A blade coating method

Abstract

The application relates to a doctoring method, which comprises the following steps: detecting whether a storage area stores a to-be-doctored material matched with a doctoring instruction; moving the to-be-doctored material to a doctoring platform through a transplanting mechanism; controlling a robot to select a quick-change gripper, move a syringe to the doctoring platform, and move a wire bar or a preparation device to the to-be-doctored material; controlling the doctoring platform to doctor the to-be-doctored material through the syringe and the wire bar or the preparation device; after the doctoring is completed, controlling the robot to move the wire bar or the preparation device to a cleaning device for cleaning and recycling; and moving the doctored material to the storage area through the transplanting mechanism. According to the application, manual intervention can be reduced, the doctoring can be automatically completed, manpower can be saved, the wire bar or the preparation device can be quickly reused, the storage amount of the wire bar and the preparation device is reduced, and the storage space occupied by the wire bar and the preparation device is saved.

Description

Technical Field

[0001] This invention belongs to the field of paint scraping and testing technology, and in particular relates to a scraping method. Background Technology

[0002] Scraping includes scraping of paint and scraping of waterproof coatings. Waterproof coating construction methods include brushing, rolling, spraying and scraping. Scraping is usually used for thick coatings in waterproof construction.

[0003] Traditional scraping coating relies excessively on manual labor, requiring operators to be very familiar with various coatings and their corresponding scraping processes. Moreover, it is greatly affected by various uncertainties such as human factors and environmental factors, such as harmful gases permeating the entire experimental space, difficulties in data recording and lack of traceability, and difficulties in cleaning the bar preparation equipment.

[0004] In the existing technology, during the process of applying paint to the test plate, the system often fails to automatically find the required coating material, requiring manual intervention. Therefore, equipment contamination and damage may occur due to human error. On the other hand, the system cannot automatically clean the bar and the preparation device, making it impossible to quickly reuse the bar and the preparation device, further consuming manpower and increasing the storage space of the preparation device.

[0005] The information disclosed in the background section of this application is intended only to enhance the understanding of the general background of this application and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] This invention proposes a coating method that reduces manual intervention, automates the coating process, saves manpower, and enables the rapid reuse of wire rods or preparation equipment, thereby reducing the storage requirements of wire rods and preparation equipment and saving the storage space occupied by them.

[0007] According to the present invention, a coating method is provided, the method being used in a controller of a coating workstation, comprising:

[0008] Upon receiving a scraping instruction, the system checks whether the storage area contains material to be scraped that matches the scraping instruction.

[0009] If the storage area contains material to be coated that matches the coating instruction, the material to be coated is moved to the coating platform that matches the coating instruction by the transfer mechanism.

[0010] The robot is controlled to select a quick-change gripper and use the quick-change gripper to grab the syringe containing the coating and move it to the coating platform, and also uses the quick-change gripper to move the wire bar or preparation device onto the material to be coated;

[0011] The coating platform is controlled to coat the material to be coated using the syringe and the wire bar or preparation device.

[0012] After the coating is completed, the robot is controlled to move the wire bar or preparation device to the cleaning equipment for cleaning and recycling via a quick-change gripper;

[0013] The coated material is moved to the storage area via the transfer mechanism.

[0014] In one possible implementation, the coating instruction includes a waterproof coating coating instruction, and the storage area includes a waterproof coating coating base plate storage area, an anti-sticking paper storage area, a coating tray storage area, and a coating tray temporary storage area.

[0015] Upon receiving a scraping instruction, the system checks whether the storage area contains material to be scraped that matches the instruction, including:

[0016] The test checks whether the waterproof coating base plate storage area contains waterproof coating base plates and whether the release paper storage area contains uncoated release paper.

[0017] If the waterproof coating base plate storage area does not contain a waterproof coating base plate, and / or the release paper storage area does not contain uncoated release paper, check whether the coating tray storage area contains a waterproof coating base plate and whether the coating tray temporary storage area contains uncoated release paper.

[0018] In one possible implementation, the transplanting mechanism includes a second tray transplanting mechanism, the scraping platform includes a second scraping platform, and the syringe is used to hold the waterproof coating.

[0019] If the storage area contains material to be coated that matches the coating instruction, the material to be coated is moved to the coating platform matching the coating instruction via a transfer mechanism, including:

[0020] The second tray transfer mechanism moves the waterproof coating base plate from the waterproof coating base plate storage area to the second coating platform, and moves the uncoated release paper from the release paper storage area onto the waterproof coating base plate located on the second coating platform.

[0021] Controlling the coating platform to coat the material to be coated using the syringe and the wire bar or preparation device includes:

[0022] The anti-stick paper is clamped by the clamping cylinder of the second coating platform;

[0023] Control the scraper of the second coating platform to move directly above the wire bar or the preparation device;

[0024] Control the scraper to move downwards and press down on the wire bar or preparation device;

[0025] The syringe fixture that holds the syringe on the second coating platform is controlled so that the syringe moves above the release paper;

[0026] The syringe extrusion head of the second scraping platform is controlled to extrude waterproof coating from the syringe;

[0027] The syringe fixture is controlled to move the syringe laterally back and forth within the range above the release paper, and the second coating platform is controlled to move longitudinally, so that the scraper of the second coating platform presses against the wire bar or the preparation device and moves longitudinally on the release paper, so as to use the waterproof coating output by the syringe to coat the release paper.

[0028] In one possible implementation, the transplanting mechanism includes a first tray transplanting mechanism, the scraping platform includes a first scraping platform, and the syringe is used to hold the waterproof coating.

[0029] If the storage area contains material to be coated that matches the coating instruction, the material to be coated is moved to the coating platform matching the coating instruction via a transfer mechanism, including:

[0030] The first pallet transfer mechanism moves the waterproof coating base plate from the coating pallet storage area to the first coating platform, and moves the uncoated release paper from the coating pallet temporary storage area onto the waterproof coating base plate located on the first coating platform.

[0031] Controlling the coating platform to coat the material to be coated using the syringe and the wire bar or preparation device includes:

[0032] The release paper is clamped by the clamping cylinder of the first coating platform;

[0033] Control the scraper of the first coating platform to move directly above the wire bar or the preparation device;

[0034] Control the scraper to move downwards and press it against the wire bar or the preparation device;

[0035] The syringe fixture that holds the syringe on the first coating platform is controlled so that the syringe moves above the release paper;

[0036] The syringe extrusion head of the first scraping platform is controlled to extrude waterproof coating from the syringe;

[0037] The syringe fixture is controlled to move the syringe laterally back and forth within the range above the release paper, and the first coating platform is controlled to move longitudinally, so that the scraper of the first coating platform presses against the wire bar or the preparation device and moves longitudinally on the release paper, so as to use the waterproof coating output by the syringe to coat the release paper.

[0038] In one possible implementation, controlling the coating platform to coat the material to be coated via the syringe and the wire bar or preparation device further includes:

[0039] The defoaming mechanism is controlled to move to the foremost edge of the waterproof coating on the release paper;

[0040] The defoaming mechanism is controlled to descend and come into contact with the waterproof coating.

