Spraying robot cleaning detection method and spraying robot system

Abstract

The embodiments of the present invention relate to the field of automobile spray painting technology, and disclose a spray robot cleaning detection method and a spray robot system. The method comprises: executing a cleaning instruction; after executing the cleaning instruction, controlling the movement of a robotic arm until the nozzle of the atomizer reaches a preset position and faces a light-transmitting plate; outside the spray booth, detecting whether the atomizer located at the preset position is clean and qualified through the light-transmitting plate. By applying the technical solution of the present invention, it is possible to quickly detect whether the atomizer is clean and qualified through the light-transmitting plate outside the spray booth to determine whether the spray robot should continue to operate. This avoids unqualified cleaning and contamination rework caused by failure to detect, and avoids the time-consuming process of entering the spray booth for inspection, thereby reducing the impact on production rhythm and facilitating improved production efficiency.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automobile spraying technology, and in particular to a spraying robot cleaning and detection method and a spraying robot system. Background Art

[0002] The spraying robot is deployed in the spray booth of the automobile paint shop. It consists of a robotic arm and an atomizer mounted at the end of the arm. Based on the color and configuration of the vehicle body, the atomized paint is sprayed onto the vehicle body through the atomizer nozzle.

[0003] During the spraying process, the robot automatically changes colors and cleans itself, depending on the color of the car body. However, the robot may not be completely clean after the color change and cleaning process. If the robot's color change and cleaning are not thorough, residual paint may be mistakenly sprayed onto subsequent car bodies, resulting in contamination and rework, requiring downtime and repairs that can take at least an hour, significantly impacting production schedules. Because the spray booth is filled with atomized paint and steam, workers can only enter the booth to check if the spray robot is clean after the cleaning process is complete and the steam- and paint-laden air has been exhausted and replaced with fresh air. This can require an estimated 5-8 minutes of downtime, resulting in wasted production schedules.

[0004] Therefore, the existing spraying robots have the technical problem of not cleaning thoroughly during color change, which greatly affects the production rhythm. Summary of the Invention

[0005] In order to solve the above problems, the embodiments of the present application provide a spray robot cleaning and detection method and a spray robot system, which can detect whether the atomizer located at a preset position is clean and qualified through a light-transmitting plate outside the spray room, thereby improving the first-time qualified rate of vehicle body spraying, avoiding unqualified cleaning and contamination rework due to no detection, and avoiding the time-consuming inspection due to entering the spray room, thereby reducing the impact on production rhythm and helping to improve production efficiency.

[0006] In a first aspect, an embodiment of the present application provides a spray robot cleaning detection method, wherein the spray robot includes a robotic arm and an atomizer mounted at the end of the robotic arm. The spray robot is arranged in a spray booth, and a light-transmitting plate is provided on the side wall of the spray booth. The spray robot cleaning detection method includes the following steps:

[0007] Follow cleaning instructions;

[0008] After executing the cleaning instruction, the robot arm is controlled to move until the nozzle of the atomizer reaches a preset position and faces the light-transmitting plate; outside the spray booth, the light-transmitting plate can be used to detect whether the atomizer located at the preset position is clean and qualified.

[0009] In the second aspect, an embodiment of the present application also provides a spray robot system, which includes a spray robot and a control module. The spray robot includes a robotic arm arranged in a spray room and an atomizer installed at the end of the robotic arm. The control module is electrically connected to the robotic arm. The control module is used to control the movement of the robotic arm after the spray robot executes a cleaning instruction until the nozzle of the atomizer reaches a preset position and faces the light-transmitting plate of the spray room.

[0010] Beneficial effect: The cleaning detection method provided in the present application first executes the cleaning instruction, and after executing the cleaning instruction, controls the movement of the robotic arm until the atomizer automatically stays at the preset position with the nozzle facing the light-transmitting plate of the spray room. The staff or detection equipment do not need to enter the spray room. The light-transmitting plate can be used outside the spray room to quickly detect whether the atomizer located at the preset position is clean and qualified. This avoids contamination and rework due to unqualified cleaning, and avoids line stoppage and safety problems caused by staff entering the spray room for inspection, which is time-consuming, thereby reducing the impact on production rhythm and helping to improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is the main view of the spraying robot at its initial position;

[0012] Figure 2 This is a schematic diagram of the structure of the atomizer of the spray robot;

[0013] Figure 3 This is the color-changing principle diagram of the spraying robot;

[0014] Figure 4 A schematic diagram of a flow chart of a spray robot cleaning and detection method provided in an embodiment of the present application;

[0015] Figure 5 This is a top view of the spraying robot at the observation position;

[0016] Figure 6 Schematic diagram of the process of executing cleaning instructions for a spraying robot.

