Robot, method and controller for cleaning screen printing plates

Abstract

This application provides a robot, method, and controller for cleaning screen printing stencils, comprising: a housing including a first end face, a second end face, and a third end face, the first and second end faces being arranged opposite each other, the third end face being perpendicular to the first end face, and a cleaning area being formed on the third end face; two robotic arms being arranged opposite each other on the first and second end faces; an image acquisition module disposed on the housing for acquiring stencil image information; a stencil control frame disposed within the cleaning area; a stencil cleaning module disposed within the cleaning area; a laser scanning module disposed within the cleaning area for measuring the size information of the stencil to be cleaned; and a controller that, based on the stencil image information, controls the acquisition of the stencil position and shape, controls the robotic arms to grip the stencil to be cleaned and place it in the stencil cleaning module, controls the stencil control frame to fix the stencil to be cleaned, determines cleaning parameter information based on the size information and the stencil image information, and completes the cleaning of the stencil to be cleaned.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, applied to the photovoltaic field, and in particular to a robot, method and controller for cleaning a silk screen printing plate. Background Art

[0002] Screen printing screens play a vital role in the printing industry, and their cleaning effect directly affects printing quality and production efficiency. However, the traditional screen printing screen cleaning method has many shortcomings. In order to solve the above problems, in recent years, with the development of automation technology, some semi-automatic screen printing screen cleaning equipment has appeared on the market, but these equipment still have the following shortcomings in practical applications:

[0003] 1. Insufficient positioning accuracy: Existing semi-automatic cleaning equipment often relies on preset mechanical positioning devices, which makes it difficult to accurately identify screen printing screens of different shapes and sizes. This results in a significant reduction in the cleaning effect when processing non-standard or special-shaped screens.

[0004] 2. Single cleaning strategy: Semi-automatic equipment usually adopts a fixed cleaning procedure and cannot flexibly adjust the cleaning strategy according to the actual contamination of the screen. This makes it difficult to guarantee the cleaning effect when facing different degrees and types of contamination, and may even damage the screen.

[0005] 3. Waste of water resources: Although some semi-automatic equipment attempts to adopt water recycling systems, the effect is usually not good. Disposable water is still the mainstream, resulting in a large amount of water waste, increasing operating costs and environmental burden.

[0006] Therefore, there is an urgent need for a robot for cleaning a silk screen printing screen to solve at least one of the above problems. Summary of the invention

[0007] The present application provides a robot, method and controller for silk screen cleaning, aiming to solve the problems of insufficient positioning accuracy, single cleaning strategy, waste of water resources, etc. in some semi-automatic silk screen cleaning equipment currently available on the market.

[0008] In a first aspect, the present application provides a robot for cleaning a screen printing plate, comprising:

[0009] The box body comprises a first end face, a second end face and a third end face, wherein the first end face and the second end face are arranged opposite to each other, the third end face is perpendicular to the first end face, and a cleaning area is formed on the third end face;

[0010] Two mechanical arms, the two mechanical arms are arranged opposite to each other on the first end surface and the second end surface;

[0011] An image acquisition module, arranged on the box body, for acquiring screen image information of the screen to be cleaned;

[0012] A screen control frame is arranged in the cleaning area and is used for moving up and down in the cleaning area;

[0013] A screen cleaning module, the screen cleaning module is arranged in the cleaning area and below the screen control frame;

[0014] A laser scanning module, which is arranged in the cleaning area and is used to measure the size information of the screen to be cleaned;

[0015] A controller is provided, wherein the controller controls the acquisition of screen position and screen shape according to the screen image information, controls the robot arm to clamp the screen to be cleaned and place it in the screen cleaning module according to the screen position and screen shape, controls the screen control frame to fix the screen to be cleaned, determines the cleaning parameter information according to the size information and the screen image information, and controls the screen cleaning module to complete the cleaning of the screen to be cleaned according to the cleaning parameter information.

[0016] In some embodiments, it also includes: a universal wheel module, which is arranged below the box; before the controller controls the mechanical arm to clamp the screen to be cleaned according to the screen position and screen shape, it first controls the universal wheel module to move to the target position according to the screen position.

[0017] In some embodiments, the screen cleaning module includes: a mobile nozzle unit, which is movably arranged in the cleaning area; a screen moving unit, which is arranged below the screen control frame; a water tank unit, which is arranged below the screen moving unit, and a cleaning liquid and / or a rinsing liquid is placed in the water tank unit, the water tank unit is connected to the mobile nozzle unit, and a water inlet and a water outlet connected to the water tank unit are formed on the first end face or the second end face of the box body; wherein the controller is used to control the robot arm to place the screen to be cleaned on the screen moving unit, and control the mobile nozzle unit to complete the cleaning of the screen to be cleaned according to the cleaning parameter information.

[0018] Exemplarily, the water tank unit includes: a cleaning tank and a rinsing tank, the cleaning tank and the rinsing tank are arranged relatively in the cleaning area, the cleaning tank contains cleaning liquid, and the rinsing tank contains rinsing liquid; the robot also includes: a control panel, the control panel is arranged on the cleaning tank and the rinsing tank, and is located below the screen moving unit; the controller is used to control the control panel to control the screen moving unit so that the screen to be cleaned is connected to the cleaning tank during the cleaning stage, and is connected to the rinsing tank during the rinsing stage.

[0019] It should be noted that, in some embodiments, it also includes: a photosensitive resin concentration detector, which is used to detect the photosensitive resin concentration of the cleaning liquid in the cleaning tank; the controller is used to control the cleaning tank to replace the cleaning liquid when the photosensitive resin concentration is greater than a preset concentration; and / or, a cleaning liquid concentration detector, which is used to detect the concentration of the rinsing liquid in the rinse tank; the controller is used to control the rinsing tank to replace the rinsing liquid when the rinsing liquid concentration is lower than a preset concentration.

[0020] Exemplarily, it also includes: a guide rail, which is arranged in the cleaning area, and the screen control frame is movably connected to the guide rail so that the screen control frame can move up and down along the guide rail; a vertical rod, which is movably connected to the guide rail in the cleaning area, and the vertical rod can move up and down along the guide rail; wherein, the mobile nozzle unit is movably connected to the vertical rod, and the mobile spray can move left and right along the vertical rod in the cleaning area according to the cleaning parameter information to complete the cleaning of the screen to be cleaned.

[0021] Exemplarily, the screen moving unit includes: a horizontal bar and multiple rolling shafts, and the multiple rolling shafts and the horizontal bar are arranged side by side in the cleaning area for placing the screen to be cleaned; after the cleaning of the screen to be cleaned is completed, the controller controls the rolling shaft to rotate to send the cleaned screen out of the cleaning area.

[0022] In some embodiments, the box body also includes a fourth end face arranged relative to the third end face; the robot also includes: a hot air drying module, which is arranged on the fourth end face and connected to the cleaning area, and is used to dry the cleaned screen after cleaning the screen to be cleaned is completed.

[0023] In some embodiments, the controller obtains the screen length and screen thickness based on the size information; the controller obtains the acidity and alkalinity information of the cleaning liquid and the screen material information, and generates a preset cleaning intensity based on the acidity and alkalinity information and the screen material information; the controller calculates the standard deviation of the screen surface roughness and the average degree of contamination of the screen based on the screen image information; the controller determines the cleaning parameter information based on the preset cleaning intensity, the standard deviation of the screen surface roughness, the average degree of contamination of the screen, the screen length and the screen thickness.

[0024] Exemplarily, the cleaning parameter information includes water flow rate, and the expression corresponding to the water flow rate includes:

[0025] ;

[0026] in, is the water flow velocity, are the coordinates of the screen to be cleaned, For The water velocity corresponding to the coordinates, is the screen length, is the screen thickness, For The average degree of contamination of the screen corresponding to the coordinates, exist The standard deviation of the screen surface roughness corresponding to the coordinates, The preset cleaning intensity.

[0027] In a second aspect, the present application provides a method for cleaning a screen printing plate, which is applied to a controller of a robot for cleaning a screen printing plate as provided in any embodiment of the present application; the method comprises:

[0028] Controlling and acquiring the screen position and screen shape according to the screen image information;

[0029] Control the mechanical arm to clamp the screen to be cleaned and place it in the screen cleaning module according to the screen position and screen shape;

[0030] Controlling the screen control frame to fix the screen to be cleaned, and determining cleaning parameter information according to the size information and the screen image information;

[0031] The screen cleaning module is controlled to complete the cleaning of the screen to be cleaned according to the cleaning parameter information.

