Spraying robot cleaning system and method

Abstract

The invention discloses a spraying robot cleaning system and method, a computer program product and a storage medium, and belongs to the technical field of coating equipment. A communicating pipeline is arranged between a solvent pipe branch and a curing agent pipe branch, a first valve is arranged on the communicating pipeline, a second valve is arranged at the end, close to a solvent pipe main path, of the solvent pipe branch, and a third valve is arranged at the end, close to the curing agent pipe main path, of the curing agent pipe branch. Therefore, the main control system controls the opening and closing of the first valve, the second valve and the third valve, and flexible communication between the solvent pipe branch and the curing agent pipe branch can be realized. In this way, in the production stopping period, the main control system controls opening and closing of the first valve, the second valve and the third valve, the solvent can flow into the curing agent pipe branch through the communicating pipeline for automatic cleaning, the curing agent pipe branch can be effectively prevented from being blocked due to curing agent solidification in the production stopping period, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of coating equipment, and in particular, relates to a spray robot cleaning system and method, a computer program product and a storage medium. Background Art

[0002] In the automobile body painting production process, the spray shop often automatically sprays the paint through a robot system.

[0003] In the daily operation of the spray robot, a section of the curing agent pipe branch close to the robot end is in contact with the air, and thus is easily solidified and blocked due to curing agent residue during production stoppages.

[0004] In the prior art, in order to solve the problem that the curing agent pipe branch is easily blocked due to the solidification of the curing agent during the shutdown period, manual regular cleaning and maintenance are required, which has certain cleaning difficulty and cost, and the cleaning efficiency is low. Summary of the invention

[0005] The embodiments of the present application provide a spray robot cleaning system and method, a computer program product and a storage medium. By connecting pipelines and valve settings, the curing agent pipe branch can be automatically cleaned, which can effectively prevent the curing agent pipe branch from being blocked due to curing agent solidification during production stoppage and improve the cleaning efficiency.

[0006] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0007] According to a first aspect of an embodiment of the present application, a spray robot cleaning system is provided, comprising:

[0008] A solvent pipe branch, one end of which is connected to the solvent pipe main line, and the other end of which is connected to the first end of the robot, and the solvent pipe branch is used to transport the solvent to the first end of the robot;

[0009] A curing agent pipe branch, one end of which is connected to the curing agent pipe main line, and the other end of which is connected to the second end of the robot, and the curing agent pipe branch is used to transport the curing agent to the second end of the robot;

[0010] A connecting pipeline, one end of which is connected to the solvent pipe branch, and the other end of which is connected to the curing agent pipe branch, and the connecting pipeline is used to connect the solvent pipe branch with the curing agent pipe branch;

[0011] The connecting pipeline is provided with a first valve, the end of the solvent pipe branch close to the solvent pipe main line is provided with a second valve, and the end of the curing agent pipe branch close to the curing agent pipe main line is provided with a third valve;

[0012] A main control system, wherein the main control system is connected to the first valve, the second valve and the third valve, and the main control system is used to control the switching of the first valve, the second valve and the third valve.

[0013] In some embodiments of the present application, based on the aforementioned scheme, the connection point between the solvent pipe branch and the solvent pipe main line is a first interface, the connection point between the curing agent pipe branch and the curing agent pipe main line is a second interface, the connection point between the connecting pipe and the solvent pipe branch is a third interface, the connection point between the connecting pipe and the curing agent pipe branch is a fourth interface, the second valve is arranged between the first interface and the third interface on the solvent pipe branch, the third valve is arranged between the second interface and the fourth interface on the curing agent pipe branch, and the third valve is arranged close to the second interface.

[0014] In some embodiments of the present application, based on the aforementioned solution, the first valve is disposed on the communication pipeline, and the first valve is disposed close to the fourth interface.

[0015] In some embodiments of the present application, based on the aforementioned solution, the first valve, the second valve and the third valve include electric valves.

