Glass cleaning device and glass cleaning method

Abstract

The invention relates to a glass cleaning device and a glass cleaning method.The glass cleaning device comprises a mechanical arm, a sensing mechanism, a constant force mechanism and a control mechanism, and the sensing mechanism is used for scanning a to-be-cleaned area of glass to obtain scanning data; the constant force mechanism comprises a driving assembly and an abutting assembly. The abutting assembly is used for being connected with a laser capable of generating cleaning laser. The driving assembly at least can drive the abutting assembly to ascend and descend so that the abutting assembly can abut against the glass at constant pressure, the control mechanism is connected with the mechanical arm, the driving assembly and the sensing mechanism, the control mechanism controls the mechanical arm to drive the driving assembly and the laser device to move along the cleaning path, the glass is cleaned through cleaning laser, and the cleaning efficiency can be improved. And in the moving process of the laser device, the control mechanism adjusts the distance between the laser device and the glass according to the lifting height required for maintaining the constant pressure between the abutting assembly and the glass, so that it is ensured that the focal length center of the cleaning laser is located in the to-be-cleaned area of the glass, and the cleaning effect is ensured.

Description

Technical Field

[0001] This invention relates to the field of glass cleaning, and in particular to a glass cleaning apparatus and a glass cleaning method. Background Technology

[0002] In the automotive glass manufacturing process (primary, high-pressure, injection molding and edge banding, etc.), the area where the glass is installed in the customer's vehicle (ink area) is contaminated by plasticizers from the rubber rings, PVB plasticizers, and injection molding edge banding release agents. Before leaving the factory, the glass usually needs to be cleaned by manual chemical cleaning and manual mechanical polishing, which is not only inefficient but also difficult to remove adhering contaminants, such as ink contaminants, resulting in poor cleaning effect. Summary of the Invention

[0003] Therefore, it is necessary to provide a glass cleaning device and method that ensures cleaning effectiveness and improves cleaning efficiency.

[0004] A glass cleaning device includes a robotic arm, a sensing mechanism, a constant force mechanism, and a control mechanism; wherein: The sensing mechanism is used to scan the area of ​​the glass to be cleaned and obtain scan data; the constant force mechanism includes a driving component and a pressing component, the pressing component is used to connect to a laser capable of generating a preset cleaning laser; the driving component is at least capable of driving the pressing component to rise and fall, so that the pressing component presses against the glass with a constant pressure; The control mechanism is connected to the robotic arm, the drive assembly, and the sensing mechanism. The control mechanism is used to generate a cleaning path based on the scanning data, and to control the robotic arm to move the drive assembly, the laser, and / or the sensing mechanism according to the cleaning path. The control mechanism adjusts the distance between the laser and / or the sensing mechanism and the glass according to the lifting height required to maintain the constant pressure between the pressure assembly and the glass.

[0005] In one embodiment, the laser and / or the sensing mechanism are connected to the pressure-blocking assembly and move up and down synchronously with the pressure-blocking assembly.

[0006] In one embodiment, the sensing mechanism includes a displacement sensor detachably connected to the pressure assembly.

[0007] In one embodiment, the displacement sensor is a laser displacement sensor, and the light beam emitted by the laser displacement sensor coincides with the light beam emitted by the laser.

[0008] In one embodiment, the glass cleaning apparatus further includes a cooling mechanism for cooling the glass during the laser cleaning process.

[0009] In one embodiment, the cooling mechanism includes a cooling medium generator and a cooling pipe. The cooling medium generator generates the cooling medium, the cooling pipe is connected to the constant force mechanism, and the inlet end of the cooling pipe is connected to the output port of the cooling medium generator. The outlet end of the cooling pipe is directly opposite the intersection area of ​​the cleaning laser and the glass.

[0010] In one embodiment, the drive assembly includes a cylinder and a pressure regulator connected to the cylinder. The pressure regulator is configured to adjust the output pressure of the cylinder, and the output end of the cylinder is connected to the pressure-reducing assembly.

[0011] In one embodiment, the pressing assembly includes a mounting base and a rolling element, the laser is connected to the mounting base, the rolling element is rotatably connected to the mounting base, and the rolling element is capable of abutting against the glass.

[0012] In one embodiment, the constant pressure is 8N to 10N; And / or, the pulse width of the preset cleaning laser is 1ns to 45ns.