[0032] In some embodiments, the determining of the cleaning parameter information according to the size information and the screen image information includes: obtaining the screen length and screen thickness according to the size information; obtaining the acidity and alkalinity information of the cleaning liquid and the screen material information; generating a preset cleaning intensity according to the acidity and alkalinity information and the screen material information; calculating the standard deviation of the screen surface roughness and the average degree of contamination of the screen according to the screen image information; determining the cleaning parameter information according to the preset cleaning intensity, the standard deviation of the screen surface roughness, the average degree of contamination of the screen, the screen length and the screen thickness; wherein the cleaning parameter information includes a water flow velocity, and the expression corresponding to the water flow velocity includes:

[0033] ;

[0034] in, is the water flow velocity, are the coordinates of the screen to be cleaned, For The water velocity corresponding to the coordinates, is the screen length, is the screen thickness, For The average degree of contamination of the screen corresponding to the coordinates, exist The standard deviation of the screen surface roughness corresponding to the coordinates, The preset cleaning intensity.

[0035] In a third aspect, the present application provides a controller comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program and implement the steps of a cleaning method for a silk screen provided in any embodiment of the present application when executing the computer program.

[0036] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of a cleaning method for a silk screen provided in any embodiment of the present application.

[0037] The embodiment of the present application provides a robot, method and controller for cleaning a screen printing plate. The housing of the robot for cleaning a screen printing plate includes a first end face, a second end face and a third end face, wherein the first end face and the second end face are arranged opposite to each other, and the third end face is perpendicular to the first end face. A cleaning area is formed on the third end face, which is the main area for the robot to clean the screen. Two mechanical arms are arranged opposite to each other on the first end face and the second end face, and are responsible for clamping and placing the screen printing plate to be cleaned. An image acquisition module is arranged on the housing, and is used to collect image information of the screen to be cleaned. These image information will be used for subsequent screen position and shape recognition. A screen control frame is arranged in the cleaning area, and can move up and down in the cleaning area, and is used to fix the screen to be cleaned to ensure that it remains stable during the cleaning process. The screen cleaning module is arranged in the cleaning area, located below the screen control frame, and is responsible for the actual screen cleaning work. A laser scanning module is arranged in the cleaning area, and is used to measure the size information of the screen to be cleaned. These size information will be used together with the image information to determine the cleaning parameters. The controller is the central processing unit of the entire system. Based on the data obtained by the image acquisition module and the laser scanning module, it performs the following controls: Identify the position and shape of the screen, control the robot arm to clamp and place the screen. Fix the screen through the screen control frame. Determine the cleaning parameters (such as cleaning time, cleaning intensity, etc.) based on the size information and image information. Control the screen cleaning module to perform the cleaning task according to the determined cleaning parameters.

[0038] Furthermore, the provided robot has at least the following beneficial effects:

[0039] 1. Improve positioning accuracy: Through the combination of image acquisition module and laser scanning module, the robot can accurately identify the position and size of the screen, thereby improving the gripping and placement accuracy of the robot arm. This solves the problem of insufficient positioning accuracy of semi-automatic equipment and ensures that the screen is always in the correct position during the cleaning process.

[0040] 2. Various cleaning strategies: The controller can dynamically adjust the cleaning parameters according to the image and size information of the screen to achieve a variety of cleaning strategies. This is especially important for screens of different shapes and sizes, ensuring that each screen can get the most appropriate cleaning effect.

[0041] 3. Save water resources: Through precise size measurement and image analysis, the controller can optimize the cleaning process and reduce unnecessary water waste. For example, for smaller screens, the working range of the cleaning module can be adjusted to avoid wasting the overall cleaning area.

[0042] 4. High degree of automation: The robot realizes the automation of the entire process from screen identification, clamping, fixing to cleaning, which greatly reduces the need for manual operation and improves work efficiency and production safety.

[0043] 5. Improved cleaning quality: Due to the precise control of cleaning parameters and various cleaning strategies, the cleaning quality of the screen has been significantly improved. The screen is cleaner after cleaning, reducing the printing quality problems caused by incomplete cleaning.

[0044] 6. Easy operation: Through the integrated management of the central controller, the operator only needs to put the screen into the cleaning area, and the robot can automatically complete all subsequent work. It is easy to operate and reduces the difficulty of operation and training costs.

[0045] 7. Low maintenance cost: The highly automated design reduces equipment wear and failure rate, extends the service life of the equipment, and reduces maintenance costs.

[0046] 8. Strong adaptability: The robot can adapt to screen printing plates of different shapes and sizes, has high flexibility and adaptability, and is suitable for a variety of production environments and needs.

[0047] In summary, the robot used for screen printing screen cleaning effectively solves the shortcomings of existing semi-automatic equipment in positioning accuracy, cleaning strategy and water resource utilization by combining a variety of sensors and intelligent control technologies, and realizes an efficient, precise and automated screen cleaning process, which has significant technical advantages and practical application value.

[0048] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0050] Figure 1 It is a schematic structural diagram of a robot for cleaning a silk screen provided in an embodiment of the present application;

[0051] Figure 2 It is a schematic diagram of the internal cross-sectional structure of a robot provided in one embodiment of the present application.

[0052] Figure 3 It is a schematic cross-sectional diagram of a box of a robot provided in one embodiment of the present application.

[0053] Figure 4 This is a schematic diagram of a cleaning nozzle provided in one embodiment of the present application.

[0054] Figure 5 This is a schematic diagram of a rinsing nozzle provided in one embodiment of the present application.

[0055] Figure 6 It is a schematic diagram of a screen control frame provided in one embodiment of the present application.

[0056] Figure 7 This is a schematic flow chart of steps of a method for cleaning a screen printing plate provided in one embodiment of the present application;

[0057] Figure 8 It is a schematic block diagram of the structure of a controller provided in one embodiment of the present application.

[0058] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0060] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0061] It should be understood that, in order to facilitate the clear description of the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, the words "first", "second", etc. are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not necessarily limit the difference.

[0062] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0063] It should also be understood that the term “and / or” used in the specification and appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0064] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0065] Screen printing screens play a vital role in the printing industry, and their cleaning effect directly affects printing quality and production efficiency. However, the traditional screen printing screen cleaning method has many shortcomings. In order to solve the above problems, in recent years, with the development of automation technology, some semi-automatic screen printing screen cleaning equipment has appeared on the market, but these equipment still have the following shortcomings in practical applications:

[0066] 1. Insufficient positioning accuracy: Existing semi-automatic cleaning equipment often relies on preset mechanical positioning devices, which makes it difficult to accurately identify screen printing screens of different shapes and sizes. This results in a significant reduction in the cleaning effect when processing non-standard or special-shaped screens.

[0067] 2. Single cleaning strategy: Semi-automatic equipment usually adopts a fixed cleaning procedure and cannot flexibly adjust the cleaning strategy according to the actual contamination of the screen. This makes it difficult to guarantee the cleaning effect when facing different degrees and types of contamination, and may even damage the screen.

[0068] 3. Waste of water resources: Although some semi-automatic equipment attempts to adopt water recycling systems, the effect is usually not good. Disposable water is still the mainstream, resulting in a large amount of water waste, increasing operating costs and environmental burden.

[0069] Therefore, there is an urgent need for a robot for cleaning a silk screen printing screen to solve at least one of the above problems.

[0070] To solve the above problems, please refer to Figures 1 to 6 The present application provides a robot for cleaning a screen printing plate, comprising: a box body 3, comprising a first end face, a second end face and a third end face, the first end face and the second end face are arranged opposite to each other, the third end face is perpendicular to the first end face, and a cleaning area is formed on the third end face; two mechanical arms 1, the two mechanical arms 1 are arranged opposite to each other on the first end face and the second end face; an image acquisition module 2, arranged on the box body 3, and used to collect screen image information of the screen to be cleaned; a screen control frame 25, arranged in the cleaning area, and used to move up and down in the cleaning area; a screen cleaning module, the screen cleaning module is arranged in the cleaning area and Located below the screen control frame 25; a laser scanning module 32, which is arranged in the cleaning area and is used to measure the size information of the screen to be cleaned; a controller 11, which controls the acquisition of the screen position and the screen shape according to the screen image information, controls the robot arm 1 to clamp the screen to be cleaned and place it in the screen cleaning module according to the screen position and the screen shape, controls the screen control frame 25 to fix the screen to be cleaned, determines the cleaning parameter information according to the size information and the screen image information, and controls the screen cleaning module to complete the cleaning of the screen to be cleaned according to the cleaning parameter information.

