A control method and device of a screw air compressor applied to a spraying robot

Abstract

The application relates to a control method and device of a screw air compressor applied to a spraying robot, and relates to the technical field of spraying equipment. The method comprises the following steps: determining a spraying path and a spraying walking path based on a target drawing pattern and a spraying size; matching a synchronous following range according to the spraying walking path and a stable pressure distance range; calling a cooling air angle and a cooling air direction, screening out a first air drying angle range; screening out a second air drying angle range in the first air drying angle range, and calculating a third air drying angle range; and planning a synchronous following path based on the third air drying angle range and the synchronous following range. The application has the effect of improving spraying efficiency.

Description

Technical Field

[0001] This invention relates to the field of spraying equipment technology, and in particular to a control method and device for a screw air compressor used in a spraying robot. Background Technology

[0002] A painting robot is an industrial robot used for automated painting operations. It generally includes a movable chassis, a multi-degree-of-freedom robotic arm mounted on the chassis, and a spray gun at the end of the robotic arm, which can spray paint onto the surface of a workpiece along a preset path.

[0003] The painting robot needs to move along the surface of the workpiece to spray paint, and the paint film must be dry before proceeding to the next process. Currently, the air compressors used for painting are mostly fixedly installed in the workshop, connected to the painting robot through long pipelines, operating independently, and do not communicate with the painting robot.

[0004] Regarding the aforementioned technologies, existing air compressors are bulky and inconvenient to move, making it difficult to deploy them near the painting robot that moves between different workstations. Furthermore, the air compressor and the robot are independent of each other, and the operating parameters cannot be adjusted in real time according to the robot's working status. Changes in pipeline length can easily cause fluctuations in air supply pressure, affecting the painting quality. After painting, the paint film also requires a separate drying device, which is inefficient. Summary of the Invention

[0005] To improve spraying efficiency, this invention provides a control method and device for a screw air compressor used in a spraying robot.

[0006] In a first aspect, the present invention provides a control method for a screw air compressor applied to a painting robot, employing the following technical solution: A control method for a screw air compressor used in a painting robot includes: S1: Collect the spraying environment, and determine the spraying path of the spraying robot and the spraying travel path in coordination with the preset target drawing and preset spraying size based on the preset target drawing and preset spraying size. S2: Match the synchronous following range of the air compressor to the spraying robot based on the spraying travel path and the preset pressure stabilization distance range; S3: Record the area where the painting robot has completed the painting work as the painting completed area, and determine the current painting range based on the painting position of the painting robot and the preset painting influence range. S4: Calculate the cooling air angle and direction of the air compressor's cooling air outlet, and within the synchronous following range, select the first air-drying angle range that can blow towards the sprayed area. S5: Based on the first drying angle range, select the second drying angle range that can be blown towards the current spraying area, and calculate the third drying angle range by subtracting the second drying angle range from the first drying angle range. S6: Plan the synchronous following path of the air compressor based on the third drying angle range and the synchronous following range.

[0007] By adopting the above technical solution, the spraying path and walking path are planned, the synchronous following range of the air compressor is matched, and the cooling air angle is divided into a first angle range that can blow towards the sprayed area and a second angle range that can blow towards the current sprayed area. The difference is taken to obtain the third drying angle range. This ensures that the cooling air of the air compressor always avoids the current sprayed area and blows towards the sprayed area during the following process, thus solving the problem of fixed air supply of the air compressor and random discharge of cooling air.

[0008] Optional, also includes: S21: Retrieve the paint film thickness at the current spraying point and retrieve paint information; S22: Based on paint information, paint film thickness, and preset basic safety distance, calculate and match the dynamic voltage stabilization distance; S23: Update the voltage regulation distance range using dynamic voltage regulation distance; S24: Rematch the synchronization range of the air compressor and the painting robot with the updated stabilization distance range; S25: Recalculate the third drying angle range based on the updated synchronization range.

[0009] By adopting the above technical solution, the dynamic pressure stabilization distance is calculated and the synchronous following range is updated based on the paint film thickness and paint information. This allows the following distance between the air compressor and the spraying robot to be adjusted in real time according to the characteristics of the paint film and paint. This solves the problem that a fixed pressure stabilization distance cannot adapt to different paint films and paints, and improves the stability of air supply and the adaptability of spraying quality.