[0013] This application also provides a glass cleaning method using the glass cleaning apparatus described above, the glass cleaning method comprising the following steps: Determine the cleaning path: The control mechanism controls the robotic arm to move the sensing mechanism so that the sensing mechanism scans the area of ​​the glass to be cleaned and obtains scan data. The control mechanism then generates a cleaning path based on the scan data. Cleaning glass: The robotic arm is controlled to move the drive assembly and the laser along the cleaning path to clean the glass using a preset cleaning laser emitted by the laser; wherein, during the movement of the laser, the control mechanism adjusts the distance between the laser and the glass according to the lifting height required to maintain the constant pressure between the pressing assembly and the glass.

[0014] In one embodiment, before cleaning the glass using a preset cleaning laser emitted by a laser, the method further includes: Determine the parameters of the preset cleaning laser, including: S1: Clean the glass area to be cleaned according to the test parameters; S2: Perform performance testing on the cleaned glass; S3: Determine whether the performance test results meet the preset conditions. If not, adjust the test parameters and repeat S1, S2 and S3. S4: In response to the performance test result meeting the preset conditions, the test parameters are determined as the preset cleaning parameters; wherein, the preset cleaning parameters include at least one of the following: the power, pulse width, frequency of the laser, and the operating speed of the robotic arm.

[0015] In one embodiment, the glass includes a light-transmitting area and a light-shielding area, the light-shielding area being outside the light-transmitting area, the light-shielding area being printed with ink, and the area to be cleaned being the light-shielding area.

[0016] In one embodiment, the performance test includes: glass strength test and / or glass adhesion test, and the preset conditions include strength conditions and / or adhesion conditions; The step of determining the test parameters as the preset cleaning parameters in response to the performance test results meeting preset conditions includes: In response to the strength test result satisfying the strength condition and the adhesion test result satisfying the adhesion condition, the test parameters are determined as the preset cleaning parameters.

[0017] In one embodiment, the strength test includes a glass sheet strength test and / or a glass assembly strength test, the glass assembly being configured as a glass product formed by bending the glass sheet.

[0018] In one embodiment, the method further includes: Determine the surface energy of the glass; In response to the surface energy meeting a preset threshold, the test parameters are determined as the preset cleaning parameters; in response to the surface energy not meeting the preset threshold, the glass surface is subjected to surface treatment, or the test parameters are adjusted.

[0019] In the above solution, a sensing mechanism is set up to scan the area of ​​the glass to be cleaned and obtain scan data. The control mechanism controls the robotic arm to drive the drive component and the laser to move along the cleaning path, so as to use the cleaning laser emitted by the laser to clean the glass, which can improve the cleaning efficiency. During the movement of the laser, the control mechanism adjusts the distance between the laser and the glass according to the lifting height required to maintain the constant pressure between the pressing component and the glass, so as to ensure that the focal center of the cleaning laser emitted by the laser is in the area of ​​the glass to be cleaned, thus ensuring the cleaning effect. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the glass cleaning device according to an embodiment of this application.

[0023] Figure 2 This is a partial structural diagram of a glass cleaning device according to an embodiment of this application when a laser displacement sensor is not installed.

[0024] Figure 3 This is a partial structural diagram of a glass cleaning device according to an embodiment of this application when a laser displacement sensor is installed.

[0025] Figure 4 This is a partial structural schematic diagram of a glass cleaning device according to an embodiment of this application.

[0026] Figure 5 for Figure 4 Enlarged view of point A in the middle.

[0027] Figure 6 The steps for determining the parameters of a preset cleaning laser are shown in one embodiment of this application.

[0028] Figure 7 The steps for determining the parameters of a preset cleaning laser are shown in another embodiment of this application.

