Groove frame paint spraying system

Abstract

The invention relates to the technical field of industrial automatic coating, in particular to a groove frame paint spraying system which comprises a rotary carrying table device, a paint spraying device and a paint spraying device. The visual system is used for photographing the to-be-painted groove frame and determining a spraying area and a cover area on the to-be-painted groove frame according to image information, obtained through photographing, of the to-be-painted groove frame; and the spraying robot is used for spraying an isolation layer material to the cover area and spraying anti-corrosion paint to the spraying area after a preset first time period of spraying of the isolation layer material is completed in the cover area. The spraying area and the cover area of the groove frame are recognized through the visual system, accurate area segmentation is achieved, the spraying robot can accurately control the spraying positions of an isolation layer and anti-corrosion paint, and the phenomena of paint waste and mistaken spraying are avoided. The anti-corrosion paint is sprayed after the isolation layer is sprayed, it is guaranteed that the specific area of the surface of the groove frame is not affected by the anti-corrosion paint, meanwhile, other areas are protected, and the corrosion resistance and the surface protection effect of the groove frame are enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of industrial automated painting, and in particular to a slot frame painting system. Background Art

[0002] In industrial production, trough frame parts made of metal, wood, plastic and other materials often need to be sprayed to improve their surface corrosion resistance, oxidation resistance and aesthetics.

[0003] Traditional spraying methods usually rely on manual operation or semi-automatic equipment, and have the following shortcomings: Since it is difficult to accurately control the spraying position and amount of the paint during manual spraying, especially in the groove frame area with more details or complex structure, it is easy to have problems such as overspraying and spraying deviation, resulting in uneven coating thickness or incomplete spraying. Traditional spraying equipment usually requires manual intervention when switching different spraying areas, and the degree of automation is low, which is difficult to meet the needs of mass production. This manual or semi-automatic operation mode leads to low production efficiency and it is difficult to ensure the consistency of spraying quality. In application scenarios where layered spraying is required (for example, spraying the isolation layer first and then the anti-corrosion layer), the spraying process of different coatings requires specific time control to ensure the drying of the isolation layer and the good adhesion of the anti-corrosion layer. It is difficult for traditional equipment to accurately control the spraying time interval of each layer of paint, which easily leads to insufficient adhesion of subsequent coatings, affecting the quality and durability of the product. In traditional spraying methods, it is difficult to accurately identify the spraying area and the non-spraying area, and the paint may be mistakenly sprayed to the part that does not need to be sprayed, resulting in material waste and increased production costs. Summary of the invention

[0004] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a groove frame painting system.

[0005] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0006] An embodiment of the present invention provides a slot frame painting system, the system comprising:

[0007] A rotating stage device is used to place the tank frame to be sprayed;

[0008] A visual system is used to take a photo of the tank frame to be sprayed, and determine the spraying area and the cover area on the tank frame to be sprayed according to the image information of the tank frame to be sprayed obtained by taking the photo;

[0009] The spraying robot is used to spray the isolation layer material on the cover area, and spray the anti-corrosion paint on the spraying area after the isolation layer material spraying is completed in the cover area for a preset first time period.

[0010] Preferably, the visual system comprises:

[0011] A photographing device, used to take a photograph of the tank frame to be sprayed with paint, and obtain image information of the tank frame to be sprayed with paint;

[0012] A recognition unit, used for inputting the image information of the slot frame to be sprayed into the trained area segmentation model to obtain the spraying area and the cover area on the slot frame to be sprayed;

[0013] Wherein, the region segmentation model is a Mask R-CNN model;

[0014] Pre-training the region segmentation model using an image training data set to obtain a trained region segmentation model;

[0015] The image training data set includes: a plurality of slot frame images taken at different angles and lighting conditions, and each image is marked with a spraying area and a cover area;

[0016] The edge detection unit is used to extract the regional edge information of the spraying area and the cover area on the paint spraying slot frame through an edge detection algorithm.

[0017] Preferably,

[0018] The spraying robot comprises a control unit and a first nozzle and a second nozzle respectively connected to the control unit;

[0019] The control unit is used to obtain a first spraying path according to edge information of the cover area; and to obtain a second spraying path according to edge information of the spraying area;

[0020] The first nozzle is used to spray the isolation layer material on the cover area according to the first spraying path under the control of the control unit;

[0021] The second nozzle is used to spray the anti-corrosion paint on the spraying area according to the second spraying path after the preset first time period of spraying is completed in the cover area under the control of the control unit;

[0022] The sensor device is used to collect the actual spray thickness of the isolation layer material, the actual spray thickness of the anti-corrosion paint, the current ambient temperature, and the current ambient humidity in real time, and send them to the control unit.

