Paint surface defect self-positioning repairing device and paint surface repairing system

Abstract

The utility model relates to a paint surface defect self-positioning repairing device and a paint surface repairing system. The paint surface defect self-positioning repairing device comprises a mounting bottom plate, a first connecting assembly, a second connecting assembly, a visual mechanism, a grinding mechanism and a polishing mechanism, the visual mechanism is arranged at one end of the mounting bottom plate through a first connecting assembly and is used for carrying out light source projection and image information acquisition; the grinding mechanism 3 and the polishing mechanism are arranged at the other end of the mounting bottom plate in a staggered mode through second connecting assemblies; the positions of the visual mechanism, the grinding mechanism and the polishing mechanism are reasonably arranged through the mounting bottom plate, the first connecting assembly and the second connecting assembly, so that image acquisition, grinding operation and polishing operation can be quickly carried out, the operation efficiency is improved, and meanwhile, error accumulation is reduced.

Description

Technical Field

[0001] The utility model relates to the field of automatic paint surface repair, in particular to a paint surface defect self-positioning repair device. Background Technique

[0002] After the paint surface of a workpiece is processed by the existing automatic painting process, a series of defects such as particles, slag spots, convex hulls, scratches, and sags may occur. Therefore, it is necessary to perform paint surface defect grinding operations on the defect positions to ensure the smoothness and flatness of the workpiece paint surface. At present, the repair of paint surface defects mainly relies on manual operations, which have low operation efficiency and are difficult to adapt to the existing automatic production; in a few production lines with high automatic integration, robots are also used to carry grinding heads for automatic repair of paint surface defects. However, in the existing automatic repair operations of paint surface defects, due to the lack of operating equipment that combines the defect detection and positioning link with the grinding and polishing links, the defect detection and positioning link and the grinding and polishing link need to be carried out separately at different workstations. This is prone to error accumulation, resulting in a large deviation between the coordinate points and coordinate normal vectors obtained in the grinding and polishing links and the coordinate points and coordinate normal vectors of the actual defect positions, leading to the inability of the grinding and polishing links to accurately repair the defect positions. Seriously, it may damage the workpiece.

[0003] Therefore, providing an integrated paint surface defect self-positioning repair device that can combine the defect detection and positioning link with the grinding and polishing links is an urgent technical problem in this field. Summary of the Utility Model

[0004] To solve the above at least one technical problem, the utility model provides a paint surface defect self-positioning repair device.

[0005] The utility model is implemented as follows. A paint surface defect self-positioning repair device includes a mounting base plate, a straight arm connecting piece, a double-headed connecting piece, a vision mechanism, a grinding mechanism, and a polishing mechanism; the vision mechanism is arranged at one end of the mounting base plate by using the straight arm connecting piece for visual recognition and positioning; the grinding mechanism and the polishing mechanism are arranged at the other end of the mounting base plate in a staggered manner by using the double-headed connecting piece for grinding operations and polishing operations.

[0006] Optionally, the straight arm connecting piece includes a straight arm horizontal plate, an extension rod, and a support arm bevel plate; the straight arm horizontal plate is connected to the mounting base plate; the extension rod is connected to the straight arm horizontal plate for extending the distance between the vision mechanism and the mounting base plate; the support arm bevel plate is located at the end of the extension rod for connecting the vision mechanism.

[0007] Optionally, the straight arm horizontal plate is provided with straight arm connection holes in a rectangular array.

[0008] Optionally, the double-headed connector includes a vertical and horizontal plate, double-headed bent arms, and double-headed beveled plates; the vertical and horizontal plate is connected to the mounting base plate; there are at least two groups of double-headed bent arms, which are respectively arranged at both ends of the vertical and horizontal plate; there are at least two groups of double-headed beveled plates, which are respectively arranged at the ends of the corresponding groups of double-headed bent arms to receive the grinding mechanism and the polishing mechanism; the double-headed bent arms and the double-headed beveled plates cooperate to increase the angle formed between the grinding mechanism and the polishing mechanism and the horizontal plane.

[0009] Optionally, in the center position of the vertical and horizontal plate, there are double-headed part ring array connection holes arranged in a circular array.