[0016] In some embodiments of the present application, based on the aforementioned scheme, the first valve, the second valve and the third valve include a pneumatic valve and a solenoid valve, the first end of the solenoid valve is used to connect compressed air, the second end of the solenoid valve is connected to the pneumatic valve, and the solenoid valve is electrically connected to the main control system.

[0017] In some embodiments of the present application, based on the aforementioned solution, the main line of the solvent pipe and the paint mixing room form a circulation loop, and the main line of the curing agent pipe and the paint mixing room form a circulation loop.

[0018] According to a second aspect of an embodiment of the present application, a method for cleaning a spraying robot is provided, which is applied to a spraying robot cleaning system described in any embodiment of the present application, and the method comprises:

[0019] When the production stop signal is received, the cleaning program is started, and the first valve and the second valve are controlled to be opened, and the third valve is closed, so that the solvent flows into the curing agent pipe branch through the connecting pipeline for cleaning.

[0020] In some embodiments of the present application, based on the above solution, the method further includes:

[0021] When the production signal is received, the filling program is started, and the first valve is controlled to be closed and the third valve is controlled to be opened, so that the curing agent flows into the curing agent pipe branch for filling, so as to discharge the solvent in the curing agent pipe branch.

[0022] According to a third aspect of an embodiment of the present application, a computer program product is provided, which includes computer instructions stored in a computer-readable storage medium and suitable for being read and executed by a processor, so that a computer device having the processor executes the method described in any embodiment of the second aspect above.

[0023] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which computer program instructions are stored. The computer program instructions are loaded and executed by a processor to implement the operations performed by the method described in any embodiment of the second aspect above.

[0024] Based on the technical solution proposed in the present application, a connecting pipeline is provided between the solvent pipe branch and the curing agent pipe branch, and a first valve is provided on each connecting pipeline, a second valve is provided at one end of the solvent pipe branch close to the solvent pipe main line, and a third valve is provided at one end of the curing agent pipe branch close to the curing agent pipe main line, so that the first valve, the second valve and the third valve are controlled by the main control system to achieve flexible connection between the solvent pipe branch and the curing agent pipe branch. That is, during the production suspension period, the first valve, the second valve and the third valve are controlled by the main control system to make the solvent flow into the curing agent pipe branch through the connecting pipeline for automatic cleaning, which can effectively prevent the curing agent pipe branch from being blocked due to the solidification of the curing agent during the production suspension period and improve the cleaning efficiency.

[0025] 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

[0026] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0027] Figure 1 This is a first structural schematic diagram of a spray robot cleaning system provided in one embodiment of the present application.

[0028] Figure 2 This is a second structural schematic diagram of a spray robot cleaning system provided in one embodiment of the present application.

[0029] Figure 3 This is a third structural schematic diagram of a spray robot cleaning system provided in one embodiment of the present application.

[0030] Figure 4 This is the fourth structural schematic diagram of the spray robot cleaning system provided in one embodiment of the present application.

[0031] Figure 5 This is the fifth structural schematic diagram of the spray robot cleaning system provided in one embodiment of the present application.

[0032] Figure 6 This is a flow chart of a method for cleaning a spray robot provided in an embodiment of the present application.

[0033] Figure 7 It is a flow chart of the filling method performed by the main control system provided in an embodiment of the present application.

[0034] Figure 8 It is a hardware structure diagram of the computer program product provided in the embodiment of the present application.

[0035] Reference numerals:

[0036] Solvent pipe branch 10, curing agent pipe branch 20, connecting pipe 30, main control system 40, solvent pipe main line 1, curing agent pipe main line 2, robot 3, paint mixing room 4, first valve 31, second valve 11, third valve 21. DETAILED DESCRIPTION

[0037] 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 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 this field without creative work are within the scope of protection of this application.

[0038] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0039] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0040] The flowcharts shown in the accompanying drawings are only exemplary 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 can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0041] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0042] In order to enable those skilled in the art to better understand the present application, the application scenarios involved in the present application are first briefly described.

