Cleaning control device and cleaning control method

Abstract

The invention discloses a cleaning control device and a cleaning control method.The device comprises a detection module, a control module, a driving module and an execution module, the control module is connected with the detection module and the driving module, and the driving module is connected with the execution module; the detection module is used for detecting whether to-be-cleaned equipment exists on the feeding table or not; the control module is used for sending a control instruction to the driving module under the condition that to-be-cleaned equipment exists on the feeding table; the driving module is used for driving the execution module to move the to-be-cleaned equipment to a preset position according to the control instruction and cleaning the to-be-cleaned equipment, in the embodiment of the invention, the automatic control module is adopted, under the condition that the to-be-cleaned equipment is arranged on the feeding table, multi-groove automatic cleaning is achieved, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the field of automatic control technology, and in particular, relates to a cleaning control device and a cleaning control method. Background Art

[0002] At present, the cleaning of many small parts in trains, whether ordinary trains or high-speed trains, still relies mainly on manual cleaning, or flushing with small single-function cleaning equipment. However, in this way, the workpieces need to be manually cleaned again after being taken out of the cleaning equipment. No matter which method is used, it not only requires a large number of operators but also consumes a lot of water resources, and the cleaning efficiency is low. How to improve the cleaning efficiency of workpieces is an urgent problem to be solved. Summary of the invention

[0003] The present application aims to provide a cleaning control device and a cleaning control method to solve the deficiencies in the prior art. The technical problem to be solved by the present application is achieved through the following technical solutions.

[0004] In a first aspect, an embodiment of the present application provides a cleaning control device, the device comprising: a detection module, a control module, a driving module and an execution module, wherein the control module is connected to the detection module and the driving module respectively, and the driving module is connected to the execution module;

[0005] The detection module is used to detect whether there is equipment to be cleaned on the loading platform;

[0006] The control module is used to send a control instruction to the driving module when there is a device to be cleaned on the loading platform;

[0007] The driving module is used to drive the execution module to move the device to be cleaned to a preset position and clean the device to be cleaned according to the control instruction.

[0008] Optionally, the detection module includes at least a photoelectric sensor.

[0009] Optionally, the control module is used to perform multi-slot sequential cleaning on the devices to be cleaned at preset time intervals according to the sequence of the multiple slots and status information of the loading frame when there are multiple devices to be cleaned, wherein the status information of the loading frame at least includes whether there is a device to be cleaned in the loading frame.

[0010] Optionally, the control module is a programmable logic controller.

[0011] Optionally, the driving module is an X-axis servo system and a Y-axis servo system.

[0012] Optionally, the X-axis servo system is used to drive the execution module to the loading position, and the Y-axis servo system is used to grab the loading frame in the vertical direction.

[0013] Optionally, the cleaning control device also includes a collection module, which is connected to the driving module and the loading frame, and is used to collect tank temperature, cleaning time, status information of the loading frame, movement position information of the X-axis servo motor, and movement position information of the Y-axis servo motor.

[0014] Optionally, the cleaning control device further includes a display module, which is used to display the tank temperature, the cleaning time, status information of the loading frame, movement position information of the X-axis servo motor, and movement position information of the Y-axis servo motor.

[0015] Optionally, the acquisition module includes at least a camera and a sensor, the camera is used to obtain status information and cleaning time of the loading frame, and the sensor is used to obtain the tank temperature, the moving position information of the X-axis servo motor and the moving position information of the Y-axis servo motor.

[0016] In a second aspect, an embodiment of the present application provides a cleaning control method, which is applied to the cleaning control device described in the first aspect, and the method includes:

[0017] Check whether there is equipment to be cleaned on the loading platform;

[0018] When there is equipment to be cleaned on the loading platform, a control instruction is sent to the driving module;

[0019] According to the control instruction, the execution module is driven to move the device to be cleaned to a preset position, and the device to be cleaned is cleaned.