[0010] Optionally, the mounting base plate includes a rectangular connection hole and a ring array connection hole; the rectangular connection hole is located at one end of the mounting base plate and is used to cooperate with the straight arm connection hole; the ring array connection hole is located at the other end of the mounting base plate and is used to cooperate with the double-headed part ring array connection hole.

[0011] Optionally, the vision mechanism includes a light source component and an image acquisition component; the light source component is used to project light onto the image acquisition area; the image acquisition component is located outside the light source component and is used for image acquisition.

[0012] Optionally, the image acquisition component includes an image connection part and a camera; the image connection part is connected to the light source component and is used to carry the camera for image acquisition; the camera is located at the end of the image connection part and is used for image acquisition.

[0013] Optionally, the image connection part includes a flat plate and a beveled bracket; the flat plate is connected to the light source component and is used to carry the beveled bracket; one end of the flat surface of the beveled bracket is connected to the flat plate, and the beveled end is used to connect the camera.

[0014] On the other hand, a paint surface repair system includes a paint surface defect self-positioning repair device, a multi-degree-of-freedom moving robotic arm, and an industrial control computer; the paint surface defect self-positioning repair device is the above-mentioned paint surface defect self-positioning repair device and is located at the end of the multi-degree-of-freedom moving robotic arm; the multi-degree-of-freedom moving robotic arm is used to transport the paint surface defect guiding and positioning grinding device to the working position; the industrial control computer is used to set the working position according to the information collected by the paint surface defect guiding and positioning grinding device and drive the multi-degree-of-freedom moving robotic arm to move the paint surface defect guiding and positioning grinding device to the working position.

[0015] Regarding the beneficial technical effects of implementing the present utility model: Since the present utility model utilizes the first connection component and the second connection component to rationally layout the positions of the vision mechanism, the grinding mechanism, and the polishing mechanism on the mounting base plate, so as to realize rapid image acquisition, grinding operation, and polishing operation, reduce the cumulative error, and improve the operation accuracy and operation efficiency at the same time. Description of the Drawings

[0016] Figure 1 Schematic installation diagram of the present utility model;

[0017] Figure 2 Schematic installation diagram of the vision mechanism of the present utility model;

[0018] Figure 3 Schematic diagram of the installation base plate of the present utility model;

[0019] Figure 4 Schematic diagram of the straight arm connecting piece of the present utility model;

[0020] Figure 5 Schematic diagram of the double-headed connecting piece of the present utility model. Specific implementation manners

[0021] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0022] It should be noted that if there are directional indications involved in the embodiments of the present utility model, such as up, down, left, right, front, back..., then the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly. In addition, if there are descriptions such as "first, second", "S1, S2", "step one, step two" in the embodiments of the present utility model, then such descriptions are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features or indicating the execution order of the method, etc. Those skilled in the art can understand that all those that do not violate the key points of the present utility model under the technical concept of the utility model should be included in the protection scope of the present utility model.

[0023] Next, the present utility model will be described in detail with reference to the accompanying drawings and in conjunction with the embodiments.

[0024] As Figures 1 - 5 shown, a paint surface defect self-positioning repair device includes an installation base plate 5, a straight arm connecting piece 6, a double-headed connecting piece 7, a vision mechanism, a grinding mechanism 3, and a polishing mechanism 4; the vision mechanism is arranged at one end of the installation base plate 5 by using the straight arm connecting piece 6 for visual recognition and positioning; the grinding mechanism 3 and the polishing mechanism 4 are arranged at the other end of the installation base plate 5 in a staggered manner by using the double-headed connecting piece 7 for performing grinding operations and polishing operations.

[0025] In this embodiment, a self-positioning repair device for paint surface defects of the present utility model is given. On the one hand, through the straight arm connecting piece 6 and the double-headed connecting piece 7, the visual mechanism, the grinding mechanism 3 and the polishing mechanism 4 are rationally arranged on the mounting base plate 5. This layout method and integrated design enable the use of the present utility model directly for both image information collection in the image acquisition area for visual recognition and positioning, and grinding or polishing operations on the defective area. It reduces the number of times of replacing operation equipment and shortens the moving path of the operation equipment. At the same time, the detected object does not need to move, avoiding error accumulation. On the other hand, the grinding mechanism 3 and the polishing mechanism 4 are arranged in a staggered manner by using the double-headed connecting piece 7, so that the distance between them is relatively close, but they will not affect each other during operation. When it is necessary to switch between the grinding mechanism 3 and the polishing mechanism 4, the present utility model can achieve rapid switching, further improving the operation efficiency.

