Integrated device for detecting calibration precision and gas pipe joint state and purging robot

Abstract

The invention discloses an integrated device for detecting calibration precision and an air pipe joint state and a purging robot. The integrated device comprises a mounting frame, a first connecting piece, a second connecting piece, a detection column and a microswitch, the first connecting piece and the second connecting piece are connected to the top of the mounting frame; the microswitch is fixedly connected to the first connecting piece. The detection column is vertically arranged, the top end of the detection column is conical, and the bottom end of the detection column is fixedly connected with the second connecting piece. And when the purging robot needs to detect the zero point calibration precision or the state of the air pipe joint, the end head of the mechanical main body of the robot is controlled to move to the top end of the detection column or the microswitch to blow air according to a preset profiling track, and when the end head is in butt joint with the top end of the detection column or the microswitch detects a signal, the zero point precision is high or the air pipe joint is well connected. The device is simple in structure, small in occupied space and good in detection effect.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an integrated device for detecting calibration accuracy and the state of a trachea joint and a purge robot. Background Art

[0002] In the production process of automobiles, a purge robot is required to use compressed air to purge the electrophoretic paint flakes and surface polishing ash on the car body to improve the cleanliness of the car body spraying. The purge robot may lose its zero point due to reasons such as motor replacement, SMB measurement board failure, and battery failure. Therefore, the purge robot needs to be recalibrated at the zero point, that is, the zero point of the purge robot needs to be calibrated. The zero point calibration of the purge robot is to find the origin on its servo motor so that the axis angle of each axis of the purge robot corresponds to the pulse count value of the incremental pulse encoder connected to each axis motor, where the current position and motion trajectory of the robot are determined by the pulse count value of the incremental pulse encoder of each axis. At present, the zero point of the purge robot has the following problems: First, after the purge robot is recalibrated at the zero point, there is no effective and fast method to detect whether the zero point calibration is successful. Second, during the operation of the purge robot, the door hook on it may collide with a car. After the collision, there is a possibility that the door hook is deformed, resulting in a deviation in the zero point of the purge robot. At present, it is impossible to determine whether the door hook is deformed after the collision. If the robot zero point calibration fails or the door hook is deformed after the collision, and the purge robot continues to purge, it will cause the purge robot to collide, damage the purge robot and the vehicle body, and require a long time to stop to deal with the fault.

[0003] The compressed air pipe of the blowing robot often falls off due to damage to the spring structure of its joint. Currently, there is no way to detect whether the pipe joint has fallen off. If this situation is not discovered in the first time, the pipe will swing around and collide with the car body during the blowing process of the blowing robot, causing a large number of car bodies to be dented and repaired for the second time. In addition, a large number of paint residues will be caused because the grinding dust and electrophoretic paint flakes are not blown away. Summary of the invention

[0004] In order to solve at least one aspect of the above problems, the present invention provides an integrated device for detecting calibration accuracy and the status of a trachea joint, comprising a mounting frame, a first connecting plate, a second connecting plate, a detection column and a micro switch; the first connecting plate and the second connecting plate are both connected to the top of the mounting frame; the micro switch is fixedly connected to the first connecting plate; the detection column is vertically arranged, the top end of the detection column is conical, and the bottom end of the detection column is fixedly connected to the second connecting plate.

[0005] Preferably, the mounting frame includes a mounting rod, which is vertically arranged, and a first T-shaped slide extending from its top end to its bottom end along the vertical direction is opened on the first side surface of the mounting rod; at least one group of first T-shaped bolts and first nuts are arranged on the first connecting plate; the head of the first T-shaped bolt is located in the first T-shaped slide, and the rod of the first T-shaped bolt passes through the first connecting plate; the first nut is threadedly connected to the rod of the first T-shaped bolt, and abuts against the side of the first connecting plate away from the mounting rod.

