A high-precision spraying device based on vision recognition guidance

Abstract

This invention belongs to the field of spraying technology, specifically a high-precision spraying device based on visual recognition guidance, including a spraying machine housing; a conveyor is fixedly connected to the spraying machine housing; for spraying small batches and various types of galvanized steel sheets, this device achieves high-precision operation based on visual recognition guidance. Three visual sensors scan the shape of the steel sheet from multiple angles and transmit the information to the main control console, controlling the connecting mechanism to adjust the position of the paint box and driving the nozzle seat to switch between direct flow and oblique flow nozzles. The paint is diverted to the corresponding flow control plate by the guide plate and precisely sprayed by the nozzle. According to the shape characteristics of the steel sheet, the paint supply of each nozzle can be independently controlled by the solenoid valve in the flow control plate. When encountering holes, grooves or areas that do not need to be sprayed, the corresponding nozzle is shut off to avoid paint waste. This technology solves the problem of frequent line stoppages and shape changes in traditional spraying, improves spraying quality, efficiency and paint utilization, and enhances the adaptability to complex shaped steel sheets.

Description

Technical Field

[0001] This invention belongs to the field of spraying technology, specifically a high-precision spraying device based on visual recognition guidance. Background Technology

[0002] Galvanized steel sheet is a composite steel material made by coating a layer of zinc onto the surface of cold-rolled steel sheet. This zinc layer reduces the corrosion of the substrate through both physical isolation and electrochemical protection, thus giving the steel sheet excellent corrosion resistance. It retains the strength and formability of the steel itself, and due to the excellent surface adhesion brought by the zinc layer, it has become a high-quality base material widely used in many industries such as home appliances, automobiles and construction.

[0003] The production process of galvanized steel sheet begins with the cleaning and annealing of the substrate. Then, through a continuous hot-dip galvanizing process, the steel sheet is immersed in molten zinc at high temperature to form a strong zinc-iron alloy layer. In the subsequent spraying process, the steel sheet needs to undergo surface pretreatment such as degreasing and phosphating to remove oil and generate a conversion film to enhance the adhesion of the coating. Then, in a clean environment, the coating particles are evenly adsorbed onto the sheet surface by a spraying device, and then cured into a film by high-temperature baking, ultimately forming a highly corrosion-resistant composite coating.

[0004] Traditional galvanized steel sheet spraying equipment mainly consists of a pretreatment section, a spraying chamber, a drying channel, and a conveying mechanism. The spraying chamber usually uses a spray gun with a fixed spray booth. The steel sheet is fed into the spray booth by the conveying mechanism, and the spray gun is aimed at the surface of the steel sheet for spraying. Some spray booths are usually equipped with dry filter elements to capture overspray paint mist.

[0005] In the spraying process of galvanized steel sheet production, traditional spraying equipment can efficiently spray the surface of galvanized steel sheets of the same batch and single model using spray guns through a pre-set program. This operation method relies on pre-fixed spray gun settings and spraying paths to ensure the consistency and uniformity of the spraying effect. However, when faced with the need to spray small batches of galvanized steel sheets of various types, the operation of traditional spraying equipment is difficult to implement because it requires frequent production line stops to change different models of spray guns and adjust spraying parameters. Through frequent line stops and adjustments, every step in the production process needs to be recalibrated, which is not only time-consuming but also easily leads to production rhythm disorder and decreased efficiency.

[0006] Therefore, the present invention provides a high-precision spraying device based on visual recognition guidance. Summary of the Invention

[0007] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0008] The technical solution adopted by the present invention to solve its technical problem is as follows: A high-precision spraying device based on visual recognition guidance, comprising a spraying machine housing; a conveyor fixedly connected to the spraying machine housing; multiple fixing plates fixedly connected inside the spraying machine housing; multiple paint boxes provided at the bottom of the fixing plates; a connecting mechanism provided at the bottom of the fixing plates, the connecting mechanism being used to install the multiple paint boxes at the bottom of the fixing plates; multiple nozzle seats slidably connected to the paint boxes; one DC nozzle and two oblique flow nozzles fixedly connected to the nozzle seats respectively, with the DC nozzle located at the center of the two oblique flow nozzles; a flow control plate fixedly connected to the paint box, and three solenoid valves fixedly connected to the flow control plate; a flow guide plate fixedly connected to the flow control plate; a side plate fixedly connected to the side of one of the fixing plates; an assembly plate fixedly connected to the side of the side plate away from the fixing plate; and three visual sensors fixedly connected to the assembly plate.

[0009] Preferably, a first electric slider is slidably connected to the paint box; a connecting bent plate is fixedly connected to the first electric slider, and the connecting bent plate is fixedly connected to one side of a nozzle holder; a connecting straight plate is fixedly connected between multiple nozzle holders.

[0010] Preferably, the connecting mechanism includes a first electric slide, a hydraulic cylinder, a fixed base, a servo motor, a rotating plate, and an adjusting assembly; the first electric slide is slidably connected to the bottom end of the fixed plate; the hydraulic cylinder is fixedly connected to the bottom end of the first electric slide; the fixed base is fixedly connected to the output end of the hydraulic cylinder; the servo motor is fixedly connected to the fixed base; the rotating plate is rotatably connected to the fixed base, and the rotating plate is connected to the output end of the servo motor; the adjusting assembly is disposed on the rotating plate, and the adjusting assembly is used to control and adjust the position of the paint box.