[0023] Preferably,

[0024] The first spraying path is a spraying path obtained by using an RRT algorithm to perform path planning based on edge information of the cover area to obtain a first initial spraying path, and then further smoothing the first initial spraying path using a Bezier curve;

[0025] The second spraying path is a spraying path obtained by using an RRT algorithm to perform path planning based on edge information of the spraying area to obtain a second initial spraying path, and then further smoothing the second initial spraying path using a Bezier curve.

[0026] Preferably,

[0027] When the first nozzle sprays the isolation layer material on the cover area along the first spraying path, the moving speed of the first nozzle at any point e on the first spraying path is a first speed;

[0028] Among them, the first speed is:

[0029] V 1 =V 0 ×(1-α 1 k(e));

[0030] Among them, V 0 =Q1 / (D·d 0 );

[0031] V 1 is the first speed;

[0032] Q 1 is the discharge rate of the first nozzle;

[0033] d 0 The target thickness of the sprayed isolation layer material;

[0034] D is the density of the spray isolation layer material;

[0035] α 1 is a preset first adjustment coefficient;

[0036] k(e) is the curvature at point e on the first spraying path.

[0037] Preferably,

[0038] The second nozzle sprays the anti-corrosion paint at a second speed at any point along the second spraying path;

[0039] Wherein, the second speed is:

[0040]

[0041] V 4 (s) is the second speed;

[0042] V 3 is the pre-set basic speed;

[0043] T d The target spraying thickness of the anti-corrosion paint;

[0044] f C (s) = 1 + B·C(s);

[0045] β is the pre-set complexity adjustment coefficient;

[0046] C(s) is the edge complexity coefficient at point s on the second spraying path extracted by the image edge extraction algorithm;

[0047]

[0048] α 2 is a preset second adjustment coefficient;

[0049] k(s) is the curvature value at point s on the second spraying path.

[0050] Preferably,

[0051] The first time period set in advance is calculated using formula (1):

[0052] Wherein, the formula (1) is:

[0053]

[0054] Among them, t 1 is a pre-set first time period;

[0055] d 0 is the target spraying thickness of the isolation layer material;

[0056] d is the actual spraying thickness of the isolation layer material;

[0057] T is the current ambient temperature;

[0058] H is the current ambient humidity;

[0059] D 0 The isolation layer material is at the first standard temperature T 1 and the first standard humidity H 1 Drying time under

[0060] k T1 is the influence coefficient of temperature on the drying time of the isolation layer material;

[0061] k H1 is the coefficient of influence of humidity on the drying time of the isolation layer material.

[0062] Preferably, the groove frame painting system further comprises:

[0063] Transport device, used to transport the trough frame sprayed with anti-corrosion paint to the washing area;

[0064] The flushing device is used to flush the isolation layer of the trough frame in the flushing area that has been sprayed with anti-corrosion paint after a preset second time period after the anti-corrosion paint is sprayed, so as to obtain the final trough frame.

[0065] Preferably,

[0066] The preset second time period is calculated using formula (2);

[0067] Wherein, the formula (2) is:

[0068]

[0069] t 2 is a pre-set second time period;

[0070] t dry is the initial drying time of the anticorrosive paint;

[0071] t c It is the time for the anti-corrosion paint to be completely cured;

[0072] C is the second standard temperature T 2 and the second standard humidity H 2 The ratio of initial drying time to complete curing time under

[0073] F is the actual spray thickness of the anti-corrosion paint;

[0074] F 0 It is the standard spraying thickness of anti-corrosion paint;

[0075] k T2 is the influence coefficient of temperature on the drying time of anticorrosive paint;

[0076] k H2 is the coefficient of influence of humidity on the drying time of anti-corrosion paint.

[0077] Preferably,

[0078] Target spraying thickness d of the isolation layer material 0 Between 0.1-0.2mm;

[0079] The isolation layer material is polyvinyl alcohol;

[0080] The flushing temperature of the isolation layer material is between 40-60°C.

[0081] The beneficial effects of the present invention are: a slot frame painting system of the present invention, by using a visual system to identify the spraying area and cover area of ​​the slot frame, realizes accurate area segmentation, so that the spraying robot can accurately control the spraying position of the isolation layer and anti-corrosion paint, avoiding paint waste and mis-spraying.

[0082] The slot frame painting system of the present invention combines visual recognition and automatic control, can automatically identify and complete the spraying process, reduces manual intervention, improves spraying efficiency and consistency, and is suitable for mass production.