[0006] Preferably, a second T-shaped slide extending from its top end to its bottom end along the vertical direction is provided on the second side surface of the mounting rod; the second connecting piece includes a first connecting portion and a second connecting portion, the first connecting portion is horizontally arranged, the second connecting portion is vertically arranged, and one end of the first connecting portion is fixedly connected to the top end of the second connecting portion; the bottom end of the detection column is fixedly connected to the first connecting portion; at least one group of second T-shaped bolts and second nuts are provided on the second connecting portion; the head of the second T-shaped bolt is located in the second T-shaped slide, and the rod of the second T-shaped bolt passes through the second connecting portion; the second nut is threadedly connected to the rod of the second T-shaped bolt, and abuts against the side of the second connecting portion away from the mounting rod.

[0007] Preferably, the first connecting piece and the second connecting piece are respectively connected to opposite sides of the top of the mounting frame.

[0008] Preferably, the mounting frame also includes a base plate and a connecting sleeve; the base plate is horizontally arranged and a plurality of connecting holes are provided on the base plate; the connecting sleeve is vertically arranged, the inner wall of the connecting sleeve matches the outer wall of the bottom end of the mounting rod, and the bottom end of the connecting sleeve is fixedly connected to the top surface of the base plate; the first T-shaped slide and the second T-shaped slide on the mounting rod both extend from the top end to the bottom end, and the bottom end of the mounting rod is passed through the connecting sleeve; at least two groups of third T-shaped bolts and third nuts are provided on the mounting rod; the heads of the two groups of third T-shaped bolts are respectively located in the first T-shaped slide and the second T-shaped slide, and the rods of the two groups of third T-shaped bolts both pass through the side wall of the connecting sleeve; the two groups of third nuts are respectively threadedly connected to the rods of the corresponding third T-shaped bolts, and abut against the side of the side wall of the connecting sleeve away from the mounting rod.

[0009] Preferably, a protective cover is provided on the detection column, and the protective cover is detachably connected to the detection column.

[0010] Preferably, a pressure sensor is installed on the top of the detection column.

[0011] The present application also provides a purge robot, comprising any of the above-mentioned integrated devices for detecting calibration accuracy and tracheal joint status, a robot mechanical body, a zero-point accuracy detection module, a tracheal joint status detection module, a blowing switch, a purge working module and a control module; the integrated device for detecting calibration accuracy and tracheal joint status is fixedly installed near the robot mechanical body; the zero-point accuracy detection module stores a first contour trajectory of the free end of the robot mechanical body running to the top of the detection column, and controls the free end of the robot mechanical body to run according to the first contour trajectory; the tracheal joint status detection module stores the blowing end of the robot mechanical body Run to the second contour track of the micro switch, and control the blowing end of the robot mechanical body to run according to the second contour track; the blowing switch is used to control the on-off of the air pipe; the purge working module is used to control the blowing end of the mechanical body to purge the vehicle to be purged; the zero point accuracy detection module, the air pipe joint status detection module, the blowing switch, the purge working module and the micro switch are all communicated with the control module, which are used to control the operation of the zero point accuracy detection module and the air pipe joint status detection module, and the on-off of the blowing switch, and receive the arrival signal of the vehicle to be purged, and receive the signal of the micro switch and control the operation of the purge working module after receiving the signal of the micro switch.

[0012] Preferably, it also includes a collision monitoring module and an alarm module. The collision monitoring module is used to monitor whether the door opening hook has a collision. The collision monitoring module and the alarm module are both communicatively connected to the control module, and are used to send a signal to the control module when the collision monitoring module detects that the door opening hook has a collision. The control module controls the alarm module to operate when receiving the signal.

[0013] Preferably, the control module is also used to control the operation of the zero-point accuracy detection module when receiving a signal sent by the collision monitoring module, and to control the operation of the alarm module when no signal from the micro switch is received after the tracheal joint status detection module is operated.

[0014] The integrated device for detecting calibration accuracy and tracheal joint status and the purge robot of the present invention have the following beneficial effects:

[0015] (1) By installing the detection column and the micro switch on the mounting frame at the same time, the device of the present application integrates the function of detecting the zero point calibration accuracy and the function of detecting the state of the air pipe joint, that is, when the zero point of the purge robot is lost and the zero point is recalibrated or when the door opening hook is hit and cannot be confirmed whether it is deformed, the end of the robot mechanical body is controlled to run to the top of the detection column according to the preset profiling trajectory. When the end is docked with the top of the detection column, it indicates that the zero point accuracy is high. When each vehicle to be purged enters the working area, the end of the robot mechanical body is controlled to run to the micro switch according to the preset profiling trajectory for blowing. When the micro switch detects a signal indicating that the air pipe joint is well connected, after confirming that the air pipe joint is well connected, the robot mechanical body is controlled to purge the vehicle to be purged. The device of the present application has a simple structure, small space occupation and good detection effect.