[0017] Reference numerals:

[0018] 10- spray booth; 11- light-transmitting board;

[0019] 20-Spraying robot; 21-Robotic arm; 22-Atomizer; 221-Nozzle; 222-Adapter; 223-Connecting plate; 224-Protective cover; 225-Shaping air assembly; 226-High voltage electrode; 227-Spray cup; 228-Solvent valve; 229-Air valve; 2210-Filling valve;

[0020] 30-Detection equipment. DETAILED DESCRIPTION

[0021] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the specific technical solutions of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not intended to limit the scope of the present application.

[0022] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, when the phrases "in one embodiment" or "in some embodiments" appear in various places throughout this specification, not all references are to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0023] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0025] In the present invention, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; they may refer to direct connection or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0026] Combine Figure 1 In this application, a spraying robot 20 is deployed within a spray booth 10 in a complete vehicle paint shop. The spraying robot 20 includes a robotic arm 21 and an atomizer 22 mounted at the end of the robotic arm 21. Paint is sprayed onto the vehicle body through a nozzle 221 of the atomizer 22. Optionally, one spraying robot 20 or more spraying robots 20 may be deployed within the spray booth 10.

[0027] Specifically, combined Figure 2The atomizer 22 also includes an adapter 222, a connecting plate 223, a protective cover 224, a shaping air assembly 225, a high-voltage electrode 226 and a spray cup 227. The adapter 222 is adapted to the end of the robotic arm 21 so that the atomizer 22 can be installed on the end of the robotic arm 21. The adapter 222 is replaceable to adapt to robotic arms 21 of different specifications. The connecting plate 223 is installed at the end of the adapter 222 away from the robotic arm 21. The protective cover 224 and the high-voltage electrode 226 are installed on a side wall of the connecting plate 223 away from the adapter 222. The high-voltage electrode 226 is used to form an electrostatic electric field between the atomizer 22 and the vehicle body. The protective cover 224 is sleeved on the high-voltage electrode 226, and the end of the protective cover 224 away from the connecting plate 223 is connected to the shaping air assembly 225. The end of the shaping air assembly 225 away from the protective cover 224 is installed with a spray cup 227. The nozzle 221 is installed in the spray cup 227. The paint passes through the circulation pipe, the robot arm 21 and the adapter 222 to the nozzle 221 and is sprayed on the vehicle body.

[0028] According to the requirements of different car body colors, the robot needs to complete the automatic color changing and cleaning function. Figure 3 First, solvent enters the atomizer 22 through the solvent valve 228, dissolving and cleaning any remaining paint in the atomizer 22's circulation pipes and nozzles 221. Next, air enters the atomizer 22 through the air valve 229, blowing clean the atomizer 22's circulation pipes and nozzles 221. Finally, the new color of paint passes through the fill valve 2210, through the circulation pipes, and reaches the nozzles 221, ready to execute the spray command and begin painting the next vehicle.

[0029] The automotive production line operates at a preset cycle time, for example, 30 cycles per hour, with each cycle lasting two minutes. To ensure redundancy, the robot's total color change and cleaning time is limited to approximately 1.5 to 1.8 minutes.

[0030] However, the robot may not be completely cleaned after the color change and cleaning function is completed. If the cleaning is not checked, there is a possibility that the spray robot 20 may not clean the color change properly, and the residual paint will be mistakenly sprayed on the subsequent car body, resulting in contamination and rework, and downtime for repairs, which will take at least an hour, greatly affecting the production cycle. If the cleaning is to be checked, the spray booth 10 is filled with air containing atomized paint and steam. Therefore, after the cleaning is completed, the staff can only enter the spray booth 10 to check whether the spray robot 20 is clean. After waiting until the air filled with steam and paint has been exhausted and replaced with fresh air, they can enter the spray booth 10 to check whether the spray robot 20 is clean. This will require an estimated line stoppage of 5-8 minutes, resulting in a waste of production cycle time.

[0031] To solve the above problems, combined with Figure 4The present invention provides a cleaning and detection method for a spray robot, which is applied to a spray robot 20. The spray robot 20 includes a robotic arm 21 and an atomizer 22 mounted at the end of the robotic arm 21. The spray robot 20 is arranged in a spray booth 10. A light-transmitting plate 11 is provided on the side wall of the spray booth 10. The light-transmitting plate 11 can be a glass plate or an acrylic plate. The cleaning and detection method includes the following steps:

[0032] S100: Execute cleaning instructions;

[0033] S200: After executing the cleaning instruction, the robot arm 21 is controlled to move until the nozzle 221 of the atomizer 22 reaches the preset position and faces the light-transmitting plate 11 (see FIG. Figure 5 Outside the spray booth 10, the light-transmitting plate 11 can be used to detect whether the atomizer 22 at a preset position is clean and qualified.

[0034] Optionally, the nozzle 221 is perpendicular to the light-transmitting plate 11 when in a preset position, i.e., the length of the nozzle 221 is perpendicular to the light-transmitting plate 11. Specifically, in the preset position, the positional relationship between the atomizer 22 and the light-transmitting plate 11 within the accessible space of the robotic arm 21 satisfies observation conditions. The preset position can be referred to as the observation position of the nozzle 221.