[0029] Explanation of reference numerals in the attached figures: 10. Glass cleaning device; 100. Support base; 110. Support column; 200. Robotic arm; 300. Constant force mechanism; 310. Drive assembly; 311. Cylinder; 312. Air inlet; 313. Electrical signal interface; 320. Pressing assembly; 321. Mounting base; 322. Rolling element; 400. Laser displacement sensor; 410. Mounting bracket; 500. Laser; 510. Cleaning laser; 600. Glass; 700. Flange mounting base; 800. Cooling mechanism; 810. Cooling medium generator; 820. Cooling pipe. Detailed Implementation

[0030] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0031] In the description of this application, it should be understood that if terms such as “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” etc. appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0032] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0033] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0035] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4 This application relates to a glass cleaning device 10, comprising a robotic arm 200, a sensing mechanism, a constant force mechanism 300, and a control mechanism. The sensing mechanism scans the area of ​​glass 600 to be cleaned to obtain scan data. The constant force mechanism 300 is disposed at the end of the robotic arm 200 and can move with the robotic arm 200. The constant force mechanism 300 is positioned opposite to the glass 600 and applies a constant pressure to the glass 600. The control mechanism is used to achieve automated control. Specifically, the constant force mechanism 300 is connected to the end of the robotic arm 200 via a flange mounting base 700.

[0036] The constant force mechanism 300 includes a drive component 310 and a pressing component 320. The pressing component 320 is connected to a laser 500 capable of generating a preset cleaning laser 510. The drive component 310 is capable of driving the pressing component 320 to rise and fall, so that the pressing component 320 presses against the glass 600 with a constant pressure. Specifically, the constant force mechanism 300 is located directly above the glass 600.

[0037] It should be noted that the principle of the preset cleaning laser 510 non-destructive cleaning is based on the difference in absorption coefficients of glass 600 and contaminants to a specific wavelength of laser light, or the difference in their melting and boiling points. After absorbing laser energy, the contaminants vaporize, vibrate, and expand instantaneously due to heat, ultimately peeling off the surface of the glass 600, thus achieving the purpose of non-destructive cleaning.

[0038] The control mechanism is connected to the robotic arm 200, the drive assembly 310, and the sensing mechanism. The control mechanism generates a cleaning path based on the scanning data and controls the robotic arm 200 to move the drive assembly 310, laser 500, and / or sensing mechanism according to the cleaning path. The control mechanism adjusts the distance between the laser 500 and / or sensing mechanism and the glass 600 based on the lifting height required to maintain constant pressure between the pressure assembly 320 and the glass 600. Specifically, the control mechanism is communicatively connected to the sensing mechanism and controllably connected to the robotic arm 200 and the drive assembly 310.

[0039] By setting up a sensing mechanism, the sensing mechanism scans the area of ​​glass 600 to be cleaned and obtains the scan data. The control mechanism controls the robotic arm 200 to drive the drive component 310 and the laser 500 to move along the cleaning path, so as to use the cleaning laser 510 emitted by the laser 500 to clean the glass 600, which can improve the cleaning efficiency. During the movement of the laser 500, the control mechanism adjusts the distance between the laser 500 and the glass 600 according to the lifting height required to maintain a constant pressure between the pressing component 320 and the glass 600, so as to ensure that the focal center of the cleaning laser 510 emitted by the laser 500 is in the area of ​​glass 600 to be cleaned, thus ensuring the cleaning effect.

[0040] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4 According to some embodiments of this application, optionally, the glass cleaning device 10 further includes a support base 100, which is provided with a support surface for supporting the glass 600. The contour of the support surface matches the bottom contour of the glass 600, so that the bottom of the glass 600 fits perfectly with the support surface, which can better support the glass 600 and prevent the glass 600 from shifting during the cleaning process. The support base 100 interacts with the pressing component 320 to ensure that the glass 600 is not easily displaced during the cleaning process, thereby improving cleaning efficiency.

[0041] In this embodiment, a plurality of support columns 110 are protruding from the support base 100. The plurality of support columns 110 are spaced apart and are corresponding to the bottom of the glass 600. The upper surface of each support column 110 has a mating surface that matches the contour of the corresponding position of the bottom of the glass 600.

[0042] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4 According to some embodiments of this application, optionally, the laser 500 and / or the sensing mechanism are connected to the pressing assembly 320 and move up and down synchronously with the pressing assembly 320. Specifically, the sensing mechanism includes a displacement sensor, which is detachably connected to the pressing assembly 320. The laser 500 is connected to the pressing assembly 320.

[0043] The displacement sensor is a laser displacement sensor 400, and the beam emitted by the laser displacement sensor 400 coincides with the beam emitted by the laser 500. For example, before cleaning begins, the laser displacement sensor 400 needs to be installed on the pressure assembly 320. After the laser displacement sensor 400 has finished scanning, it can be removed to ensure that the cleaning of the laser 500 is not affected.