[0026] It should be noted that the key of the present utility model lies in: through the mounting base plate, the straight arm connecting piece 6 and the double-headed connecting piece 7, rationally arranging the positions of the visual mechanism, the grinding mechanism 3 and the polishing mechanism 4, so as to facilitate rapid image acquisition and positioning, grinding operation and polishing operation, improve the operation efficiency, and reduce error accumulation at the same time. However, how the visual mechanism visually identifies the defective position, how to move the grinding mechanism 3 and the polishing mechanism 4 to the defective position, and the specific working principles of the grinding mechanism 3 and the polishing mechanism 4 can adopt any existing technology methods, which are not the focus of the present utility model and will not be elaborated here. The focus of the present utility model lies in the rational layout and how to integrate the three into an integrated product.

[0027] As Figure 4 shown, the straight arm connecting piece 6 can optionally but not limited to include a straight arm horizontal plate 601, an extension rod 602 and a support arm bevel plate 603; the straight arm horizontal plate 601 is connected to the mounting base plate 5; the extension rod 602 is connected to the straight arm horizontal plate 601 and is used to extend the distance between the visual mechanism and the mounting base plate 5; the support arm bevel plate 603 is located at the end of the extension rod 602 and is used to connect the visual mechanism.

[0028] Exemplarily, the straight arm horizontal plate 601 is used to connect with the mounting base plate 5, and its size, material, etc. can be arbitrarily set according to the size, weight, etc. of the visual mechanism; the extension rod 602 is used to extend the distance between the visual mechanism and the mounting base plate 5 to facilitate the visual mechanism to obtain high-quality image information; the support arm bevel plate 603 is used to connect the visual mechanism, and its inclined setting can facilitate the visual mechanism to face the product to be ground and polished, such as a car, etc., to further improve the accuracy of image acquisition.

[0029] It is worth noting that in this embodiment, only the relative positions and functions of the straight arm horizontal plate 601, the extension rod 602 and the support arm bevel plate 603 are limited, but their shapes, sizes, materials, etc. are not limited. In other words, the shapes, sizes, materials, etc. of the straight arm horizontal plate 601, the extension rod 602 and the support arm bevel plate 603 can be arbitrarily set by technical personnel in this field.

[0030] Preferably, the straight arm horizontal plate 601 is a rectangular square plate; the extension rod 602 is a rectangular square tube; and the support arm bevel plate 603 is a rectangular square plate obliquely arranged at the end of the extension rod 602 .

[0031] For example, the straight arm horizontal plate 601 adopts a rectangular square plate structure, which is conducive to ensuring the stability of the connection of the straight arm connecting piece 6 and preventing the straight arm connecting piece 6 from shaking; the extension rod 602 adopts a rectangular square tube structure, which is conducive to providing a stable carrier for the installation of the support arm bevel plate 603; the support arm bevel plate 603 is a rectangular square plate structure, which is conducive to the installation of the visual mechanism.

[0032] More preferably, a rectangular array of straight arm connecting holes 604 is provided on the straight arm horizontal plate 601 .

[0033] For example, since the end of the straight arm connector 6 needs to be connected to a visual mechanism, in order to ensure the stability of the visual mechanism during image acquisition, a rectangular array of straight arm connecting holes 604 is used on the straight arm horizontal plate 601 to ensure the overall stability of the straight arm connector 6 and the stability of the visual mechanism.

[0034] like Figure 5 As shown, the double-headed connecting member 7 may optionally include but is not limited to a vertical horizontal plate 701, a double-headed bending arm 702 and a double-headed beveled plate 703; the vertical horizontal plate 701 is connected to the mounting base plate 5; the double-headed bending arm 702 includes at least two groups, which are respectively arranged at both ends of the vertical horizontal plate 701; the double-headed beveled plate 703 includes at least two groups, which are respectively arranged at the ends of the double-headed bending arms 702 of the corresponding groups to receive the grinding mechanism 3 and the polishing mechanism 4; the double-headed bending arm 702 and the double-headed beveled plate 703 cooperate to increase the angle between the grinding mechanism 3 and the polishing mechanism 4 and the horizontal plane.