[0011] Preferably, the adjustment assembly includes a connecting seat and electric cylinders; the connecting seat is fixedly connected to the end of the rotating plate away from the fixed seat; a plurality of electric cylinders are fixedly connected to the end of the connecting seat away from the rotating plate, and the output end of the electric cylinders is connected to the paint box.

[0012] Preferably, two secondary electric slides are slidably connected to the connecting seat; a support plate is fixedly connected to the secondary electric slide; a side spray frame is slidably connected to the support plate via a secondary electric slider; a spray box is fixedly connected to the side spray frame, and the spray box has multiple spray holes.

[0013] Preferably, a third electric slider is slidably connected to the side spray frame; a sealing plate is fixedly connected to the third electric slider, and the sealing plate is provided with multiple short plates of different lengths.

[0014] Preferably, a connecting pipe is fixedly connected to one side of the spray box on the side spray frame; one end of the connecting pipe is fixedly connected to a multi-directional nozzle, and the other end of the connecting pipe is fixedly connected to a flow divider box, which is fixedly connected to the side spray frame. The flow divider box can be connected to the multi-directional nozzle through the connecting pipe, and the flow divider box can be connected to the spray box through the side spray frame.

[0015] Preferably, the inside of the shunt box is slidably connected to a switching plate via a No. 4 electric slider, and the switching plate has a straight through groove and a bent through groove.

[0016] Preferably, two connecting plates are fixedly connected to the assembly plate, and the two connecting plates are arranged opposite to each other; the end of the connecting plate away from the assembly plate is rotatably connected to a rotating rod via a torsion spring; and a guide plate is fixedly connected to the bottom end of the rotating rod.

[0017] Preferably, the three vision sensors are located at the center of the bottom of the assembly plate and on both sides of the bottom of the assembly plate, respectively. The output end of the vision sensor at the center of the bottom of the assembly plate faces the conveyor, and the vision sensors on both sides of the bottom of the assembly plate face the bottom of the guide plate and the bottom of the side plate, respectively.

[0018] The beneficial effects of this invention are as follows: 1. The high-precision spraying device based on visual recognition guidance described in this invention enables high-precision operation for spraying small batches of various types of galvanized steel sheets. Three visual sensors scan the shape of the steel sheet from multiple angles, transmitting the information to the main control console. This console controls the connecting mechanism to adjust the position of the paint box and drives the nozzle holder to switch between direct and oblique flow nozzles. The paint is diverted to the corresponding flow control plate via a guide plate and precisely sprayed by the nozzles. The paint supply to each nozzle can be independently controlled by solenoid valves within the flow control plate, based on the shape characteristics of the steel sheet. When encountering holes, grooves, or areas where spraying is unnecessary, the corresponding nozzle is shut off to avoid paint waste. This technology solves the problem of frequent line stoppages and shape changes in traditional spraying, improving spraying quality, efficiency, and paint utilization, and enhancing adaptability to complex-shaped steel sheets.

[0019] 2. The high-precision spraying device based on visual recognition guidance described in this invention uses a first electric slider to drive three nozzle seats connected to a connecting curved plate and multiple connecting straight plates to move up and down: when the nozzle seat moves upward, the lower oblique flow nozzle connects to the paint box and is used to spray special areas such as the curves of the steel plate; when the nozzle seat moves downward, the upper oblique flow nozzle connects to the paint box, also achieving spraying of special areas; when the first electric slider drives the nozzle seat to the central position, the DC nozzle connects to the paint box, which is suitable for large-area flat spraying, thereby replacing the external power source. Among them, the DC nozzle is more conducive to spraying large-area flat surfaces, while the oblique flow nozzle is more suitable for fine spraying of irregular areas. Attached Figure Description

[0020] The invention will now be further described with reference to the accompanying drawings.

[0021] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the structure of the vision sensor in this invention; Figure 3 This is a schematic diagram of the connecting seat in this invention; Figure 4 This is a schematic diagram of the rotating plate in this invention; Figure 5 This is a schematic diagram of the nozzle holder in this invention; Figure 6 This is a schematic diagram of the sealing plate in this invention; Figure 7 This is a partial structural cross-sectional view of the shunt box in this invention.

[0022] In the diagram: 1. Spraying machine housing; 11. Fixing plate; 12. Paint box; 13. Nozzle holder; 14. DC nozzle; 15. Angled flow nozzle; 16. Flow control plate; 17. Flow guide plate; 18. Side plate; 19. Assembly plate; 191. Vision sensor; 2. No. 1 electric slider; 21. Connecting bend plate; 22. Connecting straight plate; 3. No. 1 electric slide; 31. Hydraulic cylinder; 32. Fixing seat; 33. Servo motor; 34. Rotating plate; 4. Connecting seat; 41. Electric cylinder; 5. No. 2 electric slide; 51. Support plate; 52. Side spray frame; 53. Spray box; 6. No. 3 electric slider; 61. Sealing plate; 7. Connecting pipe; 71. Multi-directional nozzle; 72. Flow divider box; 8. Switching plate; 9. Connecting plate; 91. Rotating rod; 92. Guide plate. Detailed Implementation