[0010] Optional, also includes: S31: Determine the air supply location of the air compressor and collect ambient temperature and humidity, as well as the temperature and humidity of the air compressor's cooling air outlet. S32: Calculate the effective angle range under each cooling air angle, and select the coverage angle with the largest effective angle range; S33: Match the target drying time for each location based on ambient temperature and humidity, paint information, and paint film thickness; S34: Calculate the connection distance between each location and the gas supply location, and match the actual drying time for each location based on the ambient temperature and humidity, paint information and paint film thickness; S35: Calculate the time difference between the target drying time and the actual drying time, and filter out the drying locations with the largest time difference; S36: Within the third drying angle range, blow air first on the area after spraying at the coverage angle, and then blow air on the area to be dried.

[0011] By adopting the above technical solution, the effective angle range under each cooling air angle is calculated, the air outlet angle with the largest coverage angle is selected, and the drying position is selected according to the difference in drying time. Within the third drying angle range, the whole area is blew first, and then the key areas are blew. This solves the problem of insufficient drying in some areas due to unreasonable distribution of cooling air, and improves drying efficiency and uniformity.

[0012] Optional, also includes: S41: Collect natural wind information; S42: Record the time when the spraying is completed at each location; S43: Calculate the drying time of natural wind at each location in real time based on ambient temperature and humidity, spraying completion time and natural wind information; S44: The total air-drying time is obtained by adding the actual air-drying time to the air-drying contribution time; S45: Calculate the required time by subtracting the total air-drying time from the target drying time in real time, and correct the time difference with the required time. S46: When the total air-drying time is not less than the target drying time, the matching spraying position is determined as the drying area, and the drying area is excluded from the spraying completed area.

[0013] By adopting the above technical solution, the natural wind contribution time to the drying of each location is calculated by collecting natural wind information. The actual drying time is added to the natural wind contribution time to obtain the total drying time. When the target drying time is reached, the corresponding location is identified as a drying area and removed. This avoids areas that have already achieved natural drying effect being blown on repeatedly, and solves the problems of wasted cooling air and uneven drying.

[0014] Optional, also includes: S51: Retrieve natural wind direction and speed from natural wind information; S52: When the natural wind speed is greater than the preset reference wind speed threshold, it is determined that the natural wind will agitate the cooling air of the air compressor, and the airflow offset of the natural wind to the cooling air is calculated based on the cooling air angle and cooling air direction, combined with the natural wind speed. S53: Correct the first drying angle range with the airflow offset and obtain the corrected third drying angle range; S54: Adjust the air compressor's outlet direction using the corrected third air drying angle range.

[0015] By adopting the above technical solution, by calculating the airflow deviation of natural wind on cooling wind and correcting the third drying angle range, the cooling wind can still be accurately blown towards the sprayed area and avoid the current spraying range under the disturbance of natural wind, thus solving the problem that natural wind causes the cooling wind to deviate from the predetermined direction and cannot be accurately dried.

[0016] Optional, also includes: S61: When the natural wind speed is greater than the preset windbreak threshold, the windbreak position of the spraying robot is matched based on the natural wind direction and the spraying position. S62: Control the painting robot to move to the windproof position and unfold the preset windproof plate; S63: Analyze and match the current spraying range and the completed spraying area to obtain the wind deflector's wind-guiding angle; S64: When the natural wind speed is less than the preset influence wind speed threshold, the natural wind is corrected in conjunction with the cooling wind.

[0017] By adopting the above technical solution, the problem of natural wind interfering with the spraying operation is solved by deploying the wind deflector to block the natural wind when the natural wind speed exceeds the wind deflection threshold, and by using cooling air to change the direction of the natural wind and guide it to the sprayed area to assist in air drying when the natural wind speed is low. At the same time, the natural wind is converted into a power source to assist in drying.

[0018] Optional, also includes: S71: Retrieve the air compressor's blowing height and obtain the target height based on the spraying environment; S72: Calculate the height difference between the blowing height and the target height, and calculate the preset pitch and swing angle of the flap based on the height difference; S73: Determine the horizontal sway angle of the page based on natural wind information and the third air drying angle range; S74: Outputs cooling air with pitch and horizontal sway angles; S75: Calculate the wind speed difference between the natural wind speed and the preset reference cooling wind speed; S76: When the wind speed difference is not greater than the preset adjustment difference, the swing speed of the oscillating blades is dynamically adjusted to affect the natural wind.

[0019] By adopting the above technical solution, the pitch angle of the blades is determined by calculating the height difference between the air compressor's blowing height and the target height, and the horizontal sway angle is determined based on natural wind information and the third air drying angle range. This allows the cooling air to be adjusted bidirectionally according to the height and orientation of the spraying area, solving the problem that a fixed air outlet direction cannot cover spraying areas at different heights and orientations, and improving the coverage capability of the cooling air.