[0044] Before cleaning begins, the control mechanism controls the drive assembly 310 and the robotic arm 200 to operate, thereby driving the laser displacement sensor 400 to scan the glass 600. The laser displacement sensor 400 transmits the scan data to the control mechanism in real time. Based on the acquired scan data, the control mechanism can determine the area of ​​the glass 600 to be cleaned and generate a cleaning path.

[0045] The control mechanism controls the operation of the drive component 310 and the robotic arm 200 according to the cleaning path, which drives the pressing component 320 to rise and fall, so that the pressing component 320 presses against the glass 600 with constant pressure. This can precisely control the distance between the laser 500 and the glass 600, ensuring that the focal center of the preset cleaning laser 510 emitted by the laser 500 is in the area to be cleaned on the glass 600, ensuring the cleaning effect and improving the cleaning efficiency.

[0046] It should be noted that since both the laser displacement sensor 400 and the laser 500 are located on the pressure assembly 320, and the beams emitted by the laser displacement sensor 400 and the laser 500 overlap, the distances between the laser displacement sensor 400 and the laser 500 and the glass 600 are consistent. Therefore, the control mechanism can precisely control the distance between the laser 500 and the glass 600 based on the scanning data, thereby ensuring the cleaning effect.

[0047] The preset cleaning laser 510 acts on the glass 600 in two processes: the absorption of the energy of the preset cleaning laser 510 and the conduction of heat. The former is the source and the latter is the channel for dissipation. The conduction of heat will cause the ink contaminants on the glass 600 to accumulate heat. If the heat accumulation is too much and exceeds the strain point of the temperature stress of the ink contaminants, it will change the stress between the ink layer and the glass 600, thereby affecting the strength of the glass 600.

[0048] To address the aforementioned issues, this application incorporates the following settings: Please refer to [link / reference needed]. Figure 1 , Figure 2 , Figure 3 and Figure 4 According to some embodiments of this application, the glass cleaning device 10 may optionally include a cooling mechanism 800, which is used to cool the glass 600 during the cleaning process of the laser 500, thereby reducing the thermal effect of the preset cleaning laser 510 on ink contaminants and ensuring the strength of the glass 600 while ensuring the cleaning effect.

[0049] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4According to some embodiments of this application, optionally, the cooling mechanism 800 includes a cooling medium generator 810 and a cooling pipe 820. The cooling medium generator 810 is used to generate a cooling medium. The cooling pipe 820 is connected to the constant force mechanism 300. The inlet end of the cooling pipe 820 is connected to the output port of the cooling medium generator 810, and the outlet end of the cooling pipe 820 is directly facing the intersection area of ​​the preset cleaning laser 510 and the glass 600, which can cool the glass 600 during the cleaning process of the laser 500.

[0050] Specifically, the cooling medium generator 810 is either a water-cooled generator or an air-cooled generator, and the corresponding cooling medium generated is either cold water or cold air. The cooling pipe 820 can be fixedly connected to the constant force mechanism 300, such as by welding or bonding, or the cooling pipe 820 can be detachably connected to the constant force mechanism 300, such as by snap-fitting. This application does not limit the specific connection.

[0051] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4 According to some embodiments of this application, optionally, the laser 500 includes a generator and an adjustment module. The generator is used to emit preset cleaning lasers 510 with different powers, and the adjustment module is configured to adjust the pulse width of the preset cleaning lasers 510. Exemplarily, the adjustment module is an optical component that can realize the adjustment of the pulse width of the preset cleaning lasers 510 and the conduction of the preset cleaning lasers 510.

[0052] In this embodiment, the pulse width of the preset cleaning laser 510 is 1ns to 45ns. The power of the preset cleaning laser 510 is 60W to 120W. The frequency of the preset cleaning laser 510 is 100kHz to 700kHz. The operating speed of the robotic arm is 20mm / s to 100mm / s. It should be noted that this application does not specifically limit the pulse width, power, frequency, and operating speed of the preset cleaning laser 510; these can be selected according to actual usage requirements. Specifically, the pulse width of the preset cleaning laser 510 is selected within the range of 1ns to 45ns, the power is selected within the range of 60W to 120W, the frequency is selected within the range of 100kHz to 700kHz, and the operating speed of the robotic arm is selected within the range of 20mm / s to 100mm / s.

