Dust collector bag cage organic silicon spraying method and system based on intelligent control

Abstract

The invention provides a dust collector bag cage organic silicon spraying method and system based on intelligent control, and the method comprises the steps: determining a first position of a preprocessed dust collector bag cage through the analysis of a first image collected by a first image collection module; the dust collector bag cage at the first position is clamped and placed on a clamping device through a first industrial robot; determining a second position of the dust collector bag cage on the clamping device through analysis of a second image acquired by a second image acquisition device; and the clamping device is controlled to clamp the dust collector bag cage, and the second industrial robot is controlled to conduct spraying operation on the clamped dust collector bag cage. According to the dust collector bag cage organic silicon spraying method and system based on intelligent control, the stability and effectiveness of the operation of spraying organic silicon on the dust collector bag cage by an industrial robot are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and particularly relates to a method and system for silicone spraying of a dust collector cage based on intelligent control. Background Art

[0002] For the existing silicone spraying of dust collector cages, most of them are carried out by manual spraying, with relatively low efficiency; with the development of electronic information and intelligent device technologies, industrial robots are widely used to replace manual labor to achieve higher production efficiency; among them, an industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, with a certain degree of automation. Applying an industrial robot to the silicone spraying operation of a dust collector cage can effectively improve production efficiency. How to achieve intelligent control after applying an industrial robot to the spraying operation has always been a technical problem that needs to be solved urgently. Summary of the Invention

[0003] One of the purposes of the present invention is to provide a method and system for silicone spraying of a dust collector cage based on intelligent control to ensure the stability and effectiveness of the operation of an industrial robot for silicone spraying of a dust collector cage.

[0004] A method for silicone spraying of a dust collector cage based on intelligent control provided by an embodiment of the present invention includes:

[0005] Determining a first position of the pre-treated dust collector cage through analysis of a first image collected by a first image acquisition module;

[0006] Clamping the dust collector cage at the first position by a first industrial robot and placing it on a clamping device;

[0007] Determining a second position of the dust collector cage on the clamping device through analysis of a second image collected by a second image acquisition device;

[0008] Controlling the clamping device to clamp the dust collector cage and controlling a second industrial robot to perform a spraying operation on the clamped dust collector cage.

[0009] Preferably, the pre-treatment of the dust collector cage includes: surface cleaning of the dust collector cage using ultrasonic cleaning technology, and / or activation treatment of the surface of the dust collector cage using plasma treatment technology.

[0010] Preferably, the first image acquisition module is configured to collect an image on a dust collector cage conveying device.

[0011] Preferably, the clamping device includes: end face clamps symmetrically arranged in a spraying chamber;

[0012] The end face gripper includes: a rotating platform, and at least one set of symmetrically arranged clamping jaws provided on the end face of the rotating platform; the clamping jaws are slidably arranged on the guide rails configured on the rotating platform, and two symmetric clamping jaws in a group move towards each other on the guide rails;

[0013] The rotating platform is rotatably arranged on the rotating seat.

[0014] Preferably, the second industrial robot includes: a planar moving mechanism and a working platform; a nozzle is arranged on the working platform; the second industrial robot is arranged on the side inside the spraying chamber; the working platform is configured as a two-axis cloud platform.

[0015] Preferably, the method for spraying silicone on the dust collector cage based on intelligent control further includes:

[0016] After the spraying operation of the dust collector cage clamped by the second industrial robot is completed, control the clamping device to clamp the dust collector cage and move it on the translation guide rail to transport the dust collector cage to the curing chamber for primary curing;

[0017] After the primary curing is completed, control the clamping device to clamp the dust collector cage and move it on the translation guide rail to transport the dust collector cage back to the spraying chamber again;

[0018] Control the clamping device to cooperate with the first industrial robot to change the position of the end face of the dust collector cage clamped by the clamping device, and perform positioning spraying on the position clamped last time;

[0019] Control the translation guide rail to act for secondary curing operation.

[0020] The present invention also provides a system for spraying silicone on a dust collector cage based on intelligent control, including: a first positioning module, a clamping control module, a second positioning module, and a clamping operation module; wherein, the first positioning module determines the first position of the pre-treated dust collector cage through the analysis of the first image collected by the first image acquisition module; the clamping control module clamps the dust collector cage at the first position by the first industrial robot and places it on the clamping device; the second positioning module determines the second position of the dust collector cage on the clamping device through the analysis of the second image collected by the second image acquisition device; the clamping operation module controls the clamping device to clamp the dust collector cage and controls the second industrial robot to perform spraying operation on the clamped dust collector cage.