[0041] The longitudinal reciprocating motion is controlled so that the defoaming mechanism scrapes back and forth multiple times on the waterproof coating to remove air bubbles from the surface of the waterproof coating.

[0042] In one possible implementation, the scraping instruction includes a paint scraping instruction, the storage area includes a scraping tray storage area and a scraping tray temporary storage area, and the transfer mechanism includes a first tray transfer mechanism.

[0043] Upon receiving a scraping instruction, the system checks whether the storage area contains material to be scraped that matches the instruction, including:

[0044] Check whether there are scraper trays stored in the scraper tray temporary storage area;

[0045] When a scraper tray is stored in the scraper tray temporary storage area, a prompt message is generated;

[0046] If an instruction to continue scraping is received, or if no scraping tray is stored in the scraping tray temporary storage area, check whether a scraping tray is stored in the scraping tray storage area.

[0047] When a scraper tray is stored in the scraper tray storage area, the scraper tray in the scraper tray storage area is scanned by the first tray transfer mechanism, and it is determined whether the information obtained by scanning the code matches the paint scraping instruction.

[0048] If the information obtained by scanning the code matches the paint scraping instruction, the first image of the scraping tray that matches the paint scraping instruction is obtained through the first tray transfer mechanism;

[0049] Based on the first image and the information obtained by scanning the code, determine the position, size, and quantity of the test plates on the coating tray;

[0050] Determine whether the position, size, and quantity information of the test plates on the scraper tray match the paint scraping instruction;

[0051] If the position and quantity information of the test plates on the scraping tray match the paint scraping instruction, it is determined that the storage area contains the material to be scraped that matches the scraping instruction.

[0052] In one possible implementation, upon receiving a scraping instruction, detecting whether the storage area contains material to be scraped that matches the scraping instruction further includes:

[0053] If the information obtained from the barcode scan does not match the paint application instruction, or if the position, size, and quantity information of the test panels on the paint application tray do not match the paint application instruction, then...

[0054] The first tray transfer mechanism moves the currently scanned coating tray to the coating tray storage area and scans the next coating tray to obtain a first image to determine the position, size and quantity of the test plate on the coating tray, as well as whether it matches the paint coating instruction.

[0055] Until a scraper tray matching the paint scraping instruction is obtained, it is determined that the storage area contains the material to be scraped that matches the scraping instruction;

[0056] If all the scraper trays in the scraper tray storage area do not match the paint scraping instruction, it is determined that the storage area does not contain any material to be scraped that matches the scraping instruction.

[0057] Move the scraper trays in the temporary scraper tray storage area back to the scraper tray storage area.

[0058] In one possible implementation, the coating platform includes a first coating platform, and the syringe is used to hold the paint;

[0059] If the storage area contains material to be coated that matches the coating instruction, the material to be coated is moved to the coating platform matching the coating instruction via a transfer mechanism, including:

[0060] The first tray transfer mechanism moves the coating tray to the first coating platform;

[0061] Controlling the coating platform to coat the material to be coated using the syringe and the wire bar or preparation device includes:

[0062] Control the scraper of the first coating platform to move directly above the wire bar or the preparation device;

[0063] Control the scraper to move downwards and press it against the wire bar or the preparation device;

[0064] The syringe fixture that holds the syringe on the first coating platform is controlled so that the syringe moves above the test plate;

[0065] The syringe extrusion head of the first scraping platform is controlled to extrude paint from the syringe;

[0066] The syringe fixture is controlled to move the syringe laterally and reciprocally within a range above the test plate, and the first coating platform is controlled to move longitudinally, so that the scraper of the first coating platform presses against the wire bar or preparation device and moves longitudinally on the test plate, so as to use the paint output by the syringe to coat the test plate.

[0067] In one possible implementation, the coated material includes coated release paper and a waterproof coating base plate, and / or a coating tray on which all test panels have been coated. The storage area includes a post-coating curing area for the waterproof coating and a curing area for the coating tray.

[0068] The transfer mechanism moves the coated material to the storage area, including:

[0069] Move the coated release paper and waterproof coating substrate to the waterproof coating post-coating curing area; and / or move the coating tray with all test panels coated to the coating tray curing area.

[0070] In one possible implementation, after the coating is completed, the robot is controlled to move the wire rod or preparation device to a cleaning device for cleaning and recycling via a quick-change gripper, including:

[0071] After the robot moves the bar or preparer to the cleaning equipment, dry ice is sprayed onto the bar or preparer through the dry ice cleaning nozzle of the cleaning equipment. At the same time, the bar or preparer is rotated and the dry ice cleaning nozzle reciprocates between the two ends of the bar or preparer.

[0072] After the bar or preparation device is cleaned, it is moved to the constant temperature water bath of the cleaning equipment for constant temperature water bath.

[0073] After the constant temperature water bath is completed, the drying mechanism of the cleaning equipment blows air onto the bar or the preparation device and makes the drying mechanism reciprocate between the two ends of the bar or the preparation device.

[0074] After the bar or preparer is dried, the robot is controlled to retrieve the bar or preparer.

[0075] According to the scraping method of the present invention, it can automatically determine whether the storage area contains the material to be scraped that matches the scraping instruction. If it does, the material to be scraped is moved to the scraping platform that matches the scraping instruction by a transfer mechanism, and the appropriate syringe and wire bar or preparation device are automatically selected for scraping. This can accurately locate the scraping material and scraping tools, reduce manual intervention, reduce equipment pollution and damage caused by human error, and also clean and recycle the wire bar or preparation device after scraping, so that the wire bar or preparation device cannot be quickly reused, further reducing manpower consumption, enabling the wire bar or preparation device to be quickly reused, reducing the storage amount of wire bar and preparation device, and saving the storage space occupied by the wire bar and preparation device.

[0076] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Other features and aspects of the invention will become clearer from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0077] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0078] Figure 1 A flowchart illustrating a coating method according to an embodiment of the present invention is shown;

[0079] Figure 2 and Figure 3 A schematic diagram of a coating workstation according to an embodiment of the present invention is shown;

[0080] Figure 4 A schematic diagram of a second tray transfer mechanism according to an embodiment of the present invention is shown;

[0081] Figure 5 A schematic diagram of a detection device according to an embodiment of the present invention is shown;

[0082] Figure 6 A schematic diagram of a first tray transfer mechanism according to an embodiment of the present invention is shown;

[0083] Figure reference numerals: 1. Third frame; 2. Dry ice cleaning mechanism; 3. Constant temperature water bath mechanism; 4. First frame; 5. Second frame; 6. Second tray transfer mechanism; 7. Waterproof coating scraping base plate storage area; 8. Waterproof coating post-scraping curing area; 9. Anti-stick paper storage area; 10. First scraping platform; 11. Scraping mechanism; 12. Inkjet printing mechanism; 13. Robot; 14. Robot quick-change gripper; 15. Scraping tray storage area; 16. Scraping tray temporary storage area; 17. Scraping tray curing area; 18. First tray transfer mechanism; 19. Column; 20. Second scraping platform; 21. Wire rod preparation device memory; 601. Fourth servo motor; 602. Fifth servo motor; 603. Base plate; 604. Third T The components include: lead screw 604, second lifting connecting plate 605, second cylinder 606, suction cup mounting plate 607, second suction cup 608, second photoelectric sensor 609, detection rod 610, second pneumatic finger 611, clamping block 612, first servo motor 1801, second servo motor 1802, third servo motor 1803, camera mounting plate 1804, first T-shaped lead screw 1805, camera 1806, light source 1807, second T-shaped lead screw 1808, first lifting connecting plate 1809, first cylinder 1810, first suction cup 1811, code reader 1812, first photoelectric sensor 1813, and first pneumatic finger 1814. Detailed Implementation

