Multifunctional mechanical arm tail end tool for automatic defect detection, grinding and polishing of automobile paint surface

Abstract

A multifunctional mechanical arm tail end tool for automatic defect detection, grinding and polishing of automobile paint surfaces relates to the technical field of automobile paint surface grinding and polishing tools and comprises a shell, the shell is assembled at the tail end of an external mechanical arm, and three sets of lifting air cylinders are assembled on the shell. According to the multifunctional mechanical arm end tool for automatic defect detection, grinding and polishing of the automobile paint surface, detection and calibration of defects can be continuously, effectively and uniformly completed, the detection efficiency is improved, the labor intensity of workers is reduced, the labor intensity of workers is reduced, and the working efficiency is improved. According to the method, the conventional problems of wrong marking, missing processing and the like of workers are avoided, the method has good observability and recordability, and a good reference model is provided for continuous improvement of the process, so that a uniform judgment standard can be formed.

Description

TECHNICAL FIELD

[0001] The utility model relates to automobile paint surface polishing tool technical field, especially a kind of multifunctional mechanical arm end tool for automobile paint surface automatic detection defect polishing. BACKGROUND

[0002] At present, automobile industry has full-automatic intelligent production line, however, in the body painting process stage, there are still certain surface random defects on the body surface, such as scratch, color difference, orange peel phenomenon etc.;

[0003] The general method known to automobile manufacturers is to polish the painted surface by manual processing mode through human eye observation. After the body drives out from the painting area on the production line, engineers use professional high-brightness light and detection tool to conduct comprehensive inspection on the body, and this inspection mode can clearly show any slight defect, so as to ensure that technicians can accurately identify and locate the problem area. Once random defect is detected, the repair team on the production line will immediately act. For slight scratch or orange peel phenomenon, technicians will use special polishing agent and tool for local treatment, to quickly remove the defect and restore the smoothness of paint surface. For color difference or other complex problems, the body will be guided to designated repair area for further treatment.

[0004] However, artificial processing mode is difficult to ensure that personnel can maintain continuous concentration and judgment in tired state, which is easy to cause error marking, omission treatment and other conventional problems. In addition, artificial processing mode has no unified evaluation standard, and the results processed by different operators will be different. At the same time, artificial processing mode has no good observability and recordability, and has no good reference model for process continuous improvement. UTILITY MODEL CONTENT

[0005] The utility model solves the technical problem of overcoming the existing defects, and provides a multifunctional mechanical arm end tool for automobile paint surface automatic detection defect polishing, which can continuously and effectively complete the detection and calibration of defects, avoids worker error marking, omission treatment and other conventional problems, has good observability and recordability, has good reference model for process continuous improvement, so as to form unified evaluation standard, and can effectively solve the problems in the background technology.

[0006] In order to realize the purpose of the utility model, the utility model adopts the following technical solutions:

[0007] A multifunctional mechanical arm end tool for automatic detection of defects of automobile paint surface polishing and polishing, comprising a shell, the shell is assembled at the end of the external mechanical arm, three groups of lifting cylinders are assembled on the shell, polishing units, flexible polishing units and spraying units are correspondingly installed on the lifting end of the three groups of lifting cylinders, and a 3D camera is installed at the bottom of the shell.

[0008] Further, the spraying unit comprises an atomizer and atomizing nozzles, the atomizing nozzles are provided in plurality, the plurality of atomizing nozzles are arranged on the lifting end of the lifting cylinder, the atomizer is installed at the bottom of the bracket of the shell, and the atomizer is in communication with the inside of the atomizing nozzles through a pipeline.

[0009] Further, the flexible polishing unit comprises a force control unit and a sandpaper polishing head, the force control unit is assembled on the lifting end of the lifting cylinder, a servo motor is arranged at the end of the force control unit, and the sandpaper polishing head is installed on the output shaft of the servo motor.

[0010] Further, the polishing unit comprises a pneumatic motor and a polishing head, the pneumatic motor is installed on the lifting end of the lifting cylinder, and the polishing head is fixed on the output shaft of the pneumatic motor.