[0020] Optional, also includes: S81: Retrieve the moving speed of the painting robot and the swing parameters of the robotic arm; S82: Calculate the paint mist offset angle in the air after the paint is sprayed, based on the moving speed and swing arm parameters; S83: Based on the paint mist offset angle, match the target distance between the air compressor and the painting robot; S84: Calculate the compensating airflow velocity from the air compressor towards the spraying position based on the target spacing; S85: Controls the angle of the air compressor's cooling air towards the spraying position and compensates for paint mist deviation with the airflow.

[0021] By adopting the above technical solution, the problem of paint mist offset caused by robot movement and robotic arm swing is solved by calculating the target distance and calculating the compensating airflow speed, and using cooling air to compensate for the airflow to offset the paint mist offset, thus improving the spraying accuracy.

[0022] Optionally, when the air compressor needs to supply air to multiple painting robots, the steps include: S91: Retrieve the spraying range, spraying progress, and air consumption requirements of each spraying robot; S92: Compare the spraying range of all spraying robots and select the spraying robot with the largest spraying range as the priority robot; S93: Control the air compressor to move within the synchronous following range of the priority robot, so that the distance between the air compressor and the priority robot is kept within the pressure stabilization distance range; S94: Determine the air compressor's location at the air supply point of all painting robots, matching the working range of robots other than the priority robot; S95: When the painting progress of the painting robot with the largest painting range is completed or the air demand decreases, the priority robot is dynamically switched.

[0023] By adopting the above technical solution, the robot with the largest spraying range is selected as the priority robot, and the air compressor is controlled to follow it first and keep it within the pressure stabilization distance. When the priority robot finishes spraying or the air demand decreases, the priority robot is dynamically switched. This solves the problem of unclear air supply priority when a single air compressor supplies air to multiple robots, and ensures that the air compressor prioritizes the robot with the largest spraying range.

[0024] Secondly, this application provides a screw air compressor device for use in a painting robot, employing the following technical solution: A screw air compressor device for a painting robot is controlled by the aforementioned control method for a screw air compressor for a painting robot. The device includes a housing, a support base mounted on the top of the housing, a screw compressor main unit mounted on the support base, a drive motor mounted on the support base for driving the screw compressor main unit, and a cooling mechanism mounted on the support base for cooling the screw compressor main unit. The bottom of the housing is provided with movable rollers, and the top of the housing is provided with a handle.

[0025] By adopting the above technical solution, the screw compressor host, drive motor and cooling mechanism are integrated into the housing, with moving rollers at the bottom and handles at the top, the air compressor has portable mobility and can move and supply air with the painting robot, solving the problems of traditional air compressors being large in size, heavy in weight and inconvenient to move.

[0026] In summary, this application includes at least one of the following beneficial technical effects: By planning the spraying path and walking path, matching the synchronous following range of the air compressor, and dividing the cooling air angle into a first angle range that can blow towards the sprayed area and a second angle range that can blow towards the current sprayed area, the difference is taken to obtain the third drying angle range, so that the cooling air of the air compressor always avoids the current sprayed area and blows towards the sprayed area during the following process, thus solving the problem of fixed air supply of the air compressor and random discharge of cooling air. By calculating the airflow deviation of natural wind on cooling wind and correcting the range of the third drying angle, the cooling wind can still be accurately blown towards the sprayed area and avoid the current sprayed area under the disturbance of natural wind, thus solving the problem that natural wind causes the cooling wind to deviate from the predetermined direction and cannot be accurately dried. By selecting the robot with the largest spraying range as the priority robot, the air compressor is controlled to follow it first and maintain it within the pressure stabilization distance. When the priority robot finishes spraying or the air demand decreases, the priority robot is dynamically switched. This solves the problem of unclear air supply priority when a single air compressor supplies air to multiple robots, and ensures that the air compressor prioritizes the robot with the largest spraying range. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a screw air compressor device used in a painting robot; Figure 2 This is a schematic diagram of a control method for a screw air compressor used in a painting robot; Figure 3 This is a flowchart of a control method for a screw air compressor used in a painting robot.

[0028] The parts referred to by the numbers in the above attached diagrams are as follows: 1. Housing; 2. Support base; 3. Screw compressor main unit; 4. Drive motor; 5. Cooling mechanism; 6. Moving roller; 7. Handle; 8. Spraying robot; 9. Air compressor; 10. Spraying completed area; 11. Current spraying range; 12. Synchronization following range. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0030] This application discloses a screw air compressor device for use in a painting robot.

[0031] Reference Figure 1 A screw air compressor device for use in a painting robot includes a housing 1, a support base 2, a screw compressor main unit 3, a drive motor 4, a cooling mechanism 5, moving rollers 6, and a handle 7.