[0053] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4According to some embodiments of this application, optionally, the drive assembly 310 includes a cylinder 311 and a pressure regulating component. The pressure regulating component is connected to the cylinder 311 and is configured to adjust the output pressure of the cylinder 311. The output end of the cylinder 311 is connected to the pressing assembly 320. By adjusting the output pressure of the cylinder 311 through the pressure regulating component, the pressure applied by the pressing assembly 320 to the glass 600 can be controlled. For example, the constant pressure is 8N to 10N.

[0054] Specifically, the pressure regulating component is a pressure regulating valve, which is located in the air inlet or outlet passage of the cylinder 311 and is connected to the control mechanism. In this embodiment, the cylinder 311 has an air inlet 312, which is configured to connect to an external air source. The pressure regulating valve is a proportional valve.

[0055] The proportional valve is equipped with an electrical signal interface 313, which is connected to the control mechanism. The control mechanism can output an electrical signal to precisely control the opening and closing degree of the proportional valve, thereby converting the constant air source pressure input to the cylinder 311 into an output air pressure proportional to the electrical signal, thus achieving precise control of the output air pressure of the cylinder 311.

[0056] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 According to some embodiments of this application, optionally, the pressing component 320 includes a mounting base 321 and a rolling element 322. A laser 500 is connected to the mounting base 321, a laser displacement sensor 400 is detachably connected to the mounting base 321, and the rolling element 322 is rotatably connected to the mounting base 321 and can abut against the glass 600. Exemplarily, the rolling element 322 is a roller, and the rolling element 322 rolls on the glass 600.

[0057] Specifically, the laser 500 can be fixedly connected to the mounting base 321 to ensure the secure installation of the laser 500, such as by welding or bonding. The laser 500 can also be detachably connected to the mounting base 321 for easy replacement and maintenance. A snap-fit ​​connection is not limited in this application.

[0058] The laser displacement sensor 400 is mounted on the mounting base 321 by pins. The cooling pipe 820 is connected to the mounting base 321. Exemplarily, the laser displacement sensor 400 is mounted on the mounting bracket 410, which is connected to the mounting base 321.

[0059] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4This application also provides a glass cleaning method using the glass cleaning device 10 described above, the glass cleaning method comprising the following steps: Determine the cleaning path: The control mechanism controls the robotic arm 200 to move the sensing mechanism so that the sensing mechanism scans the area of ​​glass 600 to be cleaned and obtains the scanning data. The control mechanism then generates the cleaning path based on the scanning data. Cleaning glass 600: The control robot arm 200 drives the drive assembly 310 and the laser 500 to move along the cleaning path, so as to clean the glass 600 using the preset cleaning laser 510 emitted by the laser 500; wherein, during the movement of the laser 500, the control mechanism adjusts the distance between the laser 500 and the glass 600 according to the lifting height required to maintain a constant pressure between the pressure assembly 320 and the glass 600.

[0060] Please see Figure 1 , Figure 2 , Figure 3 and Figure 6 According to some embodiments of this application, optionally, before cleaning the glass 600 using a preset cleaning laser 510 emitted by the laser 500, the method further includes: The parameters of the preset cleaning laser 510 are determined, including: S1: Clean the glass 600 area to be cleaned according to the test parameters.

[0061] S2: Perform performance testing on the cleaned glass 600.

[0062] S3: Determine whether the performance test results meet the preset conditions. If not, adjust the test parameters and return to S1, and repeat S1, S2 and S3.

[0063] S4: In response to the performance test results meeting the preset conditions, the test parameters are determined as preset cleaning parameters. The preset cleaning parameters include at least one of the following: the power, pulse width, and frequency of the laser 500, and the operating speed of the robotic arm 200.

[0064] It should be noted that if the performance test results do not meet the preset conditions, the original glass 600 sheet or any uncleaned parts of the glass 600 sheet need to be replaced. Then, the test parameters should be adjusted and the performance test repeated. If the performance test meets the requirements, subsequent experiments or curing parameters can be continued.