[0084] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0085] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0086] It should be understood that in the various embodiments of the present invention, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0087] It should be understood that in this invention, "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0088] It should be understood that in this invention, "multiple" refers to two or more. "And / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, "and / or B" can represent: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "Contains A, B, and C", "Contains A, B, and C" means that all three A, B, and C are contained; "Contains A, B, or C" means that one of A, B, and C is contained; "Contains A, B, and / or C" means that any one, two, or three of A, B, and C are contained.

[0089] It should be understood that in this invention, "B corresponding to A", "B corresponding to A", "A and B correspond", or "B and A correspond" means that B is associated with A, and B can be determined based on A. Determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information. Matching A and B is defined as a similarity between A and B that is greater than or equal to a preset threshold.

[0090] Depending on the context, "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection."

[0091] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0092] Figure 1 A flowchart illustrating a coating method according to an embodiment of the present invention is shown, such as... Figure 1 As shown, the method may include:

[0093] Step S11: Upon receiving a scraping instruction, detect whether the storage area contains a material to be scraped that matches the scraping instruction;

[0094] Step S12: If the storage area contains a material to be coated that matches the coating instruction, the material to be coated is moved to the coating platform that matches the coating instruction by a transfer mechanism.

[0095] Step S13: Control the robot to select the quick-change gripper, and use the quick-change gripper to grab the syringe containing the coating and move it to the coating platform, and use the quick-change gripper to move the wire bar or preparation device onto the material to be coated.

[0096] Step S14: Control the coating platform to coat the material to be coated using the syringe and the wire bar or preparation device;

[0097] Step S15: After the coating is completed, control the robot to move the wire bar or preparation device to the cleaning equipment for cleaning and recycling via the quick-change gripper;

[0098] Step S16: The coated material is moved to the storage area by the transfer mechanism.

[0099] In one possible implementation, in step S11, the controller can receive a scraping instruction, for example, a manually input scraping instruction. This invention does not limit the source of the scraping instruction. After receiving the scraping instruction, it can detect whether the storage area contains material to be scraped that matches the instruction. For example, this can be determined by a weighing mechanism, a barcode reader, or a camera on the transfer mechanism. This invention does not limit the specific detection method.

[0100] In one possible implementation, the storage area includes multiple partitions, namely, the aforementioned waterproof coating base plate storage area, release liner storage area, coating tray storage area, and coating tray temporary storage area. The waterproof coating base plate storage area is used to store waterproof coating base plates, the release liner storage area is used to store release liner, the coating tray storage area is used to store coating trays or waterproof coating base plates, and the coating tray temporary storage area is used for temporary storage of coating trays or storage of uncoated release liner. Furthermore, the storage area also includes a coating tray curing area and a waterproof coating post-coating curing area. The coating tray curing area is used to store coated trays, or coated release liner and waterproof coating base plates, and the waterproof coating post-coating curing area is used to store coated release liner and waterproof coating base plates.

[0101] In one possible implementation, the waterproof coating base plate storage area, the release liner storage area, the waterproof coating post-coating curing area, and the second coating platform are on the same straight line. The transfer mechanism includes a second tray transfer mechanism that can transfer materials between the waterproof coating base plate storage area, the release liner storage area, the waterproof coating post-coating curing area, and the second coating platform.

[0102] In one possible implementation, the scraper tray storage area, the scraper tray temporary storage area, the scraper tray curing area, and the first scraper platform are on the same straight line, and the transfer mechanism includes a first tray transfer mechanism that can transfer materials between the scraper tray storage area, the scraper tray temporary storage area, the scraper tray curing area, and the first scraper platform.

[0103] In one possible implementation, the first coating platform can be used to coat a test plate on a coating tray with paint, or to coat release paper with a waterproof coating. The second coating platform can be used to coat the release paper with a waterproof coating. The syringe can be used to hold either paint or waterproof coating. The coating instructions may include instructions for applying waterproof coating or paint.

[0104] In one possible implementation, when the scraping instruction is a waterproof coating scraping instruction, the second pallet transfer mechanism can move the material to be scraped from the waterproof coating scraping base plate storage area and the release paper storage area to the second scraping platform. The robot can then pick up a syringe containing waterproof coating and place it on the second scraping platform to apply the waterproof coating. After scraping, the scraped material can be moved to the waterproof coating post-scraping curing area via the second pallet transfer mechanism. Alternatively, the first pallet transfer mechanism can move the material to be scraped from the scraping pallet storage area and the scraping pallet temporary storage area to the first scraping platform. The robot can then pick up a syringe containing waterproof coating and place it on the first scraping platform to apply the waterproof coating. After scraping, the scraped material can be moved to the scraping pallet curing area via the first pallet transfer mechanism.

[0105] In one possible implementation, when the scraping instruction is a paint scraping instruction, the first pallet transfer mechanism moves the material to be scraped from the scraping pallet storage area and the scraping pallet temporary storage area to the first scraping platform. The robot can pick up a syringe containing paint and place it on the first scraping platform to scrape with paint. After scraping is completed, the scraped material can be moved to the scraping pallet curing area by the first pallet transfer mechanism.

[0106] In one possible implementation, the squeegee instruction includes a waterproof coating squeegee instruction, and the storage area includes a waterproof coating squeegee base plate storage area, a release liner storage area, a squeegee tray storage area, and a squeegee tray temporary storage area. Step S11 may include: detecting whether the waterproof coating squeegee base plate storage area contains a waterproof coating squeegee base plate, and whether the release liner storage area contains unsqueegeed release liner; if the waterproof coating squeegee base plate storage area does not contain a waterproof coating squeegee base plate, and / or the release liner storage area does not contain unsqueegeed release liner, detecting whether the squeegee tray storage area contains a waterproof coating squeegee base plate, and whether the squeegee tray temporary storage area contains unsqueegeed release liner.

[0107] In one possible implementation, if the received scraping instruction is a waterproof coating scraping instruction, the second scraping platform is used first to scrape the material transferred from the waterproof coating scraping base plate storage area and the release liner storage area. If there is no material in the waterproof coating scraping base plate storage area and / or the release liner storage area, the scraping tray storage area and the scraping tray temporary storage area are then checked to see if the material required for waterproof coating scraping is stored there.