[0083] The trough frame painting system of the present invention sprays the isolation layer first and then the anti-corrosion paint during use, ensuring that a specific area on the surface of the trough frame is not affected by the anti-corrosion paint, while protecting other areas, thereby enhancing the corrosion resistance and surface protection effect of the trough frame. The drying of the isolation layer is controlled by a preset time period, and then the anti-corrosion paint is sprayed, thereby avoiding manual waiting or multiple drying tests, reducing downtime and operation steps, and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] Figure 1 It is a structural schematic diagram of a slot frame painting system of the present invention;

[0085] Figure 2 It is a schematic diagram of the structure of a visual system in a slot frame painting system of the present invention. DETAILED DESCRIPTION

[0086] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0087] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0088] See also Figure 1 , this embodiment provides a slot frame painting system, the system comprising:

[0089] A rotating stage device is used to place the tank frame to be sprayed;

[0090] A visual system is used to take a photo of the tank frame to be sprayed, and determine the spraying area and the cover area on the tank frame to be sprayed according to the image information of the tank frame to be sprayed obtained by taking the photo;

[0091] The spraying robot is used to spray the isolation layer material on the cover area, and spray the anti-corrosion paint on the spraying area after the isolation layer material spraying is completed in the cover area for a preset first time period. This embodiment sets a preset first time period to ensure that the isolation layer material has sufficient drying time, thereby improving the adhesion effect of the subsequent anti-corrosion paint and avoiding inter-layer interference or cross contamination. The control of this time period reduces the need for manual detection of drying time and improves production efficiency.

[0092] In the slot frame spray painting system of this embodiment, the visual system takes pictures and identifies the slot frame area information, so that the spray robot can automatically identify the boundaries of the specific spraying area and the non-spraying area, thereby improving the accuracy of spraying. The addition of the rotating platform puts the slot frame in the best spraying position, and with the automatic control, the necessity of manual operation and intervention is reduced.

[0093] Preferably, see Figure 2 , the visual system comprises:

[0094] A photographing device, used to take a photograph of the tank frame to be sprayed with paint, and obtain image information of the tank frame to be sprayed with paint;

[0095] A recognition unit, used for inputting the image information of the slot frame to be sprayed into the trained area segmentation model to obtain the spraying area and the cover area on the slot frame to be sprayed;

[0096] Wherein, the region segmentation model is a Mask R-CNN model;

[0097] Pre-training the region segmentation model using an image training data set to obtain a trained region segmentation model;

[0098] The image training data set includes: multiple images of slot frames taken at different angles and lighting conditions, and each image is marked with a spraying area and a cover area; through training data under different lighting and angles, the visual system can adapt to various environmental conditions and achieve a stable spraying effect.

[0099] The edge detection unit is used to extract the regional edge information of the spraying area and the cover area on the paint spraying slot frame through an edge detection algorithm.

[0100] In this embodiment, the Mask R-CNN model has superior image segmentation capabilities. Through a large number of image trainings in different scenes, the model can accurately recognize complex shapes and edges. The recognition unit uses high-quality image data to train the model, making the system more adaptable and robust to changes in lighting and angles.

[0101] For example, suppose a paint shop needs to spray a slot frame of a specific shape. The shape of the slot frame is irregular, and the surface characteristics of different areas vary greatly. It is necessary to distinguish between the "spraying area" and the "cover area" to perform different spraying treatments (such as spraying isolation layer and anti-corrosion paint). To this end, the system's visual system uses the trained MaskR-CNN model to accurately identify and segment the slot frame surface area. The following is a detailed description of the implementation process:

[0102] When the slot frame is placed at the spraying position, the camera device takes a picture of it to obtain an image of the slot frame under the current ambient light and angle. Assume that the slot frame is a polygonal metal part.

[0103] The camera transmits the captured image to the recognition unit, which segments the image through the Mask R-CNN model. Mask R-CNN is a deep learning segmentation model that can identify the boundaries and regions of different objects in the image. The model has been trained on a large number of slot frame images under different angles and lighting conditions, so it has the ability to adapt to complex edges and shapes. For example, suppose that after an input slot frame image is processed by the model, the model identifies the spray area (the inner surface with regular edges) and the cover area (the edge of the slot frame and specific raised parts), and generates different masks for each area in the output. In order to improve the accuracy of the model, the Mask R-CNN model was trained in advance using a special data set. This data set contains slot frame images taken under different lighting conditions (such as shadows, strong light) and different shooting angles (such as front, oblique). Each image is manually annotated, and the spray area and cover area are marked in detail, so that the model can learn how to correctly segment the spray area and cover area of ​​the slot frame under various lighting and angle changes. For example, if a certain training image shows a bright area on the surface of the slot frame due to changes in illumination, the model will learn how to ignore the interference of illumination changes and focus on the segmentation of edge and shape features. After identifying the spray area and the cover area, the system's edge detection unit extracts edge information from the two areas respectively.