[0032] The housing 1 is made of aluminum alloy or high-strength engineering plastic, and has an internal storage space for air storage. Four casters 6 are installed at the bottom corners of the housing 1. These casters 6 are swivel casters with brakes, allowing the air compressor 9 to move freely on the ground and to be locked in place when needed. A handle 7 is provided on the top of the housing 1 for easy handling.

[0033] The support base 2 is mounted on top of the housing 1. The support base 2 is a rectangular frame structure, made of welded or bolted metal profiles. The bottom of the support base 2 fits into the top of the housing 1 and is fixedly connected by bolts, making the support base 2 and the housing 1 an integral unit. The screw compressor main unit 3, the drive motor 4, and the cooling mechanism 5 are respectively mounted on the support base 2.

[0034] The screw compressor unit 3 adopts a small twin-screw structure and is installed in the middle of the support base 2. The displacement of the screw compressor unit 3 ranges from 0.1 to 0.5 cubic meters per minute, the rated discharge pressure is from 0.6 to 1.0 MPa, and the weight of the unit does not exceed 30 kg.

[0035] The drive motor 4 is mounted on the support base 2, located on one side of the screw compressor main unit 3. The drive motor 4 is a permanent magnet synchronous motor, and its output shaft is directly connected to the male rotor of the screw compressor main unit 3 via a coupling. The drive motor 4 is electrically connected to a frequency converter, which is located inside the housing 1 and is used to adjust the speed of the drive motor 4, thereby adjusting the gas output of the screw compressor main unit 3.

[0036] The cooling mechanism 5 is mounted on the support base 2 and is used to cool the screw compressor main unit 3 and the lubricating oil. The cooling mechanism 5 is installed on one side of the support base 2.

[0037] Reference Figure 2 and Figure 3 Based on the same inventive concept, embodiments of the present invention provide a control method for a screw air compressor applied to a painting robot, comprising: S1: Collect the spraying environment, and determine the spraying path of the spraying robot 8 and the spraying travel path in coordination with the preset target drawing graphics and preset spraying size.

[0038] Spraying environment: The environment at the spraying site, including the workpiece location, spatial dimensions, obstacle distribution, ground conditions, etc., is acquired through visual data collection.

[0039] Preset target drawing graphic: The overall sprayed graphic that is actually formed by spraying and is set by the user according to their needs.

[0040] Preset spraying size: The actual size of the target graphic when it is actually sprayed onto the surface of the workpiece.

[0041] Spraying path: The trajectory of the spray nozzle when spraying on the workpiece surface, that is, the painting path that the robot's robotic arm should take on the workpiece surface.

[0042] Spraying path: The overall movement path of the spraying robot 8 on the ground. The spraying path is a route planned in accordance with the spraying environment so that the spray nozzle can be sprayed along the path.

[0043] First, collect information about the spraying environment, combine it with the user-defined target to draw graphics and spraying dimensions, plan the spraying path of the spray gun on the workpiece surface, and the walking path of the robot base on the ground.

[0044] The system collects 3D information about the spraying environment and establishes a spatial model of the spraying environment. The user inputs the target drawing shape and spraying dimensions. Based on the shape and dimensions of the target drawing shape, the target drawing shape is decomposed into several continuous spraying lines. The direction of the spray gun for each spraying line is parallel to the workpiece surface, and adjacent spraying lines are arranged sequentially according to a preset overlap rate to obtain the spraying path.

[0045] Based on the overall distribution range of the spraying path, the spatial position of the workpiece surface, and the maximum reach of the spraying robot 8, the spraying path is divided into several spraying stations. The spraying path within each spraying station is within the reach of the robotic arm of the spraying robot 8. Adjacent spraying stations are connected by the movement of the mobile chassis of the spraying robot 8. The movement trajectory of the spraying robot 8 between each spraying station is generated according to the spraying sequence, thus obtaining the spraying path.

[0046] S2: Based on the spraying travel path and the preset pressure stabilization distance range, match the synchronous following range 12 of the air compressor 9 to the spraying robot 8.

[0047] Preset pressure stabilization distance range: A pre-defined distance range within which the air compressor 9 and the painting robot 8 maintain a stable air supply pressure. Exceeding this range will result in insufficient air pressure supply, affecting the quality of the painting.

[0048] Synchronous following range 12: Within the stabilization distance range, the feasible area in which the air compressor 9 can follow the painting robot 8. That is, the annular area centered on the robot, with the lower limit of the stabilization distance as the inner radius and the upper limit as the outer radius.

[0049] Based on the robot's walking path and the preset pressure stabilization distance range, the synchronous following range 12 that the air compressor 9 can move within is calculated to ensure that the distance between the two is always within the pressure stabilization range.