[0020] The embodiments of the present application include the following advantages:

[0021] The cleaning control device and cleaning control method provided in the embodiment of the present application include: a detection module, a control module, a driving module and an execution module, wherein the control module is respectively connected to the detection module and the driving module, and the driving module is connected to the execution module; the detection module is used to detect whether there is equipment to be cleaned on the loading platform; the control module is used to send a control instruction to the driving module when there is equipment to be cleaned on the loading platform; the driving module is used to drive the execution module to move the equipment to be cleaned to a preset position and clean the equipment to be cleaned according to the control instruction. In the embodiment of the present application, an automatic control module is used to realize multi-slot automatic cleaning when there is equipment to be cleaned on the loading platform, thereby improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the existing technical solutions, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 This is a structural schematic diagram of a cleaning control device in one embodiment of the present application;

[0024] Figure 2 This is a structural schematic diagram of yet another cleaning control device in an embodiment of the present application.

[0025] Figure 3 It is a structural schematic diagram of yet another cleaning control device in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only 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 the field without creative work are within the scope of protection of the present application.

[0027] Reference Figure 1 , shows a schematic structural diagram of a cleaning control device in an embodiment of the present application, the device comprises: a detection module 101, a control module 102, a driving module 103 and an execution module 104, wherein the control module 102 is connected to the detection module 101 and the driving module 103 respectively, and the driving module 103 is connected to the execution module 104;

[0028] The detection module 101 is used to detect whether there is equipment to be cleaned on the loading platform;

[0029] The control module 102 is used to send control instructions to the drive module when there is a device to be cleaned on the loading table;

[0030] The driving module 103 is used to drive the execution module 104 to move the device to be cleaned to a preset position and clean the device to be cleaned according to the control instruction.

[0031] Specifically, the detection module detects whether there is a loading frame on the loading table, in which the equipment to be cleaned is placed. When the detection module detects that there is a loading frame on the loading table, it sends an instruction to the control module. The control module sends a control instruction to the driving module based on the instruction, and the control instruction is used to control the driving module to take action.

[0032] The driving module drives the execution module to perform actions according to the control instruction. For example, the execution module is a robot. The driving module drives the robot to move the loading frame to a preset position to automatically clean the equipment to be cleaned in the loading frame without manual cleaning.

[0033] The slot-type automatic cleaning device provided in the embodiment of the present application performs multi-slot, multi-functional fully automatic cleaning of small workpieces through the comprehensive use of a programmable logic controller and a servo system. This not only greatly improves the cleaning quality and effect of the workpieces, but also frees manual workers from an unhealthy cleaning environment, thereby reducing costs and increasing efficiency for the industry, saving energy and reducing emissions to improve market competitiveness; it also brings unexpected benefits and effects to improving the automation level of the entire enterprise.

[0034] Another embodiment of the present application further supplements the cleaning control device provided in the above embodiment.

[0035] like Figure 2 As shown, the cleaning control device includes a touch control system 201, a programmable logic controller 202, other peripheral devices 203, an X-axis servo drive 204, an X-axis servo motor 205, a Y-axis servo drive 206, a Y-axis servo motor 207, a photoelectric sensor 208 and other sensors 209;

[0036] Specifically, the detection module at least includes a photoelectric sensor 208 .

[0037] The detection module may also include other sensors, which may be configured as required.

[0038] Optionally, the control module is used to perform multi-slot sequential cleaning on the devices to be cleaned at preset time intervals according to the sequence of the multiple slots and status information of the loading frame when there are multiple devices to be cleaned, wherein the status information of the loading frame at least includes whether there is a device to be cleaned in the loading frame.

[0039] Among them, the control module is a PLC (Programmable logic Controller), which uses a programmable memory to store instructions for performing logical operations, sequential operations, timing, counting and arithmetic operations, and can control various types of machinery or production processes through digital or analog input and output. PLC and its related peripherals should be easy to form an integral whole with the industrial control system.

[0040] PLC is highly reliable due to the use of modern large-scale integrated circuit technology, strict production process, and advanced anti-interference technology in the internal circuit. PLC has a hardware fault self-detection function, which can send out alarm information in time when a fault occurs. In the application software, the user can also program the fault self-diagnosis program of the peripheral device, so that the circuits and equipment other than PLC in the system can also obtain fault self-diagnosis protection.

[0041] PLC uses storage logic instead of wiring logic, which greatly reduces the external wiring of the control equipment, greatly shortens the design and construction cycle of the control system, and makes maintenance easier. More importantly, it makes it possible to change the production process of the same equipment by changing the program.

[0042] PLC can be used to control circular motion or linear motion. In terms of control mechanism configuration, it is directly used to connect position sensors and actuators with switch quantity I / O modules, and use dedicated motion control modules.