[0021] The pre-treatment of the dust collector cage includes: using ultrasonic cleaning technology to clean the surface of the dust collector cage, and / or, using plasma treatment technology to activate the surface of the dust collector cage.

[0022] The first image acquisition module is configured to collect images on the dust collector cage conveying device.

[0023] The clamping device includes: end face grippers symmetrically arranged in the spraying chamber;

[0024] The end face grippers include: a rotating platform, and at least one set of symmetrically arranged clamping claws provided on the end face of the rotating platform; the clamping claws are slidably arranged on the guide rails configured on the rotating platform, and two symmetric clamping claws in a group move towards each other on the guide rails;

[0025] The rotating platform is rotatably arranged on the rotating seat.

[0026] Other features and advantages of the present invention will be described in the following specification, and partly will become obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written specification and the drawings.

[0027] The technical solution of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0028] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0029] Figure 1 is a schematic diagram of a method for organosilicon spraying of a dust collector cage based on intelligent control in an embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of a clamping device in an embodiment of the present invention;

[0031] Figure 3 is a schematic diagram of another clamping device in an embodiment of the present invention;

[0032] Figure 4 is a schematic diagram of a system for organosilicon spraying of a dust collector cage based on intelligent control in an embodiment of the present invention. Detailed Embodiments

[0033] The following describes the preferred embodiments of the present invention with reference to the drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0034] An embodiment of the present invention provides a method for organosilicon spraying of a dust collector cage based on intelligent control, as Figure 1 shown, including:

[0035] Step 1: Determine the first position of the pre-processed dust collector cage through the analysis of the first image collected by the first image acquisition module;

[0036] The specific steps for the analysis of the first image are as follows: perform target recognition of the dust collector cage on the first image to identify whether there is a dust collector cage in the first image and the relative position of the dust collector cage in the first image; in order to determine the first position, it is necessary to configure a corresponding coordinate system in advance according to the installation position of the first image acquisition module, and determine the first position through the relative position and the coordinate system; the first position includes the coordinates of the central calibration point of the dust collector cage, the axial direction vector, and the radial direction vector.

[0037] Step 2: Use the first industrial robot to pick up the dust collector cage at the first position and place it on the clamping device.

[0038] The main function of the first industrial robot on the production line is to grab the dust collector cage at the first position, and then transport and place it in the middle of the clamping device; among them, the control of the first industrial robot is realized through the first control library, and the corresponding first control set is retrieved from the first control library based on the current state parameter set of the first industrial robot and the data set of the first position; the first control set controls the grasping action of the first industrial robot; the first control set includes: the state control parameters of each joint and the grasping control parameters of the grasping claw, etc.; when selecting the first industrial robot, existing four-axis multi-joint robots, six-axis multi-joint robots, etc. can be selected.

[0039] Step 3: Determine the second position of the dust collector cage on the clamping device through the analysis of the second image collected by the second image acquisition device.

[0040] In order to achieve accurate clamping, it is necessary to determine the second position of the dust collector cage on the clamping device. By configuring the second image acquisition device for image acquisition of the clamping area of the clamping device, and analyzing the second image collected by the second image acquisition device, the relative position between the dust collector cage and the clamping device is determined; the second position includes: the distance from the end face gripper of the clamping device, the distance from both side walls of the spraying chamber, etc.

[0041] Step 4: Control the clamping device to clamp the dust collector cage and control the second industrial robot to perform spraying operations on the clamped dust collector cage.

[0042] Knowing the situation of the second position, clamping and spraying operations can be carried out. The corresponding application scenario of the present invention is the production line, that is, pre-treatment of spraying after the production of the dust collector cage. After pre-treatment, it is transported to the spraying operation station through the transmission device. First, it is necessary to determine the position of the dust collector cage on the transmission device. The present invention locates the first position of the dust collector cage through pre-processing the first image collected by the first image acquisition module configured to collect images of the dust collector cage conveying device. When the first position is determined, the first industrial robot picks up the dust collector cage at the first position and then

[0043] The silicone spraying method for the dust collector cage based on intelligent control of the present invention clamps the dust collector cages produced on the production line by the first image acquisition module and the first industrial robot and then places them on the clamping device, and then the second industrial robot performs spraying operations on the dust collector cages, realizing the intelligent spraying of the dust collector cages.