[0071] Specifically, the box body 3 adopts a modular design and can be expanded according to actual needs. The box body 3 includes a first end face, a second end face and a third end face, wherein the first end face and the second end face are arranged opposite to each other, and the third end face is perpendicular to the first end face. A cleaning area is formed on the third end face to ensure that the silk screen will not be contaminated by the outside world during the cleaning process. The box body 3 is made of corrosion-resistant and easy-to-clean stainless steel material, and a waterproof sealing strip is provided inside to prevent water from splashing. The box body 3 can be equipped with an efficient ventilation system, which can timely discharge the steam and chemical gases generated during the cleaning process to prevent the internal humidity and temperature from being too high, affecting the cleaning effect and the life of the equipment. A corresponding water tank is provided at the bottom of the box body 3, which is connected to the water inlet and wastewater treatment system to ensure that the wastewater is discharged after filtering and purification to meet environmental protection standards.

[0072] Robot arm 1 is used for precise positioning and motion control. The end of robot arm 1 is equipped with an adaptive clamp, which can automatically adjust the clamping method according to the different shapes and thicknesses of the screen to ensure stable clamping without damaging the screen. The motion path of robot arm 1 is optimized in real time by controller 11 according to the position and shape of the screen to reduce unnecessary movement and improve efficiency. High-resolution, high-frame-rate industrial cameras are used to ensure the clarity and real-time nature of image information. Advanced image processing algorithms such as edge detection and feature recognition are integrated to quickly and accurately identify the position, shape and degree of contamination of the screen. Equipped with a variety of light sources (such as LED, UV light) and automatic light intensity adjustment function to ensure clear images under different backgrounds.

[0073] The screen control frame 25 is provided with a plurality of adjustable fixing points, which can automatically adjust the fixing mode according to the size and shape of the screen to ensure that the screen does not move or deform during the cleaning process. A pressure sensor can be installed on the fixing point to monitor the fixing pressure of the screen in real time, ensuring the fixing effect while avoiding damage to the screen due to excessive pressure. The control frame can be driven by a stepper motor to achieve precise up and down movement.

[0074] The cleaning module may include multiple cleaning heads and nozzles, which can perform multi-angle and multi-level cleaning at the same time to improve cleaning efficiency. The type and concentration of the cleaning liquid can be adjusted according to the type and degree of contamination of the screen to ensure the cleaning effect. The integrated ultrasonic cleaning function uses the cavitation effect of ultrasound to effectively remove dirt on the surface of the screen and in the micropores. After cleaning, an air knife is used for rapid drying to avoid residual water marks on the screen that affect the subsequent printing quality. A high-precision laser scanner is used to measure the size information of the screen with an accuracy of up to millimeter level. The laser scanning module 32 is connected to the controller 11 through a high-speed data transmission interface (such as USB 3.0, Ethernet) to ensure the real-time and accuracy of data transmission. The laser scanning module 32 can perform multi-point scanning to generate a three-dimensional model of the screen and more accurately analyze the shape and size of the screen.

[0075] The controller 11 is based on a high-performance embedded computing platform and integrates multiple sensor interfaces and control algorithms. A real-time operating system is used to ensure rapid response and execution of control instructions. The controller 11 uses a control algorithm based on deep learning, which can automatically identify the type and degree of contamination of the screen according to image information and size information, and generate optimal cleaning parameters. At the same time, a touch screen user interface can be equipped on the box 3, and the user can easily set the cleaning parameters, view the cleaning progress and history. It supports wired and wireless network connections, and can perform remote monitoring and maintenance.

[0076] Exemplarily, the user puts the screen printing screen to be cleaned into the box 3, the image acquisition module 2 is automatically started, the high-definition camera collects the image information of the screen, and transmits it to the controller 11. The laser scanning module 32 starts to scan the screen, generates a three-dimensional model of the screen, and measures its size information. After receiving the image information and size information, the controller 11 performs a comprehensive analysis. The deep learning algorithm is used to identify the position, shape and degree of contamination of the screen, and the cleaning parameters are generated. According to the cleaning parameters, the controller 11 controls the robot arm 1 to perform precise clamping actions and place the screen steadily on the screen control frame 25. The screen control frame 25 automatically adjusts the position and pressure of the fixed point according to the generated fixed parameters to ensure the stability of the screen. According to the cleaning parameters, the cleaning module automatically adjusts the moving path of the cleaning head, the type and concentration of the cleaning liquid, the frequency and power of the ultrasonic wave, and performs efficient cleaning. The air knife performs rapid drying after cleaning. After cleaning, the robot arm 1 takes out the screen, and the user can proceed to the next step. The controller 11 records the cleaning data for the user to view and analyze.

[0077] The combination of the image acquisition module 2 and the laser scanning module 32 ensures accurate recognition of the position, shape and size of the screen, especially when dealing with non-standard or special-shaped screens. The cleaning module can be adaptively adjusted according to the specific conditions of the screen, improving the cleaning accuracy and quality. The controller 11 can dynamically adjust the cleaning strategy according to the actual conditions of the screen, including the selection of cleaning liquid, cleaning intensity, time and method, to ensure the optimal cleaning effect. Through accurate identification of the degree of contamination, unnecessary over-cleaning is avoided and the service life of the screen is extended.

[0078] The entire cleaning process is highly automated, reducing manual intervention and improving production efficiency. The controller 11 uses a real-time operating system that can quickly respond to user operations and changes in the screen to ensure the continuity and efficiency of the cleaning process. The multi-head cleaning system can clean multiple screens at the same time, further improving the cleaning speed. The adaptive clamp at the end of the robot arm 1 is made of soft material to avoid damage to the screen during the clamping process. The pressure sensor on the screen control frame 25 can monitor the fixing pressure in real time to ensure the fixing effect while avoiding excessive compression and protecting the screen. By dynamically adjusting the cleaning parameters, excessive cleaning of the screen is avoided and the service life of the screen is extended.

[0079] At the same time, the box 3 and the cleaning module adopt explosion-proof design to ensure safety when handling flammable and explosive chemicals. Equipped with multiple emergency stop buttons to ensure that the operation can be stopped immediately in the event of an abnormal situation to protect the safety of equipment and personnel. The controller 11 integrates a safety monitoring function to monitor the internal temperature, humidity and gas concentration in real time to ensure the environmental safety of the cleaning process.

[0080] In summary, this robot for screen printing screen cleaning combines a variety of advanced technologies, not only solving many shortcomings of traditional cleaning methods, but also bringing higher cleaning quality, production efficiency and environmental benefits to the printing industry. Through intelligent and automated design, it significantly improves the cleaning effect of screen printing screens, reduces labor costs and maintenance costs, and provides strong support for the sustainable development of the printing industry.

[0081] In some embodiments, it also includes: a universal wheel module 5, which is arranged below the box 3; the controller 11 controls the universal wheel module 5 to move to the target position according to the screen position before controlling the robot arm 1 to clamp the screen to be cleaned according to the screen position and screen shape.

[0082] The universal wheel module 5 is arranged below the box body 3, and usually includes a plurality of universal wheels (such as 4), each of which can be turned and moved independently. The universal wheel module 5 is driven by a motor, and can achieve precise movement control. The motor is usually controlled by the controller 11 through a PWM (pulse width modulation) signal. The universal wheel module 5 can be equipped with a position sensor and an obstacle detection sensor to monitor the position and surrounding environment of the robot in real time to ensure the safety and accuracy of the movement process. The universal wheel module 5 is firmly mechanically connected to the bottom of the box body 3 to ensure the stability of the box body 3 during the movement.

[0083] Before the controller 11 controls the robot arm 1 to clamp the screen to be cleaned according to the screen position and shape, it first controls the universal wheel module 5 to move to the target position according to the screen position. The controller 11 can preset the moving path and make real-time adjustments according to the screen position and environmental information to ensure that the robot can avoid obstacles and reach the target position safely. The controller 11 works in conjunction with the sensor of the universal wheel module 5. When an obstacle or abnormal situation is detected, the movement is immediately stopped or the path is adjusted to ensure the safety of equipment and personnel.

