Spraying and polishing device based on robot and visual feedback thereof

Abstract

The utility model discloses a spraying and polishing device based on robot and visual feedback thereof, which comprises a visual component, a spraying and polishing component and a mechanical arm, the visual component is assembled at the driving end of the mechanical arm, the spraying and polishing component comprises a turntable, a spraying piece and a polishing piece, the turntable is assembled at the driving end of the mechanical arm, and the spraying piece is assembled at the driving end of the mechanical arm. The spraying part is assembled on the rotary disc, the polishing part is further provided with a floating part, the floating part is assembled on the rotary disc, and the polishing part is assembled at the floating end of the floating part. The spraying and polishing assembly is assembled at the driving end of the mechanical arm and matched with the visual assembly, a spraying piece and a polishing piece of the spraying and polishing assembly can effectively spray and polish an area in a targeted mode according to the visual feedback result of the visual assembly, the efficiency of automatic manufacturing work is improved, the risk of personal errors is reduced, and the production efficiency is improved. And the accuracy and consistency of spraying and polishing work are enhanced, and meanwhile, the safety and quality control of operators are also considered.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying and grinding equipment, in particular to a spraying and grinding device based on a robot and its visual feedback. Background Art

[0002] Traditionally, spraying and grinding work usually relies on a lot of manual operations. In addition, when manual operations are used, the spraying work is first done manually, and then the spray area is manually polished. These operations are time-consuming and labor-intensive, and are prone to human errors. Since workers must perform continuous repetitive work, this may cause fatigue and reduce production efficiency. In addition, since spraying and grinding liquids, chemicals, and dust are involved, workers may also be exposed to harmful substances, posing risks to their health.

[0003] Another problem with manual operations is that differences in skills and experience between different workers can lead to inconsistent quality and consistency of work. This inconsistency can have a negative impact on manufacturing quality because each worker's operations may be different. Utility Model Content

[0004] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the utility model is to provide a spraying and polishing device based on a robot and its visual feedback to solve the problems raised by the above-mentioned background technology.

[0005] The technical solution adopted by the utility model to solve its technical problems is: a spraying and polishing device based on a robot and its visual feedback, including a visual component, a spraying and polishing component and a mechanical arm, the visual component is assembled at the driving end of the mechanical arm, the spraying and polishing component includes a turntable, a spraying part and a polishing part, the turntable is assembled at the driving end of the mechanical arm, the spraying part is assembled on the turntable, the polishing part is also provided with a floating part, the floating part is assembled on the turntable, and the polishing part is assembled on the floating end of the floating part.

[0006] As a further improvement of the present invention: the spray and polishing assembly further comprises a mounting plate, the mounting plate is fixedly connected to the end surface of the turntable, and the spray component and the floating component are respectively fixedly connected to the turntable via the mounting plate.

[0007] As a further improvement of the utility model: the grinding member includes a grinding head, a floating shaft and a connecting member, the floating shaft is fixedly assembled on the floating end of the floating member through the connecting member, and the grinding head is detachably connected to the floating shaft.

[0008] As a further improvement of the utility model: a liquid inlet interface is arranged on the side of the floating member.

[0009] As a further improvement of the present invention: the exterior of the floating member is made of soft rubber material.

[0010] As a further improvement of the utility model: the spraying member is provided with a spray head and an adjusting tube, and the spray head is assembled at the end of the adjusting tube.

[0011] As a further improvement of the utility model: the adjusting tube is configured as a hard tube, and the adjusting tube is adjustably mounted on the mounting plate.

[0012] As a further improvement of the utility model: the spray and polishing assembly is further provided with a detection member, the detection member is provided with an upper probe and a lower probe, and the upper probe and the lower probe are respectively assembled on the turntable.

[0013] As a further improvement of the present utility model: the visual component is provided with a visual camera and a bracket, the bracket is fixedly connected to the driving end of the robotic arm, and the visual camera is assembled on the bracket.