[0023] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0024] like Figures 1 to 5As shown in the embodiment of the present invention, a high-precision spraying device based on visual recognition guidance includes a spraying machine housing 1; a conveyor is fixedly connected to the spraying machine housing 1; multiple fixing plates 11 are fixedly connected inside the spraying machine housing 1; multiple paint boxes 12 are provided at the bottom of the fixing plates 11; a connecting mechanism is provided at the bottom of the fixing plates 11, the connecting mechanism being used to install the multiple paint boxes 12 at the bottom of the fixing plates 11; multiple nozzle seats 13 are slidably connected to the paint boxes 12; one direct flow nozzle 14 and two oblique flow nozzles 15 are respectively fixedly connected to the nozzle seats 13, and the direct flow nozzle 14 is located at the center of the two oblique flow nozzles 15; the paint boxes A flow control plate 16 is fixedly connected to the 12, and three solenoid valves are fixedly connected to the flow control plate 16; a flow guide plate 17 is fixedly connected to the flow control plate 16; a side plate 18 is fixedly connected to the side of one of the fixed plates 11; an assembly plate 19 is fixedly connected to the side of the side plate 18 away from the fixed plate 11; three vision sensors 191 are fixedly connected to the assembly plate 19; a high-precision spraying device based on vision recognition guidance used in the production and coating of galvanized steel sheets uses a spraying machine box 1 as the main frame of the spraying device. A conveyor is fixed on the spraying machine box 1 to transport the steel sheets to be sprayed. Two sets of fixed plates 11 are installed inside the spraying machine box 1, and the bottom of each set of fixed plates 11 is connected to a connecting machine. The structure is equipped with multiple paint boxes 12, and three nozzle holders 13 are slidably connected to each paint box 12. Each nozzle holder 13 can be controlled to slide via an external power source. On the same side of each nozzle holder 13, there is one DC nozzle 14 and two oblique flow nozzles 15. The two oblique flow nozzles 15 face opposite directions, while the DC nozzle 14 is located in the center of the two oblique flow nozzles 15. A flow control plate 16 on the paint box 12 is equipped with three solenoid valves. A flow guide plate 17 is connected to the three solenoid valves on the flow control plate 16. Paint is introduced through an interface on the top of the flow guide plate 17 and connects to the three solenoid valves on the flow control plate 16 via three internal channels. Each solenoid valve is used to individually control each... The paint is connected to the nozzle holder 13. The assembly plate 19 installed on one side of the side plate 18 supports three vision sensors 191. The three vision sensors 191 monitor the steel plate on the conveyor from multiple positions. The recognition technology of the vision sensors 191 mainly obtains the three-dimensional point cloud data of the galvanized steel plate through the 3D structured light camera of the first electric slide. The point cloud is segmented and features are extracted using deep learning algorithms to identify the contour edges, bending angles, opening positions and surface normal directions of different steel plates. The visual information is fused with the robot motion control closed loop to realize automatic positioning, trajectory generation and dynamic compensation of workpieces of arbitrary shape, ensuring high precision of visual recognition spraying guidance. When producing spray coatings for small batches of various types of galvanized steel sheets, multiple guide plates 17 are connected to paint delivery pipes. The steel sheets are placed on a conveyor and transported into the spray coating machine housing 1. Three vision sensors 191 first scan the shape of the transported steel sheets, and then send the scanned visual information to the main control console. The main control console then controls the connecting mechanism at the bottom of the fixed plate 11 to adjust the position of multiple paint boxes 12. Next, according to the different shapes of the steel sheets, an external power source controls the position of multiple nozzle holders 13, switching between one DC nozzle 14 and two oblique flow nozzles 15. After the steel sheet is delivered to the paint box 12, paint is pumped into the guide plate 17. The paint is then diverted in the guide plate 17 into the open flow control plate 16. The paint passes through the paint box 12 and is delivered to the corresponding connected nozzles of the multiple nozzle holders 13 for spraying, thus achieving the desired coating effect. This high-precision spraying device, guided by visual recognition, precisely coats galvanized steel sheets of various shapes and types. It accurately acquires the shape information of the steel sheet through visual recognition technology, allowing for flexible adjustment of the spray gun's position and usage. This solves the problem of frequent line stoppages and shape changes in traditional spraying devices when dealing with small batches of diverse steel sheets. Throughout the spraying process, the central control console precisely controls each component based on visual information, ensuring uniform and accurate coating of the paint onto the steel sheet surface. This improves spraying quality and efficiency, and reduces production disruptions. Simultaneously, the multi-angle monitoring and recognition technology of three vision sensors (191) comprehensively and accurately acquires the three-dimensional information of the steel sheet, providing reliable data support for subsequent spraying operations. This enables the device to adapt to the spraying needs of steel sheets with various complex shapes, further expanding its application range. When spraying steel plates with holes or grooves, and areas where spraying is unnecessary, the opening and closing of three solenoid valves on the flow control plate 16 can be flexibly controlled according to the shape characteristics of the steel plate being sprayed. This controls the paint supply to multiple nozzle seats 13, preventing paint from being sprayed onto areas that do not need to be sprayed, thus reducing paint waste. For example, when holes or grooves are detected on the steel plate, the solenoid valve of the corresponding nozzle is closed, sealing the nozzle's inlet and ensuring that the holes or grooves are not sprayed. Similarly, for areas that do not need to be sprayed, the paint supply to the corresponding nozzle in that area can be stopped by controlling the solenoid valve. This precise paint supply control method not only improves paint utilization and reduces production costs, but also ensures the quality of the spraying effect, preventing excess paint from affecting the appearance and performance of the steel plate.