[0035] For example, the vertical horizontal plate 701 is used to connect with the mounting base plate 5; the bending arm 702 is used to change the angle between the grinding mechanism 3 and the polishing mechanism 4 and the horizontal plane, so that the grinding mechanism 3 and the polishing mechanism 4 can be staggered in space to further improve the integrity of the utility model; the double-headed bevel plate 703 is used to connect the grinding mechanism 3 and the polishing mechanism 4 respectively.

[0036] It should be noted that in this embodiment, only the relative positions and functions of the vertical and horizontal plate 7011, the bending arm 702, and the double-headed beveled plate 703 are defined, but their shapes, sizes, materials, etc. are not defined. That is to say, the shapes, sizes, materials, etc. of the grinding mechanism 3 connected to the horizontal plate 701, the bending arm 702, and the grinding mechanism 3 connected to the beveled plate 703 can be arbitrarily set by those skilled in the art.

[0037] Specifically, the double-headed bending arm 702 is composed of two parallel polygonal plates, and the polygonal plates are inclined, which are used to fix the double-headed beveled plate 703 and place the double-headed beveled plate 703 in an inclined state; the double-headed beveled plate 703 is a rectangular plate structure, which is beneficial to the installation of the grinding mechanism 3 and the polishing mechanism 4.

[0038] Preferably, in the vertical and horizontal plate 701, there are double-headed component ring array connection holes 704 arranged in a circular array at the central position.

[0039] Exemplarily, since the grinding mechanism 3 and the polishing mechanism 4 need to be adjusted in the plane angle during installation, there are double-headed component ring array connection holes 704 arranged in a circular array on the vertical and horizontal plate 701 to ensure the use effect and connection stability of the grinding mechanism 3 and the polishing mechanism 4.

[0040] Since the bending arm 702 needs to stagger the grinding mechanism 3 and the polishing mechanism 4 in space through the bending angle, but when the bending angle is too large, the bending arm 702 itself may be deformed or shaken significantly during the operation of the grinding mechanism 3 and the polishing mechanism 4, affecting the operation effect. Therefore, the present utility model provides a preferred embodiment.

[0041] More preferably, the angle formed by the horizontal part and the bending part of the bending arm 702 is 30°-45°.

[0042] Exemplarily, after analyzing the use states of the grinding mechanism 3 and the polishing mechanism 4, setting the angle formed by the horizontal part and the bending part of the bending arm 702 between 30°-45° can ensure that the bending arm 702 can provide stable support for the grinding mechanism 3 and ensure the stable operation of the grinding mechanism 3 on the premise of staggering the grinding mechanism 3 in space.

[0043] As Figure 3 shown, the mounting base plate 5 can optionally but not limited to include a rectangular connection hole 501 and a ring array connection hole 502; the rectangular connection hole 501 is located at one end of the mounting base plate 5 and is used to cooperate with the straight arm connection hole 604; the ring array connection hole 502 is located at the other end of the mounting base plate 5 and is used to cooperate with the double-headed component ring array connection hole 704.

[0044] Exemplarily, due to the vision mechanism connected to the end of the straight-arm connector 6, no fine adjustment is required after installation. Therefore, the connection holes for fixing the straight-arm connector 6 are set as rectangular array matrix connection holes 501 with higher stability to achieve more stable fixation of the straight-arm connector 6 and the vision mechanism; the components connected to the end of the double-headed connector 7 are the grinding mechanism 3 and the polishing mechanism 4, which require certain fine adjustment on the plane after installation to ensure the use effects of the grinding mechanism 3 and the polishing mechanism 4. Therefore, circular array ring connection holes 502 are used to fix the double-headed connector 7 to facilitate subsequent fine adjustment of the grinding mechanism 3 and the polishing mechanism 4 and ensure the use effects of the grinding mechanism 3 and the polishing mechanism 4.

[0045] As Figure 2 shown, the vision mechanism may optionally but is not limited to including a light source assembly 1 and an image acquisition assembly 2; the light source assembly 1 is used to project light onto the image acquisition area; the image acquisition assembly 2 is located outside the light source assembly 1 and is used for image acquisition.