[0044] Among them, the pretreatment of the dust collector cage includes: using ultrasonic cleaning technology to clean the surface of the dust collector cage, and / or using plasma treatment technology to activate the surface of the dust collector cage. Using ultrasonic cleaning technology to clean the surface of the dust collector cage to remove oil stains and impurities; using plasma treatment technology to activate the surface of the cage to improve the coating adhesion, and realizing the efficient adhesion of the silicone coating through pretreatment.

[0045] Among them, as Figure 2 and Figure 3 shown, the clamping device is arranged in the spraying chamber 10; the clamping device includes: end face grippers 11 symmetrically arranged in the spraying chamber;

[0046] The end face gripper 11 includes: a rotating platform 111, and at least one set of symmetrically arranged clamping claws 112 arranged on the end face of the rotating platform 111; the clamping claws 112 are slidably arranged on the guide rails 113 arranged on the rotating platform 111, and a pair of symmetric clamping claws 112 move in opposite directions on the guide rails; the opposite movement takes the center point of the rotating platform as the central axis point and moves simultaneously closer to or simultaneously away from the central axis point; the dust collector cage is generally cylindrical, and the two end faces of the cage are clamped by the end face gripper 11 to fix the dust collector cage; the rotating platform 111 is rotatably arranged on the rotating seat 114. The rotating platform 111 is sleeved on the rotating seat 114, and specifically, meshing threads can be arranged at the position where the rotating platform 111 is sleeved on the rotating seat 114 and on the outer periphery of the rotating seat 114; the rotation of the rotating platform on the rotating seat is realized through the threads;

[0047] Among them, the second industrial robot 20 includes: a planar moving mechanism and a working platform; a spray head is arranged on the working platform; the second industrial robot 20 is arranged on the side inside the spraying chamber; the working platform is configured as a two-axis cloud platform. The planar moving mechanism can specifically be two parallel guide rails and a vertical guide rail; the two ends of the vertical guide rail are respectively arranged on the two parallel guide rails, and the working platform is slidably arranged on the vertical guide rail; the planar moving mechanism drives the working platform to make the spray head move on a plane on the side of the cage, and the working platform can also adjust the spraying angle of the spray head; in this way, spraying in any direction of the cage can be realized; in addition, when spraying, the rotation of the rotating platform 111 on the rotating seat can be synchronously controlled to realize the tumbling of the cage.

[0048] In one embodiment, the method for silicone spraying of a dust collector cage based on intelligent control further includes:

[0049] After the spraying operation of the dust collector cage clamped by the second industrial robot is completed, control the clamping device to clamp the dust collector cage and move it on the translation guide rail to transport the dust collector cage to the curing chamber for primary curing;

[0050] After the primary curing is completed, control the clamping device to clamp the dust collector cage and move it on the translation guide rail to transport the dust collector cage back to the spraying chamber again;

[0051] Control the clamping device to cooperate with the first industrial robot to change the position of the end face of the dust collector cage clamped by the clamping device, and perform positioning spraying on the previously clamped position;

[0052] Control the translation guide rail to act to perform secondary curing operation.

[0053] As Figure 2 and Figure 3 , the spraying chamber 10 and the curing chamber 30 are arranged side by side, and an electrically controlled heat-insulating door 40 is arranged between them; part of the horizontal guide rail 115 is arranged in the spraying chamber and part is arranged in the curing chamber, and then extends out from the outlet of the curing chamber. Specifically, during use, a transmission device (conveyor belt) is arranged below the outlet extension part to transport the cage out after the spraying and curing are completed. In addition, multi-layer spraying can also be realized. After each spraying process is completed, it is cured through the curing chamber, and an infrared heating device is used for heating and curing in the curing chamber. In addition, after the cage is transported out, a vision detection device can be used to detect the quality of the cage, and a high-resolution camera and image processing technology are used to detect the surface quality of the sprayed cage; and the feedback of the detection result is used to automatically adjust the process parameters to achieve closed-loop control; the process parameters include: the angle of the nozzle, the flow rate of the nozzle, the spraying pressure of the nozzle, etc.