[0025] A first electric slider 2 is slidably connected to the paint box 12; a connecting bent plate 21 is fixedly connected to the first electric slider 2, and the connecting bent plate 21 is fixedly connected to one side of a nozzle holder 13; connecting straight plates 22 are fixedly connected between multiple nozzle holders 13; when the position of the nozzle holder 13 is adjusted to connect different nozzles, the first electric slider 2 drives the three nozzle holders 13 connected by the connecting bent plate 21 and multiple connecting straight plates 22 to slide upwards, and the oblique flow nozzle 15 on the nozzle holder 13 and located below it is connected to the paint box 12, which can spray special areas such as partial bends of the steel plate; the first electric slider 2 carries The three nozzle seats 13 connected by the movable connecting bent plate 21 and multiple connecting straight plates 22 slide down. The oblique flow nozzle 15 on the nozzle seat 13 and located above is connected to the paint box 12, which can spray special areas such as the partial curves of the steel plate. If the first electric slider 2 drives multiple nozzle seats 13 to the center, the DC nozzle 14 is connected to the paint box 12, which can spray a large area of ​​flat surface, replacing the external power source. At the same time, the DC nozzle 14 is easier to spray a large area of ​​flat surface than the oblique flow nozzle 15, while the oblique flow nozzle 15 can be used for fine spraying of some irregular areas.

[0026] The connecting mechanism includes a first electric slide 3, a hydraulic cylinder 31, a fixed base 32, a servo motor 33, a rotating plate 34, and an adjustment assembly. The first electric slide 3 is slidably connected to the bottom end of the fixed plate 11. The hydraulic cylinder 31 is fixedly connected to the bottom end of the first electric slide 3. The fixed base 32 is fixedly connected to the output end of the hydraulic cylinder 31. The servo motor 33 is fixedly connected to the fixed base 32. The rotating plate 34 is rotatably connected to the fixed base 32, and the rotating plate 34 is connected to the output end of the servo motor 33. The adjustment assembly is set on the rotating plate 34 and is used to control and adjust the position of the paint box 12. When the position of the nozzle is adjusted during the spraying process, the first electric slide 3 slides at the bottom of the fixed plate 11, which can drive the nozzle to slide left and right above the conveyor. The output end of the hydraulic cylinder 31 controls the extension and retraction, which can drive the height of the nozzle to be adjusted up and down. The output of the servo motor 33 drives the adjustment component connected to the rotating plate 34 to rotate, which in turn drives the nozzle connected to the adjustment component to rotate. The adjustment component is used to control the extension and retraction, and adjust the position of one or more paint boxes 12 to achieve multi-dimensional precise adjustment of the nozzle position to adapt to different spraying needs. For example, when spraying some irregularly shaped workpieces, the above adjustment method can make the nozzle better fit the workpiece surface, ensuring the uniformity and accuracy of the spraying. When encountering protrusions and depressions on the workpiece surface, the hydraulic cylinder 31 controls the nozzle height to adjust up and down, so that the nozzle and the workpiece surface are kept at a suitable distance. The servo motor 33 drives the rotating plate 34 to rotate and adjust the nozzle angle, so that the nozzle can be aimed at the protrusions and depressions for spraying. The adjustment component controls the position of the paint box 12, which can perform more precise spraying operations on specific areas.

[0027] The adjustment assembly includes a connecting seat 4 and electric cylinders 41. The connecting seat 4 is fixedly connected to the end of the rotating plate 34 away from the fixed seat 32. Multiple electric cylinders 41 are fixedly connected to the end of the connecting seat 4 away from the rotating plate 34, and the output end of the electric cylinders 41 is connected to the paint box 12. When adjusting the spraying position of one or more nozzles, the connecting seat 4, fixed on the rotating plate 34, makes a large-scale adjustment, bringing the nozzle closer to the steel plate. The three electric cylinders 41 control the extension and retraction of the three paint boxes 12 respectively, allowing the nozzles on the paint boxes 12 to be controlled individually or synchronously, achieving different spraying positions. Precise spraying at specific positions and angles; for example, when spraying irregular areas on a steel plate, the connecting seat 4 moves the entire nozzle closer to the steel plate, and then the electric cylinder 41 flexibly controls the extension and retraction of the nozzles on each paint box 12. For the details of the irregular area, the nozzle on a certain paint box 12 can be individually controlled to move closer for fine spraying; for larger areas, multiple nozzles can move synchronously to improve spraying efficiency; moreover, this adjustment method can quickly and accurately adjust the nozzle position according to the spraying requirements of different parts of the steel plate to ensure the quality of spraying.

[0028] like Figures 1 to 7 As shown, two secondary electric slide frames 5 are slidably connected to the connecting seat 4; a support plate 51 is fixedly connected to the secondary electric slide frame 5; a side spray frame 52 is slidably connected to the support plate 51 via a secondary electric slider; a spray box 53 is fixedly connected to the side spray frame 52, and the spray box 53 has multiple spray holes; when spraying a portion of the steel plate whose side needs to be sprayed, the two sets of secondary electric slide frames 5, together with the support plate 51, are installed on both sides above the connecting seat 4. As the connecting seat 4 is adjusted closer to the steel plate, the secondary electric slide frames 5 drive the support plate 51 to slide closer to the side of the steel plate. A paint delivery pipe is connected to the side spray frame 52, and the secondary electric slider drives the spray box 52 on the side spray frame 52. 3. Fine-tuning of the position is performed so that the multiple spray holes of the spray box 53 correspond to the areas on the side of the steel plate that need to be sprayed. The paint is pumped in and sprayed out from the multiple spray boxes 53 through the side spray frame 52, achieving precise spraying of the side of the steel plate. This design allows the device to not only perform high-precision spraying on the front of the steel plate, but also to take into account the spraying needs of the side, thus improving the applicability and flexibility of the device. For steel plates of different thicknesses and widths, the sliding distance of the second electric slide 5 on the connecting seat 4 and the fine-tuning range of the side spray frame 52 on the support plate 51 can be flexibly adjusted according to the actual situation to ensure that the spray holes of the spray box 53 can be accurately aligned with the areas on the side of the steel plate to be sprayed.