[0084] Through the universal wheel module 5, the robot can move flexibly between different cleaning positions without the need for installation and use in a fixed position. This allows the robot to be applied to more different scenarios, improving the applicability and flexibility of the equipment. When multiple screens need to be cleaned, the robot can quickly move to the position of the next screen, reducing the time for manual handling and improving overall production efficiency. Traditional cleaning equipment usually requires manual handling of the screen to a fixed cleaning position, while the robot with the universal wheel module 5 can automatically move to the screen position, reducing the demand for human resources. During long and high-intensity production processes, manual handling of the screen may cause fatigue to the operator, affecting work efficiency and safety. Robot automated handling significantly reduces the labor intensity of the operator. The obstacle detection sensor on the universal wheel module 5 can monitor the surrounding environment in real time. When an obstacle is detected, the robot will automatically stop or adjust the path to avoid collision accidents. The controller 11 monitors the position of the robot in real time through the position sensor to ensure that it always moves in a safe area, enhancing the operating safety of the equipment. The robot can be flexibly moved to different positions without occupying a fixed cleaning position, optimizing the space utilization of the workshop. In a large printing plant, multiple cleaning areas can be set up, and the robot can move between different areas as needed to achieve multi-point operations and meet different production needs. Through the coordinated work of the universal wheel module 5 and the controller 11, the robot can accurately move to the screen position and accurately position it. This reduces the problem of poor cleaning effect caused by position deviation.

[0085] In summary, by adding the universal wheel module 5 to the robot, the flexibility, automation and safety of the screen printing screen cleaning robot are significantly improved. The robot can automatically move to the target position according to the position of the screen, reducing the need for manual handling, optimizing space utilization, and ensuring the accuracy and efficiency of the cleaning process. These improvements not only improve the cleaning effect, but also bring significant benefits to the production efficiency and environmental protection of the printing industry.

[0086] In some embodiments, the screen cleaning module includes: a mobile nozzle unit, which is movably arranged in the cleaning area; a screen moving unit, which is arranged below the screen control frame 25; a water tank unit, which is arranged below the screen moving unit, and a cleaning liquid and / or a rinsing liquid is placed in the water tank unit, and the water tank unit is connected to the mobile nozzle unit, and a water inlet and a water outlet connected to the water tank unit are formed on the first end face or the second end face of the box body 3; wherein, the controller 11 is used to control the robot arm 1 to place the screen to be cleaned on the screen moving unit, and control the mobile nozzle unit to complete the cleaning of the screen to be cleaned according to the cleaning parameter information.

[0087] The mobile nozzle unit is movably arranged in the cleaning area and can move in multiple dimensions along the X, Y, and Z axes as needed. The nozzle unit is provided with multiple nozzles, which can realize multi-angle and multi-level cleaning. The spray angle and strength of each nozzle can be adjusted independently. The mobile nozzle unit is driven by a high-precision stepper motor or servo motor to ensure the accuracy and reliability of movement. The mobile nozzle unit is connected to the water tank unit through a pipeline to ensure the smooth supply of cleaning liquid and rinsing liquid. The screen moving unit is arranged under the screen control frame 25, which is used to carry and horizontally move the screen to be cleaned. The screen moving unit is driven by a motor, usually including movement in two directions of the X-axis and the Y-axis, to ensure the precise movement of the screen in the cleaning area. The screen moving unit is provided with multiple adjustable fixing points, which can be adjusted according to the shape and size of the screen to ensure the stability and safety of the screen during movement.

[0088] The water tank unit is arranged below the screen moving unit and is used to store the cleaning liquid and / or the rinsing liquid. The water tank unit has sufficient capacity to ensure the supply of the cleaning liquid and the rinsing liquid during the continuous cleaning process. The water tank unit may be provided with an efficient filter and a circulation pump, which can filter and recycle the cleaning liquid in real time to reduce the waste of water resources. The water tank unit is connected to the mobile nozzle unit through a pipeline to ensure the smooth delivery of the cleaning liquid and the rinsing liquid. A water inlet and a water outlet connected to the water tank unit are formed on the first end face or the second end face of the box body 3, which is convenient for replenishing and discharging the cleaning liquid and the rinsing liquid.

[0089] The controller 11 controls the robot arm 1 to place the screen to be cleaned on the screen moving unit. The controller 11 controls the screen moving unit to move horizontally in the cleaning area according to the cleaning parameter information to ensure that every part of the screen can be effectively cleaned. The controller 11 controls the mobile nozzle unit to move in multiple dimensions in the cleaning area according to the cleaning parameter information to accurately spray the cleaning liquid and / or the rinsing liquid to achieve efficient and comprehensive cleaning. The controller 11 monitors the operating status of the mobile nozzle unit and the screen moving unit in real time to ensure the stability and safety of the cleaning process.

[0090] The mobile nozzle unit can move in multiple dimensions in the X, Y, and Z axis directions to ensure that every part of the screen can be cleaned evenly, avoiding the problem of incomplete cleaning caused by fixed nozzles. The horizontal movement of the screen moving unit allows the cleaning liquid to evenly cover the entire surface of the screen, further improving the uniformity and effect of cleaning. The coordinated work of the mobile nozzle unit and the screen moving unit can achieve multi-angle and multi-level parallel cleaning, significantly shortening the cleaning time. The controller 11 dynamically adjusts the moving path of the nozzle and the screen according to the shape and degree of contamination of the screen, thereby improving the cleaning efficiency. The filter and circulating pump in the water tank unit can filter and recycle the cleaning liquid in real time, reducing the waste of water resources. The precise spraying function of the mobile nozzle unit avoids unnecessary waste of cleaning liquid and further reduces the operating cost. The adjustable fixed point on the screen moving unit can be adjusted according to the size and shape of the screen to ensure that different screens can be firmly placed in the cleaning area. The controller 11 can dynamically adjust the moving path and cleaning parameters of the nozzle according to the shape and degree of contamination of different screens, thereby improving the adaptability and flexibility of the equipment.

[0091] By introducing the mobile nozzle unit and the screen moving unit, the cleaning uniformity and efficiency of the screen printing screen cleaning robot are significantly improved. The water circulation system of the water tank unit further saves water resources and reduces operating costs. These improvements not only improve the cleaning effect, but also enhance the adaptability and safety of the equipment, providing a more efficient and environmentally friendly solution for the production of the printing industry. Through the intelligent management and real-time monitoring of the controller 11, the stable operation of the equipment and the convenient operation of the user are ensured.

[0092] Exemplarily, the water tank unit includes: a cleaning tank 15 and a rinsing tank 16, wherein the cleaning tank 15 and the rinsing tank 16 are relatively arranged in the cleaning area, the cleaning tank 15 is filled with cleaning liquid, and the rinsing tank 16 is filled with rinsing liquid; the robot also includes: a control panel 14, wherein the control panel 14 is arranged on the cleaning tank 15 and the rinsing tank 16, and is located below the screen moving unit; the controller 11 is used to control the control panel 14 to control the screen moving unit to be connected with the cleaning tank 15 during the cleaning stage, and to be connected with the rinsing tank 16 during the rinsing stage.

[0093] The water tank unit includes a cleaning tank 15 and a rinsing tank 16, and the two tanks are arranged oppositely in the cleaning area. Cleaning liquid is placed in the cleaning tank 15 to remove dirt and contaminants on the surface of the screen; rinsing liquid is placed in the rinsing tank 16 to further clean and rinse the screen to ensure that there is no residual cleaning liquid on the surface of the screen. A control panel 14 is provided below the screen moving unit. The control panel 14 can control the screen moving unit to communicate with the cleaning tank 15 in the cleaning stage and communicate with the rinsing tank 16 in the rinsing stage according to the instructions of the controller 11. The control panel 14 is arranged on the cleaning tank 15 and the rinsing tank 16 and is located below the screen moving unit. The control panel 14 controls the connection between the screen moving unit and the cleaning tank 15 or the rinsing tank 16 by physical or mechanical means to ensure that the screen can accurately enter the corresponding tank in different cleaning stages. The control panel 14 can adopt pneumatic, electric or other driving methods to ensure that its action is fast and reliable. The controller 11 controls the screen moving unit to communicate with the corresponding tank in different cleaning stages according to the cleaning parameter information. Specifically, the controller 11 connects the screen moving unit to the cleaning tank 15 during the cleaning phase, and connects the screen moving unit to the rinsing tank 16 during the rinsing phase. The controller 11 monitors the liquid level and state of the cleaning tank 15 and the rinsing tank 16 in real time through sensors to ensure smooth cleaning and rinsing processes.