[0043] In the process of automobile body painting, the spray shop often uses a robot system to automatically spray the paint. In the daily operation of the spray robot, the section of the curing agent pipe branch near the robot end is in contact with the air, which is easy to solidify and clog due to the curing agent residue during the shutdown period.

[0044] In the prior art, in order to solve the problem that the curing agent pipe branch is easily blocked due to the solidification of the curing agent during the shutdown period, manual regular cleaning and maintenance are required, which has certain cleaning difficulty and cost, and the cleaning efficiency is low.

[0045] Based on this, an embodiment of the present application proposes a spray robot cleaning system, which can automatically clean the curing agent pipe branch through connecting pipelines and valve settings, effectively prevent the curing agent pipe branch from being blocked due to curing agent solidification during production stoppage, and improve cleaning efficiency.

[0046] Reference Figure 1 , Figure 1 1 is a first structural diagram of a spray robot cleaning system provided by an embodiment of the present application. Figure 1As shown, the spray robot cleaning system includes a solvent pipe branch 10, a curing agent pipe branch 20, a connecting pipe 30 and a main control system 40. Among them, one end of the solvent pipe branch 10 is connected to the solvent pipe main line 1, and the other end of the solvent pipe branch 10 is connected to the first end a of the robot 3, and the solvent pipe branch 10 is used to transport the solvent to the first end a of the robot 3. One end of the curing agent pipe branch 20 is connected to the curing agent pipe main line 2, and the other end of the curing agent pipe branch 20 is connected to the second end b of the robot 3, and the curing agent pipe branch 20 is used to transport the curing agent to the second end b of the robot 3. One end of the connecting pipe 30 is connected to the solvent pipe branch 10, and the other end of the connecting pipe 30 is connected to the curing agent pipe branch 20, and the connecting pipe 30 is used to connect the solvent pipe branch 10 with the curing agent pipe branch 20. The communication pipeline 30 is provided with a first valve 31, the end of the solvent pipe branch 10 close to the solvent pipe main line 1 is provided with a second valve 11, and the end of the curing agent pipe branch 20 close to the curing agent pipe main line 2 is provided with a third valve 21. The main control system 40 is connected to the first valve 31, the second valve 11 and the third valve 21, and the main control system 40 is used to control the opening and closing of the first valve 31, the second valve 11 and the third valve 21.

[0047] In the embodiment of the present application, it is considered that a section of the curing agent pipe branch near the robot end is easily solidified and blocked due to curing agent residue during the shutdown period due to contact with air. In order to prevent the curing agent pipe branch from being blocked due to curing agent solidification during the shutdown period, it is necessary to clean a section of the curing agent pipe branch near the robot end. In the embodiment of the present application, a connecting pipeline 30 is set between the solvent pipe branch 10 and the curing agent pipe branch 20, and a first valve 31 is set on the connecting pipeline 30 respectively, a second valve 11 is set at one end of the solvent pipe branch 10 close to the solvent pipe main road 1, and a third valve 21 is set at one end of the curing agent pipe branch 20 close to the curing agent pipe main road 2, so that the first valve 31, the second valve 11 and the third valve 21 are switched by the main control system 40, so as to realize flexible connection between the solvent pipe branch 10 and the curing agent pipe branch 20. Specifically, the main control system 40 can start the cleaning program when receiving the shutdown signal from the MES system and the conveying system, and control the first valve 31 and the second valve 11 to open, and the third valve 21 to close, so that the solvent in the solvent pipe branch 10 flows into the curing agent pipe branch 20 through the connecting pipe 30 for cleaning, which can effectively prevent the curing agent pipe branch from being blocked due to the solidification of the curing agent during the shutdown period, and improve the cleaning efficiency. The main control system 40 can also start the filling program when receiving the production signal from the MES system and the conveying system, and control the first valve 31 to close and the third valve 21 to open, so that the curing agent can flow into the curing agent pipe branch 20 for filling, so as to discharge the solvent in the curing agent pipe branch 20. It can ensure that the spraying robot can quickly return to the best working state when restarting, and improve production efficiency and spraying quality.

