Spraying device based on machine vision

Abstract

This utility model belongs to the field of automated spraying technology, and in particular to a spraying device based on machine vision. It includes a spraying robotic arm and a paint recovery hood. One end of the spraying robotic arm is equipped with a CCD camera module and several nozzles, and a protective device is installed on the CCD camera module. The paint recovery hood is detachably installed on one end of the spraying robotic arm. The paint recovery hood of this utility model, through its conical structure and inwardly rolled edge design, can effectively collect diffused overspray paint. Combined with a built-in heating element, it prevents the paint from solidifying, ensuring a continuously unobstructed recovery channel, significantly reducing environmental pollution and achieving material recovery. Simultaneously, the protective device, through a motor-driven square shaft and a snap-fit ​​structure, enables the protective cover to open and close quickly within the working gap of the CCD camera, thereby actively isolating paint mist, reliably protecting the lens cleanliness, ensuring visual recognition accuracy and continuous stability, and facilitating independent replacement of the protective cover, effectively improving work efficiency and environmental economy.

Description

Technical Field

[0001] This utility model relates to the field of automated spraying technology, specifically to a spraying device based on machine vision. Background Technology

[0002] In the existing field of automated spraying, machine vision-based spraying systems have been widely used. These systems typically consist of multi-axis robotic arms equipped with CCD cameras, which guide the spray nozzles for precise spraying through visual recognition. However, while these systems continue to improve spraying quality and efficiency, they still face some common technical challenges.

[0003] Paint mist generated during the spraying process can easily spread significantly in the working area, resulting in paint waste. It often provides insufficient protection for the CCD camera lens, a precision vision component. The splashed paint mist can contaminate the lens, leading to a decrease in image quality or even failure of the vision system, which seriously affects the accuracy and continuity of the spraying process.

[0004] Therefore, we propose a machine vision-based spraying device to solve the above problems. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides a machine vision-based spraying device, which solves the problems mentioned in the background art, such as the large-scale diffusion of paint mist generated during the spraying process in the working area, resulting in paint waste and the easy contamination of the lens by splashed paint mist.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, this utility model specifically adopts the following technical solution:

[0009] The machine vision-based spraying device includes a spraying robotic arm and a paint recovery hood. One end of the spraying robotic arm is equipped with a CCD camera module and several nozzles. A protective device is installed on the CCD camera module.

[0010] The paint recovery hood is detachably installed on one end of the spraying robot arm, and a heating element is installed inside the paint recovery hood.

[0011] Furthermore, the CCD camera module is embedded inside one end of the spraying robotic arm, and several of the nozzles are arranged in a ring inside one end of the spraying robotic arm.

[0012] Furthermore, the protective device includes a protective cover, a motor, and a connecting groove, which is located at one end of the spraying robot arm and between the CCD camera module and the nozzle.

[0013] Furthermore, a square shaft is rotatably provided inside the connecting groove, and both ends of the square shaft extend into the interior of the spraying robot arm and are provided with gear shafts. Buckles are provided on both sides of the square shaft.

[0014] Furthermore, the protective cover is movably disposed on one side of the CCD camera module, and one end of the protective cover is provided with a support arm, one end of which extends into the interior of the connecting groove and is snapped onto the square shaft by a buckle.

[0015] Furthermore, the motor is located inside one end of the spraying robot arm, and the output end of the motor is connected to the gear shaft via a transmission chain.

[0016] Furthermore, the paint recycling cover is made of silicone material, the heating element is embedded inside the paint recycling cover, the heating element is a PTC heating film, the outer edge of the paint recycling cover is provided with an inward rolled edge, and the paint recycling cover is tapered.

[0017] Furthermore, the paint recovery cover is fixed to one end of the spraying robot arm by a clamp. The paint recovery cover has several sets of recovery holes distributed in a ring. The paint recovery cover has a guide groove inside that corresponds to the number of the several sets of recovery holes. One end of the guide groove extends into the inside of the rolled edge.

[0018] Furthermore, the heating element is provided with a number of holes for avoiding the recovery hole, and the end of the recovery hole away from the guide groove is tapered.

