Nozzle cleaning equipment

Abstract

An embodiment of the present application provides a nozzle cleaning device, including a nozzle rack, a movable table, a fixed rack, a camera device, an electromagnetic wave transmitter and a controller, wherein the nozzle rack is located on the movable table, the nozzle rack is used to install the nozzle, and the nozzle rack is also used to slide on the movable table, and a nozzle to be cleaned is arranged on the nozzle; the fixed rack is located above the movable table, the camera device and the electromagnetic wave transmitter are arranged on the fixed rack, and the camera device and the electromagnetic wave transmitter are facing the movable table; the controller is used to control the movement of the nozzle rack on the movable table, control the camera device to take an image of the nozzle to be cleaned, and control the electromagnetic wave transmitter to transmit electromagnetic waves to clean the nozzle to be cleaned, thereby improving the cleaning effect of the nozzle.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of cleaning technology, and in particular to a nozzle cleaning device. Background Art

[0002] For some mechanical equipment with nozzles, since the aperture of the nozzle is small and it is in contact with the environment, most impurities are easily blocked at the nozzle position, and the nozzle needs to be cleaned in time.

[0003] In the prior art, ultrasonic waves, water pressure, chemical detergents, etc. are usually used to impact, peel off, and dissolve dirt on the surface of an object to achieve the purpose of cleaning. However, in the above methods, ultrasonic waves, water pressure, chemical detergents, etc. cannot accurately and precisely clean impurities in the nozzle, resulting in poor cleaning effect on the nozzle, or even direct damage to the nozzle. Summary of the invention

[0004] The embodiment of the present application provides a nozzle cleaning device, which improves the cleaning effect of the nozzle.

[0005] In a first aspect, an embodiment of the present application provides a nozzle cleaning device, including a nozzle holder, a moving platform, a fixing frame, a camera device, an electromagnetic wave transmitter and a controller, wherein:

[0006] The nozzle rack is located on the movable platform, and is used to install the nozzle. The nozzle rack is also used to slide on the movable platform, and the nozzle is provided with a nozzle to be cleaned;

[0007] The fixed frame is located above the moving platform, the camera device and the electromagnetic wave transmitter are arranged on the fixed frame, and the camera device and the electromagnetic wave transmitter face the moving platform;

[0008] The controller is used to control the camera to take images of the nozzle to be cleaned, control the nozzle holder to move on the moving platform, and control the electromagnetic wave transmitter to emit electromagnetic waves to clean the nozzle to be cleaned.

[0009] In a possible implementation manner, the controller is specifically configured to:

[0010] Acquire a first three-dimensional image captured by the camera device of the nozzle to be cleaned;

[0011] Controlling the nozzle rack to slide on the moving platform until the nozzle to be cleaned is located directly below the electromagnetic wave transmitter, and controlling the electromagnetic wave transmitter to emit electromagnetic waves to clean the nozzle to be cleaned;

[0012] Controlling the nozzle rack to slide on the moving platform until the nozzle to be cleaned is located directly below the camera device, and controlling the camera device to capture the nozzle to be cleaned to obtain a second three-dimensional image;

[0013] A cleaning result is determined according to the first three-dimensional image and the second three-dimensional image.

[0014] In a possible implementation manner, obtaining a first three-dimensional image captured by the camera device on the nozzle to be cleaned includes:

[0015] The controller sends a shooting instruction to the camera device, so that the camera device shoots an image according to the shooting instruction to obtain the first three-dimensional image;

[0016] The controller receives the first three-dimensional image sent by the camera device.

[0017] In a possible implementation manner, controlling the nozzle rack to slide on the moving platform includes:

[0018] The controller determines a movement instruction, wherein the movement instruction includes a movement direction and a movement distance;

[0019] The controller sends the movement instruction to the nozzle frame, so that the nozzle frame moves the movement distance in the movement direction according to the movement instruction.

[0020] In a possible implementation, controlling the electromagnetic wave transmitter to emit electromagnetic waves to clean the nozzle to be cleaned includes:

[0021] The controller determines foreign matter information of the foreign matter in the nozzle to be cleaned according to the first three-dimensional image, wherein the foreign matter information includes a position of the foreign matter in the nozzle to be cleaned;

[0022] The controller determines a launch instruction according to the foreign object information, wherein the launch instruction includes a launch mode, a launch duration, and a launch angle;

[0023] The controller sends a transmission instruction to the electromagnetic wave transmitter, so that the electromagnetic wave transmitter transmits electromagnetic waves of the transmission duration according to the position of the nozzle to be cleaned in the transmission mode.

