripper; 506. Second motor; 507. Deformation unit; 6. Coating mechanism; 601 , mounting base; 602, first motor; 603, gear column; 604, tooth groove; 605, robotic arm; 606, output end; 607, side bracket; 608, spray gun; 609, separator; 610, bracket; 611, support; 612, spray pot; 613, pot cover; 614, slot; 615, through hole; 616, first nozzle; 617, second nozzle; 618, laser rangefinder; 7, 3D camera. DETAILED DESCRIPTION

[0022] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] See also Figures 1 to 11 The present invention provides the following embodiments: a car surface spraying device, comprising a base 1, a column frame structure 4 arranged on the base 1, a coating mechanism 6 arranged on the column frame structure 4, the column frame structure 4 comprising two first electric slide rails 401 and a second electric slide rail 402, the two first electric slide rails 401 are symmetrically distributed on the base 1 along the vertical center line, the two ends of the second electric slide rail 402 are respectively fixed on the guide blocks of the first electric slide rail 401, the first electric slide rail 401 drives the second electric slide rail 402 to move along the vertical center line The side wall of the second electric slide rail 402 has a slide groove 403, and the slide groove 403 is equipped with a driving unit and a coating mechanism 6. The driving unit drives the coating mechanism 6 to move back and forth in the slide groove 403. The top wall of the second electric slide rail 402 has a guide groove 404, and a 3D camera 7 is installed in the guide groove 404. The second electric slide rail 402 drives the 3D camera 7 to move in the guide groove 404. The base 1 is located between the two first electric slide rails 401 and is provided with a sensing area 3 for detecting the position of the car in the column frame structure 4. A spray pot replacement mechanism 5 is also installed on the base 1.

[0024] In this embodiment, the coating mechanism 6 includes a mounting base 601, and the driving part includes a first motor 602 and a gear column 603. The output shaft of the first motor 602 is fixed with the gear column 603, and a tooth groove 604 is provided in the slide groove 403. The gear column 603 is meshed and connected in the tooth groove 604. The first motor 602 drives the mounting base 601 to move in the tooth groove 604. The first motor 602 can adopt a servo motor. In order to cooperate with the high-precision distance adjustment of the mechanical arms 605 on both sides, the tooth groove 604 and the gear column 603 can adopt a small tooth model, and cooperate with the fine-tuning of the servo motor to meet the high-precision adjustment requirements of the mechanical arm 605. The gear column 603 can be driven by the first motor 602 to rotate in the tooth groove 604, and the corresponding position of the mechanical arm 605 is adjusted to ensure that the position error of the spray guns 608 on both sides reaches the specified value. After the corresponding vehicle model is input, the spraying trajectory is imported, and the mechanical arms 605 on both sides start symmetrical movement for spraying to ensure that the spraying effect on both sides of the car cover is consistent.

[0025] In this embodiment, the coating mechanism 6 also includes a robotic arm 605, which is mounted on a mounting base 601. The robotic arm 605 has an output end 606 at the bottom, and spray guns 608 are mounted on both sides of the output end 606, which are respectively used for oil-based paint and water-based paint. Side brackets 607 are mounted on both sides of the output end 606, and the output end 606 can rotate at both ends. Separators 609 are mounted on the two side brackets 607. The separator 609 is mounted on the air inlet of the spray gun 608, which is used to spray oil-based paint. The spray gun 608 is equipped with a first nozzle 616 at its output port, and the separator 609 is specifically a centrifugal separator. The spray gun 608 is used to spray water-based paint. The second nozzle 617 is mounted at its output port, and the separator 609 is specifically a centrifugal separator. The two spray guns 608 are mounted on the air inlet of the spray gun 608. The installed nozzles and separators 609 are different to cope with oil-based paint and water-based paint. The first nozzle 616 is a large-diameter nozzle (such as 1.5-1.8mm). Due to the high viscosity of oil-based paint, it is necessary to evenly atomize and avoid clogging. The specific model can adopt oil-based fluorocarbon paint. The W-71 spray gun is recommended. The separator 609 is selected as a centrifugal separator to avoid the mixing of moisture in the air and the bubbling of the paint film. The second nozzle 617 is composed of several small-diameter nozzles. Due to the characteristics of water-based paint, the spraying efficiency is improved. The separator 609 is configured as a high-efficiency oil-water separator to ensure clean air and avoid contact between moisture in the air and oil-based paint. Two sets of spray guns are designed. The rotation of the output end 606 is completed by rotating the R-axis, so that the corresponding spray gun 608 faces the frame for replacement and use, while meeting the needs of oil-based and water-based paints.