[0108] In one possible implementation, when executing the waterproof coating application command using a second coating platform, step S12 includes: moving the waterproof coating base plate from the waterproof coating base plate storage area to the second coating platform via the second tray transfer mechanism, and moving uncoated release paper from the release paper storage area onto the waterproof coating base plate located on the second coating platform. In this case, in step S13, the robot selects a quick-change gripper for grasping the syringe, grasps the syringe containing the waterproof coating, and places it on the syringe fixture of the second coating platform.

[0109] In one possible implementation, step S14 includes: clamping the release paper with a clamping cylinder of the second coating platform; controlling the scraper of the second coating platform to move directly above the bar or preparer; controlling the scraper to move downwards to press down on the bar or preparer; controlling the syringe fixture of the second coating platform to place the syringe, so that the syringe moves above the release paper; controlling the syringe extrusion head of the second coating platform to extrude waterproof coating from the syringe; controlling the syringe fixture to move the syringe laterally back and forth within the range above the release paper, and controlling the second coating platform to move longitudinally, so that the scraper of the second coating platform presses down on the bar or preparer and moves longitudinally on the release paper, so as to coat the release paper with the waterproof coating output by the syringe.

[0110] In one possible implementation, the second coating platform can be used to place the waterproof coating base plate, and the release paper can be placed on the waterproof coating base plate by the second tray transfer mechanism and clamped by the clamping cylinder to prevent the release paper from sliding relative to the second coating platform.

[0111] In one possible implementation, the second coating platform includes a scraper that can be controlled to move directly above the bar or preparer and then descend to press down on the bar or preparer. Subsequently, a syringe fixture can be controlled to move above the release paper, and a syringe extrusion head can be controlled to expel the waterproof coating from the syringe.

[0112] In one possible implementation, the syringe fixture can be controlled to reciprocate laterally above the release paper, while the second coating platform, carrying the waterproof coating base plate and the release paper, moves longitudinally, causing the waterproof coating on the release paper to form an S-shape. Furthermore, during the longitudinal movement of the second coating platform carrying the waterproof coating base plate and the release paper, the scraper presses against the wire bar or preparation device to scrape the S-shaped waterproof coating until the current coating is completed. Further, a next coating can be performed, and the above coating steps can be repeated to coat the release paper multiple times.

[0113] In one possible implementation, if at least one of the waterproof coating scraping base plate storage area and the release paper storage area does not contain the materials required to execute the waterproof coating scraping instruction, then the detection checks whether the scraping tray storage area contains the waterproof coating scraping base plate and whether the scraping tray temporary storage area contains unscraped release paper.

[0114] In one possible implementation, if the coating tray storage area contains a waterproof coating base plate and the coating tray temporary storage area contains uncoated release paper, the first coating platform can be used to execute the waterproof coating application command. Step S12 may include: moving the waterproof coating base plate from the coating tray storage area to the first coating platform via a first tray transfer mechanism, and moving the uncoated release paper from the coating tray temporary storage area onto the waterproof coating base plate located on the first coating platform. In this case, in step S13, the robot selects a quick-change gripper for grasping the syringe, grasps the syringe containing the waterproof coating, and places it on the syringe fixture of the first coating platform.

[0115] In one possible implementation, step S14 includes: clamping the release paper with a clamping cylinder of the first coating platform; controlling the scraper of the first coating platform to move directly above the bar or preparer; controlling the scraper to move downwards to press down on the bar or preparer; controlling the syringe fixture of the first coating platform to place the syringe, so that the syringe moves above the release paper; controlling the syringe extrusion head of the first coating platform to extrude waterproof coating from the syringe; controlling the syringe fixture to move the syringe laterally back and forth within the range above the release paper, and controlling the first coating platform to move longitudinally, so that the scraper of the first coating platform presses down on the bar or preparer and moves longitudinally on the release paper, so as to coat the release paper with the waterproof coating output by the syringe.

[0116] In one possible implementation, the first coating platform can be used to place the waterproof coating base plate, and the release paper can be placed on the waterproof coating base plate by the first tray transfer mechanism and clamped by the clamping cylinder to prevent the release paper from sliding relative to the first coating platform.

[0117] In one possible implementation, the first coating platform includes a scraper that can be controlled to move directly above the bar or preparer and then descend to press down on the bar or preparer. Subsequently, a syringe fixture can be controlled to move above the release paper, and a syringe extrusion head can be controlled to expel the waterproof coating from the syringe.

[0118] In one possible implementation, the syringe fixture can be controlled to reciprocate laterally above the release paper, while the first coating platform, carrying the waterproof coating base plate and the release paper, moves longitudinally, causing the waterproof coating falling onto the release paper to form an S-shape. Furthermore, during the longitudinal movement of the first coating platform carrying the waterproof coating base plate and the release paper, the scraper presses against the wire bar or preparation device to scrape the S-shaped waterproof coating until the current coating is completed. Further, a next coating can be performed, and the above coating steps can be repeated to coat the release paper multiple times.

[0119] In one possible implementation, after the coating process is completed, air bubbles may be present in the waterproof coating on the release paper. These air bubbles can lead to uneven coating and reduced coating quality. Therefore, the air bubbles in the waterproof coating can be removed to improve the coating quality.

[0120] In one possible implementation, step S14 may further include: controlling the defoaming mechanism to move to the foremost edge of the waterproof coating on the release paper; controlling the defoaming mechanism to descend and contact the waterproof coating; controlling the longitudinal reciprocating motion to cause the defoaming mechanism to scrape back and forth on the waterproof coating multiple times to remove air bubbles from the surface of the waterproof coating.

[0121] In one possible implementation, the defoaming mechanism may include a Teflon film, which can be controlled to move to the foremost edge of the waterproof coating and descend to contact the waterproof coating. It can then reciprocate longitudinally multiple times to scrape the waterproof coating, thereby removing air bubbles and improving the coating quality. In this example, the film can be scraped three times; the invention does not limit the specific number of scrapings. After the defoaming process is completed, the waterproof coating process can be completed. In step S15, the wire rod or preparation device can be cleaned and recovered, and in step S16, the scraped release paper and waterproof coating base plate can be moved to the storage area. For example, when using a first coating platform, the release paper and waterproof coating base plate can be moved to the coating tray curing area via a first tray transfer mechanism; when using a second coating platform, the release paper and waterproof coating base plate can be moved to the waterproof coating post-coating curing area via a second tray transfer mechanism.

[0122] In one possible implementation, the scraping instruction includes a paint scraping instruction, the storage area includes a scraping tray storage area and a scraping tray temporary storage area, and the transfer mechanism includes a first tray transfer mechanism. A first scraping platform can be used to execute the paint scraping instruction. In this case, step S11 includes: detecting whether a scraping tray is stored in the scraping tray temporary storage area; generating a prompt message if a scraping tray is stored in the scraping tray temporary storage area; detecting whether a scraping tray is stored in the scraping tray storage area if a continuing scraping instruction is received, or if no scraping tray is stored in the scraping tray temporary storage area; and, if a scraping tray is stored in the scraping tray storage area, transferring the scraping tray from the scraping tray storage area using the first tray transfer mechanism. The coating tray is scanned, and it is determined whether the information obtained by scanning matches the paint coating instruction. If the information obtained by scanning matches the paint coating instruction, a first image of the coating tray matching the paint coating instruction is obtained through the first tray transfer mechanism. Based on the first image and the information obtained by scanning, the position, size, and quantity information of the test plates on the coating tray are determined. It is determined whether the position, size, and quantity information of the test plates on the coating tray match the paint coating instruction. If the position and quantity information of the test plates on the coating tray match the paint coating instruction, it is determined that the storage area contains the material to be coated that matches the coating instruction.