[0035] Specifically, the robotic arm 21 is generally a robot with four or more axes. Figure 1 The dotted line in the figure represents the spatial position that the corresponding end of the robot arm 21 can reach, that is, the reachable space of the robot arm 21. Optionally, the reachable space of the robot arm 21 is limited to a range of 3 cm from the reachable boundary, that is, the distance Figure 1 The dotted line in the figure is at least 3 cm long to prevent the robot arm 21 from touching the limit structure when reaching the reachable boundary, which would cause wear.

[0036] In some embodiments, the observation condition means that the distance from the nozzle 221 to the geometric center A of the light-transmitting plate 11 is less than the observation limit distance, so that the staff or the detection equipment 30 outside the spray booth 10 can clearly confirm whether the atomizer 22 is clean at close range. Optionally, the observation limit distance is 0.5m to 2m. Figure 5 , the geometric center of the light-transmitting plate 11 is A, the nozzle 221 is at the same height as the geometric center A, the distance from the nozzle 221 to the light-transmitting plate 11 is L, the straight line distance from the nozzle 221 to the geometric center A and perpendicular to the light-transmitting plate 11 is D, then the distance from the nozzle 221 to the geometric center A of the light-transmitting plate 11 is

[0037] Typically, the geometric center A of the light-transmitting plate 11 is positioned 1.2 to 1.8 meters above the ground, allowing staff members to immediately observe the atomizer 22 within the spray booth 10. In other embodiments, the geometric center A of the light-transmitting plate 11 is positioned 0.5 to 1.0 meters above the ground. This height prevents atomized paint and steam from interfering with the line of sight within the spray booth 10, allowing staff members or inspection equipment 30 to observe the atomizer 22 within the spray booth 10 without waiting for the interfering gas to dissipate, thereby saving inspection time.

[0038] Specifically, the area of the light-transmitting plate 11 is greater than or equal to the projected area of the nozzles 221 on the light-transmitting plate 11. For example, the area of the light-transmitting plate 11 is 1.5 to 6 times the projected area of the nozzles 221. Optionally, the light-transmitting plate 11 is installed on one side of the spray booth 10, or partially installed on the side of the spray booth 10.

[0039] In other embodiments, the observation condition is that the nozzle 221 is within the detection range of the detection device 30, and there is no obstructing structure between the nozzle 221 and the detection device 30. For example, the detection device 30 is a camera, and the nozzle 221 is within the camera range of the camera. For another example, the detection device 30 is a laser radar, and the nozzle 221 is within the scanning field of view of the laser radar.

[0040] Specifically, combined Figure 5 Before executing a cleaning instruction, the staff member controls the movement of the robotic arm 21 so that the positional relationship between the nozzle 221 and the light-transmitting plate 11 within the reach of the robotic arm 21 satisfies the observation condition. At this time, the location of the atomizer 22 is selected as the preset position, and the coordinate information of the preset position is obtained. This coordinate information is added to the cleaning instruction. As a result, after the spray robot 20 executes the cleaning instruction, the robotic arm 21 automatically drives the atomizer 22 to stay at the preset position. This satisfies the reachability of the spray robot 20 and facilitates the detection of the clean status of the atomizer 22, thereby improving the efficiency of cleaning detection. Furthermore, the coordinate information of the preset position can also be input into the spraying instruction, so that after the spray robot 20 executes the spraying instruction, the robotic arm 21 automatically drives the atomizer 22 to the preset position.

[0041] Specifically, Figure 1 The spraying robot 20 is at the initial position (i.e., home position). When the spraying robot 20 executes the spraying instruction or the cleaning instruction, it first controls the atomizer 22 to reach the initial position. Figure 1 As shown, when the atomizer 22 is located at the initial position, the nozzle 221 of the atomizer 22 is perpendicular to the ground.

[0042] Specifically, the cleaning status of the atomizer 22 can be observed outside the spray booth 10 by human eyes or the detection device 30, without any impact on the production rhythm and quality.

[0043] In this embodiment, the cleaning instruction is executed, and then the atomizer 22 automatically stays at the preset position. The staff or the detection equipment 30 does not need to enter the spray room 10. Outside the spray room 10, it is possible to quickly detect whether the atomizer 22 is clean and qualified through the light-transmitting plate 11 to determine whether the spray robot 20 continues to operate. This avoids contamination and rework due to unqualified cleaning, and avoids line stoppage and safety problems caused by staff entering the spray room 10 for inspection, which is time-consuming. This reduces the impact on production rhythm and is conducive to improving production efficiency.