[0024] In a possible implementation, if the wavelength absorbed by the foreign matter in the nozzle to be cleaned is greater than a first threshold, it is determined that the emission mode is an infrared emission mode, and the electromagnetic wave transmitter emits infrared rays in the infrared mode;

[0025] If the wavelength absorbed by the foreign matter in the nozzle to be cleaned is less than or equal to the first threshold, it is determined that the emission mode is an ultraviolet emission mode, and the electromagnetic wave transmitter emits ultraviolet rays in the ultraviolet mode.

[0026] In a possible implementation, determining a cleaning result according to the first three-dimensional image and the second three-dimensional image includes:

[0027] The controller compares the first three-dimensional image with the second three-dimensional image to determine whether the foreign matter in the nozzle to be cleaned is removed;

[0028] If yes, the controller determines that the cleaning result is a successful cleaning;

[0029] If not, the controller determines that the cleaning result is a cleaning failure.

[0030] In a possible implementation manner, after the controller determines that the cleaning result is a cleaning failure, the process further includes:

[0031] The controller controls the nozzle to be cleaned to be cleaned again.

[0032] In a possible implementation, the camera lens of the camera device is a magnifying camera lens.

[0033] In a possible implementation manner, the nozzle holder is used to install the nozzle, and the diameter of the spray aperture of the nozzle is between 15 microns and 30 microns.

[0034] The nozzle cleaning device provided in the embodiment of the present application includes a nozzle rack, a mobile platform, a fixed frame, a camera device, an electromagnetic wave transmitter and a controller. The nozzle rack is located on the mobile platform, and the nozzle rack is used to install a nozzle with a nozzle to be cleaned. The nozzle rack is also used to slide on the mobile platform; the fixed frame is located above the mobile platform, and the camera device and the electromagnetic wave transmitter are arranged on the fixed frame, and the camera device and the electromagnetic wave transmitter face the mobile platform; the controller is used to control the camera device to take an image of the nozzle to be cleaned, control the nozzle rack to move on the mobile platform, and control the electromagnetic wave transmitter to emit electromagnetic waves to clean the nozzle to be cleaned. In the above process, the controller can control the nozzle rack, the camera device and the electromagnetic wave transmitter to achieve precise movement and alignment of the nozzle rack, the camera device and the electromagnetic wave transmitter. The camera device can take high-definition pictures before and after cleaning for foreign matter in the nozzle. The controller can compare the high-definition pictures before and after cleaning to determine whether the foreign matter in the nozzle to be cleaned is cleaned. The electromagnetic wave transmitter can emit at least one electromagnetic wave for foreign matter in the nozzle to be cleaned, so as to achieve precise point cleaning and improve the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1A schematic diagram of an application scenario provided by an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the structure of a nozzle cleaning device provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of a nozzle cleaning method according to an embodiment of the present application;

[0038] Figure 4 A schematic diagram of the working process of the nozzle cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application.

[0040] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0041] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1 , including a nozzle 101, on which a plurality of nozzles are arranged, which are respectively denoted as a first nozzle 1, a second nozzle 2, a third nozzle 3, a fourth nozzle 4 and a fifth nozzle 5. During the use of the nozzle 101, debris may block some of the nozzles, for example, see Figure 1 , there are debris in the second nozzle 2 and the fourth nozzle 4. When there are debris in the nozzle, the normal use of the nozzle is affected. In this case, the nozzle needs to be cleaned to remove the debris in the nozzle. The nozzle involved in the embodiment of the present application can be a nozzle with micron holes.

[0042] In the prior art, ultrasonic waves, water pressure, chemical detergents, etc. are usually used to impact, peel off, and dissolve dirt on the surface of an object to achieve the purpose of cleaning. However, in the above methods, ultrasonic waves, water pressure, chemical detergents, etc. cannot accurately and precisely clean impurities in the nozzle, resulting in poor cleaning effect on the nozzle.

[0043] In the embodiment of the present application, the nozzle containing debris (the nozzle to be cleaned) can be cleaned by a nozzle cleaning device. The nozzle cleaning device can accurately control the alignment of the nozzle to be cleaned with the electromagnetic wave transmitter, and clean the nozzle to be cleaned by the electromagnetic wave transmitter, thereby achieving precise point cleaning of the nozzle to be cleaned, thereby improving the cleaning effect of the nozzle.

[0044] The nozzle cleaning device is described in detail below through specific embodiments. It should be noted that the following embodiments can exist independently or in combination with each other, and the same or similar contents will not be described repeatedly in different embodiments.