[0094] By dividing the cleaning process into a cleaning stage and a rinsing stage, it is ensured that the screen is thoroughly cleaned first and then rinsed, thereby avoiding the residue of the cleaning liquid and improving the cleaning effect. The horizontal movement of the screen moving unit ensures that the cleaning liquid and the rinsing liquid can evenly cover the entire surface of the screen, thereby enhancing the consistency and reliability of the cleaning. The coordinated work of the control panel 14 and the screen moving unit makes the cleaning process highly automated, reduces manual intervention, and improves production efficiency. The controller 11 automatically controls the cleaning and rinsing at different stages according to the cleaning parameters, thereby ensuring that each step can achieve the best effect. A filter and a circulating pump are provided in the cleaning tank 15 and the rinsing tank 16, and the cleaning liquid and the rinsing liquid can be recycled for many times, thereby reducing the waste of water resources. By cleaning in stages, the use efficiency of the cleaning liquid and the rinsing liquid is higher, the replacement frequency is reduced, and the cost is further saved. The controller 11 monitors the liquid level and state of the cleaning tank 15 and the rinsing tank 16 in real time, and can issue an alarm in time when the liquid level is too low or too high, thereby avoiding equipment damage. The controller 11 can automatically adjust the time and intensity of cleaning and rinsing according to the actual needs of the screen to ensure the safety and effectiveness of the process.

[0095] It should be noted that, in some embodiments, it also includes: a photosensitive resin concentration detector for detecting the photosensitive resin concentration of the cleaning liquid in the cleaning tank 15; the controller 11 is used to control the cleaning tank 15 to replace the cleaning liquid when the photosensitive resin concentration is greater than a preset concentration; and / or, a cleaning liquid concentration detector for detecting the rinsing liquid concentration in the rinsing tank 16; the controller 11 is used to control the rinsing tank 16 to replace the rinsing liquid when the rinsing liquid concentration is lower than a preset concentration.

[0096] Photosensitive adhesive concentration detector: The photosensitive adhesive concentration detector detects the concentration of the photosensitive adhesive in the cleaning solution by optical, electrochemical or other means, and transmits the data to the controller 11. The photosensitive adhesive concentration detector is installed in the cleaning tank 15 and can detect the state of the cleaning solution in real time.

[0097] The cleaning liquid concentration detector detects the concentration of the rinsing liquid by optical, electrochemical or other means, and transmits the data to the controller 11. The cleaning liquid concentration detector is installed in the rinsing tank 16, and can monitor the state of the rinsing liquid in real time.

[0098] After receiving the signal from the photosensitive resin concentration detector, the controller 11 controls the cleaning tank 15 to replace the cleaning liquid when the photosensitive resin concentration in the cleaning liquid is greater than the preset concentration. After receiving the signal from the cleaning liquid concentration detector, the controller 11 controls the rinsing tank 16 to replace the rinsing liquid when the concentration of the rinsing liquid is lower than the preset concentration. When the concentration of the cleaning liquid or the rinsing liquid exceeds the set range, the controller 11 will sound an alarm to remind the user to replace the liquid in time.

[0099] The concentration of the cleaning liquid and the rinsing liquid is monitored in real time by the photosensitive resin concentration detector and the cleaning liquid concentration detector to ensure that cleaning and rinsing are performed within the appropriate concentration range. The controller 11 automatically replaces the liquid when the concentration exceeds the preset range, avoiding the problem of poor cleaning effect caused by improper liquid concentration and ensuring the cleaning quality of the screen. The concentration monitoring of the cleaning liquid and the rinsing liquid can avoid unnecessary replacement, reduce liquid waste, and reduce operating costs. By replacing the liquid in time, the optimal state of the cleaning liquid and the rinsing liquid is maintained, and the service life of the equipment is extended. The automatic control function of the controller 11 makes the entire cleaning process more intelligent, reduces manual intervention, and improves production efficiency. The controller 11 dynamically adjusts the cleaning and rinsing parameters according to the real-time data of the detector to ensure the continuity and efficiency of the cleaning process.

[0100] When the concentration of the cleaning liquid or the rinsing liquid exceeds the set range, the controller 11 will sound an alarm to remind the user to deal with it in time, thereby avoiding safety accidents caused by poor liquid conditions. The controller 11 has a fault diagnosis function and can monitor the status of the detector and the control board 14 in real time to ensure that the equipment operates in the best condition.

[0101] It should be noted that, in some embodiments, the water inlet includes the clean water tank inlet 7 and the rinse tank inlet 10, and the water outlet includes the clean water tank outlet 8 and the cleaning tank outlet 9, and the embodiments of the present application do not limit their positions.

[0102] Exemplarily, it also includes: a guide rail 12, which is arranged in the cleaning area, and the screen control frame 25 is movably connected to the guide rail 12 so that the screen control frame 25 can move up and down along the guide rail 12; a vertical rod, which is movably connected to the guide rail 12 in the cleaning area, and the vertical rod can move up and down along the guide rail 12; wherein, the mobile nozzle unit is movably connected to the vertical rod, and the mobile spray can move left and right along the vertical rod in the cleaning area according to the cleaning parameter information to complete the cleaning of the screen to be cleaned.

[0103] The guide rail 12 is arranged in the cleaning area to support and guide the up and down movement of the screen control frame 25 and the vertical rod. The guide rail 12 is usually made of high-precision, high-strength materials (such as stainless steel or aluminum alloy) to ensure its stability and durability after long-term use. The screen control frame 25 and the vertical rod are connected to the guide rail 12 through a slider or other movable connecting parts, so that they can move up and down along the guide rail 12. The vertical rod is movably connected to the guide rail 12 and can move up and down in the cleaning area. The vertical rod serves as a supporting structure for the mobile nozzle unit, so that the mobile nozzle unit can move up and down along the vertical rod to achieve multi-dimensional cleaning. The up and down movement of the vertical rod can be driven by a motor, usually by a screw rod or a linear drive. The mobile nozzle unit is movably connected to the vertical rod and can move left and right on the vertical rod. The mobile nozzle unit moves left and right along the vertical rod in the cleaning area according to the cleaning parameter information to achieve comprehensive cleaning of the screen. The left and right movement of the mobile nozzle unit can be driven by a stepper motor or a servo motor to ensure the accuracy and reliability of the movement.

[0104] The controller 11 controls the screen control frame 25 to move up and down along the guide rail 12 according to the cleaning parameter information to ensure that the screen is cleaned in the appropriate position. The controller 11 controls the mobile nozzle unit to move up and down along the vertical rod and move left and right on the vertical rod to achieve multi-dimensional and multi-level cleaning. The controller 11 monitors the operating status of the screen control frame 25 and the mobile nozzle unit in real time through sensors to ensure the stability and safety of the cleaning process.

[0105] Through the design of the guide rail 12 and the vertical rod, the multi-dimensional movement of the screen control frame 25 and the mobile nozzle unit is realized, so that the nozzle can clean the screen from different angles and heights, improving the accuracy of cleaning. The high-precision design of the guide rail 12 and the vertical rod ensures the stability of the screen and the nozzle during movement, avoiding cleaning quality problems caused by inaccurate movement. The left and right movement and up and down movement of the mobile nozzle unit allow the cleaning liquid to cover every corner of the screen, improving the thoroughness and effect of cleaning. The moving path of the screen control frame 25 and the mobile nozzle unit can be dynamically adjusted according to the size and shape of different screens, enhancing the adaptability and flexibility of the equipment.

[0106] The controller 11 can automatically control the multi-dimensional movement of the screen control frame 25 and the mobile nozzle unit, reducing manual intervention and improving production efficiency. The controller 11 adjusts the moving path and cleaning parameters in real time according to the cleaning parameters and the actual state of the screen to ensure that each cleaning can achieve the best effect.

[0107] The user puts the screen printing screen to be cleaned into the box 3, the image acquisition module 2 starts automatically, and the high-definition camera collects the image information of the screen. The laser scanning module 32 starts to scan the screen, generates a three-dimensional model of the screen, and measures its size information. After receiving the image information and size information, the controller 11 performs a comprehensive analysis to generate cleaning parameters and moving paths. The controller 11 controls the robot arm 1 to accurately clamp the screen and place it on the screen control frame 25. The controller 11 controls the screen control frame 25 to move up and down along the guide rail 12 to adjust the screen to a suitable cleaning position. According to the generated cleaning parameters, the controller 11 controls the mobile nozzle unit to move up and down along the vertical rod, and move left and right on the vertical rod to accurately spray the cleaning liquid. Under the command of the controller 11, the mobile nozzle unit cleans the screen from different angles and heights to ensure that every part can be thoroughly cleaned. After the cleaning is completed, the controller 11 records the cleaning data for the user to view and analyze. The robot arm 1 takes out the screen, and the user can proceed to the next step.