[0044] In some embodiments, combined Figure 6 , step S100 includes the following steps:

[0045] S110: Open the solvent valve 228 of the atomizer 22 and keep it for a first preset time before closing it to allow the solvent to enter and clean the nozzle 221. The solvent is used to clean the previous color of paint in the atomizer 22.

[0046] Specifically, the first preset time is 4 to 8 seconds, for example, 4, 5, or 6 seconds. If the first preset time is too short, insufficient solvent is released, resulting in incomplete cleaning of the previous color of paint, leading to contamination and rework. If the first preset time is too long, solvent consumption is wasted and the total cleaning time is increased, affecting production cycle time.

[0047] S120: Open the air valve 229 of the atomizer 22 and hold it for a second preset time before closing it to allow air to blow clean the nozzle 221. The air is used to purge residues in the flow channel of the atomizer 22, such as the residual solvent used to clean the nozzle 221 in step S110, to clean the flow channel.

[0048] Specifically, the second preset time is 4 to 8 seconds, for example, 4, 5, or 6 seconds. If the second preset time is too short, solvent may remain in the flow channel of the atomizer 22, causing contamination of the vehicle body. If the second preset time is too long, production cycle time may be affected.

[0049] Optionally, step S110 and step S120 are repeated alternately. For example, the number of repetitions N is 3 times, 4 times, or 5 times. At this time, the first preset time is one-Nth of the solvent cleaning time, and the second preset time is one-Nth of the air cleaning time. For example, the solvent cleaning time is 5 seconds, the air cleaning time is 5 seconds, and the number of repetitions is 5 times, then the first preset time is 1 second, and the second preset time is 1 second, that is, the solvent valve 228 is opened for one second and closed, and then the air valve 229 is opened, held for one second and closed, and this is repeated 5 times before step S130 is performed. It will be understood that in other embodiments, step S110 and step S120 can be performed sequentially, followed by step S130, without the need for step S110 and step S120 to be repeated alternately.

[0050] S130: The filling valve 2210 of the atomizer 22 is opened and held for a third predetermined time, then closed to allow the replaced paint to fill the nozzle 221. The new color of paint is used to follow the movement of the robot arm 21 and be sprayed directly on the vehicle body when the spray command is next executed, without waiting for the filling time and avoiding the robot spraying starting position being poorly painted.

[0051] Specifically, the third preset time is 2 to 4 seconds. If the third preset time is less than 2 seconds, the amount of paint added to the new color will be insufficient, resulting in the robot's starting position being poorly painted. If the third preset time is greater than 4 seconds, the production cycle will be affected.

[0052] Specifically, the sum of the first preset time, the second preset time, and the third preset time is less than or equal to the total cleaning time. The total cleaning time can be selected from 20 seconds to 30 seconds. Since each production cycle is 2 minutes, after the spray robot 20 executes the cleaning instruction, it is necessary to reserve time to detect whether the cleaning is qualified, that is, to proceed to step S200. If the cleaning is unqualified, it is necessary to return to the step of executing the cleaning instruction. Therefore, it is necessary to control the total time of executing a cleaning instruction to avoid affecting the production cycle.

[0053] In some embodiments, before step S100, the method further includes step S310: obtaining the spray booth temperature; if the spray booth temperature is lower than a preset temperature, increasing the first preset time; if the spray booth temperature is higher than the preset temperature, shortening the first preset time. Optionally, the spray booth temperature is obtained by a temperature sensor disposed in the spray booth 10.

[0054] Temperature affects the fluidity of the solvent. As the temperature increases, the fluidity of the solvent increases, improving the cleaning effect of the solvent, which can shorten the first preset time. Conversely, as the temperature decreases, the fluidity of the solvent decreases, reducing the cleaning effect of the solvent, which can increase the first preset time.

[0055] Specifically, the staff uses experimental methods or simulation analysis, followed by interpolation, to determine the corresponding relationship between the spray booth temperature and the first preset time, thereby adjusting the first preset time according to the spray booth temperature. The preset temperature can be selected from 20°C to 30°C, and the initial value of the first preset time is determined based on the preset temperature.

[0056] Specifically, the adjustment range of the first preset time does not exceed 2 seconds. For example, if the initial value of the first preset time is 5 seconds, then if the first preset time, adjusted based on the spray booth temperature, exceeds 7 seconds or falls below 3 seconds, an alarm signal is issued, halting production for rectification. This prevents uncontrolled increase or decrease in the first preset time, which could affect production cycle time. Because the relationship between spray booth temperature and the first preset time varies for different solvents, a solvent suitable for the first preset time can be used to maintain a normal production cycle time.

[0057] In some embodiments, before step S100, the method further includes step S320: obtaining the spray booth humidity; if the spray booth humidity is lower than a preset humidity, increasing a first preset time; if the spray booth humidity is higher than the preset humidity, decreasing the first preset time. Specifically, the adjustment range of the first preset time does not exceed 2 seconds. Optionally, the spray booth temperature is obtained using a humidity sensor disposed within the spray booth 10.