[0045] Figure 2 This is a schematic diagram of the structure of a nozzle cleaning device provided in an embodiment of the present application. Figure 2 The nozzle cleaning device 20 comprises: a nozzle rack 201, a movable platform 203, a fixed rack 204, a camera device 205, an electromagnetic wave transmitter 206 and a controller 207. The nozzle rack 201 is located on the movable platform 203, and is used to install a nozzle 202 with a nozzle to be cleaned (it should be noted that the nozzle 202 is not a part of the nozzle cleaning device), and the nozzle rack 201 is also used to slide on the movable platform 203; the fixed rack 204 is located above the movable platform 203, and the camera device 205 and the electromagnetic wave transmitter 206 are arranged on the fixed rack 204, and the camera device 205 and the electromagnetic wave transmitter 206 face the movable platform; the controller 207 is used to control the camera device 205 to take an image of the nozzle to be cleaned, control the nozzle rack 201 to move on the movable platform 203, and control the electromagnetic wave transmitter 206 to emit electromagnetic waves to clean the nozzle to be cleaned.

[0046] The mobile platform 203 is a fixed horizontal platform, which serves as the base of the nozzle cleaning device. One or more of a transverse slide rail, a longitudinal slide rail, a coarse adjustment bolt, or a fine adjustment bolt can be installed on the mobile platform 203. The transverse slide rail is used to move the nozzle rack 201 in the horizontal direction. The longitudinal slide rail is used to move the nozzle rack 201 in the vertical direction. The coarse adjustment bolt can preliminarily adjust the position of the nozzle rack 201 on the mobile platform. The fine adjustment bolt can accurately adjust the position of the nozzle rack 201 on the mobile platform.

[0047] The nozzle rack 201 is mounted on the mobile platform 203. Under the control of the controller 207, the nozzle rack 201 can move horizontally and vertically on the mobile platform 203. The nozzle rack 201 is a device that can mount multiple nozzles, and the nozzle rack 201 can be a three-dimensional structure such as a cuboid or a cylinder. At least one nozzle can be mounted on the nozzle rack 201. The nozzle rack 201 can rotate 360 ​​degrees on the mobile platform 203 through a connecting member.

[0048] The nozzle 202 is mounted on the nozzle holder 201. The number of nozzles on the nozzle is at least one. For example, five nozzles can be mounted on the nozzle 202, which are respectively recorded as the first nozzle 1, the second nozzle 2, ..., the fifth nozzle 5. The nozzle 202 has different size types and can be installed with nozzles of different sizes. For example, the size of the nozzle can be divided into 15um, 20um, etc., and the nozzle 202 can be divided into 15um, 20um, etc. according to the size of the applicable nozzle.

[0049] The fixed frame 204 is located above the moving platform 203 and can be used to fix the camera device 205 and the electromagnetic wave transmitter 206. A transverse slide rail, a coarse adjustment bolt, and a fine adjustment bolt are installed on the fixed frame 204. The transverse slide rail is used to move the camera device 205 and the electromagnetic wave transmitter 206. The coarse adjustment bolt can preliminarily adjust the position of the camera device 205 and the electromagnetic wave transmitter 206 on the fixed frame 204. The fine adjustment bolt can accurately adjust the position of the camera device 205 and the electromagnetic wave transmitter 206 on the fixed frame 204.

[0050] The camera device 205 is a camera that can take high-definition pictures. For foreign matter in the nozzle to be cleaned on the nozzle 202, the camera device 205 can adjust the focal length and magnification to take at least one high-definition picture, and use the high-definition picture as the first three-dimensional image. The camera device 205 and the controller 207 can be connected by wire or wirelessly. The camera device 205 can receive a shooting instruction sent by the controller 207, thereby taking at least one first three-dimensional image, and sending at least one first three-dimensional image to the controller 207.

[0051] The electromagnetic wave transmitter 206 is a device that can transmit electromagnetic waves. The electromagnetic wave transmitter 206 can transmit electromagnetic waves to foreign matter in the nozzle to be cleaned, so that the temperature of the foreign matter increases after absorbing the electromagnetic waves, and the foreign matter is directly vaporized and removed. The electromagnetic wave transmitter 206 can be equipped with a scanning galvanometer. The scanning galvanometer can change the emission direction of the electromagnetic wave according to the position of the foreign matter in the nozzle to be cleaned, so that the electromagnetic wave transmitter 206 can accurately perform point-to-point cleaning on the debris in the nozzle to be cleaned. The electromagnetic wave transmitter 206 and the controller 207 can be connected by wire or wirelessly. The electromagnetic wave transmitter 206 can receive the emission instruction sent by the controller 207, so as to emit different types of electromagnetic waves. The electromagnetic wave transmitter 206 can emit electromagnetic waves of different frequencies, different wavelengths, different durations, and different angles. The electromagnetic waves can be infrared rays, ultraviolet rays, etc.