[0043] PLC is divided into two types: fixed type and combined (modular type). Fixed PLC includes CPU board, I / O board, display panel, memory block, power supply, etc. These elements are combined into an inseparable whole. Modular PLC includes CPU module, I / O module, memory, power supply module, base plate or rack, and these modules can be combined and configured according to certain rules. The CPU is mainly composed of an arithmetic unit, a controller, registers, and data, control and status buses that realize the connection between them. The CPU unit also includes peripheral chips, bus interfaces and related circuits. Memory is mainly used to store programs and data, and is an indispensable component of PLC.

[0044] The interface between PLC and electrical circuit is completed through the input and output part (I / O). The I / O module integrates the I / O circuit of PLC. Its input register reflects the input signal status, and the output point reflects the output latch status. The input module converts the electrical signal into a digital signal and enters the PLC system, while the output module does the opposite. I / O is divided into switch input (DI), switch output (DO), analog input (AI), analog output (AO) and other modules.

[0045] The I / O categories are as follows:

[0046] Switching quantity: According to the voltage level, there are 220VAC, 110VAC, and 24VDC; according to the isolation method, there are relay isolation and transistor isolation.

[0047] Analog quantity: According to the signal type, there are current type (4-20mA, 0-20mA), voltage type (0-10V, 0-5V, -10-10V), etc. According to the accuracy, there are 12bit, 14bit, 16bit, etc.

[0048] In addition to the above-mentioned general IO, there are also special IO modules, such as thermal resistors, thermocouples, pulses and other modules.

[0049] PLC power supply is used to provide working power for the integrated circuits of each PLC module. At the same time, some also provide 24V working power for the input circuit. The power input types are: AC power (220VAC or 110VAC), DC power (commonly used is 24VDC).

[0050] The module specifications and quantity are determined by the number of I / O points. The number of I / O modules can be more or less, but the maximum number is limited by the basic configuration capabilities that the CPU can manage, that is, the maximum number of baseboards or rack slots.

[0051] The programming language provided by PLC is the standard language ladder diagram language. The contacts in the ladder diagram are only normally open and normally closed. The contacts can be switches connected to the PLC input points, or they can be contacts of the PLC internal relays or the status of internal registers, counters, etc. The contacts in the ladder diagram can be connected in series or parallel, but the coils can only be connected in parallel and not in series. Internal relays, counters, registers, etc. cannot directly control external loads, but can only be used as intermediate results for internal use by the CPU. PLC scans events in a cycle and executes in sequence along the ladder diagram. The results in the same scan cycle are retained in the output status register, so the value of the output point can be used as a condition in the user program.

[0052] Optionally, the control module is a programmable logic controller.

[0053] Optionally, the driving module is an X-axis servo system and a Y-axis servo system.

[0054] Optionally, the X-axis servo system is used to drive the execution module to the loading position, and the Y-axis servo system is used to grab the loading frame in the vertical direction.

[0055] Among them, the servo system is a motion control system composed of a servo motor, a sensor, a controller and other control elements. In the servo system, the servo motor is used as an actuator, and the sensor feeds back information such as position and speed to the controller. The controller calculates the control command and outputs it to the motor drive, so that the motor can be accurately controlled according to the predetermined speed, position, torque and other parameters. That is, the X-axis servo system includes the X-axis servo motor, and the Y-axis servo system includes the Y-axis servo motor.

[0056] For tank cleaning, in addition to the correct use of sequential control instructions, the correct logic formulation and programming of the robot's periodic actions of picking up and placing workpieces are also required. Each time the robot grabs and releases, this set of periodic actions is repeatedly executed and applied; first, the vertical Z axis of the robot is at the ZX position, and the horizontal Y axis is at the YX position; after the equipment starts running, the logic of grabbing and placing is: the robot Z axis first moves from the ZX position to Z0, which is the starting position of the Z axis, and then the Y axis moves from the YX position to Y0, which is the starting position of the Y axis; after reaching the starting position, the robot begins to grasp and release the material frame from a certain slot 1 to a certain slot 2 according to the requirements of the sequential control instruction. At this time, the Y axis moves horizontally from Y0 to Y1, which is the horizontal fixed point position of a certain slot 1; then the Z axis moves downward from Z0 to Z1, which is the longitudinal fixed point position of a certain slot 1. At this time, the Z axis grabs the material frame and then returns upward from Z1 to the initial position of Z0; at this time, the Y axis moves horizontally from Y1 to Y2, which is the horizontal fixed point position of a certain slot 2, and then the Z axis moves downward from Z1 to the initial position of Z0, and at this time, the Z axis puts down the material frame and then returns upward from Z1 to the initial position of Z0; at this point, a periodic grab and release action of the robot is completed.