[0104] Assuming that the system uses the Canny edge detection algorithm, the edge detection unit runs the Canny algorithm on the mask of the spraying area to extract the boundary lines of the area. Edge detection is also run on the cover area to obtain the contour information of the cover area. For a slot frame cover area with complex curves and polygons, Canny edge detection can clearly mark these curved boundaries so that the subsequent spraying robot can operate accurately along the boundaries. Since the Mask R-CNN model in the recognition unit is trained using a large amount of data from different scenes, the system can still stably segment the spraying area and cover area of ​​the slot frame even when the lighting conditions in the factory environment are not ideal (such as strong shadows or local highlights). If the slot frame is in an area with uneven lighting, the image obtained by the camera device may appear to be bright and dark. However, since the model has learned similar lighting changes during training, it can still stably identify the contours of the spraying area and the cover area.

[0105] Specifically, the spraying robot includes a control unit and a first nozzle and a second nozzle respectively connected to the control unit;

[0106] The control unit is used to obtain a first spraying path according to edge information of the cover area; and to obtain a second spraying path according to edge information of the spraying area;

[0107] The first nozzle is used to spray the isolation layer material on the cover area according to the first spraying path under the control of the control unit;

[0108] The second nozzle is used to spray the anti-corrosion paint on the spraying area according to the second spraying path after the preset first time period of spraying is completed in the cover area under the control of the control unit;

[0109] The sensor device is used to collect the actual spray thickness of the isolation layer material, the actual spray thickness of the anti-corrosion paint, the current ambient temperature, and the current ambient humidity in real time, and send them to the control unit.

[0110] The sensor equipment collects information such as actual spray thickness, ambient temperature and humidity, and feeds it back to the control unit. The control unit can dynamically adjust the spray parameters (such as spray speed and path) based on real-time data to ensure that the thickness of the isolation layer and anti-corrosion paint meets the preset standards and maintain the consistency of the spray effect even when environmental conditions change.

[0111] In this embodiment, layered spraying can ensure the drying and adhesion of the isolation layer and the anti-corrosion paint, prevent penetration between paint layers, and improve the stability and durability of the coating. Path planning based on edge information allows the spraying process to better fit the shape of the area and ensure complete spraying of complex edge areas. In addition, the first nozzle and the second nozzle in this embodiment both have temperature control functions to adapt to the characteristics of different coatings and achieve precise control of spraying quality.

[0112] The first spraying path is a spraying path obtained by using an RRT algorithm to perform path planning based on edge information of the cover area to obtain a first initial spraying path, and then further smoothing the first initial spraying path using a Bezier curve;

[0113] The second spraying path is a spraying path obtained by using an RRT algorithm to perform path planning based on edge information of the spraying area to obtain a second initial spraying path, and then further smoothing the second initial spraying path using a Bezier curve.

[0114] In this embodiment, the path is initially planned by the RRT algorithm, and then smoothed using the Bezier curve. The generated spray path is smoother and reduces abrupt changes in the robot's movement. The smoothed path reduces sudden changes in the robot's speed and improves spray consistency. The RRT algorithm can quickly generate obstacle avoidance paths and adapt to complex areas; while the Bezier curve smoothes the path to avoid overspray or underspray at corners and edges. The smooth path makes the movement speed of the spray robot more uniform, reducing the impact of drastic changes in speed on the spray quality.

[0115] In a specific embodiment, when the first nozzle sprays the isolation layer material on the cover area along the first spraying path, the moving speed of the first nozzle at any point e on the first spraying path is a first speed;

[0116] Among them, the first speed is:

[0117] V 1 =V 0 ×(1-α 1 k(e));

[0118] Among them, V 0 =Q1 / (D·d 0 );V 0 Indicates the basic speed of spraying, which is mainly determined by the nozzle discharge rate Q 1 , coating material density D, and target thickness d 0 Decide.

[0119] V 1 is the first speed;

[0120] Q 1 is the discharge rate of the first nozzle;

[0121] d 0 The target thickness of the sprayed isolation layer material;

[0122] D is the density of the spray isolation layer material;

[0123] α 1 It is a preset first adjustment coefficient used to control the influence of curvature on speed.

[0124] k(e) is the curvature at point e on the first spraying path, reflecting the curvature of the path.

[0125] In the actual application of this embodiment, during the spraying process, the curvature of the path will cause uneven spraying speed. If the speed is too fast in the curved area, it may cause uneven or too thin coating. The above formula adjusts the spraying speed so that the spraying speed is reduced in the high curvature (turning) area to ensure the consistency of coating thickness. Assuming there is a sharp turning area on the spraying path, due to the high curvature k(e), the formula will automatically reduce the spraying speed V here 1 , to avoid the coating being too thin in this area. By automatically adjusting the spray speed, no manual intervention is required, reducing the need for coating quality inspection and rework, saving manpower and time. Especially in complex edge areas, the system automatically adapts to changes in the path to ensure high-quality spraying results. For example, when spraying on the edge of a complex slot frame, the curvature at different locations is different. The system will automatically adjust the spray speed at each location according to the curvature to achieve efficient and uniform coverage of the entire slot frame.