[0058] Humidity affects paint curing. High humidity slows paint curing, so the initial set time can be shortened. Conversely, low humidity makes paint cure more quickly, so the initial set time should be increased to ensure the solvent is clean and free of residual paint.

[0059] Specifically, personnel use experimental methods or simulation analysis, followed by interpolation, to determine the corresponding relationship between the spray booth humidity and the first preset time, thereby adjusting the first preset time based on the spray booth humidity. If the influence of the spray booth temperature needs to be considered, the corresponding relationship between the spray booth humidity, the spray booth temperature, and the first preset time can be determined to determine the first preset time.

[0060] In some embodiments, before step S100, the method further includes step S330: obtaining the spray pressure of the paint to be cleaned; if the spray pressure is greater than a first preset pressure, shortening the first preset time; if the spray pressure is less than the first preset pressure, increasing the first preset time. Specifically, the spray pressure is obtained via a pressure sensor disposed in the flow conduit of the atomizer 22.

[0061] Paint pressure affects paint fluidity. Higher paint pressure improves paint fluidity and reduces paint residue, allowing the first preset time to be shortened. Conversely, lower paint pressure reduces paint fluidity, requiring a longer first preset time to ensure the solvent removes any remaining paint. Optionally, the first preset time can be adjusted within a range of no more than 2 seconds.

[0062] Specifically, the staff obtains the corresponding relationship between the spraying pressure and the first preset time through experimental method or simulation analysis and interpolation method, so as to adjust the first preset time according to the spraying pressure. Optionally, a commonly used spraying pressure is selected as the first preset pressure.

[0063] In some embodiments, before step S100, the method includes step S340: obtaining the viscosity of the paint to be cleaned. Specifically, the viscosity of the paint is obtained using a viscometer. If the viscosity of the paint is greater than a preset viscosity, the first preset time is increased; if the viscosity of the paint is less than the preset viscosity, the first preset time is shortened.

[0064] Viscosity affects the fluidity of paint. High viscosity results in poor paint fluidity, and the first preset time should be increased to ensure effective solvent cleaning. Conversely, low viscosity results in high paint fluidity, making it easier to clean with solvent, and the first preset time can be shortened. Specifically, the first preset time can be adjusted within a range of no more than 2 seconds.

[0065] Specifically, the staff obtains the corresponding relationship between the paint viscosity and the first preset time through experimental method or simulation analysis and then interpolation method, so as to adjust the first preset time according to the paint viscosity.

[0066] In some embodiments, before step S100, the method further includes step S340: obtaining the solids content of the paint to be cleaned; if the solids content is greater than a predetermined solids content, increasing a first predetermined time; if the solids content is less than the predetermined solids content, decreasing the first predetermined time. Specifically, the first predetermined time may be adjusted within a range of no more than 2 seconds. Specifically, the solids content of the paint to be cleaned may be obtained by measuring weight, measuring resistance, or reading the product manual.

[0067] If the solid content is high, the paint is easy to solidify, and the first preset time should be increased to ensure the solvent cleaning effect. On the contrary, if the solid content is low, the paint is not easy to solidify, and the first preset time can be shortened.

[0068] Specifically, the staff obtains the corresponding relationship between the solid content and the first preset time through experimental method or simulation analysis and then interpolation method, so as to adjust the first preset time according to the solid content.

[0069] In some embodiments, before step S100, the method further includes step S350: obtaining solvent pressure; if the solvent pressure is greater than a second preset pressure, shortening the first preset time; if the solvent pressure is less than the second preset pressure, increasing the first preset time. Specifically, the solvent pressure is obtained via a pressure sensor provided on solvent valve 228.

[0070] When the solvent pressure is high, the solvent cleaning effect is better, and the first preset time can be shortened. Conversely, when the solvent pressure is low, the first preset time should be increased to ensure the solvent cleaning effect. Specifically, the adjustment range of the first preset time does not exceed 2 seconds. If the adjustment range of the first preset time needs to exceed 2 seconds, the first preset time can be controlled by changing the solvent.

[0071] Specifically, the staff obtains the corresponding relationship between the solvent pressure and the first preset time through experimental method or simulation analysis and then interpolation method, so as to adjust the first preset time according to the solvent pressure.

[0072] In some embodiments, before step S100, the method further includes step S360: obtaining air pressure; if the air pressure is greater than a third preset pressure, shortening the second preset time; if the air pressure is less than the third preset pressure, increasing the second preset time. Specifically, the air pressure is obtained via a pressure sensor provided on the air valve 229.

[0073] Wherein, when the air pressure is high, the air can quickly blow away the residual solvent, which can shorten the second preset time and save cleaning time. On the contrary, when the air pressure is low, the second preset time is increased to ensure the air cleaning effect.