[0011] Compared with the prior art, the multifunctional mechanical arm end tool for automatic detection of defects of automobile paint surface polishing and polishing has the following advantages: the manual hand movement is integrated into a whole tool, the detection and calibration of defects can be continuously, effectively and uniformly completed, the flexible sandpaper polishing, spraying polishing liquid and polishing actions can be carried out, the industrial mechanical arm is combined, the defect treatment work in a large area can be realized, the conventional problems such as worker error marking and omission treatment are avoided, good observability and recordability are achieved, a good reference model for process continuous improvement is provided, and a unified evaluation standard can be formed. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a three-dimensional structure schematic view of the utility model;

[0013] Figure 2 It is a three-dimensional bottom structure schematic view of the utility model;

[0014] Figure 3 It is a three-dimensional inside partial structure schematic view of the utility model;

[0015] Figure 4 It is a three-dimensional inside partial side structure schematic view of the utility model.

[0016] In the drawing: 1-shell, 2-atomizer, 3-3D camera, 4-sandpaper polishing head, 5-polishing head, 6-atomizing nozzle, 7-force control unit, 8-lifting cylinder. DETAILED DESCRIPTION

[0017] The utility model can be explained in detail through the following examples, and the purpose of the utility model is to protect all technical improvements within the scope of the utility model.

[0018] Please refer to Figures 1-4 The embodiment provides a technical scheme: a multifunctional mechanical arm end tool for automatic detection of defects of an automobile paint surface and polishing and grinding, which comprises a shell 1, the shell 1 is assembled at the end of an external mechanical arm, three groups of lifting cylinders 8 are assembled on the shell 1, polishing units, flexible grinding units and spraying units are correspondingly installed at the lifting ends of the three groups of lifting cylinders 8, and a 3D camera 3 is installed at the bottom of the shell 1.

[0019] When the defects are detected, the approximate positions of the defects are determined by a previous process, local scanning and shooting are performed by the 3D camera 3 in the current process to determine the types of the defects, and a processing mode is issued after processing by an upper computer, for example, a conventional processing mode, which integrates manual hand movements into an overall tool, can continuously and effectively uniformly complete the detection and calibration of the defects, can perform sandpaper flexible grinding, spraying of polishing liquid and polishing and the like, can realize defect processing work in a large area in combination with an industrial mechanical arm, avoids conventional problems such as worker error marking and omission processing, has good observability and recordability, has a good reference model for process continuous improvement, and thus a unified evaluation standard can be formed.

[0020] The spraying unit comprises an atomizer 2 and atomizing nozzles 6, the atomizing nozzles 6 are provided in plurality, the plurality of atomizing nozzles 6 are arranged at the lifting ends of the lifting cylinders 8, the atomizer 2 is installed at the bottom of the support of the shell 1, the atomizer 2 is in communication with the interiors of the atomizing nozzles 6 through pipelines, the atomizing nozzles 6 spray ionized water to the surface to be processed, and the atomizer 2 can quantitatively deliver atomized liquid to the atomizing nozzles 6 under the control of an air circuit, and the atomizer 2 can also adjust the spraying area, so that the quality of automobile production is improved by spraying ionized water or polishing liquid.

[0021] The flexible grinding unit comprises a force control unit 7 and a sandpaper grinding head 4, the force control unit 7 is assembled at the lifting end of the lifting cylinder 8, a servo motor is arranged at the end of the force control unit 7, the sandpaper grinding head 4 is installed on the output shaft of the servo motor, the sandpaper grinding head 4 is extended under the lifting action of the internal lifting cylinder 8 to locally grind, constant force grinding is realized through the force control unit 7, so that collision damage to the paint surface is avoided, the output shaft of the servo motor drives the sandpaper grinding head 4 to rotate, and thus grinding work is performed.

[0022] The polishing unit comprises a pneumatic motor and a polishing head 5, the pneumatic motor is installed at the lifting end of the lifting cylinder 8, the polishing head 5 is fixed on the output shaft of the pneumatic motor, the polishing head 5 is stretched out under the lifting action of the lifting cylinder 8, and after the polishing paste squeezed at the fixed position is taken, polishing work is carried out, the output shaft of the pneumatic motor drives the polishing head 5 to rotate, so that flexible polishing is carried out.