[0016] (2) Since the device of the present application is installed on each purge robot, but the mechanical body of each purge robot is different, in order to ensure the smooth operation of the mechanical body when detecting the accuracy of the zero point calibration and the status of the air pipe joint, the device of the present application designs the detection column and the micro switch to be adjustable on the mounting frame, which is conducive to adapting to different purge robots.

[0017] (3) A zero-point accuracy detection module and an air pipe joint status detection module are set in the purge robot to store the preset profiling trajectories for detecting the zero-point calibration accuracy and the air pipe joint status, respectively, and control the robot mechanical body to run according to the corresponding preset profiling trajectories. A control module, a collision monitoring module and an alarm module are also set to control the alarm module and the zero-point accuracy detection module to run when the control module receives the signal sent by the collision monitoring module when the collision is detected, and to control the air pipe joint status detection module to run after receiving the signal that the vehicle to be purged has arrived, control the purge working module to run when receiving the micro switch signal, and control the alarm module to run when no micro switch signal is received, thereby realizing the automation of zero-point accuracy detection and air pipe joint status detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.

[0019] Figure 1 A schematic diagram of the structure of an integrated device for detecting calibration accuracy and tracheal joint status according to an embodiment of the present invention is shown;

[0020] Figure 2A front view of an integrated device for detecting calibration accuracy and tracheal joint status according to an embodiment of the present invention is shown;

[0021] Figure 3 A structural block diagram of a purge robot according to an embodiment of the present invention is shown.

[0022] Description of reference numerals:

[0023] 111. Mounting rod; 1111. First T-shaped slide; 112. Bottom plate; 1121. Connecting hole; 113. Connecting sleeve; 12. First connecting piece; 13. Second connecting piece; 14. Detection column; 141. Protective cover; 15. Micro switch; 16. Pressure sensor; 2. Zero point accuracy detection module; 3. Air pipe joint status detection module; 4. Air blowing switch; 5. Purge working module; 6. Control module; 7. Collision monitoring module; 8. Alarm module. DETAILED DESCRIPTION

[0024] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0025] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0026] In order to at least partially solve the above problems and one or more of other potential problems, the embodiments of the present disclosure provide an integrated device for detecting calibration accuracy and tracheal joint status, such as Figure 1 and Figure 2 As shown, it includes a mounting frame, a first connecting piece 12 , a second connecting piece 13 , a detection column 14 and a micro switch 15 .

[0027] The mounting frame is used to install the detection column 14 and the micro switch 15. In a specific embodiment, the mounting frame includes a mounting rod 111, a base plate 112 and a connecting sleeve 113; the base plate 112 is horizontally arranged, and a plurality of connecting holes 1121 are opened on the base plate 112, and the plurality of connecting holes 1121 can be used for connecting bolts; the connecting sleeve 113 is vertically arranged, and the bottom end of the connecting sleeve 113 is fixedly connected to the top surface of the base plate 112; the mounting rod 111 is vertically arranged, and the outer wall of the bottom end of the mounting rod 111 matches the inner wall of the connecting sleeve 113, and the bottom end of the mounting rod 111 is passed through the connecting sleeve 113 and connected to the inner wall of the connecting sleeve 113.