[0057] A servo motor is an electric motor with a closed-loop control system that can achieve precise control through the interaction of sensors and controllers. The purpose of this motor control is to achieve precise motion control, with the advantages of high precision, high reliability and high performance. The motor controller of the servo motor can feedback information such as position, speed and torque in real time, making the control particularly precise, stable and fast.

[0058] Optionally, the cleaning control device also includes a collection module, which is connected to the driving module and the loading frame, and is used to collect tank temperature, cleaning time, loading frame status information, X-axis servo motor movement position information and Y-axis servo motor movement position information.

[0059] Among them, the acquisition module includes at least a camera and a sensor. The camera is used to obtain the status information and cleaning time of the loading frame, and the sensor is used to obtain the tank temperature, the moving position information of the X-axis servo motor and the moving position information of the Y-axis servo motor.

[0060] The camera is installed at the loading platform and the preset position, i.e., the cleaning position, to provide the video from the start to the end of cleaning, calculate the cleaning time, and can also collect the video of the loading platform through the camera, and then analyze the video to analyze the moving position information of the X-axis servo motor and the moving position information of the Y-axis servo motor, and then determine whether the manipulator has moved to the right position. The temperature in the tank is collected by setting a temperature sensor.

[0061] Optionally, the cleaning control device further includes a display module, which is used to display the tank temperature, cleaning time, status information of the loading frame, movement position information of the X-axis servo motor, and movement position information of the Y-axis servo motor.

[0062] Among them, the display module is a touch system 201, which can be a remote device, such as a mobile phone or a tablet. Through the touch system on the mobile phone or tablet, the tank temperature, cleaning time, status information of the loading frame, movement position information of the X-axis servo motor and movement position information of the Y-axis servo motor can be displayed.

[0063] The cleaning control device of the embodiment of the present application includes a programmable logic controller, a power system, a touch screen control system, a two-axis servo drive system and a detection device. The programmable logic controller is the core control hardware of the device, equipped with a programming software platform, and the automatic operation and control of the entire set of equipment are realized through software programs. The two-axis servo system is the core power component of the device. We chose Delta servo, of course, other servo systems are also acceptable. The manipulator is used for the X-axis moving in the horizontal direction and the Y-axis moving in the vertical direction.

[0064] Each time the system is powered on for automatic cleaning, the system will require the operator to return the XY axes of the robot to the origin with one key, to ensure the safe use of the equipment and to meet the startup conditions and requirements before automatic operation.

[0065] The present application provides a cleaning control method, which is applied to the cleaning control device of the first aspect. The method includes:

[0066] Check whether there is equipment to be cleaned on the loading platform;

[0067] When there is equipment to be cleaned on the loading table, a control instruction is sent to the drive module;

[0068] According to the control instruction, the driving execution module moves the device to be cleaned to a preset position and cleans the device to be cleaned.

[0069] Specifically, after the preparation work is completed, start the equipment normally on the electrical cabinet. After the equipment is started, it is in standby working state. After the workpiece material frame is sent to the loading platform, the robot recognizes that there is material on the loading platform and immediately starts to move the robot along the horizontal direction of the X-axis to the loading position. The robot then grabs the material frame along the vertical direction of the Y-axis, and then cleans each slot according to the sequence of multiple slots and the conditions such as whether there is material or not. The current displacement of the robot and the parameters such as the temperature of each slot, cleaning time, and whether there is material or not can be clearly seen through the touch screen. The material is continuously loaded on the loading platform, and the robot performs uninterrupted cleaning operations frame by frame and slot by slot according to the sequential logic control program until the cleaning is completed and it can be turned off and stopped automatically. From then on, the overall overview of the cleaning logic operation of multiple slots and multiple frames is completed. Figure 3 shown.