[0048] It should be noted that in the embodiment of the present application, the main control system 40 may be a programmable logic controller (PLC), which is a digital operation electronic system specially designed for use in industrial environments. It uses a programmable memory to store instructions for performing operations such as logic operations, sequential control, timing, counting and arithmetic operations, and controls various types of mechanical equipment or production processes through digital or analog input and output.

[0049] In some embodiments, reference Figure 2 , Figure 2 is a second structural schematic diagram of a spray robot cleaning system provided by an embodiment of the present application. Figure 2 As shown, the connection point between the solvent pipe branch 10 and the solvent pipe main line 1 is the first interface A, the connection point between the curing agent pipe branch 20 and the curing agent pipe main line 2 is the second interface B, the connection point between the connecting line 30 and the solvent pipe branch 10 is the third interface C, the connection point between the connecting line 30 and the curing agent pipe branch 20 is the fourth interface D, the second valve 11 is arranged between the first interface A and the third interface C on the solvent pipe branch 10, the third valve 21 is arranged between the second interface B and the fourth interface D on the curing agent pipe branch 20, and the third valve 21 is arranged close to the second interface B.

[0050] In the embodiment of the present application, a third valve 21 is provided on the curing agent pipe branch 20, and the third valve 21 is provided close to the second interface B, so that when the curing agent pipe branch 20 is cleaned upon receiving a stop signal, the solvent in the solvent pipe branch 10 can flow into as many pipes of the curing agent pipe branch 20 as possible through the connecting pipe 30, so that as many pipes of the curing agent pipe branch 20 as possible can be cleaned, thereby increasing the cleaning length of the curing agent pipe branch 20.

[0051] In some embodiments, reference Figure 3 , Figure 3 is a third structural schematic diagram of a spray robot cleaning system provided by an embodiment of the present application. Figure 3 As shown, the first valve 31 is disposed on the communication pipeline 30 , and the first valve 31 is disposed close to the fourth interface D.

[0052] In the embodiment of the present application, a first valve 31 is provided on the connecting pipeline 30, and the first valve 31 is provided close to the fourth interface D, so that when a production signal is received to fill the curing agent pipe branch 20, the connecting pipeline 30 can be filled as little as possible, thereby saving the curing agent.

[0053] In some embodiments, reference Figure 1-Figure 3The first valve 31 , the second valve 11 and the third valve 21 can all be electric valves. The main control system 40 is electrically connected to each electric valve, so as to control the switch of each electric valve to control the cleaning or filling of the curing agent pipe branch 20 .

[0054] In some embodiments, reference Figure 4 , Figure 4 is a fourth structural diagram of a spray robot cleaning system provided by an embodiment of the present application. Figure 4 As shown, the first valve 31, the second valve 11 and the third valve 21 can all be composed of a solenoid valve I1 and a pneumatic valve I2. For example, the first valve 31 includes a solenoid valve I1 and a pneumatic valve I2, the second valve 11 includes a solenoid valve I1 and a pneumatic valve I2, and the third valve 21 includes a solenoid valve I1 and a pneumatic valve I2, wherein the first end of the solenoid valve I1 is used to connect compressed air, the second end of the solenoid valve I1 is connected to the pneumatic valve I2, and the solenoid valve I1 is electrically connected to the main control system 40. The pneumatic valve I2 is a device that uses air pressure to control the opening and closing of the valve, and controls the opening and closing of the valve by controlling the size of the air pressure. When the pneumatic valve I2 needs to be opened or closed, a certain air pressure needs to be transmitted to the valve to generate sufficient force to drive the valve to move. This process requires the consumption of a certain amount of compressed air, so the pneumatic valve needs to continuously obtain an air source from the compressed air system when working, and consumes a certain amount of compressed air. Specifically, the main control system 40 controls the solenoid valve I1 to open, and can transmit compressed air to the pneumatic valve I2 to open the pneumatic valve I2. The main control system 40 controls the electromagnetic valve I1 to close, which can prevent the compressed air from being transmitted to the pneumatic valve I2, and the pneumatic valve I2 is closed. That is, the main control system 40 can control the opening or closing of each pneumatic valve I2 by controlling the switch of each electromagnetic valve I1, so as to control the cleaning or filling of the curing agent pipe branch 20.