[0054] In addition, when clamping the cage, the two groups of clamping claws of the two end face clamps are in a misaligned clamping posture, that is, the connection line of the two clamping points on one end face of the cage and the connection line of the two clamping points on the other end face form a certain angle.

[0055] In one embodiment, the method for silicone spraying of a dust collector cage based on intelligent control further includes:

[0056] Before spraying, scan the cage clamped on the clamping device through a scanning device arranged beside the nozzle and update the pre-configured simulation model for control analysis;

[0057] Determine the spraying control parameters according to the updated simulation model; wherein, the spraying control parameters include: the control parameters of each component of the clamping device, the control parameters of each component of the planar moving mechanism, the nozzle angle, the flow rate of the nozzle, the spraying pressure of the nozzle, etc.

[0058] Among them, the scanning control steps for the scanning device are as follows: Keep the state of the clamping device, control the planar moving mechanism to act, so that the scanning device scans from one end to the other end of the projection line corresponding to the central axis (the straight line where the connection line of the centers of the two end faces is located) on the side of the filter cage (the projection operation is based on the moving plane of the planar moving mechanism); Control the two end face grippers of the clamping device to rotate synchronously, rotate a preset angle, and then control the planar moving mechanism to act again, so that the scanning device scans from one end to the other end of the projection line corresponding to the central axis on the side of the filter cage; After multiple rotations, extract the features of the data scanned multiple times, and then, according to the extracted feature parameters, retrieve the corresponding three-dimensional model of the filter cage from the pre-configured three-dimensional model retrieval library; Map the retrieved three-dimensional model to a preset position in the pre-configured simulation model; wherein the simulation model further includes: the three-dimensional model corresponding to the clamping device, the three-dimensional model corresponding to the second industrial robot, and the three-dimensional models corresponding to the clamping device and the second industrial robot are synchronously updated with the states of the actual clamping device and the second industrial robot; The three-dimensional models in the three-dimensional model retrieval library correspond one-to-one with the feature parameters; When the scanning is in the form of a captured visual image, the feature parameters are the positions (coordinates of the center points), the sizes of the regions, etc. of the individual closed regions presented by the filter cage skeleton in the recognized image; When it is infrared laser scanning, a floor plan can be constructed based on the distance data, and then the positions (coordinates of the center points), the sizes of the regions, etc. of the individual closed regions presented by the filter cage skeleton in the image are also extracted;

[0059] For the convenience of subsequent effect feedback, after scanning, the dust collector filter cage needs to be adjusted to a unified position, that is, to ensure that each spraying of the dust collector filter cage starts from the same position and ends at the same position; In this embodiment, when the filter cage is produced, one rod body located on the side of the skeleton is configured to be thinner or thicker than other rod bodies, and this rod body is used as a positioning mark. This rod body is placed at the coincidence of the projection line corresponding to the central axis on the side of the filter cage as the initial spraying position;

[0060] Since there may be differences in the clamping positions, at this time, the first industrial robot needs to grasp the filter cage. After keeping the state of the filter cage, the clamping device first releases the clamping, then the rotating platform acts, adjusts the position of the clamping claw and then clamps, so as to keep the clamping positions of each filter cage consistent;

[0061] In order to optimize online spraying control, in one embodiment, a method for applying silicone to the dust collector cage based on intelligent control further includes:

[0062] Obtaining the detection data of the dust collector cage for the previous preset number of times detected by the detection module for the spraying effect; among them, the detection data is also reflected based on the three-dimensional model, that is, the detection module detects based on the three-dimensional model, detects the coating thickness of each part of the cage, and marks it in the form of associating the thickness data with each point on the three-dimensional model;

[0063] Analyze the detection data to determine the optimization control position and optimization control requirements; the analysis mainly analyzes whether the thickness data meets the preset process requirements. When it does not meet, the specific value of the optimization control requirement is the difference between the thickness data and the intermediate value of the process requirements; when the thickness data exceeds, it is to reduce the thickness of the corresponding required value; when the thickness data does not reach, it is to increase the thickness of the corresponding required value; the optimization control position is essentially a sampling point. First, mark the area in the three-dimensional model that does not meet the process requirements, and then perform point sampling according to the area size to obtain the sampling point;