[0123] In one possible implementation, a temporary storage area for scraper trays is used to temporarily store scraper trays. For example, when searching for a scraper tray that matches a scraper instruction, the system can check whether the top-stacked scraper tray matches the instruction. If they don't match, the mismatched scraper tray is temporarily stored in the temporary storage area, and the system checks for the next scraper tray in the storage area. Therefore, the temporary storage area should not contain any scraper trays before scraping begins. If scraper trays are present, a notification message is generated to alert the operator, prompting them to check if the scraper trays are placed incorrectly.

[0124] In one possible implementation, if a continuing scraping instruction is received, or if the scraping tray temporary storage area does not contain a scraping tray, it can be determined whether the scraping tray storage area contains a scraping tray matching the scraping instruction. A barcode reader on the first tray transfer mechanism can be controlled to scan the scraping tray stacked on top to determine if the scanned information matches the paint scraping instruction. A camera on the first tray transfer mechanism can also be controlled to photograph the scraping tray stacked on top, obtaining the position, size, and quantity information of the test plates on the scraping tray, and determining if this information matches the paint scraping instruction. Only when the scanned information matches the aforementioned position, size, and quantity information all match the paint scraping instruction can it be determined that the scraping tray matches the paint scraping instruction, that is, it is determined that the storage area contains the material to be scraped that matches the scraping instruction.

[0125] In one possible implementation, if the information obtained by scanning the code does not match the paint scraping instruction with at least one of the above-mentioned location information, size information and quantity information, the scraping tray can be moved to the scraping tray temporary storage area by the first tray transfer mechanism, so as to detect whether the next scraping tray matches the scraping instruction. Step S11 further includes: if the information obtained by scanning does not match the paint scraping instruction, or if the position, size, and quantity information of the test plates on the scraping tray do not match the paint scraping instruction, the first tray transfer mechanism moves the currently scanned scraping tray to the scraping tray temporary storage area, and scans the next scraping tray to obtain a first image to determine the position, size, and quantity information of the test plates on the scraping tray, as well as the processing to determine whether it matches the paint scraping instruction; until a scraping tray matching the paint scraping instruction is obtained, it is determined that the storage area contains the material to be scraped that matches the scraping instruction; if all scraping trays in the scraping tray storage area do not match the paint scraping instruction, it is determined that the storage area does not contain the material to be scraped that matches the scraping instruction; the scraping trays in the scraping tray temporary storage area are moved back to the scraping tray storage area.

[0126] In one possible implementation, a first pallet transfer mechanism can grasp the currently scanned coating pallet, move it to the coating pallet temporary storage area, and then release the grasper. After the currently scanned coating pallet has been moved and placed, the first pallet transfer mechanism can move back to the coating pallet storage area to detect the next coating pallet using a barcode reader and camera on the first pallet transfer mechanism. If there is still no match, the above process of moving the pallet to the coating pallet temporary storage area can be repeated until a coating pallet matching the paint coating instruction is found. This confirms that the storage area contains the material to be coated that matches the coating instruction.

[0127] In one possible implementation, if all the scraper trays in the scraper tray storage area do not match the paint scraping instruction, it can be determined that the storage area does not contain any material to be scraped that matches the scraping instruction, and a prompt message can be generated to remind the staff to replenish the material.

[0128] In one possible implementation, after finding a scraping tray that matches the paint scraping instruction, in step S12, the scraping tray can be moved to the first scraping platform via the first tray transfer mechanism. Furthermore, scraping trays temporarily stored in the scraping tray temporary storage area can be moved back to the scraping tray storage area, so that no scraping trays are stored in the temporary storage area. Further, in step S13, the robot can be controlled to select a quick-change gripper, grasp a syringe containing paint, place it on the syringe fixture of the first scraping platform, and the robot can also select a quick-change gripper to grasp a wire bar or preparation device, placing it on the first test plate on the scraping tray in preparation for scraping.

[0129] In one possible implementation, step S14 may include: controlling the scraper of the first coating platform to move directly above the wire bar or preparer; controlling the scraper to move downwards and press down on the wire bar or preparer; controlling the syringe fixture of the first coating platform, which holds the syringe, so that the syringe moves above the test plate; controlling the syringe extrusion head of the first coating platform to extrude paint from the syringe; controlling the syringe fixture to move the syringe laterally back and forth within a range above the test plate, and controlling the first coating platform to move longitudinally, so that the scraper of the first coating platform presses down on the wire bar or preparer and moves longitudinally on the test plate, so as to coat the test plate with the paint output from the syringe.

[0130] In one possible implementation, after placing the wire bar or preparer on the first test plate, the scraper can be controlled to move, i.e., move above the wire bar or preparer, and then press down to press the scraper against the wire bar or preparer. Subsequently, the syringe extrusion head can be controlled to squeeze the syringe to output paint, and the syringe fixture can be moved laterally back and forth above the test plate. Simultaneously, the first scraping platform is controlled to move longitudinally, so that the paint output from the syringe falls onto the test plate in an S-shape. During the longitudinal movement of the first scraping platform carrying the scraping tray, the scraper presses against the wire bar or preparer, scraping the S-shaped paint until the first test plate is scraped. Further, a robot can be used to place the wire bar or preparer on the next test plate, and the above scraping steps can be repeated to scrape the next test plate. After all test plates on the scraping tray have been scraped, the scraping work on the scraping tray is completed. In step S15, the wire bar or preparer can be cleaned and retrieved, and in step S16, the scraping tray is moved to the scraping tray curing area via the first tray transfer mechanism.

[0131] In one possible implementation, step S15 may include: after the robot moves the bar or preparer to the cleaning equipment, spraying dry ice onto the bar or preparer through the dry ice cleaning nozzle of the cleaning equipment, while rotating the bar or preparer and causing the dry ice cleaning nozzle to reciprocate between the two ends of the bar or preparer; after the bar or preparer is cleaned, moving the bar or preparer to the constant temperature water bath mechanism of the cleaning equipment for constant temperature water bath; after the constant temperature water bath is completed, blowing air onto the bar or preparer through the drying mechanism of the cleaning equipment and causing the drying mechanism to reciprocate between the two ends of the bar or preparer; after the bar or preparer is dried, controlling the robot to retrieve the bar or preparer.

[0132] In one possible implementation, the dry ice cleaning nozzle can reciprocate between the two ends of a wire rod or a preparation device, continuously spraying dry ice. At the same time, the wire rod or preparation device can rotate, so that the dry ice is sprayed onto various positions of the wire rod or preparation device, thereby cleaning each position and improving the cleaning effect.