[0052] The electromagnetic wave transmitter 206 and the camera device 205 are non-coaxial devices. Under the condition that the horizontal distance between the electromagnetic wave transmitter 206 and the camera device 205 is as close as possible without mutual interference, the distance between the electromagnetic wave transmitter 206 and the camera device 205 is the minimum distance. The distance between the electromagnetic wave transmitter 206 and the camera device 205 can be fixed to the minimum distance, so that the moving distance of the nozzle frame 201 between the electromagnetic wave transmitter 206 and the camera device 205 can be reduced during the later movement, thereby improving the accuracy of the controller 207 in controlling the movement of the nozzle frame 201.

[0053] The controller 207 can be used to control the nozzle holder 201, the camera device 205 and the electromagnetic wave transmitter 206. The controller 207 can control the nozzle holder 201 to move horizontally and vertically on the moving platform 203. The controller 207 can control the nozzle holder 201 to move initially through the coarse adjustment button. For example, the distance accuracy of the initial movement is 1 cm. The controller 207 can control the nozzle holder 201 to move precisely through the fine adjustment button. For example, the distance accuracy of the precise movement is 1 um.

[0054] When the controller 207 controls the nozzle holder 201 to move rightward to below the camera device 205, the controller 207 can send a shooting instruction to the camera device 205, so that the camera device 205 can shoot a high-definition picture and keep it. The high-definition picture is used as the first three-dimensional image, and the controller 207 can identify the position of the foreign matter in the nozzle to be cleaned through the first three-dimensional image.

[0055] The controller 207 can send different emission instructions to the electromagnetic wave transmitter 206, so that the electromagnetic wave transmitter 206 emits electromagnetic waves in different modes. After the electromagnetic wave transmitter 206 has emitted the electromagnetic wave, the controller 207 controls the nozzle holder 201 to move to the left to just below the camera device 205. The camera device 205 takes a high-definition picture of the nozzle to be cleaned again to obtain a second three-dimensional image, and sends the second three-dimensional image to the controller 207. The controller 207 can compare the image difference between the first three-dimensional image and the second three-dimensional image. If the image difference is large, it means that the foreign matter in the nozzle to be cleaned has been cleaned by the electromagnetic wave. If the image difference is small, it means that the foreign matter in the nozzle to be cleaned has not been completely removed, and electromagnetic wave cleaning is required again.

[0056] exist Figure 2In the nozzle cleaning device shown in the embodiment, the nozzle holder 201, the camera device 205 and the electromagnetic wave transmitter 206 can be controlled by the controller 207 in the nozzle cleaning device to achieve precise movement and alignment of the nozzle holder 201, the camera device 205 and the electromagnetic wave transmitter 206. The camera device 205 can take high-definition pictures before and after cleaning for foreign matter in the nozzle to be cleaned on the nozzle 202. The controller 207 can compare the high-definition pictures before and after cleaning to determine whether the foreign matter in the nozzle to be cleaned has been cleared. The electromagnetic wave transmitter 206 can emit at least one electromagnetic wave for foreign matter in the nozzle to be cleaned, so as to achieve precise point cleaning and improve the cleaning effect.

[0057] exist Figure 2 Based on the embodiment shown below, combined with Figure 3 , the working process of the nozzle cleaning equipment is explained in detail.

[0058] Figure 3 This is a flow chart of the nozzle cleaning method provided in the embodiment of the present application. Figure 3 , the method may include:

[0059] S301. A controller obtains a first three-dimensional image of a nozzle to be cleaned, which is captured by a camera device.

[0060] Initially, the user places the nozzle with the nozzle to be cleaned on the nozzle rack, and moves the nozzle rack so that the nozzle to be cleaned is located directly below the camera device.

[0061] The controller can obtain the first 3D image of the nozzle to be cleaned by the camera device by sending a shooting instruction to the camera device so that the camera device can shoot the first 3D image according to the shooting instruction. The controller receives the first 3D image sent by the camera device.

[0062] The first three-dimensional image is an image of the nozzle to be cleaned before cleaning.

[0063] The controller and the camera device may be connected by wire or wirelessly. The controller may send a shooting instruction to the camera device via a wired network or a wireless network.

[0064] After the controller receives the first three-dimensional image sent by the camera device, the controller may store the first three-dimensional image.

[0065] S302, the controller controls the nozzle rack to slide on the moving platform until the nozzle to be cleaned is located directly below the electromagnetic wave transmitter, and controls the electromagnetic wave transmitter to emit electromagnetic waves to clean the nozzle to be cleaned.

[0066] The controller can control the nozzle rack to slide on the moving platform in the following manner: the controller determines a moving instruction, which includes a moving direction and a moving distance; the controller sends a moving instruction to the nozzle rack, so that the nozzle rack moves a specified moving distance in the moving direction according to the moving instruction.