[0065] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4According to some embodiments of this application, optionally, the glass 600 includes a light-transmitting area and a light-shielding area, the light-shielding area being outside the light-transmitting area, the light-shielding area being printed with ink, and the area to be cleaned being the light-shielding area.

[0066] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4 According to some embodiments of this application, optionally, the performance test includes a glass strength test and a glass adhesion test. Preset conditions include at least one of strength conditions and adhesion conditions.

[0067] In response to the performance test results meeting preset conditions, the test parameters are determined as preset cleaning parameters, including: in response to the strength test results meeting strength conditions and the adhesion test results meeting adhesion conditions, the test parameters are determined as preset cleaning parameters.

[0068] It should be noted that: when the glass cleaning device 10 cleans the light-shielding area of ​​the glass 600, due to the heat absorption effect of the ink in the light-shielding area, the glass 600 in the light-shielding area will experience stress concentration during the cleaning process of the preset cleaning laser 510, which may easily lead to cracking. In addition, the edge banding needs to be bonded to the edge of the glass 600. Therefore, glass strength test and glass adhesion test are required to confirm the parameters of the preset cleaning laser 510, so as to ensure the strength and adhesion of the glass 600 while ensuring the cleaning effect.

[0069] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4 According to some embodiments of this application, optionally, the strength test includes at least one of the glass sheet strength test and the glass assembly strength test. When the strength test includes both the glass sheet strength test and the glass assembly strength test, the glass sheet strength test must be performed first, followed by the glass assembly strength test. It should be noted that: a glass 600 assembly refers to a glass assembly formed by bending a single glass sheet, or a glass assembly refers to laminated glass formed by bending two glass sheets and then joining them together, wherein the laminated glass includes an inner sheet and an outer sheet.

[0070] The strength test of the original glass sheet uses strength testing equipment to detect and compare the strength of the cleaned glass 600 with that of the original glass 600. The strength condition for the original glass sheet strength test is that the weakening of the cleaned glass 600 compared to the original glass 600 is no greater than X, where X is 5% ≤ X ≤ 15%. This means that when the weakening strength of the cleaned glass 600 compared to the original glass 600 is no greater than 5% (between 15% and 5%), the strength test requirement is met. The specific weakening percentage is set according to the different types of glass 600. Preferably, 5% ≤ X ≤ 10%, and further, the weakening strength X of the cleaned glass 600 compared to the original glass 600 is ≤ 5%. For example, if the strength test result of the glass sheet does not meet the strength condition, the test parameters are adjusted as follows: reduce the power of the preset cleaning laser 510, reduce the peak power of the preset cleaning laser 510, reduce the pulse width of the preset cleaning laser 510, reduce the frequency of the preset cleaning laser 510, increase the running speed of the robotic arm 200, and X satisfies 15%.

[0071] The glass assembly strength test is performed by testing the strength of glass 600 through a drop ball test. The strength conditions for the glass assembly strength test are: for a single pane of glass, the glass should not crack; or, for laminated glass, the inner pane should not break. The inner pane is the glass pane installed on the rear side of the vehicle facing inwards. For example, the drop ball height in the drop ball test is less than 500mm. If the glass assembly strength test result does not meet the strength conditions, the test parameters are adjusted as follows: reduce the power of the preset cleaning laser 510, reduce the peak power of the preset cleaning laser 510, reduce the pulse width of the preset cleaning laser 510, reduce the frequency of the preset cleaning laser 510, increase the operating speed of the robotic arm 200, and appropriately reduce X.

[0072] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4 According to some embodiments of this application, the glass adhesion test may optionally include the H0 test and the H7 test.

[0073] The HO test involves applying adhesive to the light-shielding area of ​​glass 600 and curing it at room temperature, forming an adhesive layer on glass 600. A knife-cutting test is then performed. The adhesion condition for the HO test is that the adhesive layer does not separate from the glass 600 after being cut with a knife. For example, the room temperature curing time is 7 days.

[0074] The H7 test involves applying adhesive to the light-shielded area of ​​glass 600 and curing it at room temperature. Then, it is placed in an environment of 70℃±2℃ for 168 hours, in an environment of -20℃±2℃ for 2 hours, and in an environment of 23℃±2℃ and 50%±5% humidity for at least 2 hours, allowing an adhesive layer to form on glass 600. A knife-cutting test is then performed. The adhesion condition for the H7 test is that the adhesive layer does not separate from the glass 600 after being cut with a knife. For example, the room temperature curing time is 7 days.