[0064] Determine whether there is interference at the optimization control position; the determination of interference needs to return to the spraying step. First, determine whether the optimization control position is marked in the same area and whether it corresponds to the same spraying plane. The spraying plane is different according to the state of the clamping device and the angle of the nozzle; when it is not in the same spraying plane and is not marked in the same area, it can be determined as irrelevant; when it is marked in the same area but the distance between the two exceeds the preset distance threshold (determined according to the radius of the spraying area of the nozzle on the spraying plane), it can be determined that there is no interference; the rest can be determined as having interference;

[0065] When there is none, based on the optimization control position and optimization control requirements, retrieve the optimization control parameters from the pre-configured optimization control library; the optimization control library is pre-configured, and in the optimization control library, the optimization control parameters, optimization control positions, and optimization control requirements are associated one by one;

[0066] Optimize the spraying control parameters based on the optimization control parameters;

[0067] When there is interference, perform a priority analysis on the optimization control position to construct an optimization control processing list; calculate the sum of the distances from each point to other points, and assign the corresponding priority according to the ascending order of the sum value. The smaller the sum value, the higher the priority;

[0068] Sequentially retrieve the optimization control positions in the optimization control processing list, retrieve the optimization control parameters from the pre-configured optimization control library; based on the optimization control parameters, perform spraying simulation to determine the interference data of other points;

[0069] Update the optimized control processing list according to the interference data;

[0070] Retrieve cyclically until the optimized control processing list is empty; optimize the spraying control parameters based on the optimized control parameters during the cyclic process.

[0071] The present invention also provides a dust collector cage organosilicon spraying system based on intelligent control, as Figure 4 shown, including: a first positioning module 1, a clamping control module 2, a second positioning module 3, and a clamping operation module 4; wherein, the first positioning module 1 determines the first position of the pre-processed dust collector cage by analyzing the first image collected by the first image acquisition module; the clamping control module 2 clamps the dust collector cage at the first position by the first industrial robot and places it on the clamping device; the second positioning module 3 determines the second position of the dust collector cage on the clamping device by analyzing the second image collected by the second image acquisition device; the clamping operation module 4 controls the clamping device to clamp the dust collector cage and controls the second industrial robot to perform spraying operations on the clamped dust collector cage.

[0072] The pre-treatment of the dust collector cage includes: using ultrasonic cleaning technology to clean the surface of the dust collector cage, and / or, using plasma treatment technology to activate the surface of the dust collector cage.

[0073] The first image acquisition module is configured to collect images on the dust collector cage conveying device.

[0074] The clamping device includes: end face clamps symmetrically arranged in the spraying chamber;

[0075] The end face clamp includes: a rotating platform, and at least one set of symmetrically arranged clamping claws arranged on the end face of the rotating platform; the clamping claws are slidably arranged on the guide rails configured on the rotating platform, and two symmetric clamping claws in a group move in opposite directions on the guide rails;

[0076] The rotating platform is rotatably arranged on the rotating seat.

[0077] In one embodiment, the dust collector cage organosilicon spraying system based on intelligent control further includes:

[0078] a spraying control module;

[0079] The spraying control module performs the following operations:

[0080] Before spraying, scan the cage clamped on the clamping device through a scanning device arranged beside the nozzle and update the pre-configured simulation model for control analysis;

[0081] Determine the spraying control parameters according to the updated simulation model; wherein, the spraying control parameters include: the control parameters of each component of the clamping device, the control parameters of each component of the planar moving mechanism, the nozzle angle, the flow rate of the nozzle, the spraying pressure of the nozzle, etc.