[0046] Exemplarily, the light source assembly 1 is used to supplement light to the image acquisition area to facilitate the image acquisition assembly 2 to acquire clearer image information; the image acquisition assembly 2 is used for image acquisition to facilitate analyzing whether there are defects at the shooting position.

[0047] Since there may be a certain reflection phenomenon when the conventional light source directly irradiates the paint surface, it is difficult to distinguish the image information collected by the image acquisition assembly 2. Therefore, the present utility model provides a preferred embodiment.

[0048] Preferably, the light source assembly 1 is a deflected light source.

[0049] Exemplarily, the light source assembly 1 adopting a deflected light source can effectively prevent the reflection phenomenon on the paint surface from affecting the image acquisition effect of the subsequent image acquisition assembly 2; at the same time, the deflected light source can project a reference pattern onto the paint surface to quickly determine the coordinate points and coordinate normal vectors of the defect positions.

[0050] It should be noted that in this embodiment, only the function of the light source assembly 1 projecting a specific reference pattern is defined, but the specific style, size, color, etc. of the reference pattern are not defined. That is to say, the specific style, size, color, etc. of the reference pattern can be arbitrarily set by those skilled in the art according to the actual situation.

[0051] As Figure 2 shown, the image acquisition assembly 2 may optionally but is not limited to including an image connection member and a camera 203; the image connection member is connected to the light source assembly 1 and is used to carry the camera 203 for image acquisition; the camera 203 is located at the end of the image connection member and is used for image acquisition.

[0052] Exemplarily, one end of the image connector is used to connect to the light source assembly 1, and the other end is used to connect to the camera 203, realizing the connection between the light source assembly 1 and the image acquisition assembly 2; the camera 203 is used for image acquisition.

[0053] It should be noted that in this embodiment, only the functions and relative positional relationships of the image connector and the camera 203 are defined, but the specific structure and specific installation position of the image connector are not defined. That is to say, the specific structure and specific installation position of the image connector can be arbitrarily set by those skilled in the art according to the actual situation.

[0054] Specifically, as Figure 2 shown, the image connector may optionally but not limited to include a flat plate 201 and an inclined mouth bracket 202; the flat plate 201 is connected to the light source assembly 1 and is used to carry the inclined mouth bracket 202; one end of the flat surface of the inclined mouth bracket 202 is connected to the flat plate 201, and the inclined end is used to connect to the camera 203.

[0055] Exemplarily, the flat plate is used to connect to the flat surface of the periphery of the light source assembly 1 and provides a fulcrum for the subsequent installation of the inclined mouth bracket and the camera 203; the inclined mouth bracket is installed on the flat plate and is used to change the angle formed between the camera 203 and the vertical plane to improve the final imaging effect of the camera 203.

[0056] Since it is necessary to determine the coordinate points and coordinate normal vectors of the defect positions through the image information collected by the camera 203, when the paint surface of the workpiece is an arc surface, it is difficult to determine the coordinate points and coordinate normal vectors of the defect positions from the image information collected by a conventional camera. For this reason, the present invention provides a preferred embodiment.

[0057] Preferably, the camera 203 is a 2D camera.

[0058] Exemplarily, using a 2D camera to perform image acquisition of the paint surface is beneficial to the subsequent determination of the coordinate points and coordinate normal vectors of the defect positions.

[0059] On the other hand, a paint surface repair system includes a paint surface defect self-positioning repair device, a multi-degree-of-freedom mobile robotic arm, and an industrial control computer; the paint surface defect self-positioning repair device is the above-mentioned paint surface defect self-positioning repair device and is located at the end of the multi-degree-of-freedom mobile robotic arm; the multi-degree-of-freedom mobile robotic arm is used to transport the paint surface defect guiding and positioning grinding device to the working position; the industrial control computer is used to set the working position according to the information collected by the paint surface defect guiding and positioning grinding device and drive the multi-degree-of-freedom mobile robotic arm to move the paint surface defect guiding and positioning grinding device to the working position.

[0060] It should be noted that in this embodiment, the multi-degree-of-freedom mobile robotic arm and the industrial control computer are both applications of existing technologies. That is to say, the multi-degree-of-freedom mobile robotic arm and the industrial control computer can adopt any method of existing technologies for actual control, which is not the focus of the present utility model and will not be elaborated here.

[0061] The above-described embodiments only represent several implementation manners of the present utility model. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several deformations and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the present utility model patent shall be subject to the appended claims.