[0055] In some embodiments, reference Figure 5 , Figure 5 is a fifth structural diagram of a spray robot cleaning system provided by an embodiment of the present application. Figure 5 As shown, the solvent pipe main line 1 forms a circulation loop with the paint mixing room 4, and the curing agent pipe main line 2 forms a circulation loop with the paint mixing room 4. Therefore, since the curing agent pipe main line 2 is always in a circulation state during the shutdown period and does not come into contact with the air, the curing agent pipe main line 2 will not have a solidification blockage problem, and it is unnecessary to clean the curing agent pipe main line 2.

[0056] Reference Figure 6 , Figure 6 It is a flow chart of the cleaning method of the spray robot provided in the embodiment of the present application, which is executed by the main control system 40 in the spray robot cleaning system provided in any embodiment of the present application, including but not limited to steps S610 to S620.

[0057] Step S610, receiving a production stop signal sent by the MES system and the conveying system;

[0058] Step S620, when the production stop signal is received, the cleaning program is started, and the first valve and the second valve are controlled to be opened, and the third valve is controlled to be closed, so that the solvent flows into the curing agent pipe branch through the connecting pipeline for cleaning.

[0059] In the embodiment of the present application, the main control system 40 is also connected to the MES system and the conveying system, so that it can receive the shutdown signal from the MES system and the conveying system, and when the shutdown signal is received, the cleaning program can be automatically started, and the second valve 11 on the solvent pipe branch 10 is controlled to open, the first valve 31 on the Unicom pipe 30 is opened, and the third valve 21 on the curing agent pipe branch 20 is closed, so that the solvent in the solvent pipe branch can flow into the curing agent pipe branch through the Unicom pipe 30 for cleaning. During the cleaning process, the main control system 40 can be precisely controlled according to the preset cleaning parameters (such as cleaning time, solvent flow, pressure, etc.) to ensure the cleaning effect. By automatically cleaning the curing agent pipe branch, the pipe blockage caused by the solidification of the curing agent during the shutdown period can be effectively prevented, and the cleaning efficiency can be improved; the dependence on manual labor is reduced, and the labor cost of regular maintenance and cleaning is reduced. It can also avoid the regular discharge of incompletely solidified curing agent, reducing material waste and environmental pollution.

[0060] Reference Figure 7 , Figure 7 It is a flow chart of the filling method performed by the main control system provided in an embodiment of the present application, including but not limited to steps S710 to S720.

[0061] Step S710, receiving production signals sent by the MES system and the conveying system;

[0062] Step S720, when the production signal is received, the filling program is started, and the first valve is controlled to be closed and the third valve is controlled to be opened, so that the curing agent flows into the curing agent pipe branch for filling, so as to discharge the solvent in the curing agent pipe branch.

[0063] In the embodiment of the present application, the main control system 40 is also connected to the MES system and the conveying system, so that it can receive production signals from the MES system and the conveying system, and when receiving the production signal, it can automatically start the filling program, and control the first valve 31 on the Unicom pipeline 30 to close, and the third valve 21 on the curing agent pipe branch 20 to open, so that the curing agent can flow into the curing agent pipe branch 20 for filling, so as to discharge the solvent in the curing agent pipe branch 20. During the filling process, the main control system 40 can be precisely controlled according to the preset filling parameters, and the solvent in the curing agent pipe branch 20 can be completely discharged. It can ensure that the spraying robot can quickly return to the best working state when restarting, thereby improving production efficiency and spraying quality. Improve the overall performance of the coating spraying robot and provide strong support for the automation and intelligent upgrading of the coating production line.

[0064] Based on the same inventive concept, an embodiment of the present application also provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device with the processor executes a method provided in any of the above embodiments.