[0029] A third electric slider 6 is slidably connected to the side spray frame 52; a sealing plate 61 is fixed to the third electric slider 6, and the sealing plate 61 is provided with multiple short plates of different lengths; when the spray box 53 sprays the side of the steel plate, the width of the side of the steel plate is different. The third electric slider 6 drives the sealing plate 61 to slide up onto the side spray frame 52. Relying on the multiple short plates of different lengths on the sealing plate 61, some of the spray holes of the spray box 53 are blocked, so that the effective spraying range of the spray holes matches the width of the side of the steel plate, which can reduce the situation where the paint is sprayed outside the side of the steel plate, and at the same time ensure the accuracy of spraying; the sliding of the third electric slider 6 on the side spray frame 52 can be precisely controlled by the device. The device can be quickly and accurately adjusted according to the actual width of different steel plate sides. When encountering a narrow steel plate side, the No. 3 electric slider 6 drives the sealing plate 61 to slide upward. The longer short plate will first block part of the spray holes at the edge of the spray box 53. As the width of the steel plate side further narrows, the shorter short plate will also participate in the blocking until the width of the steel plate side corresponds to the spraying range. When the width of the steel plate side is wide, the No. 3 electric slider 6 drives the sealing plate 61 to slide downward, gradually releasing the blockage of the spray holes and allowing more spray holes to participate in the spraying work. This improves the adaptability and flexibility of the device when spraying steel plate sides of different widths and enhances the spraying effect of the device.

[0030] A connecting pipe 7 is fixedly connected to one side of the spray box 53 on the side spray frame 52. One end of the connecting pipe 7 is fixedly connected to a multi-directional nozzle 71, and the other end is fixedly connected to a flow divider box 72. The flow divider box 72 is fixedly connected to the side spray frame 52 and can communicate with the multi-directional nozzle 71 through the connecting pipe 7. The flow divider box 72 can also communicate with the spray box 53 through the side spray frame 52. When spraying the holes on the side of the steel plate, the flow divider box 72 is connected to the paint delivery pipe and communicates with the spray box 53 and... The multi-directional nozzle 71 connected by the connecting pipe 7 is slidably inserted into the hole of the steel plate by the second electric slide 5, and the connection of the spray box 53 is sealed in advance. The pumped paint is sent to the multi-directional nozzle 71 through the connecting pipe 7 and sprayed into the hole, so as to achieve precise spraying of the hole. At the same time, since the multi-directional nozzle 71 can be flexibly inserted into the hole at different positions as the second electric slide 5 slides, the device can adapt to the spraying needs of holes of various steel plates of different specifications.

[0031] The inside of the flow divider box 72 is slidably connected to a switching plate 8 via a fourth electric slider. The switching plate 8 has a straight groove and a bend groove. When switching between the spray box 53 and the multi-directional nozzle 71, the fourth electric slider drives the switching plate 8 to slide inside the flow divider box 72. When the multi-directional nozzle 71 is needed for spraying, the fourth electric slider drives the switching plate 8 to slide towards the spray box 53, so that the bend groove of the switching plate 8 is connected to the flow channel of the flow divider box 72, and the paint can reach the multi-directional nozzle 71 through the connecting pipe 7 and be sprayed out. Conversely, the straight groove of the switching plate 8 is connected to the flow channel of the flow divider box 72, and the paint can reach the spray box 53 through the side spray frame 52 and be sprayed out. This is used to adaptably switch between the spray box 53 and the multi-directional nozzle 71 according to different working conditions.

[0032] like Figures 1 to 3 As shown, two connecting plates 9 are fixedly attached to the assembly plate 19, and the two connecting plates 9 are arranged opposite each other. The end of the connecting plate 9 away from the assembly plate 19 is rotatably connected to a rotating rod 91 through a torsion spring. The bottom end of the rotating rod 91 is fixedly attached to a guide plate 92. When the steel plate is placed on the conveyor for conveying, the two connecting plates 9 are fixed on both sides of the front end of the assembly plate 19, and the two guide plates 92 are located above the conveyor belt of the conveyor. The two guide plates 92 guide the conveyed steel plate in the center. As the steel plate is pressed against the surface of the guide plate 92, the torsion spring, together with the rotating rod 91, elastically supports the steel plate and guides it to be conveyed closer to the center of the conveyor, thereby ensuring that the steel plate is in a position close to the center during the conveying process, providing a stable foundation for subsequent spraying operations. Moreover, the elastic effect of the torsion spring allows the guide plate 92 to adaptively adjust according to the actual position and shape of the steel plate when in contact with it, without causing excessive compression to the steel plate. When the width of the steel plate changes, the torsion spring can also adjust the position of the guide plate 92 through its own elasticity, still achieving the function of centering and guiding steel plates of different widths.