[0126] In this embodiment, dynamic speed adjustment avoids overspraying of materials. For example, in flat areas or areas with small curvature, the spraying speed is high, so that the material can be quickly and evenly covered without causing material accumulation due to too low speed. For example, assuming that a part of the slot frame is relatively flat and the curvature k(e) is small, the spraying speed is close to V 0 , spraying can be completed quickly and material accumulation and waste in flat areas can be avoided.

[0127] In this embodiment, the slot frame painting system can adapt to paths of different complexity during the spraying process, such as curved slot frames, surfaces with complex edges, etc. It can be applied to slot frame spraying tasks of different shapes by simply adjusting the parameters according to the curvature of the path. For example, if the slot frame design is updated or replaced with another shape, it only needs to reset the path curvature k(e), and the system can automatically adjust the spraying speed without reprogramming the spraying path.

[0128] The second nozzle sprays the anti-corrosion paint at a second speed at any point along the second spraying path;

[0129] Wherein, the second speed is:

[0130]

[0131] V 4 (s) is the second speed;

[0132] V 3 is the pre-set basic speed;

[0133] T d The target spraying thickness of the anti-corrosion paint;

[0134] f C (s) = 1 + β·C(s);

[0135] β is the pre-set complexity adjustment coefficient;

[0136] C(s) is the edge complexity coefficient at point s on the second spraying path extracted by the image edge extraction algorithm;

[0137]

[0138] α 2 is a preset second adjustment coefficient;

[0139] k(s) is the curvature value at point s on the second spraying path.

[0140] The control formula of the second speed in this embodiment dynamically adjusts the spraying speed by combining the curvature and edge complexity, so that the uniformity of the coating can be guaranteed at different positions of the path, especially in complex and curved areas, to better control the coating thickness. For example, when spraying a complex edge area, due to the high edge complexity, the formula will reduce the spraying speed V 4 (s) to keep the coating thickness uniform to meet the anti-corrosion standards.

[0141] In flat or low-curvature areas, f in the formula k (s) and f C The (s) factor will make the spraying speed close to the base speed V 3 , reducing unnecessary material consumption. When spraying a straight area with low edge complexity, the system sprays faster and does not accumulate too much coating in this area, avoiding material waste. By considering edge complexity and path curvature, the system can adapt to the coating requirements of different shapes and structures, ensuring high-quality spraying in complex geometric shapes and edge areas. If a part of the structure of the slot frame is curved and the edge complexity is high, the spraying speed of this area is automatically reduced through the second speed to prevent the spraying quality in complex areas from decreasing.

[0142] In this embodiment, the edge complexity is automatically obtained through image processing, etc., and there is no need to manually set parameters to adjust the spraying speed, which improves the automation of the system. For example, when operating a new structure, the system can automatically detect the edge complexity and curvature, and there is no need to manually readjust the spraying speed. The system will intelligently adapt to the needs of different parts and improve spraying efficiency and consistency.

[0143] In this embodiment, the preset first time period is calculated using formula (1):

[0144] Wherein, the formula (1) is:

[0145]

[0146] Among them, t 1 is a pre-set first time period;

[0147] d 0 is the target spraying thickness of the isolation layer material;

[0148] d is the actual spraying thickness of the isolation layer material;

[0149] T is the current ambient temperature;

[0150] H is the current ambient humidity;

[0151] D 0 The isolation layer material is at the first standard temperature T 1 and the first standard humidity H 1 Drying time under

[0152] k T1 is the influence coefficient of temperature on the drying time of the isolation layer material;

[0153] k H1 is the coefficient of influence of humidity on the drying time of the isolation layer material.

[0154] In this embodiment, the formula (1) can adjust the drying time according to the actual ambient temperature and humidity, ensuring the same drying effect under different environmental conditions, and avoiding insufficient or excessive drying caused by environmental factors. For example, in an environment with high humidity, the drying process is usually slower. By increasing the humidity influence factor k H1 ·(HH 1 ) can increase the drying time, ensure that the material is completely dry, and improve the durability and anti-corrosion effect of the coating.

[0155] By combining the effects of temperature and humidity, the formula can more accurately estimate the drying time, thereby reducing errors in the drying process, avoiding unnecessary waiting time, and improving production efficiency. For example, in a high temperature environment, formula (1) will reduce the drying time, which will speed up the drying process without affecting the coating quality, thereby improving production efficiency. Dynamic calculation of drying time means that the drying equipment only needs to run for the necessary time, avoiding unnecessary energy waste and optimizing energy consumption. For example, at the target thickness d 0 When the difference between the actual thickness d is not large, the drying time t 1 Correspondingly shorter, the drying equipment can reduce operating time, thus saving energy and costs.