[0050] Based on the positions of each station in the spraying path and the preset pressure stabilization distance range, the synchronous following range 12 of the air compressor 9 at each station is calculated. When the air compressor 9 moves within this area, the length of the air pipe is always within the pressure stabilization distance range, and the air supply pressure is stable.

[0051] When the painting robot 8 moves from the current station to the next station, the synchronous following range 12 is updated synchronously with the robot's position, and the air compressor 9 adjusts its own position according to the updated synchronous following range 12.

[0052] S3: Record the area where the painting robot 8 has completed the painting work as the painting completed area 10, and determine the current painting range 11 based on the painting position of the painting robot 8 and the preset painting influence range.

[0053] Area 10 after painting: The area where the painting robot 8 has completed the painting operation, that is, the area where the paint film has just been applied and has not yet dried.

[0054] The preset spraying influence range refers to the area of ​​paint mist splattering from the spray gun. The actual influence range is related to the actual spraying requirements and factors such as the height of the spray nozzle from the workpiece surface.

[0055] Current spraying range 11: The current spray gun position, plus the surrounding spraying influence area. That is, the area where the cooling air from air compressor 9 is prohibited.

[0056] Record the areas that have been painted in real time; at the same time, determine the areas that the current cooling air cannot interfere with based on the robot's current painting position and the range of influence of the painting.

[0057] The "no interference" here refers to the fact that during the painting process of the painting robot 8, when the paint is being sprayed normally onto the workpiece surface, the cooling air blowing towards this area will interfere with and affect the original normal path of the paint, making the path unreasonable. Subsequent active intervention with airflow to correct the paint's deviation during the movement of the painting robot 8, which is inevitably caused by inertia and other factors, involves using airflow and other intervention methods to bring the paint back onto the correct path.

[0058] The area that the painting robot 8 has completed painting is recorded in real time and marked as the painting completed area 10. At the same time, the current painting position of the painting robot 8 is obtained, and the current painting range 11 is determined with this position as the center and the preset painting influence range as the radius.

[0059] The synchronous following range 12 is a ring-shaped area with an inner radius that is the lower limit of the pressure stabilization distance and an outer radius that is the upper limit of the pressure stabilization distance. When the air compressor 9 moves within this ring-shaped area, the length of the air pipe always falls within the pressure stabilization distance range.

[0060] S4: Calculate the cooling air angle and cooling air direction of the cooling air outlet of the air compressor 9, and within the synchronous following range 12, select the first air drying angle range that can be blown towards the sprayed area 10.

[0061] Cooling air outlet: The air outlet of the air compressor 9 discharges cooling air. The cooling air generated by the cooling system on the air compressor 9 is discharged from this outlet. Alternatively, the air compressor 9 can use its own cooling mechanism (referring to the cooling structure used for heat dissipation of the air compressor 9) as cooling air for operations such as air drying.

[0062] For applications affected by temperature, the distance between the air compressor 9 outlet and the workpiece surface can be adjusted or limited in advance according to the specific implementation plan. The cooling exhaust air from the air compressor 9 has a high temperature. During spraying operations, blowing hot air into the area where paint mist is being sprayed will prematurely solidify the paint mist, easily causing orange peel, particles, and poor atomization. Therefore, the distance between the air compressor 9 and the workpiece surface can be increased to reduce the impact of high temperatures. Alternatively, a cooling air heat exchange module can be added to control and regulate the cooling air temperature.

[0063] Similarly, if the air compressor 9's own cooling system is to blow out cooling air for drying, it needs to be filtered, degreased, and dehydrated beforehand.

[0064] Cooling air angle: The angle between the air outlet direction and the reference direction.

[0065] Cooling air direction: The direction in which the cooling air is blown out. In conjunction with the cooling air angle, this is specifically reflected in the direction of the tilt angle in the horizontal direction and the direction of the deflection to the left and right in the horizontal longitudinal direction.

[0066] First air-drying angle range: Within the synchronous following range 12, the set of angles from which cooling air can reach the sprayed finished area 10. That is... Figure 2 α in.

[0067] Within the synchronous following range 12, the first drying angle range is the angle selected from all the air outlet angles of the air compressor 9 that can blow onto the already sprayed area 10.

[0068] Retrieve the current angle and direction of the cooling air outlet of air compressor 9. Within the synchronous following range 12, traverse all possible air outlet angles of air compressor 9. For each air outlet angle, determine whether the airflow blown from the cooling air outlet at that angle can reach the sprayed area 10. Summarize all air outlet angles that can reach the sprayed area 10 to form the first air-drying angle range. When determining whether the cooling air can reach a certain area, the distance between air compressor 9 and the target area, the air velocity of the cooling air outlet, and the diffusion angle must be considered. When the target area is within the diffusion angle range of the cooling air outlet and the distance does not exceed the effective range of the cooling air, it is determined that the cooling air can reach it.