[0033] The three vision sensors 191 are located at the center of the bottom of the assembly plate 19 and on both sides of the bottom of the assembly plate 19, respectively. The output end of the vision sensor 191 at the center of the bottom of the assembly plate 19 faces the conveyor, while the vision sensors 191 on both sides of the bottom of the assembly plate 19 face the bottom of the guide plate 92 and the bottom of the side plate 18, respectively. When the three vision sensors 191 monitor the steel plate on the conveyor, the vision sensor 191 at the center of the bottom of the assembly plate 19 can accurately obtain the status information of the steel plate at the center position of the conveyor, including the center position coordinates, offset, and planar information of the steel plate, providing basic data for further adjustment; the vision sensor 191 facing the bottom of the guide plate 92... 1. It can monitor the relative position of the steel plate and the guide plate 92 in real time during the centering process, and detect whether the steel plate tilts or irregular areas due to abnormal contact between the steel plate and the guide plate 92 during the guiding process. The visual sensor 191 facing the bottom of the side plate 18 mainly focuses on the irregular areas of the steel plate opposite to the other visual sensor 191. The three visual sensors 191 monitor simultaneously to form a comprehensive and multi-angle monitoring system, which can provide adaptive monitoring solutions for steel plates of different widths and shapes. No matter how the specifications of the steel plate change, it can achieve accurate position monitoring and spraying adjustment.