[0074] Specifically, the correspondence between air pressure and the second preset time is obtained through experimental methods, thereby adjusting the second preset time according to the air pressure. Optionally, the adjustment range of the second preset time does not exceed 3 seconds. If the adjustment range of the second preset time needs to exceed 3 seconds, the air pressure can be adjusted by adjusting the air valve 229, etc., so as to maintain the second preset time within an appropriate range.

[0075] In the aforementioned embodiment, the first, second, or third preset time is adjusted to ensure that the sum of the first, second, and third preset times is less than or equal to the preset total time, without affecting the production cycle. If the sum of the first, second, and third preset times cannot be less than or equal to the preset total time, production is suspended for rectification.

[0076] In this embodiment, there are many ways to detect whether the atomizer 22 is clean and qualified.

[0077] In some embodiments, the light-transmitting plate 11 is used to detect whether the atomizer 22, located at a preset position, is clean and qualified. Specifically, this includes illuminating the atomizer 22 with a light source, located outside the spray booth 10. The light emitted by the light source improves the accuracy of detecting whether the atomizer 22 is clean and qualified. In this case, a staff member or a detection device 30 can detect the atomizer 22 using the light source. Of course, in some embodiments, the detection device 30 can use infrared photography or other methods to capture an image of the atomizer 22 for detection, in which case a light source may not be required.

[0078] In some embodiments, detecting whether the atomizer 22 is clean and qualified by using the light-transmitting plate 11 specifically includes: detecting whether the atomizer 22 is clean and qualified by acquiring an image of the atomizer 22 by using the detection device 30 .

[0079] In one embodiment, the method further comprises the following steps:

[0080] S400: If foreign matter contamination is found on the surface of the atomizer 22, the presence of foreign matter contamination is detected by manual inspection or inspection equipment 30 by inspecting the surfaces of the nozzle 221, the shaping air assembly 225, and the spray cup 227. The first preset time is increased, and the process returns to step S100 until the atomizer 22 is clean and qualified. Foreign matter contamination can be detected through inspection and timely treatment can be carried out to avoid rework due to contamination.

[0081] Specifically, while increasing the first preset time, at least one of the second preset time and the third preset time can be shortened to ensure that the total cleaning time remains roughly unchanged and avoid affecting the production rhythm.

[0082] Specifically, the first preset time is gradually adjusted according to the first preset amplitude to gradually increase the first preset time. Optionally, the first preset amplitude is 0.25 seconds, 0.5 seconds, 0.75 seconds, 1 second, 1.25 seconds, or 1.5 seconds. For example, if the initial value of the first preset time is 4 seconds and the first preset amplitude is 0.5 seconds, then after executing step S400 for the first time, the first preset time is 4.5 seconds, after executing step S400 for the second time, the first preset time is 5.0 seconds, and so on.

[0083] Optionally, after step S400, the first preset time is not restored to the initial value, because the first preset time is a valid parameter modified according to the detection feedback to match the current working environment, thereby avoiding the need to repeatedly modify the first preset time and repeatedly execute the cleaning instruction due to the use of the reserved first preset time not matching the current working environment.

[0084] Optionally, the first preset time, the second preset time, and the third preset time have upper and lower limits to avoid uncontrolled increase of the corresponding time, affecting the production rhythm, or uncontrolled reduction of the corresponding time, causing failure of the corresponding function.

[0085] If foreign matter contamination still exists after repeating step S400 three times, or if any one of the first preset time, the second preset time, and the third preset time reaches the upper limit or the lower limit, the machine is stopped for inspection.

[0086] Among them, this cleaning method can detect whether the surface of the atomizer 22 is contaminated by foreign matter through the human eye of the staff, and can also detect whether the surface of the atomizer 22 is contaminated by foreign matter through the detection equipment 30. For example, the detection equipment 30 is used to obtain an image of the atomizer 22, and judge whether the cleaning is qualified based on the image of the atomizer 22. Specifically, the detection equipment 30 includes a camera device or a laser radar, which takes a surface photo of the atomizer 22 and compares it with the reserved photos in the database. The contaminated area on the surface of the atomizer 22 at this time can be obtained through image comparison, that is, the area different from the reserved photo is identified as the contaminated area, so as to judge whether there is foreign matter contamination. Optionally, when the proportion of the contaminated area to the surface of the atomizer 22 is equal to or greater than a first preset proportion, it is determined that there is foreign matter contamination. The first preset proportion is 5%-10%.

[0087] Optionally, the first preset amplitude is determined based on the contaminated area of the surface of the atomizer 22. For example, if the contaminated area is 10%-20%, the first preset amplitude is 0.25 seconds; if the contaminated area is 20%-30%, the first preset amplitude is 0.5 seconds; and so on.

[0088] In one embodiment, the method further includes:

[0089] S500: If there is solvent residue on the surface of the atomizer 22, the first preset time is shortened or the second preset time is increased, and the process returns to step S100 until the atomizer 22 is cleaned properly. This cleaning detection method detects solvent residue through detection and can promptly handle it to avoid contamination and rework.

