CN210616211U

CN210616211U - Automobile polishing frame

Info

Publication number: CN210616211U
Application number: CN201921354251.4U
Authority: CN
Inventors: 李颂
Original assignee: Foshan Youge Technology Co Ltd
Current assignee: Foshan Youge Technology Co Ltd
Priority date: 2019-08-20
Filing date: 2019-08-20
Publication date: 2020-05-26
Anticipated expiration: 2029-08-20

Abstract

The utility model provides an automobile polishing frame, which comprises a bracket and at least three polishing modules; both sides and the top of the bracket are provided with at least one polishing module; the polishing module comprises a work sliding table, a sliding driving mechanism, a mechanical arm, a visual detection device and a polishing tool; the work sliding table is connected to the support in a sliding mode, the sliding driving mechanism is arranged between the work sliding table and the support, the visual detection device is installed on the work sliding table, the fixed end of the mechanical arm is installed on the work sliding table, and the polishing tool is installed at the tail end of the mechanical arm. Visual detection devices in three directions detect the outer contour of the automobile, and then mechanical arms in the three directions are driven to polish the automobile; each visual detection device and arm all follow the slip table of work and slide, make visual detection's scope enough big, also make the scope of polishing operation enough big, can carry out better polishing to the automobile body. The automobile polishing frame can reduce the manpower resource consumed in polishing operation and improve the polishing quality.

Description

Automobile polishing frame

Technical Field

The utility model belongs to the technical field of the car beauty equipment, especially, relate to a car polishing frame.

Background

With the development of global economy and science and technology, the automobile industry is developed vigorously, more and more automobiles are arranged on roads, and the automobile polishing industry is also high in water. The automobile polishing is to polish the automobile once during waxing, glazing or film coating in the automobile cosmetic process. After the surface of an automobile is sprayed, fine defects on the surface of a paint film such as coarse grains, sand paper marks, flow marks, white reflection, orange peel and the like may occur, and in order to compensate for the defects, the automobile is usually polished after the spraying so as to improve the mirror effect of the paint film and achieve the requirements of brightness, smoothness and gorgeous. However, because the polishing process is complicated, manual polishing is usually adopted, but the defects of the manual polishing are obvious: a large amount of manpower and labor resources are consumed, and the efficiency is low; polishing can cause harm to the health of workers; the manual polishing quality is unreliable, and the quality is difficult to ensure because the manual polishing is influenced by the working technique of workers.

For this reason, improvements are required to address the problems existing in the prior art.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a car polishing frame, its reducible manpower resources that consume on the polishing operation improve the polishing quality.

In order to achieve the above object, the present invention provides an automobile polishing frame, which comprises a bracket and at least three polishing modules; both sides and the top of the bracket are provided with at least one polishing module; the polishing module comprises a work sliding table, a sliding driving mechanism, a mechanical arm, a visual detection device and a polishing tool; the working sliding table is connected to the support in a sliding mode, the sliding driving mechanism is arranged between the working sliding table and the support, the visual detection device is installed on the working sliding table, the fixed end of the mechanical arm is installed on the working sliding table, and the polishing tool is installed at the tail end of the mechanical arm.

Further, the support is provided with the slide rail, the slide rail extends along the horizontal direction, the work slip table is provided with the slider, slider sliding connection is in the slide rail.

Further, the sliding driving mechanism comprises a positive and negative rotation motor, a gear and a rack; the rack is installed the support, the rack extends along the horizontal direction, positive reverse motor is installed work slip table, the gear rotationally install work slip table and quilt positive reverse motor drive rotates, the gear with rack toothing transmission.

Further, the visual inspection device includes one or both of a depth camera and a laser.

Further, the stiff end of arm is installed through a linear guide in the work slip table, linear guide extends along vertical direction.

Further, the mechanical arm is a six-degree-of-freedom mechanical arm.