[0108] It should be noted that, in some embodiments, Figure 4 and Figure 5 As shown, the vertical rods include a cleaning vertical rod 17 and a rinsing vertical rod 21. The cleaning vertical rod 17 is connected with a high-pressure cleaning nozzle 18, a cleaning hose 19, and a cleaning rod pulley 20, and the rinsing vertical rod 21 is connected with a high-pressure rinsing nozzle 55, a rinsing hose 23, and a rinsing rod pulley 24. The guide rail 12 includes a cleaning guide rail 33 and a rinsing guide rail 34, and the cleaning guide rail 33 and the rinsing guide rail 34 are respectively connected to the cleaning vertical rod 17 and the rinsing vertical rod 21.

[0109] Exemplarily, the screen moving unit includes: a horizontal bar 13 and multiple rolling shafts 31, and the multiple rolling shafts 31 and the horizontal bar 13 are arranged side by side in the cleaning area for placing the screen to be cleaned; after the cleaning of the screen to be cleaned is completed, the controller 11 controls the rolling shaft 31 to rotate to send the cleaned screen out of the cleaning area.

[0110] The horizontal bar 13 is arranged in the cleaning area as a part of the screen moving unit, and is used to support and guide the horizontal movement of the rolling shaft 31. The horizontal bar 13 is usually made of high-strength materials (such as stainless steel or aluminum alloy) to ensure its stability and durability after long-term use. The horizontal bar 13 is connected to the inner wall of the box 3 or other fixed structures to ensure its fixed position. Multiple rolling shafts 31 are arranged side by side with the horizontal bar 13 to place the screen to be cleaned. The rolling shaft 31 can move horizontally to ensure uniform coverage of the screen in the cleaning area. The horizontal movement of the rolling shaft 31 can be driven by a motor, usually achieved by belt or gear transmission.

[0111] After the screen is cleaned, the controller 11 controls the rolling shaft 31 to rotate and send the cleaned screen out of the cleaning area for easy access by users. The controller 11 monitors the running status of the rolling shaft 31 in real time through sensors to ensure smooth movement and safe delivery of the screen. The controller 11 can dynamically adjust the moving speed and path of the rolling shaft 31 according to the size and shape of the screen to ensure that each screen can be effectively cleaned and delivered.

[0112] The horizontal movement of the rolling shaft 31 ensures that the cleaning liquid can evenly cover the entire surface of the screen, avoiding the problem of incomplete cleaning. The design of multiple rolling shafts 31 enables the screen to interact with multiple contact points during movement, thereby improving the uniformity and effect of cleaning.

[0113] After cleaning is completed, the controller 11 automatically controls the rolling shaft 31 to send the screen out of the cleaning area, reducing the time for the user to manually take out the screen and improving production efficiency. Through automatic delivery and subsequent automatic placement of the screen, continuous operation can be achieved, which is very suitable for large-scale production scenarios.

[0114] Automatic screen feeding reduces the user's manual operation, reduces labor intensity and operating fatigue. Automatic operation avoids the risk of manual operation by the user in high temperature or harmful environment, and improves overall safety.

[0115] Exemplarily, the user puts the screen printing screen to be cleaned into the box 3, the image acquisition module 2 is automatically started, and the high-definition camera collects the image information of the screen. The laser scanning module 32 starts to scan the screen, generates a three-dimensional model of the screen, and measures its size information. After receiving the image information and size information, the controller 11 performs a comprehensive analysis to generate cleaning parameters and moving paths. The controller 11 controls the mechanical arm 1 to accurately clamp the screen and place it on the rolling shaft 31 of the screen moving unit. The rolling shaft 31 on the screen moving unit automatically adjusts the position and pressure to ensure the stability of the screen. The controller 11 controls the rolling shaft 31 of the screen moving unit to move horizontally according to the cleaning parameter information to ensure that the screen is evenly covered in the cleaning area. Under the command of the controller 11, the mobile nozzle unit cleans the screen from different angles and heights to ensure that every part can be thoroughly cleaned. After the cleaning is completed, the controller 11 controls the rolling shaft 31 to rotate and send the cleaned screen out of the cleaning area, so that the user can easily take it. The controller 11 records the cleaning data for the user to view and analyze.

[0116] In some embodiments, the box body 3 also includes a fourth end face arranged relative to the third end face; the robot also includes: a hot air drying module 6, which is arranged on the fourth end face and is connected to the cleaning area, and is used to dry the cleaned screen after cleaning the screen to be cleaned is completed.

[0117] In addition to the first end face, the second end face and the third end face, the housing 3 also includes a fourth end face arranged opposite to the third end face. The fourth end face is used to install the hot air drying module 6 to ensure that the drying process is carried out in the cleaning area to form a complete cleaning and drying system.

[0118] The hot air drying module 6 is arranged on the fourth end face of the housing 3 and is connected to the cleaning area. After the screen is cleaned, the hot air drying module 6 dries the cleaned screen to ensure that there is no residual moisture on the screen surface. Provide a hot air flow. Heat the air flow to ensure that the temperature of the hot air meets the drying requirements. Guide the hot air to be evenly distributed, cover the screen surface, and improve the drying efficiency. Monitor the temperature and humidity during the drying process in real time to ensure that the drying conditions meet the requirements. After the screen is cleaned, the controller 11 automatically controls the hot air drying module 6 to start and dry the screen according to the preset drying parameters (such as temperature, time and wind speed). The controller 11 monitors the drying process in real time through the temperature sensor and the humidity sensor to ensure that the screen is dried under suitable temperature and humidity conditions. The controller 11 can detect the operating status of the hot air drying module 6, and issue an alarm in time when a fault occurs (such as abnormal temperature, airflow interruption, etc.) to remind the user to perform maintenance.

[0119] By introducing the hot air drying module 6, the screen is thoroughly cleaned and quickly dried, ensuring that there is no residual moisture on the screen surface after cleaning, thereby improving the overall cleaning effect. The drying process is carried out in the box 3, which prevents the screen from being contaminated by the outside world during the removal process, thereby ensuring the cleanliness of the screen.

[0120] The integrated operation of cleaning and drying reduces the user's operation steps and time, and improves production efficiency. The automatic control function of the drying module makes the entire cleaning process smoother, which is suitable for the needs of large-scale continuous production.

[0121] The hot air drying module 6 ensures that the hot air can efficiently cover the screen surface through the evenly distributed air duct design, shortens the drying time, and reduces energy consumption. Through real-time monitoring by the temperature sensor and controller 11, the hot air drying module 6 is ensured to operate at the most suitable temperature, avoiding increased energy consumption and screen damage caused by overheating.

[0122] The controller 11 can detect the operating status of the hot air drying module 6 in real time, and issue an alarm in time when a fault occurs (such as abnormal temperature, air flow interruption, etc.), thereby avoiding equipment damage and safety accidents. The hot air drying module 6 can dynamically adjust the drying parameters according to the size and material of the screen, ensuring that each screen can be dried under safe conditions.

[0123] Exemplarily, the user puts the screen to be cleaned into the box 3, the image acquisition module 2 is automatically started, and the high-definition camera collects the image information of the screen. The laser scanning module 32 starts to scan the screen, generates a three-dimensional model of the screen, and measures its size information. After receiving the image information and size information, the controller 11 performs a comprehensive analysis to generate cleaning parameters and moving paths. The controller 11 controls the mechanical arm 1 to accurately clamp the screen and place it on the screen moving unit. The adjustable fixed point on the screen moving unit automatically adjusts the position and pressure to ensure the stability of the screen. According to the generated cleaning parameters, the controller 11 controls the mobile nozzle unit to move in multiple dimensions in the cleaning area, accurately sprays the cleaning liquid and / or the rinsing liquid, and realizes comprehensive cleaning of the screen. After cleaning is completed, the controller 11 controls the screen moving unit to move the screen to the bottom of the hot air drying module 6. The controller 11 automatically starts the hot air drying module 6 to dry the screen according to the preset drying parameters. The hot air evenly covers the surface of the screen through the air duct to ensure fast and thorough drying. During the drying process, the controller 11 monitors the drying state in real time through the temperature sensor and the humidity sensor. When the temperature or humidity exceeds the set range, an alarm is issued and corresponding adjustments are made. After the drying is completed, the controller 11 controls the rolling shaft 31 of the screen moving unit to rotate and send the dried screen out of the cleaning area so that the user can easily take it. The controller 11 records the cleaning and drying data for the user to view and analyze.