[0133] In one possible implementation, an image of the bar or fabricator can be acquired using a vision system such as a camera to determine whether the bar or fabricator is clean. If it is not clean, the cleaning process can continue; if it is clean, subsequent steps can be performed.

[0134] In one possible implementation, the dry ice has a low temperature, and the temperature of the bar or preparer is also low after cleaning with dry ice. Therefore, the bar or preparer can be transferred to a constant temperature water bath to allow it to quickly return to room temperature. For example, it can be soaked in the constant temperature water bath for a preset time, or the temperature of the bar or preparer can be measured by a temperature measuring device to determine whether the bar or preparer has returned to room temperature.

[0135] In one possible implementation, after the wire rod or preparer returns to room temperature, a constant temperature water bath can be completed, and the drying mechanism of the cleaning equipment can be controlled to blow air onto the wire rod or preparer to dry the moisture on the wire rod or preparer. Similar to the dry ice cleaning mechanism, the drying mechanism can reciprocate between the two ends of the wire rod or preparer to blow air onto various positions of the wire rod or preparer and dry the wire rod or preparer.

[0136] In one possible implementation, after drying, a robot can be controlled to retrieve the bar or fabricator, for example, by storing it in a bar fabricator memory. Cleaning the bar or fabricator allows for rapid recycling, reducing the storage time and thus the amount of bar or fabricator stored, and consequently, the space occupied by the bar fabricator memory.

[0137] In one possible implementation, in step S16, the coated material can be moved to the storage area. Step S16 may include: moving the coated release paper and waterproof coating base plate to the waterproof coating post-coating curing area; and / or moving the coating tray with all test panels coated to the coating tray curing area. For example, the coated release paper and waterproof coating base plate can be moved to the waterproof coating post-coating curing area via a second tray transfer mechanism, or via a first tray transfer mechanism. As another example, the coating tray with all test panels coated can be moved to the coating tray curing area via the first tray transfer mechanism.

[0138] According to the scraping method of the present invention, it can automatically determine whether the storage area contains the material to be scraped that matches the scraping instruction. If it does, the material to be scraped is moved to the scraping platform that matches the scraping instruction by a transfer mechanism, and the appropriate syringe and wire bar or preparation device are automatically selected for scraping. This can accurately locate the scraping material and scraping tools, reduce manual intervention, reduce equipment pollution and damage caused by human error, and also clean and recycle the wire bar or preparation device after scraping, so that the wire bar or preparation device cannot be quickly reused, further reducing manpower consumption, enabling the wire bar or preparation device to be quickly reused, reducing the storage amount of wire bar and preparation device, and saving the storage space occupied by the wire bar and preparation device.

[0139] Figure 2 and Figure 3 A schematic diagram of a coating workstation according to an embodiment of the present invention is shown, such as... Figure 2 and Figure 3 As shown, the coating workstation may include a third frame 1, a dry ice cleaning mechanism 2, a constant temperature water bath mechanism 3, a first frame 4, a second frame 5, a second tray transfer mechanism 6, a waterproof coating coating base plate storage area 7, a waterproof coating post-coating curing area 8, an anti-stick paper storage area 9, a first coating platform 10, a coating mechanism 11, a coding mechanism 12, a robot 13, a robot quick-change gripper 14, a coating tray storage area 15, a coating tray temporary storage area 16, a coating tray curing area 17, a first tray transfer mechanism 18, a column 19, a second coating platform 20, and a bar fabrication device storage 21.

[0140] In one possible implementation, the cleaning equipment may include a dry ice cleaning mechanism 2 and a constant temperature water bath mechanism 3. The dry ice cleaning mechanism 2 may include the dry ice cleaning nozzle and the drying mechanism. The cleaning equipment may be mounted on a third frame 1.

[0141] In one possible implementation, the first coating platform 10, the robot 13, the robot quick-change gripper 14, and the second coating platform 20 are mounted on the first frame 4, and the waterproof coating base plate storage area 7, the waterproof coating post-coating curing area 8, the anti-stick paper storage area 9, the coating tray storage area 15, the coating tray temporary storage area 16, the coating tray curing area 17, and the bar fabrication device storage 21 can be mounted on the second frame 5.

[0142] In one possible implementation, the top of the columns 19 of the first frame 4 and the second frame 5 are provided with interconnected longitudinal tracks. The first pallet transfer mechanism 18 can be set on one of the tracks for transferring materials between the scraper pallet storage area 15, the scraper pallet temporary storage area 16, the scraper pallet curing area 17 and the first scraper platform 10. The second pallet transfer mechanism 6 can be set on the other track for transferring materials between the waterproof coating scraper base plate storage area 7, the waterproof coating post-scraping curing area 8, the release paper storage area 9 and the second scraper platform 20.

[0143] Figure 4 A schematic diagram of a second tray transfer mechanism according to an embodiment of the present invention is shown. Figure 5 A schematic diagram of a detection device according to an embodiment of the present invention is shown.

[0144] In one possible implementation, such as Figure 4 As shown, the fourth servo motor 601 of the second tray transplanting mechanism can drive the second tray transplanting mechanism 6 to move above the waterproof coating scraping base plate, and the fifth servo motor 602 can lower the second lifting connecting plate 605. When the second photoelectric sensor 609 detects the waterproof coating scraping base plate, the descent stops, and the second pneumatic finger 611 and clamping block 612 can be driven by the second cylinder 606 to clamp the waterproof coating scraping base plate. Then, the second lifting connecting plate 605 can be raised by the fifth servo motor 602, and moved above the second scraping platform 20 by the fourth servo motor 601. Then, the waterproof coating scraping base plate can be lowered by the fifth servo motor 602, and then the second pneumatic finger 611 and clamping block 612 can be driven by the second cylinder 606 to release the waterproof coating scraping base plate, so that the waterproof coating scraping base plate is placed on the second scraping platform 20.

[0145] In one possible implementation, the fourth servo motor 601 can drive the second tray transfer mechanism 6 to move above the release liner, and the fifth servo motor 602 can lower the second lifting connecting plate 605. When the detection rod 610 detects the release liner, it stops descending and the release liner is held in place by the second suction cup 608. Subsequently, the fifth servo motor 602 can raise the second lifting connecting plate 605, and the fourth servo motor 601 can move it above the second coating platform 20. Then, the fifth servo motor 602 can lower the release liner, and the second suction cup 608 can be released to place the release liner on the waterproof coating base plate.

[0146] In one possible implementation, such as Figure 5 As shown, under normal conditions, the second photoelectric sensor 609 cannot detect the detection rod 610; when the tray transfer mechanism descends and the second cylinder 606 extends to make the lower end of the detection rod 610 contact the anti-stick paper, the anti-stick paper lifts the detection rod 610 to raise it; when the second photoelectric sensor 609 detects the upper end of the detection rod 610, it outputs information to issue a suction command.

[0147] Figure 6 A schematic diagram of a first pallet transfer mechanism according to an embodiment of the present invention is shown.