[0014] As a further improvement of the utility model: a rotating member is arranged at the bottom of the mechanical arm, and the rotating member comprises a rotating motor, a rotating chassis and a bottom plate. The rotating chassis is rotatably mounted on the bottom plate, and the rotating chassis is also connected to the rotating motor.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] 1. The utility model assembles the spraying and grinding components on the driving end of the robot arm and cooperates with the visual component. According to the visual feedback results of the visual component, the spraying parts and grinding parts of the spraying and grinding components can effectively spray and grind the area in a targeted manner, thereby improving the efficiency of automated manufacturing work, reducing the risk of human errors, enhancing the accuracy and consistency of spraying and grinding work, and also taking into account the safety of the operator and quality control.

[0017] 2. The utility model also uses a detection piece to further detect the area. The upper and lower probes of the detection piece are installed on the turntable. The upper probe and the lower probe act as auxiliary probes of the visual camera, which can provide precise positioning for the spraying parts and the polishing parts, realize effective spraying and polishing of the area, improve the efficiency of automated manufacturing work, and reduce the risk of human error.

[0018] 3. The utility model adds a floating part at the rear end of the grinding part. The floating part is mainly used to increase the compensation, and a floating shaft is used to connect the grinding part, so that the grinding part can automatically adjust the contact force between the tool and the workpiece during the processing, ensuring the consistency and stability of the cutting effect and achieving high-precision processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The structure of the utility model is shown in FIG. Figure 1 .

[0020] Figure 2 The structure of the utility model is shown in FIG. Figure 2 .

[0021] Figure 3 It is a structural schematic diagram of the spraying and polishing assembly of the utility model.

[0022] Numbers in the figure: 101. Visual component, 102. Robotic arm, 103. Spray part, 104. Grinding part, 105. Floating part, 1. Visual camera, 2. Bracket, 3. Upper probe, 4. Lower probe, 5. Spray and polishing component, 6. Turntable, 7. Forearm shaft, 8. Forearm, 9. Forearm connecting shaft, 10. Connection, 11. Upper arm, 12. Upper arm drive motor, 13. Rotating chassis, 14. Bottom plate, 15. Turntable motor, 16. Grinding head, 17. Floating shaft, 18. Connecting part, 19. Floating end, 20. Liquid inlet interface, 21. Spray head, 22. Adjustment pipe, 23. Mounting plate. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in combination with the specific embodiments of the utility model and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] The utility model is now further described in conjunction with the accompanying drawings and embodiments: a spraying and polishing device based on a robot and its visual feedback, comprising a visual component 101, a spraying and polishing component 5 and a robotic arm 102, wherein the visual component 101 is assembled at the driving end of the robotic arm 102, the spraying and polishing component 5 comprises a turntable 6, a spraying part 103 and a polishing part 104, the turntable 6 is assembled at the driving end of the robotic arm 102, the spraying part 103 is assembled on the turntable 6, the polishing part 104 is also provided with a floating part 105, the floating part 105 is assembled on the turntable 6, and the polishing part 104 is assembled on the floating end 19 of the floating part 105.

[0025] The utility model assembles the spraying and polishing assembly 5 on the driving end of the robot arm 102 and cooperates with the visual assembly 101. According to the visual feedback result of the visual assembly 101, the spraying part 103 and the polishing part 104 of the spraying and polishing assembly 5 can effectively spray and polish the area in a targeted manner, thereby improving the efficiency of automated manufacturing work, reducing the risk of human error, enhancing the accuracy and consistency of spraying and polishing work, and also taking into account the safety of the operator and quality control.

[0026] In one embodiment of the present application, the spray and polishing assembly 5 further includes a mounting plate 23, the mounting plate 23 is fixedly connected to the end surface of the turntable 6, and the spray component 103 and the floating component 105 are respectively fixedly connected to the turntable 6 through the mounting plate 23. Since there is only a main hole in the middle of the turntable 6 for connecting the driving end of the robot arm 102, a mounting plate 23 is added to the turntable 6 as a mounting medium. When the mounting plate 23 and the turntable 6 are fixed to the driving end of the robot arm 102, the spray component 103 and the floating component 105 can be installed on the mounting plate 23 without opening extra holes on the turntable 6.