[0124] After receiving the signal that the screen cleaning is completed, the controller 11 automatically starts the hot air drying module 6. The user can preset the drying temperature range through the controller 11 to ensure that the hot air runs at a suitable temperature. The user can preset the drying time through the controller 11 to ensure that the screen is dried in a sufficient time. The controller 11 can dynamically adjust the wind speed of the hot air according to the shape and size of the screen to ensure the uniformity and effect of drying.

[0125] By introducing the hot air drying module 6, the screen can be quickly dried after cleaning, which significantly improves the comprehensive cleaning effect and production efficiency. The efficient design of the drying module and the intelligent management of the controller 11 not only ensure the thorough drying of the screen, but also reduce energy consumption and the risk of failure. These improvements make the screen cleaning robot more intelligent, reliable and safe, providing users with a more convenient and efficient cleaning solution.

[0126] In some embodiments, the controller 11 obtains the screen length and screen thickness according to the size information; the controller 11 obtains the acidity and alkalinity information of the cleaning liquid and the screen material information, and generates a preset cleaning intensity according to the acidity and alkalinity information and the screen material information; the controller 11 calculates the standard deviation of the screen surface roughness and the average degree of contamination of the screen according to the screen image information; the controller 11 determines the cleaning parameter information according to the preset cleaning intensity, the standard deviation of the screen surface roughness, the average degree of contamination of the screen, the screen length and the screen thickness.

[0127] By comprehensively considering the size, material, surface roughness and degree of contamination of the screen, the most suitable cleaning parameters are generated, thereby improving the accuracy and effect of cleaning. The cleaning intensity and water flow rate can be dynamically adjusted according to the characteristics of different screens to ensure that each screen can be effectively cleaned. According to the standard deviation of the screen surface roughness and the average degree of contamination, the water flow rate is finely adjusted to ensure that every part of the screen surface can be thoroughly cleaned. By considering the acidity and alkalinity of the screen material and the cleaning solution, screen damage caused by improper cleaning intensity is avoided, and the service life of the screen is extended. The controller 11 can automatically adjust the cleaning parameters, reduce manual intervention and adjustment time, and improve production efficiency. The multi-parameter comprehensive strategy makes the cleaning process more stable and reliable, suitable for continuous production and large-scale applications.

[0128] Exemplarily, the cleaning parameter information includes water flow rate, and the expression corresponding to the water flow rate includes:

[0129] ;

[0130] in, is the water flow velocity, are the coordinates of the screen to be cleaned, For The water velocity corresponding to the coordinates, is the screen length, is the screen thickness, For The average degree of contamination of the screen corresponding to the coordinates, exist The standard deviation of the screen surface roughness corresponding to the coordinates, The preset cleaning intensity.

[0131] The controller 11 can obtain the length and thickness of the screen according to the laser scanning module 32 or image processing technology. Obtain material and acid-base information: obtain the screen material information and the acid-base information of the cleaning solution through input or system query. The controller 11 generates a preset cleaning intensity according to the acid-base of the screen material and the cleaning solution. The controller 11 calculates the standard deviation of the screen surface roughness corresponding to each coordinate point (x, y) according to the screen image information. The controller 11 calculates the average contamination degree of the screen corresponding to each coordinate point (x, y) according to the screen image information. The controller 11 calculates the water flow velocity D(x, y) corresponding to each coordinate point (x, y).

[0132] Through this formula, the screen length L is integrated, and considering the length of the entire screen, the controller 11 can comprehensively consider the thickness, surface roughness, degree of contamination and preset cleaning intensity of the screen, and dynamically generate the most suitable water flow rate to ensure that each cleaning can achieve the best effect. Through the formula calculation, the controller 11 can accurately adjust the water flow rate of each coordinate point (x, y) to ensure that the cleaning liquid can be sprayed at the most suitable speed and pressure at different positions to improve the cleaning effect. Avoid the waste of cleaning liquid caused by too fast or too slow water flow rate, and reduce costs. Considering the standard deviation of the surface roughness and the average degree of contamination of the screen, the water flow rate is adjusted in a targeted manner to ensure that every part of the screen surface can be thoroughly cleaned. By adjusting the water flow rate, the cleaning liquid can evenly cover the screen surface, avoiding the problem of uneven cleaning. By presetting the cleaning intensity and appropriately adjusting the water flow rate, screen damage caused by excessive cleaning intensity is avoided, and the service life of the screen is extended. Considering the acidity and alkalinity of the cleaning liquid, it is ensured that the screen will not be corroded during the cleaning process, and the quality of the screen is further protected.

[0133] like Figure 1 As shown, it also includes a cleaning area door 4, and the controller 11 is used to open the door when taking out or taking in the screen, and close the cleaning area door 4 during cleaning to improve the sealing performance of cleaning.

[0134] like Figure 6 As shown, the screen control frame 25 also includes a movable end 26, such as a pulley, so that the screen control frame 25 can extend out of the cleaning area to achieve a more complex control effect. Figure 3 The screen control frame 25 moves up and down in the cleaning area through the control frame guide rail 12.

[0135] See also Figure 7 , Figure 7 is a schematic flow chart of a method for cleaning a screen printing plate provided in an embodiment of the present application. The method for cleaning a screen printing plate can be implemented by a controller of a robot for cleaning a screen printing plate provided in any embodiment of the present application, and the controller can be a microcontroller unit (MCU). Specifically, Figure 7 As shown, the provided method for cleaning a screen printing plate includes steps S101 to S104. The details are as follows:

[0136] Step S101. Controlling and acquiring the screen position and screen shape according to the screen image information;

[0137] Step S102. Control the robot arm to clamp the screen to be cleaned and place it in the screen cleaning module according to the screen position and screen shape;

[0138] Step S103. Control the screen control frame to fix the screen to be cleaned, and determine the cleaning parameter information according to the size information and the screen image information;

[0139] Step S104: Control the screen cleaning module to complete cleaning of the screen to be cleaned according to the cleaning parameter information.

[0140] In some embodiments, the determining of the cleaning parameter information according to the size information and the screen image information includes: obtaining the screen length and screen thickness according to the size information; obtaining the acidity and alkalinity information of the cleaning liquid and the screen material information; generating a preset cleaning intensity according to the acidity and alkalinity information and the screen material information; calculating the standard deviation of the screen surface roughness and the average degree of contamination of the screen according to the screen image information; determining the cleaning parameter information according to the preset cleaning intensity, the standard deviation of the screen surface roughness, the average degree of contamination of the screen, the screen length and the screen thickness; wherein the cleaning parameter information includes a water flow velocity, and the expression corresponding to the water flow velocity includes:

[0141] ;

[0142] in, is the water flow velocity, are the coordinates of the screen to be cleaned, For The water velocity corresponding to the coordinates, is the screen length, is the screen thickness, For The average degree of contamination of the screen corresponding to the coordinates, exist The standard deviation of the screen surface roughness corresponding to the coordinates, The preset cleaning intensity.

[0143] It should be noted that technical personnel in the relevant field can clearly understand that, for the convenience and conciseness of description, the above-described method for cleaning the silk screen and the specific working process of each step can refer to the corresponding process in the robot embodiment for cleaning the silk screen described in the above-mentioned embodiments, and will not be repeated here.

[0144] See also Figure 8 , Figure 8 : is a schematic block diagram of the structure of a controller provided in an embodiment of the present application. The controller includes a processor, a memory and a network interface connected via a device bus, wherein the memory may include a storage medium and an internal memory.

[0145] The storage medium can store an operating device and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any one of the cleaning methods for the silk screen printing screen.

[0146] The processor is used to provide computing and control capabilities and support the operation of the entire controller.

[0147] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any one of the cleaning methods for the silk screen printing screen.