[0067] The moving direction is from the camera to the electromagnetic wave transmitter. For example, see Figure 2 , the moving direction is to the right.

[0068] The moving distance is the distance between the camera device and the electromagnetic wave transmitter. The distance between the camera device and the electromagnetic wave transmitter is usually a preset value, and the distance value between the camera device and the electromagnetic wave transmitter can be pre-stored in the controller.

[0069] The controller and the nozzle rack can be connected by wire or wirelessly. The controller can send movement instructions to the nozzle rack via a wired network or a wireless network.

[0070] After the nozzle rack moves a specified distance in the moving direction according to the moving instruction, the nozzle to be cleaned is located directly below the electromagnetic wave transmitter.

[0071] The controller can control the electromagnetic wave transmitter to transmit electromagnetic waves in the following manner: the controller determines the foreign matter information of the foreign matter in the nozzle to be cleaned according to the first three-dimensional image, and the foreign matter information includes the position of the foreign matter in the nozzle to be cleaned. The controller determines the emission instruction according to the foreign matter information, and the emission instruction includes the emission mode, emission duration and emission angle; the controller can control the scanning galvanometer in the electromagnetic wave transmitter to make the electromagnetic wave scan the nozzle to be cleaned according to the deflection angle of the foreign matter position. The controller sends an emission instruction to the electromagnetic wave transmitter so that the electromagnetic wave transmitter emits electromagnetic waves according to the position of the nozzle to be cleaned in the emission mode.

[0072] The controller can determine the foreign matter in the nozzle to be cleaned in the following manner: the controller can identify the image area where the nozzle to be cleaned is located in the first three-dimensional image, and perform recognition processing on the image area to determine the position of the foreign matter in the nozzle to be cleaned. For example, the controller can identify the position of the foreign matter in the nozzle by identifying the surface protrusions of the object in the image area, the difference in surface roughness, the difference in surface brightness, and other image information.

[0073] The controller can determine the emission instruction according to the foreign object information in the following manner: if the absorption wavelength of the foreign object is greater than the first threshold, the emission mode is determined to be the infrared emission mode; if the absorption wavelength of the foreign object is less than or equal to the first threshold, the emission mode is determined to be the ultraviolet emission mode.

[0074] The launch instructions include the launch mode, launch duration, launch angle, etc.

[0075] The emission mode may include an infrared emission mode and an ultraviolet emission mode. The electromagnetic wave emitter emits infrared rays in the infrared mode, and the electromagnetic wave emitter emits ultraviolet rays in the ultraviolet mode.

[0076] The emission duration refers to the duration for which the electromagnetic wave transmitter continuously emits electromagnetic waves. For example, the emission duration may be 10 seconds, 15 seconds, etc.

[0077] The emission angle refers to the angle at which the electromagnetic wave transmitter deflects when emitting electromagnetic waves. For example, the emission angle is 30 degrees, 50 degrees, etc.

[0078] The first threshold refers to the minimum wavelength of infrared light that can remove foreign matter.

[0079] For example, assuming that the first threshold is 600nm, if the absorption wavelength of the foreign matter is greater than 600nm, the emission mode is the infrared emission mode; if the absorption wavelength of the foreign matter is less than or equal to 600nm, the emission mode is the ultraviolet emission mode.

[0080] The controller and the electromagnetic wave transmitter can be connected by wire or wirelessly. The controller can send a transmission instruction to the electromagnetic wave transmitter via a wired network or a wireless network.

[0081] S303: The controller controls the nozzle rack to slide on the moving platform until the nozzle to be cleaned is located directly below the camera device, and controls the camera device to capture the nozzle to be cleaned to obtain a second three-dimensional image.

[0082] The way in which the controller controls the nozzle rack to slide on the moving platform can be referred to in S302, which will not be described in detail here. The moving direction of the nozzle rack is from the electromagnetic wave transmitter to the camera device. For example, refer to Figure 2 , the moving direction is to the left.

[0083] The controller sends a shooting instruction to the camera device, so that the camera device shoots images according to the shooting instruction to obtain a second three-dimensional image; the controller receives the second three-dimensional image sent by the camera device.

[0084] The second 3D image is an image after the nozzle is cleaned.

[0085] After the controller receives the second three-dimensional image sent by the camera device, the controller may store the second three-dimensional image.

[0086] S304: The controller determines a cleaning result according to the first three-dimensional image and the second three-dimensional image.

[0087] The controller can determine the cleaning result in the following manner: the controller compares the first three-dimensional image with the second three-dimensional image to determine whether the foreign matter in the nozzle to be cleaned is removed. If so, the controller determines that the cleaning result is a successful cleaning; if not, the controller determines that the cleaning result is a failed cleaning.