[0069] S5: Based on the first drying angle range, select the second drying angle range that can be blown towards the current spraying range 11, and calculate the third drying angle range by subtracting the second drying angle range from the first drying angle range.

[0070] The second air-drying angle range: This is the set of angles selected from all the air outlet angles of the air compressor 9 that can be directed towards the current spraying area 11. That is... Figure 2 β in.

[0071] The third drying angle range: the set of angles remaining after subtracting the second drying angle range from the first drying angle range. That is, the set of angles that can be blown onto the finished area but will not reach the current spraying area (11). Figure 2 γ in.

[0072] By eliminating angles that would interfere with the spraying from the angles that can be dried, a third drying angle range is obtained that neither interferes with the area being sprayed nor does it interfere with the area that has been dried.

[0073] Within the first drying angle range, determine whether the cooling air at each angle will blow into the current spraying area 11. Eliminate the angles that will blow into the current spraying area 11, and the remaining angles are the third drying angle range.

[0074] The third drying angle range = the first drying angle range - the second drying angle range.

[0075] S6: Based on the third air drying angle range and the synchronous following range 12, plan the synchronous following path of air compressor 9.

[0076] Synchronous following path: The specific trajectory of the air compressor 9 moving along the synchronous following range 12. On this path, the air compressor 9 can both follow the robot and output air within the third drying angle range.

[0077] Based on the third air drying angle range and the synchronous following range 12, the movement path of the air compressor 9 is planned so that while the air compressor 9 follows the robot, the cooling air always avoids the spraying restricted area and blows towards the completed area for drying.

[0078] The movement path of the air compressor 9 is planned based on the third drying angle range and the synchronous following range 12. The air compressor 9 is always within the synchronous following range 12, so that the distance between the air compressor 9 and the painting robot 8 is kept within the stable pressure distance range; at the same time, the cooling air outlet of the air compressor 9 is oriented into the third drying angle range, so that the cooling air always avoids the current painting range 11 and blows towards the painting completed area 10 during the following process.

[0079] The specific planning method for the synchronous following path is as follows: taking the current position of the painting robot 8 as the center, select a position within the synchronous following range 12 that makes the cooling air outlet face into the third drying angle range as the target position of the air compressor 9; the air compressor 9 moves to the target position along the shortest path; when the painting robot 8 moves, the target position is updated with the robot position, and the air compressor 9 tracks the target position in real time.

[0080] Also includes: S21: Retrieve the paint film thickness at the current spraying point and retrieve paint information.

[0081] Film thickness: The thickness of the sprayed coating. Different film thicknesses have different drying speeds and different requirements for air supply stability. It can be predicted in real time by using a coating rate model based on single-pass spray flow rate, gun speed, number of spray passes, and paint volume solids content, or by actual measurement using a film thickness sensor; either one is sufficient.

[0082] Paint information: Parameters such as the type and composition of the paint.

[0083] The paint film thickness at the current spraying point is retrieved from the process parameters of the spraying robot 8, and the information of the paint currently used is retrieved from the paint database or barcode information.

[0084] S22: Based on paint information, paint film thickness, and preset basic safety distance, calculate and match the dynamic voltage stabilization distance.

[0085] Preset basic safety distance: By default, the safety distance benchmark between the air compressor 9 and the robot is the initial distance without considering the characteristics of the paint film and paint.

[0086] Dynamic stabilization distance: The optimal stabilization distance calculated in real time based on paint information and paint film thickness. The dynamic stabilization distance is the following distance determined in real time based on the paint's requirements for gas supply stability and the paint film thickness.

[0087] The drying rate and optimal air supply pressure of the paint are determined based on the paint material information, and the required air supply flow rate is determined based on the paint film thickness. The paint material information, paint film thickness, and preset basic safety distance are matched and calculated to obtain the dynamic pressure stabilization distance.

[0088] Dynamic pressure stabilization distance = basic safety distance * paint correction factor * thickness correction factor. The paint correction factor is determined based on the paint's requirements for gas supply stability: the lower the paint's requirements for gas supply stability, the larger the paint correction factor and the farther the pressure stabilization distance; the greater the paint film thickness and the greater the instantaneous gas consumption, the smaller the thickness correction factor and the closer the pressure stabilization distance.

[0089] S23: Update the voltage regulation distance range with dynamic voltage regulation distance.

[0090] The calculated dynamic voltage regulation distance is used as the new voltage regulation distance range, replacing the original preset voltage regulation distance range. New upper and lower limits are determined based on the dynamic voltage regulation distance as the center and according to preset tolerances.