[0026] In this embodiment, a bracket 610 extends from the side wall of the spray gun 608, and a support 611 is provided at the top of the bracket 610. A spray pot 612 is detachably connected to the support 611. The spray pot 612 is a container for holding paint, and a detachably connected pot cover 613 is provided at its upper end. The lower end has an external thread, and the inner wall of the support 611 is provided with an internal thread. The external thread and the internal thread are engaged with each other. The bottom of the spray pot 612 has a discharge port, and a discharge valve is provided at the discharge port. The discharge port cooperates with the through hole 615, and the tail end of the through hole 615 is provided on the output port of the spray gun 608. The spray pot 612 and the pot cover 613 are fixed by a snap-on method. Since the spray pot 612 and the support 611 are rotatably detachably connected and are provided with a snap-on fixation, when the spray pot 612 is rotated under force, the spray pot 612 and the pot cover 613 can also maintain stability.

[0027] In this embodiment, the spray pot replacement mechanism 5 includes a mounting plate 501, the mounting plate 501 is fixed on the base 1, an electric guide rail 502 is installed on the mounting plate 501, a linear module 503 is installed on the electric guide rail 502, the electric guide rail 502 drives the linear module 503 to move horizontally left and right, a guide seat 504 is installed on the linear module 503, the linear module 503 drives the guide seat 504 to move vertically up and down, an electric clamp 505 is installed on the guide seat 504, and a slot 614 is provided on the side wall of the pot cover 613, which cooperates with the fixed claw, and the fixed claw is provided with a deformation part 507, which is deformed. Part 507 is specifically configured as a rubber rod. Due to the characteristics of thread rotation, when rotating, the bottom of the spray bottle 612 will move downward, and the moving distance is approximately measured to be about 3 cm. If this moving distance is combined with the movement of the linear module, it will generate a large amount of calculation to calculate the operation mode of the module. If the linear module does not move, the distance of 3 cm will cause damage to the internal machinery of the linear module. Therefore, a rubber rod with a certain deformation elasticity is designed to be located in the middle of the fixed claw. When the spray bottle 612 descends, the movement of the linear module is replaced by the extension of the rubber rod, which well solves the problems caused by the installation of the above-mentioned spray bottle 612.

[0028] In this embodiment, a laser rangefinder 618 is also installed at the output port of the spray gun 608 .

[0029] In this embodiment, a drying room 2 is installed on the base 1, and the spraying room and the baking room are placed in parallel, which improves the utilization rate of the site and can realize the simultaneous spraying / baking, thereby maximizing the spraying efficiency.

[0030] Working principle: Drive the car into the sensing area 3. The sensing area is specifically set up as two sets of pressure sensors, corresponding to the wheels on both sides of the car. When the car completely enters the sensing area 3, a command is issued and the car pulls the handbrake to prepare for painting.

[0031] First, the paint model is determined according to the needs of the car cover, and the corresponding paint is added to the spray bottle 612. Then, instructions are issued to the robotic arms 605 on both sides. The laser rangefinder 618 on the output end 606 detects the relative distance between the spray guns 608 on both sides and the corresponding vehicle frames. If a large error occurs, the first motor 602 can be used to drive the gear column 603 to rotate in the tooth groove 604 to adjust the position of the corresponding robotic arm 605. After ensuring that the position error of the spray guns 608 on both sides reaches the specified value, the corresponding vehicle model is input, the spray trajectory is imported, and the robotic arms 605 on both sides begin to move symmetrically for spraying to ensure that the spraying effect on both sides of the car cover is consistent.

[0032] During spraying, when the paint in the spray pot 612 runs out and needs to be replaced, the electric guide rail 502 drives the linear module 503 to move horizontally to the top of the spray pot 612 filled with paint, and the linear module 503 drives the electric clamping claw 505 with the fixed claw opened downward to contact the pot cover 613. The pot cover 613 is provided with a card slot 614 corresponding to the electric clamping claw 505. After the fixed claw is closed, Figure 10 As shown, the spray can 612 that has run out of paint is taken out and placed on the spare rack, and then the spray can 612 filled with paint is taken out and placed on the support 611. The spray can 612 is driven to rotate by the second motor 506, thereby completing the fixation of the spray can 612 and the replacement process of the spray can. During this process, no human intervention or frequent entry and exit of the spray room is required, which solves the problem of the operator manually changing the can, absorbing the paint mist in the spray room and waiting process, and reduces the physical impact of the operator staying in the spray room for a long time. The quick-change structure of the spray can 612 is designed to realize the whole vehicle spraying process, and the automatic online switching of topcoat, color paint and varnish improves the spraying efficiency.