[0088] For example, the controller can identify and compare picture information of the same position in the first three-dimensional image and the second three-dimensional image, including surface protrusions of the object in the image area, differences in surface roughness, differences in surface brightness, and other information, thereby identifying the image difference between the second three-dimensional image and the first three-dimensional image, and determine the cleaning result based on the image difference and the second three-dimensional image.

[0089] S305: Determine whether the cleaning is successful based on the cleaning result.

[0090] If so, the cleaning of the nozzle to be cleaned is completed.

[0091] If not, execute S302.

[0092] If the cleaning of the nozzle to be cleaned fails, S302 is executed to perform electromagnetic wave cleaning again.

[0093] It should be noted that when the controller executes S304 for the Nth time (N is greater than 1), the first three-dimensional image in S304 is the second three-dimensional image captured by the controller when it executes S303 for the N-1th time, and the second three-dimensional image in S304 is the second three-dimensional image captured by the controller when it executes S303 for the Nth time.

[0094] In the above-mentioned method where the electromagnetic wave transmitter can accurately clean the nozzle to be cleaned,

[0095] The wavelength and frequency of the magnetic wave meet the following conditions: it can interact with foreign matter and remove it without affecting the panel on the surface of the nozzle.

[0096] The controller can control the electromagnetic wave transmitter to remove foreign matter in the nozzle to be cleaned in the following ways:

[0097] Method 1: The controller can control the scanning galvanometer in the electromagnetic wave transmitter to deflect the electromagnetic wave and scan directly on the nozzle surface. At this time, the electromagnetic wave transmitter does not need to be precisely aimed at the foreign matter in the nozzle to be cleaned, but a camera device is still required to take high-definition photos of the nozzle to be cleaned before and after cleaning and send them to the controller. The controller identifies and compares the high-definition photos of the nozzle to be cleaned before and after cleaning, and then determines whether the nozzle to be cleaned has been cleaned successfully.

[0098] Method 2: The controller can also control the nozzle rack to move periodically within a certain range below the electromagnetic wave transmitter, so that the electromagnetic wave can scan various areas of the nozzle panel without deflecting the angle. At this time, the electromagnetic wave transmitter does not need to be accurately aimed at the foreign matter in the nozzle to be cleaned, but a camera device is still required to take high-definition photos of the nozzle to be cleaned before and after cleaning and send them to the controller. The controller identifies and compares the high-definition pictures of the nozzle to be cleaned before and after cleaning, and then determines whether the nozzle to be cleaned has been cleaned successfully.

[0099] exist Figure 3 In the illustrated embodiment, the nozzle cleaning device includes a nozzle rack, a mobile platform, a fixed rack, a camera, an electromagnetic wave transmitter and a controller. The nozzle rack is located on the mobile platform, and the nozzle rack is used to install a nozzle with a nozzle to be cleaned. The nozzle rack is also used to slide on the mobile platform; the fixed rack is located above the mobile platform, and the camera and the electromagnetic wave transmitter are arranged on the fixed rack, and the camera and the electromagnetic wave transmitter face the mobile platform; the controller is used to control the camera to take an image of the nozzle to be cleaned, control the nozzle rack to move on the mobile platform, and control the electromagnetic wave transmitter to emit electromagnetic waves to clean the nozzle to be cleaned. In the above process, the controller can control the nozzle rack, the camera and the electromagnetic wave transmitter to achieve precise movement and alignment of the nozzle rack, the camera and the electromagnetic wave transmitter. The camera device can take high-definition pictures before and after cleaning as the first three-dimensional image and the second three-dimensional image for foreign matter in the nozzle, and send them to the controller. The controller can identify the image difference between the second three-dimensional image and the first three-dimensional image, and judge whether the foreign matter in the nozzle to be cleaned is cleared according to the image difference and the second three-dimensional image. The electromagnetic wave transmitter can emit electromagnetic waves at least once to target foreign matter in the nozzle, thereby achieving precise point cleaning and improving the cleaning effect.

[0100] Based on any of the above embodiments, Figure 4 The embodiment shown illustrates the working process of the nozzle cleaning device.

[0101] Figure 4 This is a schematic diagram of the working process of the nozzle cleaning device provided in the embodiment of the present application. Figure 4 , including process 1, process 2, process 3, and process 4.