[0065] See also Figure 8 , Figure 8 The hardware structure of the computer program product of the embodiment of the present application is illustrated, and the computer program product includes:

[0066] The processor 801 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0067] The memory 802 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 802 can store an operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 802, and the processor 801 calls and executes the methods provided in any embodiment of this application;

[0068] Input / output interface 803, used to implement information input and output;

[0069] The communication interface 804 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0070] A bus 805 that transmits information between the various components of the device (e.g., the processor 801, the memory 802, the input / output interface 803, and the communication interface 804);

[0071] The processor 801 , the memory 802 , the input / output interface 803 and the communication interface 804 are connected to each other in communication within the device via a bus 805 .

[0072] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which at least one computer program instruction is stored, and the at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the method provided in any of the above embodiments.

[0073] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0074] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0075] The units described as separate components may or may not be physically separated, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0076] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly or all or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store computer program instructions.

[0077] The above description is only an 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 substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A spray robot cleaning system, characterized in that: include: A solvent pipe branch, one end of which is connected to the solvent pipe main line, and the other end of which is connected to the first end of the robot, and the solvent pipe branch is used to transport the solvent to the first end of the robot; A curing agent pipe branch, one end of which is connected to the curing agent pipe main line, and the other end of which is connected to the second end of the robot, and the curing agent pipe branch is used to transport the curing agent to the second end of the robot; A connecting pipeline, one end of which is connected to the solvent pipe branch, and the other end of which is connected to the curing agent pipe branch, and the connecting pipeline is used to connect the solvent pipe branch with the curing agent pipe branch; The connecting pipeline is provided with a first valve, the end of the solvent pipe branch close to the solvent pipe main line is provided with a second valve, and the end of the curing agent pipe branch close to the curing agent pipe main line is provided with a third valve; A main control system, wherein the main control system is connected to the first valve, the second valve and the third valve, and the main control system is used to control the switching of the first valve, the second valve and the third valve.

2. The system according to claim 1, characterized in that The connection point between the solvent pipe branch and the solvent pipe main line is the first interface, the connection point between the curing agent pipe branch and the curing agent pipe main line is the second interface, the connection point between the connecting pipe and the solvent pipe branch is the third interface, the connection point between the connecting pipe and the curing agent pipe branch is the fourth interface, the second valve is arranged between the first interface and the third interface on the solvent pipe branch, the third valve is arranged between the second interface and the fourth interface on the curing agent pipe branch, and the third valve is arranged close to the second interface.

3. The system according to claim 2, characterized in that The first valve is arranged on the communication pipeline, and the first valve is arranged close to the fourth interface.

4. The system according to claim 1, characterized in that The first valve, the second valve, and the third valve include electric valves.

5. The system according to claim 1, characterized in that The first valve, the second valve and the third valve include a pneumatic valve and a solenoid valve, the first end of the solenoid valve is used to connect compressed air, the second end of the solenoid valve is connected to the pneumatic valve, and the solenoid valve is electrically connected to the main control system.

6. The system according to claim 1, characterized in that The main line of the solvent pipe and the paint mixing room form a circulation loop, and the main line of the curing agent pipe and the paint mixing room form a circulation loop.

7. A method for cleaning a spraying robot, characterized in that: Applied to the spray robot cleaning system according to any one of claims 1 to 6, the method comprising: When the production stop signal is received, the cleaning program is started, and the first valve and the second valve are controlled to be opened, and the third valve is closed, so that the solvent flows into the curing agent pipe branch through the connecting pipeline for cleaning.

8. The method according to claim 7, characterized in that The method further comprises: When the production signal is received, the filling program is started, and the first valve is controlled to be closed and the third valve is controlled to be opened, so that the curing agent flows into the curing agent pipe branch for filling, so as to discharge the solvent in the curing agent pipe branch.

9. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes the method according to any one of claims 7 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which are loaded and executed by a processor to implement the operations performed by the method according to any one of claims 7 to 8.

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