[0156] Formula (1) takes into account the actual coating thickness d and the target thickness d 0 The ratio of is used to adjust the drying time, so as to ensure that the drying degree meets the standard when the coating thickness changes, thereby improving the consistency of the product. In the case of spraying a thicker coating, the drying time will be increased accordingly to avoid quality problems caused by incomplete drying of the coating. By accurately controlling the drying time and ensuring that the coating is fully dried, the anti-corrosion performance of the isolation layer material can be enhanced and its service life can be extended. For example, in a high temperature and high humidity environment, if the drying time is not adjusted, the coating may not be completely dried. This formula (1) can automatically increase the drying time to ensure that the coating is completely dry, thereby improving the anti-corrosion effect and durability of the product.

[0157] The slot frame painting system in this embodiment also includes: a transport device for transporting the slot frame that has been sprayed with anti-corrosion paint to a flushing area; a flushing device for flushing the isolation layer of the slot frame that has been sprayed with anti-corrosion paint in the flushing area after a preset second time period after the anti-corrosion paint is sprayed, so as to obtain the final slot frame. For example, after the spraying robot completes the anti-corrosion paint spraying of the slot frame, the slot frame is automatically transferred to the designated flushing area by the transport device. During the transportation process, the system automatically calculates and waits for a period of time (i.e., the second time period) to ensure that the anti-corrosion paint is dry and has sufficient adhesion and will not be damaged in the subsequent flushing. Assuming that this period of time is accurately calculated to be 10 minutes, the transport device will control the speed so that the slot frame arrives at the flushing area just after 10 minutes. The transportation speed is controlled by the program to ensure that the slot frame does not enter the flushing stage too early or late.

[0158] After the trough frame enters the flushing area, the flushing device is started, and the isolation layer is flushed with aqueous solution or specific solvent, and the isolation layer material (such as polyvinyl alcohol or wax emulsion) is effectively removed. The anti-corrosion paint has stable adhesion after drying, and flushing will not affect its performance, but only remove the isolation layer on the surface. After flushing, only the anti-corrosion paint coating remains on the surface of the trough frame, forming a clean and uniform protective film, achieving the protection effect required by production.

[0159] This embodiment ensures that the anti-corrosion paint reaches an ideal drying state by accurately controlling the second time period so that it will not be damaged during the flushing process. The surface of the trough frame is clean after flushing, and the anti-corrosion paint layer is uniform and undamaged, thereby improving the surface quality of the product. The automated control of the transportation device and the flushing device realizes the seamless connection of spraying, transportation, drying and flushing, reduces manual operation and waiting time, and significantly improves production efficiency. Flushing before the anti-corrosion paint is completely dry may cause damage to the coating, resulting in peeling or unevenness. The system avoids this problem and reduces the defective rate by accurately calculating the time. Since the isolation layer material is water-soluble or easily soluble in specific solvents, the flushing efficiency is high, which reduces the consumption of flushing solvent and saves resources.

[0160] The preset second time period is calculated using formula (2);

[0161] Wherein, the formula (2) is:

[0162]

[0163] t 2 is the second time period set in advance; t dry is the initial drying time of the anticorrosive paint (refers to the time when the surface of the anticorrosive paint becomes dry and no longer sticky after the anticorrosive paint is sprayed under specified conditions. At this point in time, the surface of the anticorrosive paint has dried, but the interior may not be completely cured. This time is obtained through experiments); t c is the time for the anti-corrosion paint to be fully cured (the full curing time refers to the time after the anti-corrosion paint has completed all drying, cross-linking or polymerization reactions, at which time the coating has reached its designed maximum strength, hardness and corrosion resistance. The full curing time is usually much longer than the initial drying time, because it not only involves solvent volatilization, but may also involve chemical reactions (such as cross-linking reactions) to enhance the physical properties of the coating. This time is obtained through experiments); C is the time at the second standard temperature T 2 and the second standard humidity H 2 The ratio of the initial drying time to the complete curing time under the condition of ; F is the actual spraying thickness of the anticorrosive paint; F 0 is the standard spraying thickness of anticorrosive paint; k T2 k is the influence coefficient of temperature on the drying time of anticorrosive paint; H2 is the coefficient of influence of humidity on the drying time of anti-corrosion paint.