[0091] S24: Rematch the synchronization range 12 of air compressor 9 and painting robot 8 with the updated stabilization distance range.

[0092] Based on the updated voltage regulation distance range, the synchronization following range 12 is recalculated. The inner and outer radii of the synchronization following range 12 are determined according to the updated upper and lower limits of the voltage regulation distance, respectively.

[0093] S25: Recalculate the third drying angle range based on the updated synchronization follow range 12.

[0094] Based on the updated synchronization range 12, re-execute the calculations from S4 to S5 to obtain the updated first drying angle range, second drying angle range, and third drying angle range.

[0095] Also includes: S31: Determine the air supply position of air compressor 9 and collect the ambient temperature and humidity, as well as the cooling air outlet temperature and humidity of air compressor 9.

[0096] Air supply location: The location of the air compressor 9 in the current spraying environment, which represents the location of the cooling air outlet and the location of the air supply to the spraying robot 8.

[0097] Ambient temperature and humidity: The temperature and humidity information of the current spraying environment obtained through thermometers and hygrometers. Temperature and humidity information affects the drying of the sprayed paint.

[0098] Cooling air outlet temperature and humidity: This refers to the temperature and humidity of the cooling air. The temperature and humidity of the cooling air also affect the drying of the sprayed paint.

[0099] Retrieve the current location coordinates of air compressor 9, and simultaneously read data from the ambient temperature and humidity sensor and the cooling air outlet temperature and humidity sensor.

[0100] S32: Calculate the effective angle range under each cooling air angle and select the coverage angle with the largest effective angle range.

[0101] Effective angle range: refers to the actual angle range in all sprayed areas 10 that can be dried by the cooling air when the cooling air blows onto the workpiece surface at various angles.

[0102] Coverage angle: Among all air outlet angles, the angle with the largest effective angle range. That is, the angle with the widest coverage of the cooling air.

[0103] For each air outlet angle, calculate the area of ​​the sprayed area 10 covered by the cooling air at that angle. The angle at which this area accounts for the largest proportion of the total area of ​​the sprayed area 10 is the effective angle range; it can also be expressed as the length of the coverage angle interval.

[0104] Calculate the area or angular range of the finished coating area 10 that the cooling air can cover at all possible outlet angles. Compare the effective angular ranges at all angles and take the angle with the largest effective angular range as the coverage angle.

[0105] S33: Match the target drying time for each location based on ambient temperature and humidity, paint information, and paint film thickness.

[0106] Target drying time: The theoretical time required for the paint film at this location to dry completely, based on ambient temperature and humidity, paint information, and paint film thickness.

[0107] The basic drying rate under the current environment is determined based on ambient temperature and humidity. The drying characteristics of the paint are determined based on paint information, and the time increment required for drying is determined based on the paint film thickness. By combining these three factors and using a preset drying time reference table or empirical formula, the target drying time for each location is obtained.

[0108] S34: Calculate the connection distance between each location and the gas supply location, and match the actual drying time for each location based on the ambient temperature and humidity, paint information, and paint film thickness.

[0109] Connection distance: The spatial distance between the air supply position of the air compressor 9 and each sprayed area 10.

[0110] Actual drying time: This takes into account the actual distance between the cooling airflow and the specific location, representing the actual drying time that can be achieved at that location. The drying effect varies depending on the distance, so this is converted to the actual drying time under the same conditions.

[0111] Calculate the spatial distance from the air compressor 9 supply position to each location in each sprayed area 10. Determine the degree of wind speed attenuation when the cooling air reaches that location based on this distance. Combined with ambient temperature and humidity, paint information, and paint film thickness, calculate the actual drying time at that location under the current cooling air conditions. Actual drying time = Target drying time * Distance attenuation coefficient. The greater the distance, the lower the wind speed when the cooling air arrives, the larger the attenuation coefficient, and the longer the actual drying time.

[0112] S35: Calculate the time difference between the target drying time and the actual drying time, and filter out the drying locations with the largest time difference.

[0113] Time difference: The difference between the target drying time and the actual drying time. The larger the difference, the more likely that area needs to be air-dried or air-dried.

[0114] Location awaiting drying: Among all 10 areas that have been painted, the location with the largest time difference and the one that most urgently needs cooling air drying.

[0115] Calculate the difference between the target drying time and the actual drying time for each location. The larger the difference, the farther the location is from the drying target. Select the locations with the largest differences as the locations to be dried and prioritize them for air drying.

[0116] When the actual drying time is longer than the target drying time, the time difference is taken as zero; only positions with positive time differences are filtered, and the maximum value is taken as the position to be dried.