[0034] Working process: When producing spray coatings for small batches of various types of galvanized steel sheets, paint delivery pipes are connected to multiple guide plates 17. The steel sheets are placed on a conveyor and transported into the spray coating machine housing 1. Three vision sensors 191 first scan the shape of the conveyed steel sheets, and then send the scanned visual information to the main control console. The main control console then controls the connecting mechanism at the bottom of the fixed plate 11 to adjust the position of multiple paint boxes 12. Next, according to the different shapes of the steel sheets, an external power source controls the position of multiple nozzle seats 13, switching between one DC nozzle 14 and two oblique flow nozzles 15. After the steel sheet is delivered to the paint box 12, paint is pumped into the guide plates 17. The paint is sprayed on the guide plates 17. The coating is diverted into the open control plate 16, and then delivered through the coating box 12 to the corresponding nozzles on multiple nozzle holders 13 for spraying. This enables precise spraying of galvanized steel sheets of different shapes and types. This high-precision spraying device, guided by visual recognition, accurately acquires the shape information of the steel sheet through visual recognition technology, and then flexibly adjusts the position and usage of the spray gun. This solves the problem of frequent line stoppages and shape changes when dealing with small batches of diverse steel sheets in traditional spraying devices. Throughout the spraying process, the main control console precisely controls each component based on visual information, ensuring that the coating is sprayed evenly and accurately onto the steel sheet surface, improving the quality and efficiency of spraying and reducing production disruptions. In this situation, the multi-angle monitoring and recognition technology of the three vision sensors 191 can comprehensively and accurately acquire the three-dimensional information of the steel plate, providing reliable data support for subsequent spraying operations. This enables the device to adapt to the spraying needs of steel plates with various complex shapes, further expanding its application range. When spraying steel plates with holes or grooves and areas that do not need to be sprayed, the device can flexibly control the opening and closing of the three solenoid valves on the flow control plate 16 according to the shape characteristics of the steel plate being sprayed, thereby controlling the paint supply in multiple nozzle seats 13. This avoids spraying paint onto areas that do not need to be sprayed, reducing paint waste. For example, when holes or grooves are detected on the steel plate, the solenoid valve of the corresponding nozzle is closed, and the nozzle's... The feed inlet is sealed to prevent the inside of the slot from being sprayed. For areas that do not need to be sprayed, the paint supply to the corresponding nozzle can be stopped by controlling the solenoid valve. This precise paint supply control method not only improves the utilization rate of paint and reduces production costs, but also ensures the quality of the spraying effect and avoids affecting the appearance and performance of the steel plate due to excess paint adhesion. When the position of the nozzle seat 13 is adjusted to connect different nozzles, the first electric slider 2 drives the three nozzle seats 13 connected by the connecting bent plate 21 and multiple connecting straight plates 22 to slide upward. The oblique flow nozzle 15 on the nozzle seat 13 and located below is connected to the paint box 12, which can spray special areas such as some bends of the steel plate.The first electric slider 2 drives the three nozzle seats 13 connected by the connecting curved plate 21 and multiple connecting straight plates 22 to slide down. The oblique flow nozzle 15 on the nozzle seat 13 and located above is connected to the paint box 12, which can spray special areas such as the partial curves of the steel plate. If the first electric slider 2 drives the multiple nozzle seats 13 to be in the center, the DC nozzle 14 is connected to the paint box 12, which can spray a large area of ​​flat surface, replacing the external power source. At the same time, the DC nozzle 14 is easier to spray a large area of ​​flat surface than the oblique flow nozzle 15, while the oblique flow nozzle 15 can be used for fine spraying of some irregular areas. When adjusting the position of the spray head during the spraying process, the first electric slide 3 slides at the bottom of the fixed plate 11, which can drive the spray head to slide left and right above the conveyor for adjustment; the output end of the hydraulic cylinder 31 controls the extension and retraction, which can drive the height of the spray head to be adjusted up and down; the output end of the servo motor 33 drives the adjustment component connected to the rotating plate 34 to rotate, which can drive the spray head connected to the adjustment component to rotate the angle. The adjustment component is used to control the extension and retraction, and adjust the position of one or more paint boxes 12 to achieve multi-dimensional precise adjustment of the spray head position to adapt to different spraying needs; for example, when spraying some irregularly shaped workpieces, the above adjustment method can make the spray head better fit the workpiece surface, ensuring the uniformity and accuracy of the spraying; when encountering protrusions and depressions on the workpiece surface, the hydraulic cylinder 31 controls the height of the spray head to be adjusted up and down, so that the spray head maintains a suitable distance from the workpiece surface, and the servo motor 33 drives the rotating plate 34 to rotate and adjust the spray head angle, so that the spray head can be aimed at the protrusions and depressions. The spraying process involves adjusting the position of the paint box 12 using an adjustable component, allowing for more precise spraying of specific areas. When adjusting the spraying position of one or more nozzles, the connecting seat 4, fixed to the rotating plate 34, makes significant adjustments, bringing the nozzles closer to the steel plate. Three electric cylinders 41 control the extension and retraction of the three paint boxes 12, enabling the nozzles on the paint boxes 12 to be controlled individually or simultaneously, achieving precise spraying at different positions and angles. For example, when spraying irregular areas on the steel plate, the connecting seat 4 moves the entire nozzle closer to the steel plate, and then the electric cylinders 41 flexibly control the extension and retraction of the nozzles on each paint box 12. For detailed parts of irregular areas, a single nozzle on a paint box 12 can be controlled to move closer for fine spraying. For larger areas, multiple nozzles can operate synchronously, improving spraying efficiency. Moreover, this adjustment method can quickly and accurately adjust the nozzle position according to the spraying requirements of different parts of the steel plate, ensuring the quality of the spraying. When spraying the steel plate whose sides need to be painted, two sets of No. 2 electric sliding frames 5, together with the support plates 51, are installed on both sides above the connecting seat 4. As the connecting seat 4 is adjusted closer to the steel plate, the No. 2 electric sliding frames 5 drive the support plates 51 to slide closer to the side of the steel plate. The paint delivery pipe is connected to the side spray frame 52. The No. 2 electric sliding frame drives the spray boxes 53 on the side spray frame 52 to make fine adjustments to their positions, so that the multiple spray holes of the spray boxes 53 correspond to the areas on the side of the steel plate that need to be painted. The pumped paint passes through the side spray frame 52 and is sprayed out from the multiple spray boxes 53, achieving the painting of the side of the steel plate. Precision spraying; this design allows the device to perform high-precision spraying not only on the front of the steel plate but also on the sides, improving its applicability and flexibility. For steel plates of different thicknesses and widths, the sliding distance of the second electric slide 5 on the connecting seat 4 and the fine-tuning range of the side spray frame 52 on the support plate 51 can be flexibly adjusted according to actual conditions to ensure that the spray nozzles of the spray box 53 are accurately aligned with the areas to be sprayed on the sides of the steel plate. When the spray box 53 sprays the sides of the steel plate, where the width of the sides varies, the third electric... The slider 6 drives the sealing plate 61 to slide upwards onto the side spray frame 52. Multiple short plates of varying lengths on the sealing plate 61 seal some of the spray holes in the spray box 53, ensuring that the effective spraying range of the spray holes matches the width of the steel plate side. This reduces the amount of paint sprayed outside the steel plate side and guarantees spraying accuracy. The sliding of the third electric slider 6 on the side spray frame 52 is achieved through a precise control device, allowing for rapid and accurate adjustment based on the actual width of different steel plate sides. When encountering narrower steel plate sides… At this time, the third electric slider 6 drives the sealing plate 61 to slide upward. The longer short plate will first block some of the spray holes on the edge of the spray box 53. As the width of the steel plate side further narrows, the shorter short plate will also participate in the blocking until the width of the steel plate side corresponds to the spraying range. When the width of the steel plate side is wide, the third electric slider 6 drives the sealing plate 61 to slide downward, gradually releasing the blocking of the spray holes, allowing more spray holes to participate in the spraying work. This improves the adaptability and flexibility of the device when spraying steel plate sides of different widths, and enhances the spraying effect of the device. When spraying the holes on the side of the steel plate, the diversion box 72 is connected to the paint delivery pipe and is also connected to the multi-directional nozzle 71, which is connected to the spray box 53 and the connecting pipe 7. The second electric slide 5 drives the multi-directional nozzle 71 to slide into the hole of the steel plate, pre-sealing the connection of the spray box 53. The pumped paint is delivered to the multi-directional nozzle 71 through the connecting pipe 7 and sprayed into the hole, achieving precise spraying of the hole's interior. At the same time, because the multi-directional nozzle 71 can flexibly insert into holes at different positions as the second electric slide 5 slides, the device can adapt to the spraying needs of holes in steel plates of various specifications. When switching between spray box 53 and multi-directional nozzle 71, the fourth electric slider drives the switching plate 8 to slide inside the flow distribution box 72. When the multi-directional nozzle 71 needs to be used for spraying, the fourth electric slider drives the switching plate 8 to slide towards the spray box 53, so that the bend of the switching plate 8 is connected to the flow channel of the flow distribution box 72, and the paint can reach the multi-directional nozzle 71 through the connecting pipe 7 and be sprayed out. Conversely, the straight groove of the switching plate 8 is connected to the flow channel of the flow distribution box 72, and the paint can reach the spray box 53 through the side spray frame 52 and be sprayed out. This is used to adaptably switch between spray box 53 and multi-directional nozzle 71 according to different working conditions. When the steel plate is placed on the conveyor, two connecting plates 9 are fixed on both sides of the front end of the assembly plate 19, and two guide plates 92 are located above the conveyor belt. The two guide plates 92 guide the conveyed steel plate in the center. As the steel plate is pressed against the surface of the guide plate 92, the torsion spring, together with the rotating rod 91, elastically supports the steel plate and guides it to be conveyed closer to the center of the conveyor, thereby ensuring that the steel plate is in a position close to the center during the conveying process, providing a stable foundation for subsequent spraying operations. Moreover, the elasticity of the torsion spring allows the guide plate 92 to adaptively adjust according to the actual position and shape of the steel plate when in contact with it, without causing excessive compression to the steel plate. When the width of the steel plate changes, the torsion spring can also adjust the position of the guide plate 92 through its own elasticity, still achieving the function of centering and guiding steel plates of different widths.