[0027] In one embodiment of the present application, the grinding member 104 includes a grinding head 16, a floating shaft 17 and a connecting member 18. The floating shaft 17 is fixedly assembled on the floating end 19 of the floating member 105 through the connecting member 18, and the grinding head 16 is detachably connected to the floating shaft 17. In this embodiment, the grinding head 16 can be divided into a triangular cone shape and a spherical shape. The grinding head 16 is located at the front end of the floating shaft 17, and the connecting member 18 connects the floating shaft 17 with the floating end 19 of the floating price; a floating member 105 is added to the rear end of the grinding member 104. The floating member 105 is mainly used to increase the compensation, and the floating shaft 17 is used to connect the grinding member 104, so that the grinding member 104 can automatically adjust the contact force between the tool and the workpiece during the processing, ensure the consistency and stability of the cutting effect, and achieve high-precision processing.

[0028] In one embodiment of the present application, a liquid inlet interface 20 is provided on the side of the floating member 105, and the liquid inlet interface 20 is connected to an external water source. In this embodiment, since dust is generated when the grinding member 104 starts the grinding head 16 to grind the area, dust can be effectively removed by spraying liquid on the grinding head 16.

[0029] In one embodiment of the present application, the outer part of the floating member 105 is provided with a soft rubber material. This soft rubber material has good elasticity and flexibility, and has high shock absorption, sound insulation, and heat insulation performance. The use of soft rubber material on the outer side of the floating member 105 can effectively improve the overall performance of the floating member 105, making it more adaptable to various use environments, and improve the elastic modulus of the floating member 105 connected to the floating shaft 17, thereby improving the toughness and impact strength of the floating member.

[0030] In one embodiment of the present application, the spraying member 103 is provided with a spray head 21 and an adjusting tube 22, the adjusting tube 22 is mounted on a mounting plate 23 to connect to an external water source, and the spray head 21 is mounted on the end of the adjusting tube 22. Further, the adjusting tube 22 is configured as a hard tube, and the adjusting tube 22 is adjustably mounted on the mounting plate 23. In this embodiment, the spray head 21 is mounted on the front end of the adjusting tube 22, the adjusting tube 22 is connected to the mounting plate 23, and the adjusting tube 22 is a hard tube. According to the requirements of the spray angle of the spraying area, the spray angle can be adjusted by manual adjustment.

[0031] In one embodiment of the present application, the spray and polishing assembly 5 is also provided with a detection member, and the detection member is provided with an upper probe 3 and a lower probe 4, and the upper probe 3 and the lower probe 4 are respectively mounted on the turntable 6. In this embodiment, on the basis of detection using a visual camera, a detection member is also used to further detect the area, and the upper and lower probes of the detection member are installed on the turntable 6, and the upper probe 3 and the lower probe 4 act as auxiliary probes of the visual camera. These upper and lower probes help operators better observe the environment around the polishing part 104 and the spraying part 103 by providing different angles of view, thereby reducing blind spots in the polishing and spraying process, and can provide precise positioning for the spraying part 103 and the polishing part 104, so as to achieve effective spray polishing of the area, improve the efficiency of automated manufacturing work, reduce the risk of human errors, and enhance the accuracy and consistency of spraying and polishing work.

[0032] In one embodiment of the present application, the visual component 101 is provided with a visual camera 1 and a bracket 2 , the bracket 2 is fixedly connected to the driving end of the robot arm 102 , and the visual camera 1 is assembled on the bracket 2 .

[0033] In one embodiment of the present application, a rotating member is provided at the bottom of the mechanical arm 102, and the rotating member includes a rotating motor 15, a rotating chassis 13 and a bottom plate 14, and the rotating chassis 13 is rotatably mounted on the bottom plate 14, and the rotating chassis 13 is also connected to the rotating motor 15. In this embodiment, a rotating member is applied at the bottom of the mechanical arm 102, and the rotating member can improve the horizontal rotation of the mechanical arm 102.