[0023] The working principle of the multifunctional mechanical arm end tool for automatic detection of defects of automobile paint surface and automatic polishing and polishing provided by the utility model is as follows: when the defect detection is carried out, the approximate position of the defect is determined by the previous process, the type of the defect is determined by the local scanning and shooting of the 3D camera 3 in the current process, the processing mode is issued after being processed by the upper computer, such as the conventional processing mode, the ionized water is sprayed to the surface to be processed by the atomizing nozzle 6, the sandpaper polishing head 4 is stretched out under the lifting action of the internal lifting cylinder 8, local polishing is carried out, constant force polishing is realized through the force control unit 7, so that the collision damage to the paint surface is avoided, after the polishing is completed, the sandpaper polishing head 4 is retracted, the polishing head 5 is stretched out under the lifting action of the lifting cylinder 8, after the polishing paste squeezed at the fixed position is taken, polishing work is carried out, the output shaft of the pneumatic motor drives the polishing head 5 to rotate, so that flexible polishing is carried out, until the work is completed, the atomizer 2 can quantitatively convey the atomized liquid to the atomizing nozzle 6 under the control of the gas circuit, and the atomizer 2 can also adjust the spraying area, the shell 1 mainly protects the internal structure and prevents dust from entering the movement mechanism.

[0024] It is worth noting that the components disclosed in the above embodiments are all general standard components or components known to those skilled in the art, the structure and principle of which can be known by technical personnel through a technical manual or obtained through a conventional experimental method, and the force control unit 7 can adopt the force control unit in the patent with the authorization announcement number CN 114654308 B.

[0025] In the utility model, unless there is definite stipulation and limitation, the terms such as '' install '' '' connect '' '' fix '' and the like should be understood in a broad sense, for example, can be fixed connection, also can be detachable connection, or integral ; Can be mechanical connection, can be electrical connection ; It can be directly connected, also can be indirectly connected through the intermediate medium, can be the intercommunication of two elements or the interaction of two elements, unless there is definite limitation. For ordinary skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to the specific circumstances, for example, the rotary connection can be rotary connection through bearing.

[0026] The utility model discloses the part of not detailed is prior art, although the utility model has been specifically shown and introduced in combination with preferred implementation scheme, and the specific implementation this technical scheme method and approach are many, and the above only is the preferred implementation mode of the utility model, but the skilled person in the art should understand that can make various changes to the utility model in form and in details without departing from the spirit and scope of the utility model defined in the appended claims, and all are the protection scope of the utility model.

Claims

1. A multifunctional mechanical arm end tool for automatic detection of defects in automobile paint surface and polishing, comprising a shell (1), characterized in that: The shell (1) is assembled at the end of an external mechanical arm, three groups of lifting cylinders (8) are assembled on the shell (1), the lifting ends of the three groups of lifting cylinders (8) are correspondingly provided with polishing units, flexible polishing units and spraying units, and a 3D camera (3) is installed at the bottom of the shell (1).

2. The multifunctional end tool of a mechanical arm for automatic detection of defects in the paintwork of a vehicle and polishing thereof, according to claim 1, characterized in that: The spraying unit comprises an atomizer (2) and atomizing nozzles (6), a plurality of atomizing nozzles (6) are arranged at the lifting ends of the lifting cylinders (8), and the atomizer (2) is installed at the bottom of the bracket of the shell (1) and is in communication with the interiors of the atomizing nozzles (6) through a pipeline.

3. The multifunctional end tool of a mechanical arm for automatic detection of defects and polishing of automobile paint according to claim 1, characterized in that: The flexible polishing unit comprises a force control unit (7) and a sandpaper polishing head (4), the force control unit (7) is assembled at the lifting end of the lifting cylinder (8), and the end of the force control unit (7) is provided with a servo motor, and the sandpaper polishing head (4) is installed on the output shaft of the servo motor.

4. The multifunctional end tool of a mechanical arm for automatic detection of defects and polishing of automobile paint according to claim 1, characterized in that: The polishing unit comprises a pneumatic motor and a polishing head (5), the pneumatic motor is installed at the lifting end of the lifting cylinder (8), and the polishing head (5) is fixed on the output shaft of the pneumatic motor.

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