[0019] Furthermore, the interior of the paint recovery hood is also provided with an annular flow collection channel. The end of the flow guide channel away from the inward rolled edge is connected to the annular flow collection channel. A number of connectors extending to the outside of the paint recovery hood are provided on one side of the annular flow collection channel. Sealing caps or negative pressure pipes can be selectively installed on the connectors.

[0020] (III) Beneficial Effects

[0021] Compared with the prior art, this utility model provides a machine vision-based spraying device, which has the following features:

[0022] Beneficial effects:

[0023] This invention features a paint recovery cover with a conical structure and inwardly rolled edge design, which effectively collects diffused overspray paint. Combined with a built-in heating element, it prevents paint solidification, ensuring a continuously unobstructed recovery channel, significantly reducing environmental pollution and achieving material recycling. Simultaneously, the protective device, through a motor-driven square shaft and snap-fit ​​structure, enables rapid opening and closing of the protective cover within the working gap of the CCD camera, thereby actively isolating paint mist, reliably protecting lens cleanliness, ensuring visual recognition accuracy and continuous stability, and facilitating independent replacement of the protective cover, effectively improving operational efficiency and environmental economy. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the spraying robotic arm structure of this utility model;

[0025] Figure 2 This is a schematic diagram of the paint recycling hood structure of this utility model;

[0026] Figure 3 This is a cross-sectional view of the paint recycling hood structure of this utility model;

[0027] Figure 4 for Figure 3 Enlarged view of the structure at point A in the middle;

[0028] Figure 5 for Figure 3 Enlarged view of the structure at point B;

[0029] Figure 6 for Figure 3 Enlarged view of the structure at point C.

[0030] In the diagram: 1. Spraying robotic arm; 11. CCD camera module; 12. Spray nozzle; 2. Paint recovery hood; 21. Heating element; 22. Inward rolled edge; 23. Clamp; 24. Recovery hole; 25. Guide channel; 26. Annular collection channel; 27. Connector; 28. Sealing cover; 29. ​​Negative pressure pipe; 3. Protective device; 31. Protective cover; 32. Motor; 33. Connecting groove; 34. Square shaft; 35. Buckle; 36. Support arm; 37. Drive chain. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Example

[0033] like Figure 1-6 As shown, an embodiment of the present invention proposes a machine vision-based spraying device, which includes a spraying robotic arm 1 and a paint recovery hood 2. One end of the spraying robotic arm 1 is provided with a CCD camera module 11 and a plurality of nozzles 12. A protective device 3 is installed on the CCD camera module 11.

[0034] The paint recovery hood 2 is detachably installed on one end of the spraying robot arm 1, and a heating element 21 is provided inside the paint recovery hood 2.

[0035] By compactly integrating the three major functions of visual observation, spraying, and recycling into the end effector of the robotic arm, the level of automation and work efficiency are greatly improved. The paint recycling hood 2 begins to collect overspray paint as soon as the spraying action occurs, effectively reducing the spread of paint mist in the work area and significantly improving the working environment. At the same time, the recycled paint also helps to reduce material consumption, achieving the dual benefits of environmental protection and cost reduction.

[0036] like Figure 1-6 As shown, in some embodiments, the CCD camera module 11 is embedded inside one end of the spraying robotic arm 1, and a plurality of the spray nozzles 12 are arranged in a ring inside one end of the spraying robotic arm 1.

[0037] Several nozzles 12 are arranged in a ring around the outside of the CCD camera module 11, ensuring consistency between the visual observation position and the spraying position of the nozzles 12, thereby improving spraying efficiency.

[0038] like Figure 1-6 As shown, in some embodiments, the protective device 3 includes a protective cover 31, a motor 32, and a connecting groove 33. The connecting groove 33 is disposed at one end of the spraying robot arm 1 and located between the CCD camera module 11 and the nozzle 12. A square shaft 34 is rotatably disposed inside the connecting groove 33. Both ends of the square shaft 34 extend into the interior of the spraying robot arm 1 and are provided with gear shafts. Both sides of the square shaft 34 are provided with buckles 35. The protective cover 31 is movably disposed on one side of the CCD camera module 11. One end of the protective cover 31 is provided with a support arm 36, and one end of the support arm 36 extends into the interior of the connecting groove 33 and is engaged with the square shaft 34 by the buckles 35. The motor 32 is disposed inside one end of the spraying robot arm 1, and the output end of the motor 32 is connected to the gear shaft through a transmission chain 37.