[0102] Please refer to process 1. Initially, the user places the nozzle with the nozzle to be cleaned on the nozzle rack and moves the nozzle rack so that the nozzle to be cleaned on the nozzle is directly below the camera device. The user can trigger the controller to send a shooting instruction to the camera device. After receiving the shooting instruction sent by the controller, the camera device takes a picture of the foreign matter in the nozzle to be cleaned. For the foreign matter in the nozzle to be cleaned, the camera device can adjust the focal length and magnification to take at least one high-definition picture. The picture obtained is a first three-dimensional image, and the first three-dimensional image obtained is sent to the controller. The controller receives the first three-dimensional image sent by the camera device and stores the first three-dimensional image. After the controller receives the first three-dimensional image, the controller controls the electromagnetic wave transmitter to clean the nozzle to be cleaned. For details, please refer to process 2.

[0103] Please refer to process 2. After the controller receives the first three-dimensional image, the controller sends a movement instruction to the nozzle holder to control the nozzle holder to move to the right to directly below the electromagnetic wave transmitter. The controller can determine the foreign matter information of the foreign matter in the nozzle to be cleaned based on the first three-dimensional image. The foreign matter information includes the position of the foreign matter in the nozzle to be cleaned. The controller determines the emission instruction based on the foreign matter information, and sends an emission instruction to the electromagnetic wave transmitter so that the electromagnetic wave transmitter emits electromagnetic waves according to the position of the foreign matter information in the nozzle to be cleaned in the emission mode to clean the nozzle. After the nozzle is cleaned by electromagnetic waves, the nozzle may be cleaned successfully or unsuccessfully. For details, please refer to process 3 and process 4.

[0104] Please refer to process 3. After the electromagnetic wave transmitter has finished emitting electromagnetic waves to the nozzle to be cleaned, the controller controls the nozzle holder to move to the left so that the cleaned nozzle is directly below the camera device. The controller sends a shooting instruction to the camera device so that the camera device takes a picture of the nozzle, and the picture taken is used as a second three-dimensional image. The controller receives the second three-dimensional image sent by the camera device and stores the second three-dimensional image. The controller can identify the image difference between the second three-dimensional image and the first three-dimensional image, and judge the cleaning result based on the image difference and the second three-dimensional image. If the cleaning is successful, the cleaning of the nozzle is completed.

[0105] Please refer to process 4. After the electromagnetic wave transmitter has finished emitting electromagnetic waves to the nozzle to be cleaned, the controller controls the nozzle holder to move to the left so that the nozzle to be cleaned is directly below the camera device. The controller sends a shooting instruction to the camera device so that the camera device takes a picture of the nozzle to be cleaned, and the picture taken is used as a second three-dimensional image. The controller receives the second three-dimensional image sent by the camera device and stores the second three-dimensional image. The controller can identify the image difference between the second three-dimensional image and the first three-dimensional image, and judge the cleaning result based on the image difference and the second three-dimensional image. If the cleaning fails, repeat process 2 to clean the nozzle to be cleaned again. Repeat the above process until the cleaning is successful, and the cleaning of the nozzle to be cleaned is completed.

[0106] exist Figure 4 In the illustrated embodiment, the controller can control the nozzle holder, the camera device and the electromagnetic wave transmitter to achieve precise movement and alignment of the nozzle holder, the camera device and the electromagnetic wave transmitter. The camera device can take high-definition pictures before and after cleaning of the foreign matter in the nozzle to be cleaned. The controller can compare the high-definition pictures before and after cleaning to determine whether the foreign matter in the nozzle to be cleaned has been cleared. The electromagnetic wave transmitter can emit electromagnetic waves at least once for the foreign matter in the nozzle to be cleaned, to achieve precise point cleaning and improve the cleaning effect. In addition, after the controller controls the electromagnetic wave transmitter to clean the nozzle to be cleaned, the controller can also obtain the cleaning result. If the cleaning result indicates that the cleaning of the nozzle to be cleaned has failed, the controller can also control the cleaning of the nozzle to be cleaned again until the cleaning of the nozzle to be cleaned is successful, thereby improving the cleaning effect of the nozzle.

[0107] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0108] In the present application, the term "include" and its variations may refer to non-restrictive inclusion; the term "or" and its variations may refer to "and / or". The terms "first", "second", etc. in the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In the present application, "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previously associated objects are in an "or" relationship.