[0082] Among them, the scanning control steps for the scanning device are as follows: Keep the state of the clamping device, control the action of the planar moving mechanism, and make the scanning device scan from one end to the other end of the projection line corresponding to the central axis (the straight line where the connection line of the centers of the two end faces is located) on the side of the filter cage (the projection operation is based on the moving plane of the planar moving mechanism); Control the synchronous rotation of the two end face grippers of the clamping device, rotate a preset angle, and then control the action of the planar moving mechanism again to make the scanning device scan from one end to the other end of the projection line corresponding to the central axis on the side of the filter cage; After multiple rotations, extract the features from the data of multiple scans, and then, according to the extracted feature parameters, retrieve the corresponding three-dimensional model of the filter cage from the pre-configured three-dimensional model retrieval library; Map the retrieved three-dimensional model to a preset position in the pre-configured simulation model; The simulation model also includes: the three-dimensional model corresponding to the clamping device, the three-dimensional model corresponding to the second industrial robot, and the three-dimensional models corresponding to the clamping device and the second industrial robot are updated synchronously with the states of the actual clamping device and the second industrial robot; The three-dimensional models in the three-dimensional model retrieval library correspond one-to-one with the feature parameters; When the scanning is in the form of a captured visual image, the feature parameters are the positions (coordinates of the center points), the sizes of the regions, etc. of the individual closed regions presented by the filter cage skeleton in the recognized image; When it is infrared laser scanning, a plan view can be constructed based on the distance data, and then the positions (coordinates of the center points), the sizes of the regions, etc. of the individual closed regions presented by the filter cage skeleton in the image are also extracted;

[0083] For the convenience of subsequent effect feedback, after scanning, the dust collector filter cage needs to be adjusted to a unified position, that is, to ensure that each spraying of the dust collector filter cage starts from the same position and ends at the same position; In this embodiment, when the filter cage is produced, one rod body on the side of the skeleton is configured to be thinner or thicker than other rod bodies, and this rod body is used as a positioning mark, and this rod body is placed at the coincidence of the projection line corresponding to the central axis on the side of the filter cage as the initial spraying position;

[0084] Since there may be differences in the clamping positions, at this time, the first industrial robot needs to grasp the filter cage. After keeping the state of the filter cage, the clamping device first releases the clamping, and then the rotating platform moves to adjust the position of the clamping claw and then clamps it to keep the clamping position of each filter cage consistent;

[0085] In order to optimize the online spraying control, in one embodiment, the silicone spraying system for the dust collector cage based on intelligent control further includes: an optimization control module;

[0086] The optimization control module performs the following operations:

[0087] Obtain the detection data of the dust collector cage for the previous preset number of times detected by the detection module for the spraying effect; among them, the detection data is also reflected on the three-dimensional model, that is, the detection by the detection module is based on the three-dimensional model, and the coating thickness of each part of the cage is detected, and is marked in the form of associating the thickness data with each point on the three-dimensional model;

[0088] Analyze the detection data to determine the optimization control position and the optimization control requirements; the analysis mainly analyzes whether the thickness data meets the preset process requirements. When it does not meet, the specific value of the optimization control requirement is the difference between the thickness data and the intermediate value of the process requirements; when the thickness data exceeds, it is to reduce the thickness of the corresponding required value; when the thickness data does not reach, it is to increase the thickness of the corresponding required value; the optimization control position is essentially a sampling point. First, mark the area in the three-dimensional model that does not meet the process requirements, and then perform point sampling according to the area size to obtain the sampling point;

[0089] Determine whether there is interference at the optimization control position; the determination of interference needs to return to the spraying step. First, determine whether the optimization control position is marked in the same area and whether it corresponds to the same spraying plane. The spraying plane is different according to the state of the clamping device and the angle of the nozzle; when it is not in the same spraying plane and not marked in the same area, it can be determined as irrelevant; when it is marked in the same area but the distance between the two exceeds the preset distance threshold (determined according to the radius of the spraying area of the nozzle on the spraying plane), it can be determined that there is no interference; the rest can be determined to have interference;

[0090] When there is no interference, based on the optimization control position and the optimization control requirements, retrieve the optimization control parameters from the pre-configured optimization control library; the optimization control library is pre-configured, and in the optimization control library, the optimization control parameters, the optimization control position, and the optimization control requirements are associated one by one;

[0091] Optimize the spraying control parameters based on the optimization control parameters;

[0092] When there is interference, perform a priority analysis on the optimization control position to construct an optimization control processing list; calculate the sum of the distances from each point to other points, and assign corresponding priorities according to the ascending order of the sum values. The smaller the sum value, the higher the priority;

[0093] Successively retrieve the optimization control positions in the optimization control processing list, and retrieve the optimization control parameters from the pre-configured optimization control library; according to the optimization control parameters, perform spraying simulation to determine the interference data of other positions;

[0094] Update the optimization control processing list according to the interference data;

[0095] Retrieve in a loop until the optimization control processing list is empty; optimize the spraying control parameters based on the optimization control parameters in the loop process.