[0035] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision spraying device based on vision recognition guidance, characterized in that: The system includes a spray painting machine housing; a conveyor is fixedly connected to the spray painting machine housing; multiple fixing plates are fixedly connected inside the spray painting machine housing; multiple paint boxes are provided at the bottom of the fixing plates; a connecting mechanism is provided at the bottom of the fixing plates for mounting the multiple paint boxes at the bottom of the fixing plates; multiple nozzle seats are slidably connected to the paint boxes; one DC nozzle and two oblique flow nozzles are fixedly connected to each nozzle seat, with the DC nozzle located at the center of the two oblique flow nozzles; a flow control plate is fixedly connected to the paint box, and three solenoid valves are fixedly connected to the flow control plate; a guide plate is fixedly connected to the flow control plate; a side plate is fixedly connected to the side of one of the fixing plates; an assembly plate is fixedly connected to the side of the side plate away from the fixing plate; and three vision sensors are fixedly connected to the assembly plate.

2. The high-precision spraying device based on visual recognition guidance according to claim 1, characterized in that: A first electric slider is slidably connected to the paint box; a connecting bent plate is fixedly connected to the first electric slider, and the connecting bent plate is fixedly connected to one side of a nozzle holder; a connecting straight plate is fixedly connected between multiple nozzle holders.

3. The high-precision spraying device based on visual recognition guidance according to claim 1, characterized in that: The connecting mechanism includes a first electric slide, a hydraulic cylinder, a fixed base, a servo motor, a rotating plate, and an adjusting assembly. The first electric slide is slidably connected to the bottom end of the fixed plate. The hydraulic cylinder is fixedly connected to the bottom end of the first electric slide. The fixed base is fixedly connected to the output end of the hydraulic cylinder. The servo motor is fixedly connected to the fixed base. The rotating plate is rotatably connected to the fixed base and is connected to the output end of the servo motor. The adjusting assembly is disposed on the rotating plate and is used to control and adjust the position of the paint box.

4. The high-precision spraying device based on visual recognition guidance according to claim 3, characterized in that: The adjustment assembly includes a connecting seat and electric cylinders; the connecting seat is fixed to the end of the rotating plate away from the fixed seat; a plurality of electric cylinders are fixed to the end of the connecting seat away from the rotating plate, and the output end of the electric cylinders is connected to the paint box.

5. A high-precision spraying device based on visual recognition guidance according to claim 4, characterized in that: Two second-order electric slides are slidably connected to the connecting base; a support plate is fixedly connected to the second-order electric slide; a side spray frame is slidably connected to the support plate via a second-order electric slider; a spray box is fixedly connected to the side spray frame, and the spray box has multiple spray holes.

6. A high-precision spraying device based on visual recognition guidance according to claim 5, characterized in that: The side spray frame is slidably connected to a No. 3 electric slider; a sealing plate is fixed to the No. 3 electric slider, and the sealing plate is provided with multiple short plates of different lengths.

7. A high-precision spraying device based on visual recognition guidance according to claim 6, characterized in that: A connecting pipe is fixedly connected to one side of the spray box on the side spray frame; one end of the connecting pipe is fixedly connected to a multi-directional nozzle, and the other end of the connecting pipe is fixedly connected to a flow divider box, which is fixedly connected to the side spray frame. The flow divider box can be connected to the multi-directional nozzle through the connecting pipe, and the flow divider box can be connected to the spray box through the side spray frame.

8. A high-precision spraying device based on visual recognition guidance according to claim 7, characterized in that: The inside of the shunt box is slidably connected to a switching plate via a No. 4 electric slider. The switching plate has a straight through slot and a bent through slot.

9. A high-precision spraying device based on visual recognition guidance according to claim 1, characterized in that: Two connecting plates are fixedly attached to the assembly plate, and the two connecting plates are arranged opposite to each other; the end of the connecting plate away from the assembly plate is rotatably connected to a rotating rod via a torsion spring; a guide plate is fixedly attached to the bottom end of the rotating rod.

10. A high-precision spraying device based on vision recognition guidance according to claim 9, characterized in that: The three vision sensors are located at the center of the bottom of the assembly plate and on both sides of the bottom of the assembly plate, respectively. The output end of the vision sensor at the center of the bottom of the assembly plate faces the conveyor, and the vision sensors on both sides of the bottom of the assembly plate face the bottom of the guide plate and the bottom of the side plate, respectively.

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