[0148] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the terminal to which the scheme of the present application is applied. The specific controller may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0149] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0150] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps:

[0151] Controlling and acquiring the screen position and screen shape according to the screen image information;

[0152] Control the mechanical arm to clamp the screen to be cleaned and place it in the screen cleaning module according to the screen position and screen shape;

[0153] Controlling the screen control frame to fix the screen to be cleaned, and determining cleaning parameter information according to the size information and the screen image information;

[0154] The screen cleaning module is controlled to complete the cleaning of the screen to be cleaned according to the cleaning parameter information.

[0155] In some embodiments, the determining of the cleaning parameter information according to the size information and the screen image information includes: obtaining the screen length and screen thickness according to the size information; obtaining the acidity and alkalinity information of the cleaning liquid and the screen material information; generating a preset cleaning intensity according to the acidity and alkalinity information and the screen material information; calculating the standard deviation of the screen surface roughness and the average degree of contamination of the screen according to the screen image information; determining the cleaning parameter information according to the preset cleaning intensity, the standard deviation of the screen surface roughness, the average degree of contamination of the screen, the screen length and the screen thickness; wherein the cleaning parameter information includes a water flow velocity, and the expression corresponding to the water flow velocity includes:

[0156] ;

[0157] in, is the water flow velocity, are the coordinates of the screen to be cleaned, For The water velocity corresponding to the coordinates, is the screen length, is the screen thickness, For The average degree of contamination of the screen corresponding to the coordinates, exist The standard deviation of the screen surface roughness corresponding to the coordinates, The preset cleaning intensity.

[0158] The present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the cleaning method for a silk screen printing screen as described in any embodiment of the present application.

[0159] The computer-readable storage medium may be an internal storage unit of the controller described in the foregoing embodiment, such as a hard disk or memory of the controller. The computer-readable storage medium may also be an external storage device of the controller, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the controller.

[0160] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A robot for cleaning a screen printing plate, characterized in that: include: The box body comprises a first end face, a second end face and a third end face, wherein the first end face and the second end face are arranged opposite to each other, the third end face is perpendicular to the first end face, and a cleaning area is formed on the third end face; Two mechanical arms, the two mechanical arms are arranged opposite to each other on the first end surface and the second end surface; An image acquisition module, arranged on the box body, for acquiring screen image information of the screen to be cleaned; A screen control frame is arranged in the cleaning area and is used for moving up and down in the cleaning area; A screen cleaning module, the screen cleaning module is arranged in the cleaning area and below the screen control frame; A laser scanning module, which is arranged in the cleaning area and is used to measure the size information of the screen to be cleaned; A controller, wherein the controller controls to obtain a screen position and a screen shape according to the screen image information, controls the mechanical arm to clamp the screen to be cleaned and place it in the screen cleaning module according to the screen position and the screen shape, controls the screen control frame to fix the screen to be cleaned, and determines cleaning parameter information according to the size information and the screen image information, including obtaining a screen length and a screen thickness according to the size information; obtaining acidity and alkalinity information of a cleaning liquid and screen material information; generating a preset cleaning intensity according to the acidity and alkalinity information and screen material information; calculating a standard deviation of the screen surface roughness and an average degree of contamination of the screen according to the screen image information; determining the cleaning parameter information according to the preset cleaning intensity, the standard deviation of the screen surface roughness, the average degree of contamination of the screen, the screen length and the screen thickness; the cleaning parameter information includes a water flow rate; controlling the screen cleaning module to complete the cleaning of the screen to be cleaned according to the cleaning parameter information; the expression corresponding to the water flow rate includes: ； in, is the water flow velocity, are the coordinates of the screen to be cleaned, For The water velocity corresponding to the coordinates, is the screen length, is the screen thickness, For The average degree of contamination of the screen corresponding to the coordinates, exist The standard deviation of the screen surface roughness corresponding to the coordinates, The preset cleaning intensity.

2. The robot according to claim 1, characterized in that: Also includes: A universal wheel module, the universal wheel module is arranged below the box; Before the controller controls the mechanical arm to clamp the screen to be cleaned according to the screen position and the screen shape, the controller first controls the universal wheel module to move to a target position according to the screen position.

3. The robot according to claim 1, characterized in that: The screen cleaning module comprises: A mobile nozzle unit, wherein the mobile nozzle unit is movably disposed in the cleaning area; A screen moving unit, wherein the screen moving unit is arranged below the screen control frame; A water tank unit, the water tank unit is arranged below the screen moving unit, a cleaning liquid and / or a rinsing liquid is placed in the water tank unit, the water tank unit is connected with the moving nozzle unit, and a water inlet and a water outlet connected with the water tank unit are formed on the first end surface or the second end surface of the box body; The controller is used to control the robot arm to place the screen to be cleaned on the screen moving unit, and control the moving nozzle unit to complete the cleaning of the screen to be cleaned according to the cleaning parameter information.

4. The robot according to claim 3, characterized in that: The water tank unit comprises: A cleaning tank and a rinsing tank, wherein the cleaning tank and the rinsing tank are arranged opposite to each other in the cleaning area, a cleaning liquid is placed in the cleaning tank, and a rinsing liquid is placed in the rinsing tank; The robot also includes: A control panel, the control panel is arranged on the cleaning tank and the rinsing tank and is located below the screen moving unit; The controller is used to control the control panel to control the screen moving unit so that the screen to be cleaned is connected to the cleaning tank during the cleaning stage, and is connected to the rinsing tank during the rinsing stage.

5. The robot according to claim 4, characterized in that: Also includes: A photosensitive resin concentration detector, used to detect the photosensitive resin concentration of the cleaning solution in the cleaning tank; The controller is used to control the cleaning tank to replace the cleaning liquid when the concentration of the photosensitive adhesive is greater than a preset concentration; and / or, The cleaning liquid concentration detector is used to detect the concentration of the rinsing liquid in the rinsing tank; the controller is used to control the rinsing tank to replace the rinsing liquid when the concentration of the rinsing liquid is lower than a preset concentration.

6. The robot according to claim 3, characterized in that: Also includes: A guide rail, wherein the guide rail is arranged in the cleaning area, and the screen control frame is movably connected to the guide rail so that the screen control frame can move up and down along the guide rail; A vertical rod, wherein the vertical rod is movably connected to the guide rail in the cleaning area, and the vertical rod can move up and down along the guide rail; The movable nozzle unit is movably connected to the vertical rod, and the movable spray can move left and right along the vertical rod in the cleaning area according to the cleaning parameter information to complete the cleaning of the screen to be cleaned.

7. The robot according to claim 3, characterized in that: The screen moving unit comprises: A horizontal bar and a plurality of rolling shafts, wherein the plurality of rolling shafts and the horizontal bar are arranged side by side in the cleaning area, and are used to place the screen to be cleaned; after the cleaning of the screen to be cleaned is completed, the controller controls the rolling shafts to rotate to send the cleaned screen out of the cleaning area.

8. The robot according to claim 1, characterized in that: The box body further includes a fourth end surface arranged opposite to the third end surface; the robot further includes: A hot air drying module is arranged on the fourth end surface and is connected to the cleaning area, and is used for drying the cleaned screen after the screen to be cleaned is cleaned.

9. A method for cleaning a screen printing plate, characterized in that: A controller for a robot as claimed in any one of claims 1 to 8, wherein the method comprises: Controlling and acquiring the screen position and screen shape according to the screen image information; Control the mechanical arm to clamp the screen to be cleaned and place it in the screen cleaning module according to the screen position and screen shape; Controlling the screen control frame to fix the screen to be cleaned, and determining cleaning parameter information according to the size information and the screen image information; Controlling the screen cleaning module to complete the cleaning of the screen to be cleaned according to the cleaning parameter information, including: obtaining the screen length and screen thickness according to the size information; obtaining the acidity and alkalinity information of the cleaning liquid and the screen material information; generating a preset cleaning intensity according to the acidity and alkalinity information and the screen material information; calculating the standard deviation of the screen surface roughness and the average degree of contamination of the screen according to the screen image information; determining the cleaning parameter information according to the preset cleaning intensity, the standard deviation of the screen surface roughness, the average degree of contamination of the screen, the screen length and the screen thickness; the cleaning parameter information includes a water flow velocity; the expression corresponding to the water flow velocity includes: ； in, is the water flow velocity, are the coordinates of the screen to be cleaned, For The water velocity corresponding to the coordinates, is the screen length, is the screen thickness, For The average degree of contamination of the screen corresponding to the coordinates, exist The standard deviation of the screen surface roughness corresponding to the coordinates, The preset cleaning intensity.

10. A controller, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is configured to execute the computer program and implement the method according to claim 9 when executing the computer program.

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