[0028] The first connecting piece 12 and the second connecting piece 13 are both connected to the top of the mounting frame. Preferably, the first connecting piece 12 and the second connecting piece 13 are respectively connected to the opposite sides of the top of the mounting frame. In a preferred embodiment, the first connecting piece 12 and the second connecting piece 13 are both slidably connected to the top of the mounting frame. Specifically, a first T-shaped slide 1111 extending from the top to the bottom along the vertical direction is provided on the first side surface of the mounting rod 111; at least one set of first T-shaped bolts and first nuts are provided on the first connecting piece 12; the head of the first T-shaped bolt is located in the first T-shaped slide 1111, and the rod of the first T-shaped bolt passes through the first connecting piece 12; the first nut is threadedly connected to the rod of the first T-shaped bolt, and abuts against the side of the first connecting piece 12 away from the mounting rod 111; the mounting rod 111 A second T-shaped slide is provided on the second side surface of 11, extending from its top end to its bottom end along the vertical direction; the second connecting piece 13 includes a first connecting part and a second connecting part, the first connecting part is horizontally arranged, the second connecting part is vertically arranged, and one end of the first connecting part is fixedly connected to the top end of the second connecting part; at least one group of second T-shaped bolts and second nuts are provided on the second connecting part; the head of the second T-shaped bolt is located in the second T-shaped slide, and the rod of the second T-shaped bolt passes through the second connecting part; the second nut is threadedly connected to the rod of the second T-shaped bolt, and abuts against the side of the second connecting part away from the mounting rod 111.

[0029] In a preferred embodiment, the first T-shaped slide 1111 and the second T-shaped slide on the mounting rod 111 both extend from the top end thereof to the bottom end thereof; at least two groups of third T-shaped bolts and third nuts are provided on the mounting rod 111; the heads of the two groups of third T-shaped bolts are respectively located in the first T-shaped slide 1111 and the second T-shaped slide, and the rods of the two groups of third T-shaped bolts both penetrate the side wall of the connecting sleeve 113; the two groups of third nuts are respectively threadedly connected to the rods of the corresponding third T-shaped bolts, and abut against the side wall of the connecting sleeve 113 away from the mounting rod 111.

[0030] The micro switch 15 is fixedly connected to the top of the first connecting piece 12. The detection column 14 is vertically arranged, the top of the detection column 14 is conical, and the bottom of the detection column 14 is fixedly connected to the second connecting piece 13, specifically, the bottom of the detection column 14 is fixedly connected to the first connecting portion of the second connecting piece 13; preferably, a protective cover 141 is provided on the detection column 14, and the protective cover 141 is detachably connected to the detection column 14. When the purge robot is maintained, the protective cover 141 is put on the detection column 14, and the protective cover 141 is removed when zero-point accuracy detection is required, which is beneficial to extend the service life and improve the detection accuracy of the device of the present application; more preferably, a pressure sensor 16 is installed on the top of the detection column 14, which is used to detect whether the end of the robot mechanical body is connected to the top of the detection column 14 when detecting the zero-point accuracy.

[0031] The present application also provides a purge robot, such as Figure 3 As shown, it includes any of the above-mentioned integrated devices for detecting calibration accuracy and tracheal joint status, a robot mechanical body, a zero point accuracy detection module 2, a tracheal joint status detection module 3, a blowing switch 4, a purge working module 5 and a control module 6.

[0032] An integrated device for detecting calibration accuracy and tracheal joint status is fixedly installed near the robot mechanical body; the zero point accuracy detection module 2 stores a first profiling trajectory of the robot mechanical body free end running to the top of the detection column 14, and controls the robot mechanical body free end to run according to the first profiling trajectory; the tracheal joint status detection module 3 stores a second profiling trajectory of the robot mechanical body blowing end running to the micro switch 15, and controls the robot mechanical body blowing end to run according to the second profiling trajectory; the blowing switch 4 is used to control the on and off of the trachea; the purge working module 5 is used to control the mechanical body blowing end to purge the vehicle to be purged; the zero point accuracy detection module 2, the tracheal joint status detection module 3, the blowing switch 4, the purge working module 5 and the micro switch 15 are all connected to the control module 6 for communication, and are used to control the operation of the zero point accuracy detection module 2 and the tracheal joint status detection module 3, and the on and off of the blowing switch 4, and receive the arrival signal of the vehicle to be purged, and receive the signal of the micro switch 15 and control the operation of the purge working module 5 after receiving the signal of the micro switch 15.