[0039] By controlling the motor 32, the protective cover 31 can be opened the moment the CCD camera takes a picture and closed immediately after the picture is taken, so as to achieve active and timely protection, completely eliminate paint fog contamination of the lens, and ensure that the image quality is always stable.

[0040] The square shaft 34 and the buckle 35 work together so that when the square shaft 34 rotates, it drives the protective cover 31 to rotate. The protective cover 31 can be independently disassembled and replaced through the buckle 35, which greatly reduces the cost of use. The output end of the motor 32 is also equipped with a gear shaft. The motor 32 transmits power to the square shaft 34 through the transmission chain 37, driving the square shaft 34 to rotate at least ninety degrees. The action is precise and reliable. In addition, the connection groove 33 and the support arm 36 can accommodate part of the support arm 36 after it is flipped, so that the opening angle of the protective cover 31 is far more than ninety degrees and will not obstruct the CCD camera module 11.

[0041] like Figure 1-6As shown, in some embodiments, the paint recycling cover 2 is made of silicone material, the heating element 21 is embedded inside the paint recycling cover 2, the heating element 21 is a PTC heating film, the outer edge of the paint recycling cover 2 is provided with an inward rolled edge 22, and the paint recycling cover 2 is tapered.

[0042] The inward-curled edge 22 of the paint recovery hood 2 effectively collects paint that falls onto it. Heating the paint recovery hood 2 with a PTC heating film prevents the paint from solidifying, causing the paint to flow into the recovery hole 24 or the interior of the inward-curled edge 22. The PTC heating film has a self-limiting temperature characteristic; its power automatically decreases after reaching the set temperature to prevent overheating, ensuring safety and energy saving.

[0043] like Figure 1-6 As shown, in some embodiments, the paint recovery cover 2 is fixed to one end of the spraying robot arm 1 by a clamp 23. The paint recovery cover 2 has a number of recovery holes 24 arranged in a ring. The paint recovery cover 2 has a guide groove 25 inside that is the same number as the number of recovery holes 24 and corresponds one-to-one. One end of the guide groove 25 extends into the inside of the inner rolled edge 22.

[0044] The recovery hole 24 is a negative pressure suction port. Its conical design increases the inlet range and forms a strong suction. The guide channel 25 is made of a rigid plastic substrate to support the paint recovery cover 2. The paint that falls on the paint recovery cover 2 is heated and then slides into the recovery hole 24 or the interior of the inner roll plate, and is sucked into the interior of the guide channel 25 by suction.

[0045] like Figure 1-6 As shown, in some embodiments, the heating element 21 is provided with a plurality of holes for avoiding the recovery hole 24, and the end of the recovery hole 24 away from the guide groove 25 is tapered.

[0046] The heating element 21 has a large area and can heat the entire paint recycling cover 2. The heating element 21 has holes corresponding to the recycling holes 24, which will not affect the recycling of paint.

[0047] like Figure 1-6 As shown, in some embodiments, the interior of the paint recovery hood 2 is further provided with an annular collecting groove 26. The end of the guide groove 25 away from the inner rolled edge 22 is connected to the annular collecting groove 26. A plurality of connectors 27 extending to the outside of the paint recovery hood 2 are provided on one side of the annular collecting groove 26. A sealing cap 28 or a negative pressure pipe 29 may be selectively installed on the connector 27.

[0048] The guide channel 25 is responsible for primary collection, the annular collection channel 26 serves as the "main channel" for collection, and finally the coatings are discharged uniformly through the connector 27. The annular collection channel 26 collects all the coatings collected by the guide channels 25 and discharges them through one or more connectors 27, simplifying the connection with external recycling equipment. The negative pressure device can be connected to the negative pressure pipe 29 for active recycling. The suction reaches the guide channel 25 through the annular collection channel 26, and then reaches the recycling hole 24 through the guide channel 25. The coatings are absorbed through the recycling hole 24. The sealing cap 28 can be installed to seal the unused connectors 27. If the negative pressure pipe 29 is long, a heating element 21 such as a heating wire needs to be installed on the negative pressure pipe 29 later to heat the negative pressure pipe 29, avoiding the coatings inside the heating pipe from cooling and clogging.