[0090] Specifically, while increasing the second preset time, shortening the first preset time, reducing the solvent cleaning time, reducing solvent residue, and ensuring that the total cleaning time remains substantially unchanged. If foreign matter contamination occurs when shortening the first preset time, step S400 is executed, and the first preset time is not shortened.

[0091] Specifically, the second preset time is gradually adjusted according to the second preset amplitude to gradually increase the second preset time. Optionally, the second preset amplitude is 0.25 seconds, 0.5 seconds, 0.75 seconds, 1 second, 1.25 seconds or 1.5 seconds. For example, the initial value of the second preset time is 5 seconds and the second preset amplitude is 0.5 seconds. Then, after the first execution of step S500, the second preset time is 5.5 seconds. After the second execution of step S500, the second preset time is 6.0 seconds, and so on. Optionally, after step S500, the second preset time does not need to be restored to the initial value. Since the type of solvent is fixed, when the solvent is not replaced, the second preset time does not need to be restored to the initial value to match the current working environment and avoid repeated modification of the second preset time.

[0092] If foreign matter contamination still exists after repeating step S500 three times, or if one of the first preset time, the second preset time, and the third preset time reaches the upper limit or the lower limit, the machine is stopped for inspection.

[0093] Among them, this cleaning method can detect whether there is solvent residue on the surface of the atomizer 22 through the human eye of the staff, and can also detect whether there is solvent residue on the surface of the atomizer 22 through the detection device 30. Since the solvent is a transparent liquid, solvent residue will cause the surface humidity of the atomizer 22 to be high, and the image of the surface with high humidity will be blurred, while the image of the dry surface will be clear. For example, the detection device 30 is a camera device or a laser radar. The image of the atomizer 22 is obtained by the detection device 30 and compared with the reserved photos in the database. By comparing the sharpness of the two pictures, it can be determined whether the dryness and wetness of the surface of the atomizer 22 meet the requirements at this time, that is, whether there is solvent residue.

[0094] In one embodiment, if the atomizer 22 is clean and acceptable, the spraying instruction is executed.

[0095] On the second aspect, the present application provides a spray robot system. The spray robot system includes a spray robot 20 and a control module. The spray robot 20 includes a robotic arm 21 arranged in the spray room 10 and an atomizer 22 installed at the end of the robotic arm 21. The control module is electrically connected to the robotic arm 21, and the control module is used to control the movement of the robotic arm 21 after the spray robot 20 executes the cleaning instruction until the nozzle 221 of the atomizer 22 reaches a preset position and faces the light-transmitting plate 11 of the spray room 10. In this way, the staff or detection equipment can quickly detect whether the atomizer 22 at the preset position is clean and qualified through the light-transmitting plate 11 outside the spray room 10 without entering the spray room 10, because it avoids contamination and rework due to unqualified cleaning, and avoids line stoppage and safety problems caused by staff entering the spray room 10 for inspection, which is time-consuming, thereby reducing the impact on production rhythm and helping to improve production efficiency.

[0096] Specifically, the control module can be mounted on the robotic arm 21 and electrically connected to the robotic arm 21 via wired or wireless communication to control the movement of the robotic arm 21. The control module can also be mounted outside the spray booth 10 and electrically connected to the robotic arm 21 via wired or wireless communication to control the movement of the robotic arm 21.

[0097] In some embodiments, a worker in the spray booth 10 visually inspects the atomizer 22 to determine if it is clean and qualified, or uses a testing device 30. When the testing device 30 is used to inspect the atomizer 22 for cleanliness, the control module can be mounted on the robotic arm 21 or on the testing device 30, or can include two control panels, one mounted on the robotic arm 21 and the other mounted on the testing device 30.

[0098] The spraying robot system provided in this embodiment also has other technical features of the spraying robot cleaning detection method in the above embodiment, which will not be described one by one here.

[0099] The serial numbers of the embodiments of this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above are only preferred embodiments of this application and do not limit the scope of the patent of this application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the scope of patent protection of this application.