[0075] For example, if the glass adhesion test does not meet the adhesion conditions, the test parameters are adjusted as follows: increase the power of the preset cleaning laser 510, appropriately increase the peak power of the preset cleaning laser 510, increase the frequency of the preset cleaning laser 510, reduce the running speed of the robotic arm 200, and appropriately adjust X.

[0076] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4 According to some embodiments of this application, optionally, the glass 600 cleaning method further includes: S5: Determine the surface energy of glass 600.

[0077] S6: In response to the surface energy meeting a preset threshold, the test parameters are determined as preset cleaning parameters. For example, the preset threshold for surface energy is Y, 40 N / m ≤ Y ≤ 50 N / m.

[0078] S7: In response to the surface energy not meeting the preset threshold, perform surface treatment on the glass 600 surface, or adjust the test parameters and return to S1, and repeat S1, S2, S3 and S4. Specifically, perform plasma or reagent treatment on the glass 600 surface.

[0079] In step S7, after surface treatment of the glass 600, the surface energy of the glass 600 is measured. If the surface-treated glass 600 meets the preset threshold, the test parameters are determined as preset cleaning parameters. If the surface-treated glass 600 does not meet the preset threshold, the test parameters are adjusted, and steps S1, S2, S3, and S4 are repeated.

[0080] For example, if the surface-treated glass 600 meets the preset threshold, the test parameters are adjusted as follows: increase the power of the preset cleaning laser 510, appropriately increase the peak power of the preset cleaning laser 510, increase the frequency of the preset cleaning laser 510, reduce the running speed of the robotic arm 200, and appropriately increase X.

[0081] Please see Figure 1 , Figure 2 , Figure 3 and Figure 7In one embodiment, determining the parameters of the preset cleaning laser 510 includes the following steps: S10: Clean the glass 600 area to be cleaned according to the test parameters.

[0082] S20: Perform a glass sheet strength test on glass 600 and determine whether the glass strength test result meets the preset conditions. If not, adjust the test parameters and return to S10, and repeat S10 and S20.

[0083] S30: Perform a glass assembly strength test on glass 600 and determine whether the glass strength test result meets the preset conditions. If not, adjust the test parameters and repeat S10, S20 and S30.

[0084] S40: Determine the surface energy of glass 600 and determine whether the surface energy meets the preset threshold. If not, adjust the test parameters and return to S10, and repeat S10, S20, S30 and S40.

[0085] S50: Perform a glass adhesion test on glass 600 and determine whether the glass adhesion test result meets the preset conditions. If not, adjust the test parameters and return to S10, and repeat S10, S20, S30, S40 and S50.

[0086] S60: Set the test parameters to the preset cleaning parameters.

[0087] In other embodiments, the order of glass strength testing, glass adhesion testing, and detecting the surface energy of glass 600 and determining whether the surface energy meets a preset threshold is not limited in this application. The test parameters are determined as preset cleaning parameters only when the strength test result meets the strength condition, the adhesion test result meets the adhesion condition, and the surface energy meets the preset threshold. For example, the glass adhesion test is performed first, then the surface energy of glass 600 is detected and determined to meet the preset threshold, and finally the glass strength test is performed.

[0088] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A glass cleaning device, characterized in that, It includes a robotic arm, a sensing mechanism, a constant force mechanism, and a control mechanism; among which, The sensing mechanism is used to scan the area of ​​the glass to be cleaned and obtain scan data; the constant force mechanism includes a driving component and a pressing component, the pressing component is used to connect to a laser capable of generating a preset cleaning laser; the driving component is at least capable of driving the pressing component to rise and fall, so that the pressing component presses against the glass with a constant pressure; The control mechanism is connected to the robotic arm, the drive assembly, and the sensing mechanism. The control mechanism is used to generate a cleaning path based on the scanning data, and to control the robotic arm to move the drive assembly, the laser, and / or the sensing mechanism according to the cleaning path. The control mechanism adjusts the distance between the laser and / or the sensing mechanism and the glass according to the lifting height required to maintain the constant pressure between the pressure assembly and the glass.