Claims

1. A nozzle cleaning device, characterized in that: It includes a nozzle frame, a moving platform, a fixed frame, a camera device, an electromagnetic wave transmitter and a controller, wherein: The nozzle rack is located on the movable platform, the nozzle rack is used to install the nozzle, the nozzle rack is also used to slide on the movable platform, and the nozzle is provided with a nozzle to be cleaned; a transverse slide rail, a coarse adjustment bolt and a fine adjustment bolt are installed on the movable platform, the transverse slide rail on the movable platform is used to move the nozzle rack in the horizontal direction, the coarse adjustment bolt on the movable platform is used to achieve preliminary adjustment of the position of the nozzle rack on the movable platform, and the fine adjustment bolt on the movable platform is used to achieve precise adjustment of the position of the nozzle rack on the movable platform; The fixed frame is located above the moving platform, the camera device and the electromagnetic wave transmitter are arranged on the fixed frame at a preset distance value, and the camera device and the electromagnetic wave transmitter face the moving platform; a transverse slide rail, a coarse adjustment bolt and a fine adjustment bolt are installed on the fixed frame, the transverse slide rail on the fixed frame is used to move the camera device and the electromagnetic wave generator in the horizontal direction, the coarse adjustment bolt on the fixed frame is used to make a preliminary adjustment of the position of the camera device and the electromagnetic wave generator on the fixed frame, and the fine adjustment bolt on the fixed frame is used to make a precise adjustment of the position of the camera device and the electromagnetic wave generator on the fixed frame; The controller is used to control the camera device to take images of the nozzle to be cleaned, control the nozzle rack to move on the moving platform, and control the electromagnetic wave transmitter to emit electromagnetic waves to clean the nozzle to be cleaned.

2. The nozzle cleaning device according to claim 1, characterized in that: The controller is specifically used for: Acquire a first three-dimensional image captured by the camera device of the nozzle to be cleaned; Controlling the nozzle rack to slide on the moving platform until the nozzle to be cleaned is located directly below the electromagnetic wave transmitter, and controlling the electromagnetic wave transmitter to emit electromagnetic waves to clean the nozzle to be cleaned; Controlling the nozzle rack to slide on the moving platform until the nozzle to be cleaned is located directly below the camera device, and controlling the camera device to capture the nozzle to be cleaned to obtain a second three-dimensional image; A cleaning result is determined according to the first three-dimensional image and the second three-dimensional image.

3. The nozzle cleaning device according to claim 2, characterized in that: Acquiring a first three-dimensional image captured by the camera device on the nozzle to be cleaned, comprising: The controller sends a shooting instruction to the camera device, so that the camera device shoots an image according to the shooting instruction to obtain the first three-dimensional image; The controller receives the first three-dimensional image sent by the camera device.

4. The nozzle cleaning device according to claim 2, characterized in that: Controlling the nozzle rack to slide on the moving platform includes: The controller determines a movement instruction, wherein the movement instruction includes a movement direction and a movement distance; The controller sends the movement instruction to the nozzle frame, so that the nozzle frame moves the movement distance in the movement direction according to the movement instruction.

5. The nozzle cleaning device according to claim 2, characterized in that: Controlling the electromagnetic wave transmitter to emit electromagnetic waves to clean the nozzle to be cleaned includes: The controller determines foreign matter information of the foreign matter in the nozzle to be cleaned according to the first three-dimensional image, wherein the foreign matter information includes a position of the foreign matter in the nozzle to be cleaned; The controller determines a launch instruction according to the foreign object information, wherein the launch instruction includes a launch mode, a launch duration, and a launch angle; The controller sends a transmission instruction to the electromagnetic wave transmitter, so that the electromagnetic wave transmitter transmits electromagnetic waves of the transmission duration according to the position of the nozzle to be cleaned in the transmission mode.

6. The nozzle cleaning device according to claim 5, characterized in that: The controller determines a transmission instruction according to the foreign object information, including: If the absorption wavelength of the foreign matter in the nozzle to be cleaned is greater than a first threshold, determining that the emission mode is an infrared emission mode, and the electromagnetic wave transmitter emits infrared rays in the infrared emission mode; If the absorption wavelength of the foreign matter in the nozzle to be cleaned is less than or equal to the first threshold, it is determined that the emission mode is an ultraviolet emission mode, and the electromagnetic wave transmitter emits ultraviolet rays in the ultraviolet emission mode.

7. The nozzle cleaning device according to claim 2, characterized in that: Determining a cleaning result according to the first three-dimensional image and the second three-dimensional image includes: The controller compares the first three-dimensional image with the second three-dimensional image to determine whether the foreign matter in the nozzle to be cleaned is removed; If yes, the controller determines that the cleaning result is a successful cleaning; If not, the controller determines that the cleaning result is a cleaning failure.

8. The nozzle cleaning device according to claim 6, characterized in that: After the controller determines that the cleaning result is a cleaning failure, the controller further includes: The controller controls the nozzle to be cleaned to be cleaned again.

9. The nozzle cleaning device according to any one of claims 1 to 8, characterized in that: The camera lens of the camera device is a magnifying camera lens.

10. The nozzle cleaning device according to any one of claims 1 to 8, characterized in that: The diameter of the spray hole of the nozzle is between 15 microns and 30 microns.

Images