[0070] The programmable logic controller sequence control instructions in the embodiment of the present application are used correctly; as a multi-slot multi-functional cleaning device, in order to realize the continuous and uninterrupted slot-by-slot cleaning mode of multiple material frames, it is necessary to clarify the sequence requirements of the robot for the continuous material frame shifting slot by slot and the multiple conditions that must be met for the shifting. The sequence control instructions inside the controller meet this logical requirement very well, and the perfect interpretation of this main application logic is successfully completed through correct program writing.

[0071] The precise positioning function of the servo system; the precise positioning function of the servo system is unmatched by other positioning devices. It is not affected by factors such as the mass, speed, and inertia of the moving object. The high-precision enabling of the mechanical transmission and the control enabling of the electrical closed-loop feedback make it possible for the servo drive system to achieve precise positioning.

[0072] The cleaning control device and cleaning control method provided in the embodiment of the present application include: a detection module, a control module, a driving module and an execution module, wherein the control module is respectively connected to the detection module and the driving module, and the driving module is connected to the execution module; the detection module is used to detect whether there is equipment to be cleaned on the loading platform; the control module is used to send a control instruction to the driving module when there is equipment to be cleaned on the loading platform; the driving module is used to drive the execution module to move the equipment to be cleaned to a preset position and clean the equipment to be cleaned according to the control instruction. In the embodiment of the present application, an automatic control module is used to remove the equipment to be cleaned on the loading platform, thereby realizing automatic cleaning of multiple tanks and improving cleaning efficiency.

[0073] It should be noted that the above detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present application belongs.

[0074] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0075] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0076] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0077] For ease of description, spatially relative terms, such as "above", "above", "on the upper surface of", "above", etc., may be used herein to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways, such as rotated 90 degrees or in other orientations, and the spatially relative descriptions used herein are interpreted accordingly.

[0078] In the above detailed description, reference is made to the accompanying drawings, which form a part of this document. In the accompanying drawings, similar symbols typically identify similar components unless the context indicates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be used, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein.

[0079] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning control device, characterized in that: The device comprises: a detection module, a control module, a driving module and an execution module, wherein the control module is connected to the detection module and the driving module respectively, and the driving module is connected to the execution module; The detection module is used to detect whether there is equipment to be cleaned on the loading platform; The control module is used to send a control instruction to the driving module when there is a device to be cleaned on the loading platform; The driving module is used to drive the execution module to move the device to be cleaned to a preset position and clean the device to be cleaned according to the control instruction.

2. The cleaning control device according to claim 1, characterized in that: The detection module at least includes a photoelectric sensor.

3. The cleaning control device according to claim 1, characterized in that: The control module is used to perform multi-slot sequential cleaning on the devices to be cleaned at preset time intervals in accordance with the sequence of the multiple slots and the status information of the loading frame when there are multiple devices to be cleaned, wherein the status information of the loading frame at least includes whether there is a device to be cleaned in the loading frame.

4. The cleaning control device according to claim 3, characterized in that: The control module is a programmable logic controller.

5. The cleaning control device according to claim 1, characterized in that: The driving modules are an X-axis servo system and a Y-axis servo system.

6. The cleaning control device according to claim 5, characterized in that: The X-axis servo system is used to drive the execution module to the loading position, and the Y-axis servo system is used to grab the loading frame in the vertical direction.

7. The cleaning control device according to claim 6, characterized in that: The cleaning control device also includes a collection module, which is connected to the driving module and the loading frame, and is used to collect tank temperature, cleaning time, status information of the loading frame, movement position information of the X-axis servo motor, and movement position information of the Y-axis servo motor.

8. The cleaning control device according to claim 7, characterized in that: The cleaning control device also includes a display module, which is used to display the tank temperature, the cleaning time, the status information of the loading frame, the moving position information of the X-axis servo motor, and the moving position information of the Y-axis servo motor.

9. The cleaning control device according to claim 7, characterized in that: The acquisition module includes at least a camera and a sensor, wherein the camera is used to obtain status information and cleaning time of the loading frame, and the sensor is used to obtain the tank temperature, the moving position information of the X-axis servo motor, and the moving position information of the Y-axis servo motor.

10. A cleaning control method, characterized in that: Applied to the cleaning control device according to any one of claims 1 to 9, the method comprises: Check whether there is equipment to be cleaned on the loading platform; When there is a device to be cleaned on the loading platform, sending a control instruction to the driving module; According to the control instruction, the execution module is driven to move the device to be cleaned to a preset position, and the device to be cleaned is cleaned.

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