[0049] In summary, the paint recovery cover 2, with its conical structure and inwardly rolled edge 22, effectively collects diffused overspray paint. Combined with the built-in heating element 21, it prevents paint solidification, ensuring a continuously unobstructed recovery channel, significantly reducing environmental pollution and achieving material recovery. Meanwhile, the protective device 3, through a square shaft 34 driven by a motor 32 and a snap-fit ​​structure 35, enables the protective cover 31 to open and close quickly during the CCD camera's working interval, thereby actively isolating paint mist, reliably protecting lens cleanliness, ensuring visual recognition accuracy and continuous stability, and facilitating independent replacement of the protective cover 31, effectively improving operational efficiency and environmental economy.

[0050] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A machine vision based painting device comprising a painting robot arm (1) and a paint recovery hood (2), characterized in that: One end of the spraying robot arm (1) is equipped with a CCD camera module (11) and several nozzles (12), and a protective device (3) is installed on the CCD camera module (11); The paint recovery hood (2) is detachably installed on one end of the spraying robot arm (1), and a heating element (21) is provided inside the paint recovery hood (2).

2. The machine vision-based spraying apparatus of claim 1, wherein: The CCD camera module (11) is embedded inside one end of the spraying robot arm (1), and several nozzles (12) are arranged in a ring inside one end of the spraying robot arm (1).

3. The machine vision-based spraying device according to claim 1, characterized in that: The protective device (3) includes a protective cover (31), a motor (32) and a connecting groove (33), which is located at one end of the spraying robot arm (1) and between the CCD camera module (11) and the nozzle (12).

4. The machine vision-based spraying apparatus of claim 3, wherein: The connecting groove (33) is rotatably provided with a square shaft (34), the two ends of which extend into the interior of the spraying robot arm (1) and are provided with gear shafts. Both sides of the square shaft (34) are provided with buckles (35).

5. The machine vision-based spraying apparatus of claim 3, wherein: The protective cover (31) is movably disposed on one side of the CCD camera module (11). One end of the protective cover (31) is provided with a support arm (36), and one end of the support arm (36) extends into the interior of the connecting groove (33) and is snapped onto the square shaft (34) by a buckle (35).

6. The machine vision-based spraying apparatus of claim 3, wherein: The motor (32) is located inside one end of the spraying robot arm (1), and the output end of the motor (32) is connected to the gear shaft via a transmission chain (37).

7. The machine vision-based spraying apparatus of claim 1, wherein: The paint recycling cover (2) is made of silicone material. The heating element (21) is embedded inside the paint recycling cover (2). The heating element (21) is a PTC heating film. The outer edge of the paint recycling cover (2) is provided with an inward rolled edge (22). The paint recycling cover (2) is conical.

8. The machine vision-based spraying apparatus of claim 1, wherein: The paint recovery cover (2) is fixed to one end of the spraying robot arm (1) by a clamp (23). The paint recovery cover (2) has a number of recovery holes (24) arranged in a ring. The paint recovery cover (2) has a guide groove (25) inside that is the same number as the number of recovery holes (24) and corresponds one-to-one. One end of the guide groove (25) extends into the inside of the inner rolled edge (22).

9. The machine vision-based spraying apparatus of claim 1, wherein: The heating element (21) is provided with a number of holes for avoiding the recovery hole (24), and the end of the recovery hole (24) away from the guide groove (25) is tapered.

10. The machine vision-based spraying apparatus of claim 8, wherein: The interior of the paint recovery hood (2) is also provided with an annular collection groove (26). The end of the guide groove (25) away from the inner rolled edge (22) is connected to the annular collection groove (26). A number of connectors (27) extending to the outside of the paint recovery hood (2) are provided on one side of the annular collection groove (26). A sealing cap (28) or a negative pressure pipe (29) can be selectively installed on the connector (27).

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