[0096] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A method for organosilicon spraying of a dust collector cage based on intelligent control, characterized in that Including: Determine the first position of the pre-treated dust collector cage through the analysis of the first image collected by the first image acquisition module; Use the first industrial robot to pick up the dust collector cage at the first position and place it on the clamping device; Determine the second position of the dust collector cage on the clamping device through the analysis of the second image collected by the second image acquisition device; Control the clamping device to clamp the dust collector cage and control the second industrial robot to perform spraying operations on the clamped dust collector cage.

2. The method for organosilicon spraying of the dust collector cage based on intelligent control according to claim 1, characterized in that The pre-treatment of the dust collector cage includes: using ultrasonic cleaning technology to clean the surface of the dust collector cage, and / or using plasma treatment technology to activate the surface of the dust collector cage.

3. The method for organosilicon spraying of the dust collector cage based on intelligent control according to claim 1, characterized in that, The first image acquisition module is configured to collect images on the dust collector cage conveying device.

4. The method for organosilicon spraying of the dust collector cage based on intelligent control according to claim 1, characterized in that, The clamping device includes: end face grippers symmetrically arranged in the spraying chamber; The end face gripper includes: a rotating platform, and at least one set of symmetrically arranged clamping claws provided on the end face of the rotating platform; the clamping claws are slidably arranged on the guide rails configured on the rotating platform, and two symmetric clamping claws in a group move towards each other on the guide rails; The rotating platform is rotatably arranged on the rotating seat.

5. The method for organosilicon spraying of the dust collector cage based on intelligent control according to claim 1, characterized in that, The second industrial robot includes: a planar moving mechanism and a working platform; a nozzle is configured on the working platform; the second industrial robot is configured on the side inside the spraying chamber; the working platform is configured as a two-axis cloud platform.

6. The method for organosilicon spraying of a dust collector cage based on intelligent control according to claim 1, wherein, Also including: After the spraying operation of the dust collector cage clamped by the second industrial robot is completed, control the clamping device to clamp the dust collector cage and move it on the translation guide rail to convey the dust collector cage to the curing chamber for primary curing; After the primary curing is completed, control the clamping device to clamp the dust collector cage and move it on the translation guide rail to convey the dust collector cage back to the spraying chamber again; Control the clamping device and the first industrial robot to cooperate to change the position of the end face of the dust collector cage clamped by the clamping device, and perform positioning spraying on the previously clamped position; Control the translation guide rail to act to perform secondary curing operations.

7. A silicone spraying system for the dust collector cage based on intelligent control, characterized in that, Including: The first positioning module, the picking control module, the second positioning module and the clamping operation module; among them, the first positioning module determines the first position of the pre-treated dust collector cage through the analysis of the first image collected by the first image acquisition module; the picking control module uses the first industrial robot to pick up the dust collector cage at the first position and place it on the clamping device; The second positioning module determines the second position of the dust collector cage on the clamping device through the analysis of the second image collected by the second image acquisition device; the clamping operation module controls the clamping device to clamp the dust collector cage and controls the second industrial robot to perform spraying operations on the clamped dust collector cage.

8. The silicone spraying system for the dust collector cage based on intelligent control according to claim 7, characterized in that, The pre-treatment of the dust collector cage includes: using ultrasonic cleaning technology to clean the surface of the dust collector cage, and / or using plasma treatment technology to activate the surface of the dust collector cage.

9. The silicone spraying system for the dust collector cage based on intelligent control according to claim 7, characterized in that, The first image acquisition module is configured to collect images on the dust collector cage conveying device.

10. The organic silicon spraying system for the dust collector cage based on intelligent control according to claim 7, characterized in that, The clamping device includes: end face grippers symmetrically arranged in the spraying chamber; The end face gripper includes: a rotating platform, and at least one set of symmetrically arranged clamping jaws disposed on the end face of the rotating platform; the clamping jaws are slidably arranged on a guide rail configured on the rotating platform, and two symmetric clamping jaws in a group move towards each other on the guide rail; The rotating platform is rotatably arranged on the rotating seat.

Images