Further, the polishing machine further comprises a six-axis force sensor, and the polishing tool is mounted at the tail end of the six-degree-of-freedom mechanical arm through the six-axis force sensor.

Further, the support is built by I-steel.

When the automobile polishing frame provided by the utility model is used, an automobile enters the lower part of the frame, the visual detection devices in three directions detect the outline of the automobile, and then the mechanical arms in three directions are driven to polish the automobile; each visual detection device and each mechanical arm slide along the working sliding table, so that the visual detection range is large enough, the polishing operation range is large enough, and the vehicle body can be polished well; adopt and feel detection device to carry out intellectual detection system, adopt the arm to carry out automatic polishing, reduce the staff and participate in, consequently, this kind of car polishing frame reducible human resource that consumes on polishing operation improves polishing quality.

Drawings

Fig. 1 is a schematic perspective view of a car polishing frame according to the present invention.

[ description of reference ]

1-bracket, 11-slide rail;

2-a work slipway;

31-positive and negative rotation motor, 32-gear, 33-rack;

4-a mechanical arm;

51-depth camera, 52-laser;

6-linear guide rail.

Detailed Description

The present invention will be described in detail with reference to the following specific examples.

It should be noted that the utility model aims to provide a car polishing frame mechanical structure that can replace artifical polishing, based on such mechanical structure, can realize reducing the manpower resources who expends on polishing operation, improve polishing quality's beneficial effect. Further, one skilled in the art can correspondingly design different control programs according to different use requirements, different control modes or different programming languages, and control each component on the polishing module to work through the different control programs. The main innovation of the present invention is that the mechanical structure of the car polishing frame is not described in detail in the present application.

The utility model provides an automobile polishing frame, as shown in figure 1, which comprises a bracket 1 and at least three polishing modules; both sides and the top of the bracket 1 are provided with at least one polishing module; the polishing module comprises a work sliding table 2, a sliding driving mechanism, a mechanical arm 4, a visual detection device and a polishing tool; work slip table 2 sliding connection is at support 1, and the setting of slip actuating mechanism is between work slip table 2 and support 1, and visual detection device installs at work slip table 2, and the stiff end of arm 4 is installed at work slip table 2, and burnishing tool installs the end at arm 4.

Based on the structure, when the polishing machine is used, an automobile enters the lower part of the bracket 1, the visual detection devices in three directions detect the outer contour of the automobile, and then the mechanical arms 4 in three directions are driven to polish the automobile; each visual detection device and the mechanical arm 4 slide along the working sliding table 2, so that the visual detection range is large enough, the polishing operation range is large enough, and the vehicle body can be polished well; adopt and feel detection device to carry out intellectual detection system, adopt arm 4 to carry out automatic polishing, reduce the staff and participate in, consequently, this kind of car polishing frame reducible human resource who consumes on polishing operation improves polishing quality.

In this embodiment, the support 1 is provided with a slide rail 11, the slide rail 11 extends in the horizontal direction, and the work slide 2 is provided with a slide block, and the slide block is slidably connected to the slide rail 11. The sliding driving mechanism comprises a positive and negative rotation motor 31, a gear 32 and a rack 33; the rack 33 is arranged on the bracket 1, the rack 33 extends along the horizontal direction, the forward and reverse rotation motor 31 is arranged on the work sliding table 2, the gear 32 is rotatably arranged on the work sliding table 2 and driven by the forward and reverse rotation motor 31 to rotate, and the gear 32 is in meshing transmission with the rack 33. Through the structure, the sliding of the work sliding table 2 along the horizontal direction is realized, so that the polishing operation range is wider. The above-mentioned positive and negative motor 31 that is said can realize the positive and negative switching of motor through changing the current direction, of course, other means in addition, if realize through control program, similar replacement also falls into the utility model discloses an within the scope of protection.