[0148] In one possible implementation, such as Figure 6 As shown, the first tray transplanting mechanism 18 includes a first servo motor 1801, a second servo motor 1802, a third servo motor 1803, a camera mounting plate 1804, a first T-shaped lead screw 1805, a camera 1806, a light source 1807, a second T-shaped lead screw 1808, a first lifting connecting plate 1809, a first cylinder 1810, a first suction cup 1811, a code reader 1812, a first photoelectric sensor 1813, and a first pneumatic finger 1814. The first servo motor 1801 is used to drive the first tray transplanting mechanism 18 to move longitudinally on the first longitudinal track. The third servo motor 1803 is used to drive the second T-shaped lead screw 1808 to rotate, causing the first lifting connecting plate 1809 to move in the up and down direction. The first photoelectric sensor 1813 is used to detect the coating tray. The first photoelectric sensor 1813 is a distance-setting sensor. When the tray transplanting gripper descends to a certain distance from the tray, the sensor detects the tray and outputs a signal. The tray transplanting gripper can be lowered to a distance of 30-50mm from the tray, with the optimal distance being 40mm.

[0149] In one possible implementation, the first photoelectric sensor 1813 stops the third servo motor 1803 after detecting the coating tray; the barcode reader 1812 scans the identification code on the coating tray; the second servo motor 1802 drives the first T-screw 1805 to rotate, causing the camera 1806 and the light source 1807 to move in the vertical direction; the camera 1806 takes a picture of the coating tray under the illumination of the light source 1807 to obtain a first image of the coating tray; the first pneumatic finger 1814 clamps or releases the coating tray under the drive of the first cylinder 1810; and the first suction cup 1811 is used to hold the release paper.

[0150] In one possible implementation, when the scraping tray is moved by the first tray transfer mechanism 18, the first tray transfer mechanism 18 is used to: drive the first tray transfer mechanism 18 by the first servo motor 1801 so that the barcode reader 1812 is positioned above the scraping tray; drive the barcode reader 1812 to descend by the third servo motor 1803; stop the third servo motor 1803 when the first photoelectric sensor 1813 detects the scraping tray; scan the barcode by the barcode reader 1812; if the information obtained by scanning does not match, drive the first pneumatic finger 1814 to clamp the scraping tray by the first cylinder 1810, drive the scraping tray to rise by the third servo motor 1803, and move the scraping tray to the scraping tray by the first servo motor 1801. Above the coating tray temporary storage area 16, the coating tray is driven to descend by the third servo motor 1803 to temporarily store the coating tray in the coating tray temporary storage area 16; if the information obtained by scanning the code matches, the camera 1806 and the light source 1807 are driven to descend by the second servo motor 1802, and the camera 1806 captures a first image of the coating tray; the camera 1806 and the light source 1807 are driven to rise by the second servo motor 1802; the first pneumatic finger 1814 is driven by the first cylinder 1810 to clamp the coating tray, the coating tray is driven to rise by the third servo motor 1803, and the coating tray is moved to the first coating platform 10 by the first servo motor 1801; the coating tray with mismatched information is moved from the coating tray temporary storage area 16 back to the coating tray storage area 15.

[0151] In one possible implementation, if the information obtained by scanning the code matches, in addition to the above processing, the first servo motor 1801 can drive the first tray transfer mechanism 18 to perform longitudinal fine-tuning, so that the camera 1806 and the light source 1807 are facing the coating tray. After capturing the first image, the first servo motor 1801 drives the first tray transfer mechanism 18 to perform longitudinal fine-tuning again, so that the first pneumatic finger 1814 is facing the coating tray to align with it. After descending to the height of the coating tray, it can grip the coating tray. Furthermore, after the first coating platform 10 has finished coating all the test panels, the first tray transfer mechanism 18 can move the coating tray to the coating tray curing area 17 for storage.

[0152] In one possible implementation, since the first coating platform 10 may also use waterproof coating to coat the release paper, the side of the first pneumatic finger 1814 of the first pallet transfer mechanism 18 may also include a suction cup and a detection rod for detecting the release paper. The method of using the first pallet transfer mechanism 18 to move the release paper and the waterproof coating base plate is the same as that of the second pallet transfer mechanism 6, and will not be described again here.

[0153] In one possible implementation, the controller of the coating workstation can control the aforementioned components to perform the coating method.

[0154] It is understood that the above-mentioned embodiments mentioned in this invention can be combined with each other to form combined embodiments without violating the principle and logic. Due to space limitations, this invention will not elaborate further. Those skilled in the art will understand that in the above methods of specific implementation, the specific execution order of each step should be determined by its function and possible internal logic.

[0155] Note that, unless otherwise explicitly stated, all features disclosed in this specification (including any appended claims, abstract, and drawings) may be replaced by alternative features for achieving the same, equivalent, or similar purpose. Therefore, unless explicitly stated otherwise, each disclosed feature is merely one example of a set of equivalent or similar features. Where used, "further," "preferably," "even further," and "more preferably" are simple starting points for describing another embodiment based on the foregoing embodiments, the combination of which with the foregoing embodiments constitutes the complete configuration of another embodiment. Any combination of several "further," "preferably," "even further," or "more preferably" settings following the same embodiment constitutes yet another embodiment.

[0156] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments, and any modifications or variations of the embodiments of the present invention may be made without departing from the stated principles.

[0157] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A scraping coating method, characterized in that, The method is used for the controller of a coating workstation, including: Upon receiving a scraping instruction, the system checks whether the storage area contains material to be scraped that matches the scraping instruction. If the storage area contains material to be coated that matches the coating instruction, the material to be coated is moved to the coating platform that matches the coating instruction by the transfer mechanism. The robot is controlled to select a quick-change gripper and use the quick-change gripper to grab the syringe containing the coating and move it to the coating platform, and also uses the quick-change gripper to move the wire bar or preparation device onto the material to be coated; The coating platform is controlled to coat the material to be coated using the syringe and the wire bar or preparation device. After the coating is completed, the robot is controlled to move the bar or preparation device to the cleaning equipment for cleaning and recycling via a quick-change gripper. After the robot moves the bar or preparation device to the cleaning equipment, dry ice is sprayed onto the bar or preparation device through the dry ice cleaning nozzle of the cleaning equipment, while the bar or preparation device is rotated and the dry ice cleaning nozzle reciprocates between the two ends of the bar or preparation device. After the bar or preparation device is cleaned, it is moved to the constant temperature water bath of the cleaning equipment for constant temperature water bath. After the constant temperature water bath is completed, the drying mechanism of the cleaning equipment blows air onto the bar or the preparation device and makes the drying mechanism reciprocate between the two ends of the bar or the preparation device. After the wire bar or the preparation device is dried, the robot is controlled to recycle the wire bar or the preparation device. The coated material is moved to the storage area by the transfer mechanism. The coating instructions include waterproof coating coating instructions, and the storage area includes a waterproof coating coating base plate storage area, an anti-stick paper storage area, a coating tray storage area, and a coating tray temporary storage area. Upon receiving a scraping instruction, the system checks whether the storage area contains material to be scraped that matches the instruction, including: The test checks whether the waterproof coating base plate storage area contains waterproof coating base plates and whether the release paper storage area contains uncoated release paper. If the waterproof coating base plate storage area does not contain a waterproof coating base plate, and / or the release paper storage area does not contain uncoated release paper, check whether the coating tray storage area contains a waterproof coating base plate and whether the coating tray temporary storage area contains uncoated release paper.