Claims

1. A method for cleaning and detecting a spray robot, wherein the spray robot comprises a robotic arm and an atomizer mounted at the end of the robotic arm, the spray robot being arranged in a spray booth having a light-transmitting panel on the side wall of the spray booth, characterized in that: The spray robot cleaning detection method comprises the following steps: Follow cleaning instructions; After the cleaning instruction is executed, the robot arm is controlled to move until the nozzle of the atomizer reaches a preset position and faces the light-transmitting plate; outside the spray booth, the light-transmitting plate can be used to detect whether the atomizer located at the preset position is clean and qualified; The executing cleaning instruction comprises the following steps: opening the solvent valve of the atomizer and holding it for a first preset time, then closing it, so that the solvent enters and cleans the nozzle; opening the air valve of the atomizer and holding it for a second preset time, then closing it, so that the air blows the nozzle clean; opening the filling valve of the atomizer and holding it for a third preset time, then closing it, so that the replaced paint fills the nozzle; Before executing the cleaning instruction, the method also includes: obtaining the spray room temperature; if the spray room temperature is lower than the preset temperature, increasing the first preset time; if the spray room temperature is higher than the preset temperature, shortening the first preset time; the adjustment range of the first preset time does not exceed the preset duration; when the adjustment range of the first preset time after adjustment according to the spray room temperature exceeds the preset duration, stopping production for rectification to avoid uncontrolled increase or shortening of the first preset time, affecting the production rhythm; the suspension of production for rectification includes replacing the solvent suitable for the first preset time.

2. The spray robot cleaning and detection method according to claim 1, characterized in that: The detecting whether the atomizer located at the preset position is clean and qualified by the light-transmitting plate specifically includes: Detecting whether the atomizer is clean and qualified by obtaining an image of the atomizer through a detection device; And / or, a light source is used to illuminate the atomizer to detect whether the atomizer is clean and qualified, and the light source is located outside the spray booth.

3. The spray robot cleaning and detection method according to claim 1, characterized in that: The method further comprises: If there is foreign matter contamination on the surface of the atomizer, the first preset time is increased, the second preset time and / or the third preset time is shortened, and the process returns to the step of executing the cleaning instruction until the atomizer is cleaned to a qualified standard; If there is solvent residue on the surface of the atomizer, the first preset time is shortened and / or the second preset time is increased, and the process returns to the step of executing the cleaning instruction until the atomizer is cleaned to a qualified standard.

4. The spray robot cleaning and detection method according to claim 3, characterized in that: The first preset time is gradually adjusted according to the first preset amplitude; And / or, the second preset time is adjusted step by step according to the second preset amplitude.

5. The spray robot cleaning and detection method according to claim 1, characterized in that: Before executing the cleaning instruction, the method further includes: Acquire the humidity of the spray booth; if the humidity of the spray booth is lower than a preset humidity, increase the first preset time; if the temperature of the spray booth is higher than the preset temperature, shorten the first preset time.

6. The spray robot cleaning and detection method according to claim 1, characterized in that: Before executing the cleaning instruction, the method further includes: Obtaining a spraying pressure of the paint to be cleaned; if the spraying pressure is greater than a first preset pressure, shortening the first preset time; if the spraying pressure is less than the first preset pressure, increasing the first preset time; and / or, obtaining the paint viscosity of the paint to be cleaned; if the paint viscosity is greater than a preset viscosity, increasing the first preset time; if the paint viscosity is less than the preset viscosity, shortening the first preset time; And / or, obtaining the solid content of the paint to be cleaned; if the solid content is greater than a preset solid content, increasing the first preset time; if the solid content is less than the preset solid content, shortening the first preset time.

7. The spray robot cleaning and detection method according to claim 6, characterized in that: The adjustment range of the first preset time does not exceed 2 seconds.

8. The spray robot cleaning and detection method according to claim 1, characterized in that: Before executing the cleaning instruction, the method further includes: Obtaining a solvent pressure; if the solvent pressure is greater than a second preset pressure, shortening the first preset time; if the solvent pressure is less than the second preset pressure, increasing the first preset time; And / or, obtaining air pressure; if the air pressure is greater than a third preset pressure, shortening the second preset time; if the air pressure is less than the third preset pressure, increasing the second preset time.

9. A spraying robot system, characterized in that: The spray robot system includes a spray robot and a control module. The spray robot includes a robotic arm arranged in a spray booth and an atomizer installed at the end of the robotic arm. The control module is electrically connected to the robotic arm. The control module is used to control the movement of the robotic arm after the spray robot executes a cleaning instruction until the nozzle of the atomizer reaches a preset position and faces the light-transmitting plate of the spray booth. The control module is further configured to control the spray robot to: open the solvent valve of the atomizer and hold it for a first preset time before closing it, so that the solvent enters and cleans the nozzle; open the air valve of the atomizer and hold it for a second preset time before closing it, so that the air blows the nozzle clean; opening a filling valve of the atomizer and holding it for a third preset time before closing it to allow the replaced paint to fill the nozzle; Before the spray robot executes the cleaning instruction, the control module is further configured to: obtain a spray booth temperature; if the spray booth temperature is lower than a preset temperature, increase the first preset time; if the spray booth temperature is higher than the preset temperature, shorten the first preset time; The adjustment range of the first preset time does not exceed the preset duration; When the adjustment range of the first preset time after adjustment according to the spray room temperature exceeds the preset time, production is stopped for rectification to avoid uncontrolled increase or shortening of the first preset time and affecting the production rhythm; the production suspension and rectification includes replacing the solvent suitable for the first preset time.

Images