[0033] In a preferred embodiment, the purge robot of the present application also includes a collision monitoring module 7 and an alarm module 8. The collision monitoring module 7 is used to monitor whether the door opening hook has a collision; the collision monitoring module 7 and the alarm module 8 are both communicatively connected to the control module 6, and are used to send a signal to the control module 6 when the collision monitoring module 7 detects that the door opening hook has a collision, and the control module 6 controls the alarm module 8 to operate when receiving the signal; more preferably, the control module 6 is also used to control the operation of the zero point accuracy detection module 2 when receiving the signal sent by the collision monitoring module 7, and to control the alarm module 8 to operate when the trachea joint status detection module 3 is operated and no signal from the micro switch 15 is received.

[0034] In a preferred embodiment, a pressure sensor 16 is installed at the top of the detection column 14, which is used to detect whether the end of the robot's mechanical body is docked with the top of the detection column 14; the pressure sensor 16 is communicated with the control module 6 for receiving the signal of the pressure sensor 16, and controlling the alarm module 8 to operate when the signal of the pressure sensor 16 is not received; more preferably, the purge robot of the present application also includes an indicator light, which is communicated with the control module 6 for controlling the indicator light to light up when the signal of the pressure sensor 16 is received.

[0035] After the zero point is recalibrated, the control module 6 controls the operation of the zero point accuracy detection module 2. When the end of the robot's mechanical body docks with the top of the detection column 14, it indicates that the zero point calibration is successful. When the end of the robot's mechanical body does not dock with the top of the detection column 14, it indicates that the zero point calibration fails. In a preferred embodiment, the control module 6 controls the operation of the zero point accuracy detection module 2. When the control module 6 receives a signal from the pressure sensor 16, the indicator light turns on. When the control module 6 does not receive a signal from the pressure sensor 16, the alarm module 8 is controlled to operate.

[0036] When the collision monitoring module 7 detects that the door opening hook has collided, it sends a signal to the control module 6. When receiving the signal, the control module 6 controls the alarm module 8 to operate, and controls the zero-point accuracy detection module 2 to operate.

[0037] When the control module 6 receives the arrival signal of the vehicle to be blown, it controls the air pipe joint status detection module 3 to run. When the blowing end of the robot mechanical body runs to the micro switch 15, it controls the blowing switch 4 to turn on. When the control module 6 receives the signal of the micro switch 15, it controls the blowing working module 5 to run. When the signal of the micro switch 15 is not received, it controls the alarm module 8 to run.

[0038] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the present invention.

Claims

1. An integrated device for detecting calibration accuracy and tracheal joint status, characterized in that: The invention comprises a mounting frame, a first connecting piece (12), a second connecting piece (13), a detection column (14) and a micro switch (15); the first connecting piece (12) and the second connecting piece (13) are both connected to the top of the mounting frame; the micro switch (15) is fixedly connected to the first connecting piece (12); the detection column (14) is vertically arranged, the top end of the detection column (14) is conical, and the bottom end of the detection column (14) is fixedly connected to the second connecting piece (13).

2. The integrated device for detecting calibration accuracy and tracheal joint status according to claim 1, characterized in that: The mounting frame comprises a mounting rod (111), the mounting rod (111) is vertically arranged, and a first T-shaped slideway (1111) extending from the top end to the bottom end along the vertical direction is provided on the first side surface of the mounting rod (111); at least one group of first T-shaped bolts and first nuts are provided on the first connecting plate (12); the head of the first T-shaped bolt is located in the first T-shaped slideway (1111), and the stem of the first T-shaped bolt passes through the first connecting plate (12); the first nut is threadedly connected to the stem of the first T-shaped bolt, and abuts against the side of the first connecting plate (12) away from the mounting rod (111).

3. The integrated device for detecting calibration accuracy and tracheal joint status according to claim 2, characterized in that: A second T-shaped slideway extending from the top end to the bottom end thereof in a vertical direction is provided on the second side surface of the mounting rod (111); the second connecting piece (13) comprises a first connecting portion and a second connecting portion, the first connecting portion being arranged horizontally, the second connecting portion being arranged vertically, and one end of the first connecting portion being fixedly connected to the top end of the second connecting portion; the bottom end of the detection column (14) being fixedly connected to the first connecting portion; at least one set of second T-shaped bolts and second nuts being provided on the second connecting portion; the head of the second T-shaped bolt is located in the second T-shaped slideway, and the rod of the second T-shaped bolt passes through the second connecting portion; the second nut is threadedly connected to the rod of the second T-shaped bolt, and abuts against the side of the second connecting portion away from the mounting rod (111).