[0033] The specific model of the robotic arm 605 is GCR16-2000-EX, which has multiple explosion-proof designs and is assisted by high-temperature protective clothing, so that the robotic arm 605 can work normally in high-temperature environments (satisfied with use in the high-temperature environment of the baking room). At the same time, the robotic arm 605 has four-axis changes (X, Y, Z and R axes) to meet the coating processes of different trajectories. Its output end 606 corresponds to the Z axis and can change the alignment direction of the spray gun 608. The nozzles and separators 609 installed on the two spray guns 608 are different to cope with oil-based paint and water-based paint. The first nozzle 616 is a large-caliber nozzle (such as 1.5-1.8mm). Due to the high viscosity of oil-based paint, in order to achieve uniform atomization and avoid clogging, the specific model can be used for oil-based fluorocarbon paint. The W-71 spray gun is recommended. The separator 609 is selected as a centrifugal separator to avoid the mixing of moisture in the air and the resulting bubbling of the paint film. The second nozzle 617 is composed of several small-diameter nozzles. Due to the characteristics of water-based paint, the spraying efficiency is improved. The separator 609 is configured as a high-efficiency oil-water separator to ensure clean air and avoid contact between moisture in the air and oil-based paint. Two sets of spray guns are designed. The output end 606 is rotated by rotating the R-axis so that the corresponding spray gun 608 faces the frame for replacement and use, while meeting the needs of oil-based and water-based paints.

[0034] The hand-eye coordinate transformation matrix is ​​calculated through multiple pose data, and the mapping relationship between the robot coordinate system and the camera coordinate system is established to obtain a globally unified coordinate transformation matrix. The multiple pose data include the multi-pose parameters of the robot end effector (the first pose parameter) and the pose parameters of the calibration object detected by the 3D point cloud camera (the second pose parameter). According to the point cloud data of adjacent overlapping areas (including spatial coordinates and normal vector information), based on the sampling consistency algorithm (such as the random sampling consistency algorithm), feature point pairs are extracted from the point cloud, the initial transformation matrix is ​​quickly estimated, and the approximate position is aligned. Through the iterative closest point (ICP) algorithm, the precise transformation matrix between adjacent point clouds is calculated to complete the seamless splicing of high-density point clouds to obtain complete vehicle body point cloud data (including the three-dimensional coordinate set of all scanning areas).

[0035] According to the results of point cloud data filtering and plane detection, statistical filtering or voxel grid filtering is used to remove outliers ("early points") and retain valid point clouds. Based on the random sampling consensus (RANSAC) algorithm, plane features are extracted from the point cloud, and the angle R (normal vector direction) and center coordinates (plane geometric center) of each plane are calculated to obtain structured point cloud data (grouped by plane, each group contains the plane angle R, center coordinates and the corresponding point set).

[0036] According to the point cloud slicing and the initial point set, each group of point clouds is sliced ​​equidistantly along the direction of movement of the robot arm (such as the Z axis) with the center coordinate as the reference, and the contour boundary points of each layer of slices are extracted to obtain their X, Y, and Z coordinates. The coordinates of each layer of slices are combined with the corresponding plane angle R to form an initial trajectory point array [X, Y, Z, R] (unoptimized point set order) to obtain the initial trajectory point set (a discrete point sequence arranged in the slicing order).

[0037] According to the initial trajectory point set (including sequence, coordinate, and angle parameters), the sequence, X / Y / Z coordinate offset, and R angle of each trajectory point are used as gene bits and encoded into chromosomes (such as permutations and combinations of point set sequence and parameter vectors). They are sorted by fitness, and the top N% of high-quality chromosomes are retained. The selected chromosomes are subjected to point set sequence crossover (such as partial matching crossover) and parameter mixing. The point set sequence is randomly adjusted or the R angle is fine-tuned (within the range of ±5%). New solutions are introduced and the above steps are repeated until the fitness value converges (indicators such as path length and angle fluctuation no longer improve significantly) to obtain the optimized trajectory point set (optimal or suboptimal point sequence arrangement and parameter combination).

[0038] The specific calculation process of the above fitness value is as follows: Following the sequence of trajectory points encoded by the chromosome, all pairs of adjacent points are traversed sequentially. For each pair of adjacent points, the linear distance between them is calculated based on their three-dimensional (X, Y, Z) coordinates. The specific method is: take the coordinate difference between the two points in the X, Y, and Z directions, square them separately, add them together, and then take the square root of the result to obtain the single-step distance value. The single-step distance values ​​of all adjacent point pairs are accumulated to obtain the total path length corresponding to the chromosome. The shorter the total path, the more efficient the robot arm's movement. Following the same trajectory point sequence, all pairs of adjacent points are traversed. For each pair of adjacent points, the difference in R angle (the current point angle minus the previous point angle) is calculated and the absolute value is taken to avoid positive and negative offsets. The absolute values ​​of the R angle changes of all adjacent point pairs are accumulated to obtain the total angle fluctuation. The smaller the angle fluctuation, the smoother the robot arm's posture changes and the more stable the spraying quality. The path length and angle fluctuation are normalized. Specifically, in the current population, find the maximum path length and the maximum angle fluctuation, divide each chromosome's path length and angle fluctuation by their respective maximum values, and scale them to the range of 0 to 1. Assign weights to the two indicators based on actual needs (for example, 60% for path length and 40% for angle fluctuation). Multiply the normalized path length by a weight of 1, and the normalized angle fluctuation by a weight of 2. Add the two together to obtain the overall fitness value. If you need to prioritize one indicator, adjust the weight ratio. For example, if shortening the path is more important, increase the weight of path length to 70% or higher.