2. The glass cleaning device according to claim 1, characterized in that, The laser and / or the sensing mechanism are connected to the pressure-blocking component and move up and down synchronously with the pressure-blocking component.

3. The glass cleaning device according to claim 2, characterized in that, The sensing mechanism includes a displacement sensor, which is detachably connected to the pressure assembly.

4. The glass cleaning device according to claim 3, characterized in that, The displacement sensor is a laser displacement sensor, and the beam emitted by the laser displacement sensor coincides with the beam emitted by the laser.

5. The glass cleaning device according to claim 1, characterized in that, The glass cleaning device also includes a cooling mechanism for cooling the glass during the laser cleaning process.

6. The glass cleaning apparatus according to claim 5, characterized in that, The cooling mechanism includes a cooling medium generator and a cooling pipe. The cooling medium generator is used to generate the cooling medium. The cooling pipe is connected to the constant force mechanism, and the inlet end of the cooling pipe is connected to the output port of the cooling medium generator. The outlet end of the cooling pipe is directly opposite the intersection area of ​​the cleaning laser and the glass.

7. The glass cleaning apparatus according to claim 1, characterized in that, The drive assembly includes a cylinder and a pressure regulator. The pressure regulator is connected to the cylinder and is configured to adjust the output pressure of the cylinder. The output end of the cylinder is connected to the pressure-reducing assembly.

8. The glass cleaning apparatus according to claim 1, characterized in that, The pressure-bearing assembly includes a mounting base and a rolling element. The laser is connected to the mounting base, and the rolling element is rotatably connected to the mounting base and can abut against the glass.

9. The glass cleaning device according to claim 1, characterized in that, The constant pressure is 8N to 10N; And / or, the pulse width of the preset cleaning laser is 1ns to 45ns.

10. A glass cleaning method using the glass cleaning apparatus as described in any one of claims 1 to 9, characterized in that, The glass cleaning method includes the following steps: Determine the cleaning path: The control mechanism controls the robotic arm to move the sensing mechanism so that the sensing mechanism scans the area of ​​the glass to be cleaned and obtains scan data. The control mechanism then generates a cleaning path based on the scan data. Cleaning glass: The robotic arm is controlled to move the drive assembly and the laser along the cleaning path to clean the glass using a preset cleaning laser emitted by the laser; wherein, during the movement of the laser, the control mechanism adjusts the distance between the laser and the glass according to the lifting height required to maintain the constant pressure between the pressing assembly and the glass.

11. The glass cleaning method according to claim 10, characterized in that, Before cleaning the glass using a preset cleaning laser emitted by a laser, the method further includes: Determine the parameters of the preset cleaning laser, including: S1: Clean the glass area to be cleaned according to the test parameters; S2: Perform performance testing on the cleaned glass; S3: Determine whether the performance test results meet the preset conditions. If not, adjust the test parameters and repeat S1, S2 and S3. S4: In response to the performance test result meeting the preset conditions, the test parameters are determined as the preset cleaning parameters; wherein, the preset cleaning parameters include at least one of the following: the power, pulse width, frequency of the laser, and the operating speed of the robotic arm.

12. The glass cleaning method according to claim 10, wherein the glass includes a light-transmitting area and a light-shielding area, the light-shielding area is outside the light-transmitting area, the light-shielding area is printed with ink, and the area to be cleaned is the light-shielding area.

13. The glass cleaning method according to claim 11, characterized in that, The performance tests include: glass strength test and / or glass adhesion test, and the preset conditions include strength conditions and / or adhesion conditions; The step of determining the test parameters as the preset cleaning parameters in response to the performance test results meeting preset conditions includes: In response to the strength test result satisfying the strength condition and the adhesion test result satisfying the adhesion condition, the test parameters are determined as the preset cleaning parameters.

14. The glass cleaning method according to claim 13, characterized in that, The strength test includes a glass sheet strength test and / or a glass assembly strength test, wherein the glass assembly is configured as a glass product formed by bending the glass sheet.

15. The glass cleaning method according to claim 13, characterized in that, The method further includes: Determine the surface energy of the glass; In response to the surface energy meeting a preset threshold, the test parameters are determined as the preset cleaning parameters; In response to the surface energy not meeting the preset threshold, the glass surface is subjected to surface treatment, or the test parameters are adjusted.

Images