Claims

1. A paint surface defect self-positioning repair device, characterized in that: It comprises a mounting base plate (5), a straight arm connecting piece (6), a double-head connecting piece (7), a visual mechanism, a grinding mechanism (3) and a polishing mechanism (4); A visual mechanism, arranged at one end of the mounting base plate (5) using a straight arm connector (6), for visual identification and positioning; The grinding mechanism (3) and the polishing mechanism (4) are staggeredly arranged at the other end of the mounting base plate (5) using a double-head connecting piece (7) and are used for performing grinding and polishing operations.

2. The paint surface defect self-positioning repair device according to claim 1, characterized in that: The straight arm connecting member (6) comprises a straight arm horizontal plate (601), an extension rod (602) and a support arm oblique plate (603); A straight arm horizontal plate (601) connected to the mounting base plate (5); An extension rod (602) connected to the straight arm horizontal plate (601) for extending the distance between the visual mechanism and the mounting base plate (5); The support arm bevel plate (603) is located at the end of the extension rod (602) and is used to connect the visual mechanism.

3. The paint surface defect self-positioning repair device according to claim 2, characterized in that: A rectangular array of straight arm connection holes (604) is provided on the straight arm horizontal plate (601).

4. The paint surface defect self-positioning repair device according to claim 3, characterized in that: The double-ended connecting member (7) comprises a vertical horizontal plate (701), a double-ended bending arm (702) and a double-ended beveled plate (703); A vertical horizontal plate (701) is connected to the mounting base plate (5); a double-ended bending arm (702) includes at least two groups, and is respectively arranged at two ends of the vertical horizontal plate (701); The double-headed beveled plates (703) include at least two groups, which are respectively arranged at the ends of the double-headed bending arms (702) of the corresponding groups to receive the grinding mechanism (3) and the polishing mechanism (4); The double-ended bending arm (702) and the double-ended bevel plate (703) cooperate to increase the angle between the grinding mechanism (3) and the polishing mechanism (4) and the horizontal plane.

5. The paint surface defect self-positioning repair device according to claim 4, characterized in that: A vertical horizontal plate (701) is provided with a circular array of double-headed ring array connection holes (704) at the center.

6. The paint surface defect self-positioning repair device according to claim 5, characterized in that: The mounting base plate (5) comprises a rectangular connection hole (501) and a ring array connection hole (502); the rectangular connection hole (501) is located at one end of the mounting base plate (5) and is used to match with the straight arm connection hole (604); the ring array connection hole (502) is located at the other end of the mounting base plate 50 and is used to match with the double-headed ring array connection hole (704).

7. The paint surface defect self-positioning repair device according to claim 1, characterized in that: The visual mechanism comprises a light source component (1) and an image acquisition component (2); the light source component (1) is used to project light to an image acquisition area; and the image acquisition component (2) is located outside the light source component (1) and is used to acquire images.

8. The paint surface defect self-positioning repair device according to claim 7, characterized in that: The image acquisition component (2) comprises an image connection component and a camera (203); the image connection component is connected to the light source component (1) and is used to carry the camera (203) for image acquisition; the camera (203) is located at the end of the image connection component and is used for image acquisition.

9. The paint surface defect self-positioning repair device according to claim 8, characterized in that: The image connecting member comprises a flat plate (201) and an oblique frame (202); the flat plate (201) is connected to the light source assembly (1) and is used to carry the oblique frame (202); one flat end of the oblique frame (202) is connected to the flat plate (201), and one oblique end is used to connect to a camera (203).

10. A paint surface repair system, characterized in that: It includes a paint defect self-positioning repair device, a multi-degree-of-freedom mobile robot arm, and an industrial computer; The paint surface defect self-positioning repair device is the paint surface defect self-positioning repair device according to any one of claims 1 to 9, and is located at the end of a multi-degree-of-freedom mobile robot arm; A multi-degree-of-freedom mobile robot arm is used to transport the paint surface defect guiding positioning polishing device to the working position; The industrial computer is used to set the working position of the paint surface defect guiding positioning and polishing device according to the information collected by the paint surface defect guiding positioning and polishing device, and drive the multi-degree-of-freedom mobile robot arm to move the paint surface defect guiding positioning and polishing device to the working position.

Images