[0164] In this embodiment, formula (2) includes not only the initial drying time t of the anticorrosive paint dry , and also introduced a number of influencing factors, such as the influence of temperature and humidity on drying time. T2 and k H2This makes the prediction of drying time more accurate, as different environmental conditions can have a significant impact on the drying process. The actual spray thickness F of the anti-corrosion paint and the standard thickness F are used in formula (2). 0 This means that formula (2) can adapt to different thicknesses of anticorrosive paint layers and provide a more adaptable drying time calculation method. By introducing the difference between the standard value and the actual value of temperature T and humidity H (T-T 2 and H-H 2 ), formula (2) can be adjusted according to the current environmental conditions. This design helps the system achieve more accurate drying time control under different operating environments, which helps to improve the drying quality and consistency of the product. Formula (2) can effectively optimize the production process, avoid waste, improve efficiency, and thus reduce energy consumption by reasonably predicting the drying time.

[0165] For example, suppose the anti-corrosion paint thickness of the slot frame is thicker than the standard thickness F 0 20% more, the actual ambient temperature is higher than the standard temperature T 2 5℃ higher, humidity lower than standard humidity H 2 10%. Substituting these data into formula (2) for calculation, the appropriate time t 2 To ensure that the anti-corrosion paint of the trough frame is dry enough to meet the requirements, so that the paint layer can be washed without damaging it. Formula (2) takes into account a variety of environmental parameters and physical properties (such as temperature, humidity, thickness), and uses the influence coefficient k T2 and k H2 To adapt to different environmental conditions. This design improves the adaptability of the system, enabling it to achieve stable drying effects under different working conditions.

[0166] In this embodiment, the target spraying thickness of the isolation layer material is d 0 The thickness of the spraying layer is between 0.1-0.2 mm. In this embodiment, the spraying thickness is controlled between 0.1-0.2 mm, which helps to ensure the uniformity and integrity of the isolation layer and avoid performance problems caused by too large or too small thickness. Too thick may increase the drying time, thereby affecting production efficiency, while too thin may lead to insufficient isolation effect. At the same time, a moderate thickness range can reduce material waste, save costs, and avoid the use of excess materials when the thickness is too large.

[0167] Moderate thickness can speed up the drying process, allowing the sprayed isolation layer material to achieve an ideal curing effect within the set drying time, thereby improving production efficiency.

[0168] The isolation layer material is polyvinyl alcohol, which has excellent film-forming properties and isolation effects, can effectively isolate other substances, and provide moisture-proof, anti-oxidation and other protective properties. Polyvinyl alcohol is a relatively environmentally friendly material with low volatility and high safety for the environment and operators, meeting the environmental protection and safety requirements of many industries. Polyvinyl alcohol is easy to form a film and has good adaptability to different environmental conditions (such as humidity and temperature), which can meet the needs of the spray coating in various production environments.

[0169] The flushing temperature of the isolation layer material is between 40-60℃. The temperature of 40-60℃ helps to remove impurities and pollutants remaining on the surface, providing a cleaner surface for subsequent spraying and drying processes, thereby improving the adhesion and uniformity of the isolation layer. The temperature range of 40-60℃ is not too high, which can effectively prevent the isolation layer material (such as polyvinyl alcohol) from being damaged by high temperature and ensure that the performance of the material is not affected. A reasonable temperature range reduces energy consumption. Compared with high-temperature flushing, it can effectively reduce energy consumption and meet the production requirements of energy conservation and environmental protection.

[0170] A slot frame painting system in this embodiment uses a visual system to identify the spraying area and cover area of ​​the slot frame, thereby achieving accurate area segmentation, so that the spraying robot can accurately control the spraying position of the isolation layer and anti-corrosion paint, avoiding paint waste and mis-spraying.

[0171] In the present embodiment, a trough frame painting system first sprays an isolation layer and then sprays an anti-corrosion paint during use, ensuring that a specific area on the surface of the trough frame is not affected by the anti-corrosion paint, while protecting other areas, thereby enhancing the corrosion resistance and surface protection effect of the trough frame. By controlling the drying of the isolation layer through a preset time period and then spraying the anti-corrosion paint, manual waiting or multiple drying tests are avoided, downtime and operation steps are reduced, and production efficiency is improved.

[0172] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0173] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0174] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0175] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0176] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A slot frame painting system, characterized in that: The system comprises: A rotating stage device is used to place the tank frame to be sprayed; A visual system is used to take a photo of the tank frame to be sprayed, and determine the spraying area and the cover area on the tank frame to be sprayed according to the image information of the tank frame to be sprayed obtained by taking the photo; The spraying robot is used to spray the isolation layer material on the cover area, and spray the anti-corrosion paint on the spraying area after the isolation layer material spraying is completed in the cover area for a preset first time period.