[0039] According to the optimized trajectory point set (including the [X, Y, Z, R] array in the optimal order), the discrete points are fitted into a continuous curve through the spline interpolation algorithm to avoid sudden changes in the robot arm's movement. The trajectory coordinate data is transmitted to the robot arm controller through the host computer. Combined with the hand-eye coordinate transformation matrix, the robot arm is driven to move along the optimized path to obtain the real-time spraying trajectory of the robot arm.

[0040] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations that come within the meaning and range of equivalents of the claims be embraced therein.

Claims

1. An automobile surface spraying device, comprising a base, a column frame structure disposed on the base, and a coating mechanism disposed on the column frame structure, characterized in that: The column frame structure includes two first electric slide rails and a second electric slide rail. The two first electric slide rails are symmetrically distributed on the base with respect to the vertical center line of the base. The two ends of the second electric slide rail are respectively fixed on the guide blocks of the first electric slide rail. The first electric slide rail drives the second electric slide rail to move along the vertical center line. The side wall of the second electric slide rail has a slide groove. The slide groove is equipped with a driving part and a coating mechanism. The driving part drives the coating mechanism to reciprocate in the slide groove. The top wall of the second electric slide rail has a guide groove. A 3D camera is installed in the guide groove. The second electric slide rail drives the 3D camera to move in the guide groove. The base is located between the two first electric slide rails and is provided with a sensing area for detecting the position of the car in the column frame structure. A spray pot replacement mechanism is also installed on the base.

2. The automobile surface spraying device according to claim 1, characterized in that: The coating mechanism includes a mounting seat, the driving part includes a first motor and a gear column, the output shaft of the first motor is fixed with a gear column, a gear groove is provided in the slide groove, the gear column is meshed and connected in the gear groove, and the first motor drives the mounting seat to move in the gear groove.

3. The automobile surface spraying device according to claim 2, characterized in that: The coating mechanism also includes a mechanical arm, which is mounted on a mounting base. The bottom of the mechanical arm is provided with an output end, and spray guns are mounted on both sides of the output end, respectively for oil-based paint and water-based paint.

4. The automobile surface spraying device according to claim 3, characterized in that: Side brackets are installed on both sides of the output end. Both ends of the output end are rotatable. Separators are installed on the two side brackets. The separators are installed on the air inlet of the spray gun.

5. The automobile surface spraying device according to claim 4, characterized in that: The spray gun for spraying oil-based paint is equipped with a first nozzle at its output port, and the separator is specifically an oil-water separator. The spray gun for spraying water-based paint is equipped with a second nozzle at its output port, and the separator is specifically a centrifugal separator.

6. The automobile surface spraying device according to claim 5, characterized in that: A bracket extends from the side wall of the spray gun, and a support is provided at the top of the bracket. A spray pot is detachably connected to the support. The spray pot is a container for holding paint, and a detachably connected pot cover is provided at the upper end thereof, and an external thread is provided at the lower end. An internal thread is provided on the inner wall of the support, and the external and internal threads are engaged with each other. A discharge port is provided at the bottom of the spray pot, and a discharge valve is provided at the discharge port. The discharge port cooperates with the through hole, and the tail end of the through hole is provided on the output port of the spray gun.

7. The automobile surface spraying device according to claim 6, characterized in that: The mechanism for replacing the watering can includes a mounting plate, which is fixed on the base, an electric guide rail installed on the mounting plate, a linear module installed on the electric guide rail, the electric guide rail drives the linear module to move horizontally left and right, a guide seat installed on the linear module, the linear module drives the guide seat to move vertically up and down, an electric clamp installed on the guide seat, the electric clamp has a number of fixed claws, the side wall of the pot cover is provided with a card slot, which cooperates with the fixed claw, and the fixed claw is provided with a deformation part at the middle part.

8. The automobile surface spraying device according to claim 6, characterized in that: A laser rangefinder is also installed at the output port of the spray gun.

9. An automobile surface spraying device according to any one of claims 1 to 8, characterized in that: A drying room is installed on the base.

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