In the present embodiment, the visual inspection means includes one or both of the depth camera 51 and the laser 52. Preferably, both the depth camera 51 and the laser 52 are arranged on the work slide 2. Before polishing, the laser 52 moves back and forth along the work sliding table 2 to scan the whole automobile to obtain an approximate model of the whole automobile, and then the depth camera 51 is used for obtaining a specific model and specific position data of the automobile. Of course, there are other visual detection devices capable of obtaining specific models and specific position data of the automobile in the prior art, and similar alternatives also fall within the scope of the present invention.

In the present embodiment, the fixed end of the robot arm 4 is mounted on the work slide 2 via a linear guide 6, and the linear guide 6 extends in the vertical direction. Through the structure, the mechanical arm 4 can move up and down in a small range, so that the polishing operation range is wider.

In the present embodiment, the robot arm 4 is a six-degree-of-freedom robot arm. Further preferably, the end of the six-DOF mechanical arm is provided with a six-axis force sensor, and the polishing tool is mounted at the end of the six-DOF mechanical arm through the six-axis force sensor. The polishing force of the tail end of the six-freedom-degree mechanical arm 4 is fed back in real time through the six-axis force sensor, so that the polishing effect is better.

In this embodiment, the bracket 1 is constructed from i-steel. The bracket built by the I-shaped steel has low manufacturing cost and high enough strength.

In the following, a specific control method is given to control the automotive buffing stand:

firstly, point cloud data are obtained for an automobile based on a depth camera 51 and a laser 52, a polishing path is obtained by using an artificial intelligence algorithm, and then the pose of the mechanical arm 4 is obtained by combining kinematics forward and reverse calculation, a collision detection algorithm and an action planning algorithm of a robot operating system. The tail end of the mechanical arm 4 is provided with a six-axis force sensor, the tail end polishing force is fed back in real time, and the force is kept at a constant set value by regulating the tail end of the mechanical arm 4 through PID. The polishing is realized by controlling the coordinated motion of the sliding driving mechanism and the mechanical arm 4, the mechanical arm 4 has six degrees of freedom, and the front and back movement of the sliding rail 11 and the up and down movement of the linear guide rail 6 have eight degrees of freedom, so that the all-dimensional polishing of the automobile can be realized.

The features of the embodiments and embodiments described above may be combined with each other without conflict.

It should be finally noted that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automobile polishing frame, its characterized in that: comprises a bracket and at least three polishing modules;

both sides and the top of the bracket are provided with at least one polishing module;

the polishing module comprises a work sliding table, a sliding driving mechanism, a mechanical arm, a visual detection device and a polishing tool; the working sliding table is connected to the support in a sliding mode, the sliding driving mechanism is arranged between the working sliding table and the support, the visual detection device is installed on the working sliding table, the fixed end of the mechanical arm is installed on the working sliding table, and the polishing tool is installed at the tail end of the mechanical arm.

2. The automotive buffing stand of claim 1, wherein: the support is provided with the slide rail, the slide rail extends along the horizontal direction, the work slip table is provided with the slider, slider sliding connection is in the slide rail.

3. The automotive buffing stand of claim 1 or 2, wherein: the sliding driving mechanism comprises a positive and negative rotation motor, a gear and a rack;

the rack is installed the support, the rack extends along the horizontal direction, positive reverse motor is installed work slip table, the gear rotationally install work slip table and quilt positive reverse motor drive rotates, the gear with rack toothing transmission.

4. The automotive buffing stand of claim 1 or 2, wherein: the visual detection device comprises one or two of a depth camera and a laser.

5. The automotive buffing stand of claim 1 or 2, wherein: the stiff end of arm is installed through a linear guide in the work slip table, linear guide extends along vertical direction.

6. The automotive buffing stand of claim 1 or 2, wherein: the mechanical arm is a six-degree-of-freedom mechanical arm.

7. The automotive buffing stand of claim 6, wherein: the polishing tool is arranged at the tail end of the six-degree-of-freedom mechanical arm through the six-axis force sensor.

8. The automotive buffing stand of claim 1 or 2, wherein: the support is built by I-steel.