2. The slot frame painting system according to claim 1, characterized in that: The visual system comprises: A photographing device, used to take a photograph of the tank frame to be sprayed with paint, and obtain image information of the tank frame to be sprayed with paint; A recognition unit, used for inputting the image information of the slot frame to be sprayed into the trained area segmentation model to obtain the spraying area and the cover area on the slot frame to be sprayed; Wherein, the region segmentation model is a Mask R-CNN model; Pre-training the region segmentation model using an image training data set to obtain a trained region segmentation model; The image training data set includes: a plurality of slot frame images taken at different angles and lighting conditions, and each image is marked with a spraying area and a cover area; The edge detection unit is used to extract the regional edge information of the spraying area and the cover area on the paint spraying slot frame through an edge detection algorithm.

3. The slot frame painting system according to claim 2, characterized in that: The spraying robot comprises a control unit and a first nozzle and a second nozzle respectively connected to the control unit; The control unit is used to obtain a first spraying path according to edge information of the cover area; and for obtaining a second spraying path according to edge information of the spraying area; The first nozzle is used to spray the isolation layer material on the cover area according to the first spraying path under the control of the control unit; The second nozzle is used to spray the anti-corrosion paint on the spraying area according to the second spraying path after the preset first time period of spraying is completed in the cover area under the control of the control unit; The sensor device is used to collect the actual spray thickness of the isolation layer material, the actual spray thickness of the anti-corrosion paint, the current ambient temperature, and the current ambient humidity in real time, and send them to the control unit.

4. The slot frame painting system according to claim 3, characterized in that: The first spraying path is a spraying path obtained by using an RRT algorithm to perform path planning based on edge information of the cover area to obtain a first initial spraying path, and then further smoothing the first initial spraying path using a Bezier curve; The second spraying path is a spraying path obtained by using an RRT algorithm to perform path planning based on edge information of the spraying area to obtain a second initial spraying path, and then further smoothing the second initial spraying path using a Bezier curve.

5. The slot frame painting system according to claim 4, characterized in that: When the first nozzle sprays the isolation layer material on the cover area along the first spraying path, the moving speed of the first nozzle at any point e on the first spraying path is a first speed; Among them, the first speed is: V1=V0×(1-α1·k(e)); Where, V0 = Q1 / (D·d0); V1 is the first speed; Q1 is the discharge rate of the first nozzle; d0 is the target thickness of the sprayed isolation layer material; D is the density of the spray isolation layer material; α1 is a preset first adjustment coefficient; k(e) is the curvature at point e on the first spraying path.

6. The slot frame painting system according to claim 5, characterized in that: The second nozzle sprays the anti-corrosion paint at a second speed at any point along the second spraying path; Wherein, the second speed is: V4(s) is the second speed; V3 is the pre-set basic speed; T d The target spraying thickness of the anti-corrosion paint; f C (s)=1+β·C(s); β is the pre-set complexity adjustment coefficient; C(s) is the edge complexity coefficient at point s on the second spraying path extracted by the image edge extraction algorithm; α2 is a preset second adjustment coefficient; k(s) is the curvature value at point s on the second spraying path.

7. The slot frame painting system according to claim 6, characterized in that: The first time period set in advance is calculated using formula (1): Wherein, the formula (1) is: Wherein, t1 is a preset first time period; d0 is the target spraying thickness of the isolation layer material; d is the actual spraying thickness of the isolation layer material; T is the current ambient temperature; H is the current ambient humidity; D0 is the drying time of the isolation layer material at the first standard temperature T1 and the first standard humidity H1; k T1 is the influence coefficient of temperature on the drying time of the isolation layer material; k H1 is the coefficient of influence of humidity on the drying time of the isolation layer material.

8. The slot frame painting system according to claim 7, characterized in that: The slot frame painting system also includes: Transport device, used to transport the trough frame sprayed with anti-corrosion paint to the washing area; The flushing device is used to flush the isolation layer of the trough frame in the flushing area that has been sprayed with anti-corrosion paint after a preset second time period after the anti-corrosion paint is sprayed, so as to obtain the final trough frame.

9. The slot frame painting system according to claim 8, characterized in that: in, The preset second time period is calculated using formula (2); Wherein, the formula (2) is: t2 is a preset second time period; t dry is the initial drying time of the anticorrosive paint; t c It is the time for the anti-corrosion paint to be completely cured; C is the ratio of the initial drying time to the complete curing time at the second standard temperature T2 and the second standard humidity H2; F is the actual spray thickness of the anti-corrosion paint; F0 is the standard spraying thickness of anti-corrosion paint; k T2 is the influence coefficient of temperature on the drying time of anticorrosive paint; k H2 is the coefficient of influence of humidity on the drying time of anti-corrosion paint.

10. The slot frame painting system according to claim 9, characterized in that: The target spraying thickness d0 of the isolation layer material is between 0.1-0.2 mm; The isolation layer material is polyvinyl alcohol; The flushing temperature of the isolation layer material is between 40-60°C.

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