2. The coating method according to claim 1, characterized in that, The transplanting mechanism includes a second tray transplanting mechanism, the scraping platform includes a second scraping platform, and the syringe is used to hold waterproof coating; If the storage area contains material to be coated that matches the coating instruction, the material to be coated is moved to the coating platform matching the coating instruction via a transfer mechanism, including: The second tray transfer mechanism moves the waterproof coating base plate from the waterproof coating base plate storage area to the second coating platform, and moves the uncoated release paper from the release paper storage area onto the waterproof coating base plate located on the second coating platform. Controlling the coating platform to coat the material to be coated using the syringe and the wire bar or preparation device includes: The anti-stick paper is clamped by the clamping cylinder of the second coating platform; Control the scraper of the second coating platform to move directly above the wire bar or the preparation device; Control the scraper to move downwards and press it against the wire bar or the preparation device; The syringe fixture that holds the syringe on the second coating platform is controlled so that the syringe moves above the release paper; The syringe extrusion head of the second scraping platform is controlled to extrude waterproof coating from the syringe; The syringe fixture is controlled to move the syringe laterally back and forth within the range above the release paper, and the second coating platform is controlled to move longitudinally, so that the scraper of the second coating platform presses against the wire bar or the preparation device and moves longitudinally on the release paper, so as to use the waterproof coating output by the syringe to coat the release paper.

3. The coating method according to claim 1, characterized in that, The transplanting mechanism includes a first tray transplanting mechanism, the scraping platform includes a first scraping platform, and the syringe is used to hold waterproof coating; If the storage area contains material to be coated that matches the coating instruction, the material to be coated is moved to the coating platform matching the coating instruction via a transfer mechanism, including: The first pallet transfer mechanism moves the waterproof coating base plate from the coating pallet storage area to the first coating platform, and moves the uncoated release paper from the coating pallet temporary storage area onto the waterproof coating base plate located on the first coating platform. Controlling the coating platform to coat the material to be coated using the syringe and the wire bar or preparation device includes: The release paper is clamped by the clamping cylinder of the first coating platform; Control the scraper of the first coating platform to move directly above the wire bar or the preparation device; Control the scraper to move downwards and press it against the wire bar or the preparation device; The syringe fixture that holds the syringe on the first coating platform is controlled so that the syringe moves above the release paper; The syringe extrusion head of the first scraping platform is controlled to extrude waterproof coating from the syringe; The syringe fixture is controlled to move the syringe laterally back and forth within the range above the release paper, and the first coating platform is controlled to move longitudinally, so that the scraper of the first coating platform presses against the wire bar or the preparation device and moves longitudinally on the release paper, so as to use the waterproof coating output by the syringe to coat the release paper.

4. The coating method according to claim 2 or 3, characterized in that, Controlling the coating platform to coat the material to be coated using the syringe and the wire bar or preparation device, further includes: The defoaming mechanism is controlled to move to the foremost edge of the waterproof coating on the release paper; The defoaming mechanism is controlled to descend and come into contact with the waterproof coating. The longitudinal reciprocating motion is controlled so that the defoaming mechanism scrapes back and forth multiple times on the waterproof coating to remove air bubbles from the surface of the waterproof coating.

5. The coating method according to claim 1, characterized in that, The scraping instruction includes a paint scraping instruction; the storage area includes a scraping tray storage area and a scraping tray temporary storage area; and the transplanting mechanism includes a first tray transplanting mechanism. Upon receiving a scraping instruction, the system checks whether the storage area contains material to be scraped that matches the instruction, including: Check whether there are scraper trays stored in the scraper tray temporary storage area; When a scraper tray is stored in the scraper tray temporary storage area, a prompt message is generated; If an instruction to continue scraping is received, or if no scraping tray is stored in the scraping tray temporary storage area, check whether a scraping tray is stored in the scraping tray storage area. When a scraper tray is stored in the scraper tray storage area, the scraper tray in the scraper tray storage area is scanned by the first tray transfer mechanism, and it is determined whether the information obtained by scanning the code matches the paint scraping instruction. If the information obtained by scanning the code matches the paint scraping instruction, the first image of the scraping tray that matches the paint scraping instruction is obtained through the first tray transfer mechanism; Based on the first image and the information obtained by scanning the code, determine the position, size, and quantity of the test plates on the coating tray; Determine whether the position, size, and quantity information of the test plates on the scraper tray match the paint scraping instruction; If the position and quantity information of the test plates on the scraping tray match the paint scraping instruction, it is determined that the storage area contains the material to be scraped that matches the scraping instruction.

6. The coating method according to claim 5, characterized in that, Upon receiving a scraping instruction, the method of detecting whether the storage area contains material to be scraped that matches the scraping instruction also includes: If the information obtained from the barcode scan does not match the paint application instruction, or if the position, size, and quantity information of the test panels on the paint application tray do not match the paint application instruction, then... The first tray transfer mechanism moves the currently scanned coating tray to the coating tray storage area and scans the next coating tray to obtain a first image to determine the position, size and quantity of the test plate on the coating tray, as well as whether it matches the paint coating instruction. Until a scraper tray matching the paint scraping instruction is obtained, it is determined that the storage area contains the material to be scraped that matches the scraping instruction; If all the scraper trays in the scraper tray storage area do not match the paint scraping instruction, it is determined that the storage area does not contain any material to be scraped that matches the scraping instruction. Move the scraper trays in the temporary scraper tray storage area back to the scraper tray storage area.

7. The coating method according to claim 5, characterized in that, The coating platform includes a first coating platform, and the syringe is used to hold paint. If the storage area contains material to be coated that matches the coating instruction, the material to be coated is moved to the coating platform matching the coating instruction via a transfer mechanism, including: The first tray transfer mechanism moves the coating tray to the first coating platform; Controlling the coating platform to coat the material to be coated using the syringe and the wire bar or preparation device includes: Control the scraper of the first coating platform to move directly above the wire bar or the preparation device; Control the scraper to move downwards and press it against the wire bar or the preparation device; The syringe fixture that holds the syringe on the first coating platform is controlled so that the syringe moves above the test plate; The syringe extrusion head of the first scraping platform is controlled to extrude paint from the syringe; The syringe fixture is controlled to move the syringe laterally and reciprocally within a range above the test plate, and the first coating platform is controlled to move longitudinally, so that the scraper of the first coating platform presses against the wire bar or preparation device and moves longitudinally on the test plate, so as to use the paint output by the syringe to coat the test plate.

8. The coating method according to claim 1, characterized in that, The materials that have been coated include coated release paper and waterproof coating base plate, and / or coating trays on which all test panels have been coated. The storage area includes a waterproof coating post-coating curing area and a coating tray curing area. The transfer mechanism moves the coated material to the storage area, including: Move the coated release paper and waterproof coating substrate to the waterproof coating post-coating curing area; and / or move the coating tray with all test panels coated to the coating tray curing area.

Images