[0034] Furthermore, the mechanical arm 102 also includes a forearm shaft 7, a forearm 8, a forearm connecting shaft 9, a connection 10, a large arm 11, and a large arm driving motor 12. The mechanical arm 102 is composed of the forearm 8 and the large arm 11, and is connected by the forearm shaft 7, the forearm connecting shaft 9, and the connection 10. The forearm shaft 7 is the connection 10 between the forearm 8 and the turntable 6, the shaft of the connection 10 of the forearm 8 is installed at the connection 10, the large arm 11 is installed below the connection 10, the large arm driving motor 12 is installed on the side below the large arm 11, the rotating chassis 13 is installed below the large arm 11, the bottom plate 14 is installed at the bottom of the entire device, and the rotating motor 15 is located on the side of the turntable 6.

[0035] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by terms such as "upper", "lower", "top", "bottom", "left", and "right" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present utility model. Therefore, they cannot be understood as limiting the actual use direction of the present utility model.

[0036] In summary, after reading the utility model document, ordinary technicians in this field can make various other corresponding transformation schemes based on the technical scheme and technical concept of the utility model without creative mental labor, which all fall within the scope of protection of the utility model.

Claims

1. A spraying and polishing device based on a robot and its visual feedback, characterized in that: It includes a visual component, a spray and polishing component and a robotic arm, wherein the visual component is assembled at the driving end of the robotic arm, the spray and polishing component includes a turntable, a spray part and a polishing part, the turntable is assembled at the driving end of the robotic arm, the spray part is assembled on the turntable, the polishing part is also provided with a floating part, the floating part is assembled on the turntable, and the polishing part is assembled on the floating end of the floating part.

2. A spraying and polishing device based on a robot and its visual feedback according to claim 1, characterized in that: The spray and polishing assembly also includes a mounting plate, which is fixedly connected to the end surface of the turntable, and the spray component and the floating component are respectively fixedly connected to the turntable through the mounting plate.

3. A spraying and polishing device based on a robot and its visual feedback according to claim 2, characterized in that: The grinding piece comprises a grinding head, a floating shaft and a connecting piece. The floating shaft is fixedly assembled on the floating end of the floating piece through the connecting piece, and the grinding head is detachably connected to the floating shaft.

4. A spraying and polishing device based on a robot and its visual feedback according to claim 3, characterized in that: A liquid inlet interface is arranged on the side of the floating member.

5. A spraying and polishing device based on a robot and its visual feedback according to claim 4, characterized in that: The exterior of the floating member is made of soft rubber material.

6. A spraying and polishing device based on a robot and its visual feedback according to claim 5, characterized in that: The spraying part is provided with a spraying head and an adjusting pipe, and the spraying head is assembled at the end of the adjusting pipe.

7. A spraying and polishing device based on a robot and its visual feedback according to claim 6, characterized in that: The adjusting tube is configured as a hard tube, and the adjusting tube is adjustably mounted on the mounting plate.

8. The spraying and polishing device based on a robot and its visual feedback according to claim 1, characterized in that: The spray and polishing assembly is also provided with a detection member, and the detection member is provided with an upper probe and a lower probe, and the upper probe and the lower probe are respectively assembled on the turntable.

9. The spraying and polishing device based on a robot and its visual feedback according to claim 1, characterized in that: The visual component is provided with a visual camera and a bracket, the bracket is fixedly connected to the driving end of the mechanical arm, and the visual camera is assembled on the bracket.

10. The spraying and polishing device based on a robot and its visual feedback according to claim 1, characterized in that: A rotating member is arranged at the bottom of the mechanical arm, and the rotating member comprises a rotating motor, a rotating chassis and a bottom plate. The rotating chassis is rotatably mounted on the bottom plate, and the rotating chassis is also connected to the rotating motor.

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