4. The integrated device for detecting calibration accuracy and tracheal joint status according to any one of claims 1 to 3, characterized in that: The first connecting piece (12) and the second connecting piece (13) are respectively connected to opposite sides of the top of the mounting frame.

5. The integrated device for detecting calibration accuracy and tracheal joint status according to claim 3, characterized in that: The mounting frame further comprises a bottom plate (112) and a connecting sleeve (113); the bottom plate (112) is arranged horizontally, and a plurality of connecting holes (1121) are provided on the bottom plate (112); the connecting sleeve (113) is arranged vertically, and the inner wall of the connecting sleeve (113) matches the outer wall of the bottom end of the mounting rod (111), and the bottom end of the connecting sleeve (113) is fixedly connected to the top surface of the bottom plate (112); the first T-shaped slideway (1111) and the second T-shaped slideway on the mounting rod (111) both extend from the top end thereof to the bottom end thereof. The bottom end of the mounting rod (111) is inserted into the connecting sleeve (113); at least two groups of third T-shaped bolts and third nuts are arranged on the mounting rod (111); the heads of the two groups of third T-shaped bolts are respectively located in the first T-shaped slideway (1111) and the second T-shaped slideway, and the rods of the two groups of third T-shaped bolts pass through the side wall of the connecting sleeve (113); the two groups of third nuts are respectively threadedly connected to the rods of the corresponding third T-shaped bolts, and abut against the side of the side wall of the connecting sleeve (113) away from the mounting rod (111).

6. The integrated device for detecting calibration accuracy and tracheal joint status according to claim 1, characterized in that: The detection column (14) is provided with a protective cover (141), and the protective cover (141) is detachably connected to the detection column (14).

7. The integrated device for detecting calibration accuracy and tracheal joint status according to claim 1, characterized in that: A pressure sensor (16) is installed at the top of the detection column (14).

8. A purge robot, characterized in that: An integrated device for detecting calibration accuracy and tracheal joint status according to any one of claims 1 to 7, a robot mechanical body, a zero point accuracy detection module (2), a tracheal joint status detection module (3), a blowing switch (4), a blowing working module (5) and a control module (6); An integrated device for detecting the calibration accuracy and the status of the air pipe joint is fixedly installed near the mechanical body of the robot; The zero-point precision detection module (2) stores a first profiling trajectory of the free end of the robot mechanical body running to the top of the detection column (14), and controls the free end of the robot mechanical body to run according to the first profiling trajectory; The air pipe joint state detection module (3) stores a second profiling trajectory of the blowing end of the robot mechanical body running to the micro switch (15), and controls the blowing end of the robot mechanical body to run according to the second profiling trajectory; The air blowing switch (4) is used to control the opening and closing of the air pipe; The purge working module (5) is used to control the blowing end of the mechanical body to purge the vehicle to be purged; The zero point precision detection module (2), the air pipe joint state detection module (3), the air blowing switch (4), the purge working module (5) and the micro switch (15) are all connected to the control module (6) for communication, and are used to control the operation of the zero point precision detection module (2) and the air pipe joint state detection module (3), the on and off of the air blowing switch (4), and receive the arrival signal of the vehicle to be purged, and receive the signal of the micro switch (15) and control the operation of the purge working module (5) after receiving the signal of the micro switch (15).

9. A purge robot according to claim 8, characterized in that: The invention also comprises a collision monitoring module (7) and an alarm module (8); the collision monitoring module (7) is used to monitor whether the door opening hook has collided; the collision monitoring module (7) and the alarm module (8) are both connected to the control module (6) in communication and are used to send a signal to the control module (6) when the collision monitoring module (7) detects that the door opening hook has collided; the control module (6) controls the alarm module (8) to operate when receiving the signal.

10. A purge robot according to claim 9, characterized in that: The control module (6) is also used to control the operation of the zero-point accuracy detection module (2) when receiving a signal sent by the collision monitoring module (7), and to control the operation of the alarm module (8) when the air pipe joint state detection module (3) does not receive a signal from the micro switch (15) after the operation.

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