[0117] S36: Within the third drying angle range, blow air first on the sprayed area 10 at the coverage angle, and then blow air on the area to be dried.

[0118] First, blow air onto the painted area 10 at a coverage angle to allow most of the area to dry initially. Then, direct the cooling air outlet towards the area to be dried for focused airflow, allowing that area more time to dry. The order of general airflow and focused airflow can be adjusted according to actual needs; for example, focus on drying the area to be dried first, then blow air onto the remaining areas.

[0119] Also includes: S41: Collect natural wind information.

[0120] Natural wind information: Information such as wind direction, wind temperature, and wind speed at the site is obtained through wind speed and direction sensors.

[0121] S42: Record the completion time of spraying at each location.

[0122] Spraying completion time: The time point at which spraying is completed at each location, used to calculate how long natural air drying has lasted.

[0123] S43: Calculate the drying time of natural wind at each location in real time based on ambient temperature and humidity, spraying completion time, and natural wind information.

[0124] Drying contribution time: The time contributed by natural wind to the drying of the paint film at this location from the moment the spraying was completed to the present. Natural wind itself also has a drying effect.

[0125] The duration of natural wind action is calculated based on the completion time of spraying at each location. The intensity of the natural wind's effect on that location is determined based on natural wind information. The drying efficiency of the natural wind is then determined by considering the ambient temperature and humidity. Drying contribution duration = Natural wind action duration * Natural wind drying efficiency coefficient.

[0126] The natural wind drying efficiency coefficient is determined based on the natural wind speed and the ambient temperature and humidity. The higher the wind speed and the lower the humidity, the larger the coefficient.

[0127] Data from different environments were uniformly fitted and calibrated to the measured drying time of each paint and thickness gradient under standard temperature, humidity, and wind speed conditions. Coefficients and comparison tables were obtained, and the functional relationship between the coefficients and the independent variable was explained.

[0128] S44: The total air-drying time is obtained by adding the actual air-drying time to the air-drying contribution time.

[0129] Total air-drying time: The total time of actual air-drying plus the time contributed by air-drying, i.e. the total drying time accumulated at this location.

[0130] Total air-drying time = actual air-drying time + air-drying contribution time.

[0131] S45: Calculate the required time by subtracting the total air-drying time from the target drying time in real time, and correct the time difference with the required time.

[0132] Required drying time: Target drying time minus total air drying time, i.e., how much additional drying time is needed for this location due to the additional cooling air.

[0133] Required drying time = target drying time - total air drying time.

[0134] S46: When the total air-drying time is not less than the target drying time, the matching spraying position is determined as the drying area, and the drying area is excluded from the spraying completed area 10.

[0135] Drying area: Areas where the total drying time has reached the target drying time and the paint film is dry. These areas no longer require cooling air.

[0136] The total drying time for each location is calculated in real time. When the total drying time for a location reaches or exceeds the target drying time, that location is considered dry and removed from the sprayed completion area 10. Subsequent cooling air distribution will no longer blow air onto that location, saving cooling air resources. This area is also not included in the initial determination of the effective angle range.

[0137] After removing the drying area, repeat steps S32 to S36 to update the coverage angle and the location to be dried.

[0138] Also includes: S51: Retrieve natural wind direction and speed from natural wind information.

[0139] Natural wind direction: The direction from which the natural wind blows. That is, the windward side.

[0140] Natural wind speed: The speed of natural wind.

[0141] S52: When the natural wind speed is greater than the preset reference wind speed threshold, it is determined that the natural wind will agitate the cooling air of the air compressor 9, and the airflow offset of the natural wind to the cooling air is calculated based on the cooling air angle and cooling air direction, combined with the natural wind speed.

[0142] Preset reference wind speed threshold: A pre-set standard value used to identify whether natural wind will affect the cooling air of air compressor 9. The wind speed is limited according to the cooling air speed of air compressor 9. When the natural wind speed exceeds this value, it will significantly disrupt the direction of the cooling air, causing the cooling air to deviate from the predetermined angle.

[0143] Airflow offset: The angle by which the direction of the cooling air is deflected by the natural wind. It is determined by the difference in wind speed and angle between the natural wind and the cooling air.

[0144] The cooling air velocity vector and the natural wind velocity vector are vector synthesized. The angle between the resultant velocity vector and the original direction of the cooling air is the airflow offset.

[0145] Airflow offset = arctan(component of natural wind perpendicular to cooling wind direction / cooling wind speed). Vertical component = natural wind speed * sin(angle between natural wind direction and cooling wind direction); the angle is determined by the natural wind direction and the cooling wind direction.

[0146] S53: Correct the first drying angle range with the airflow offset and obtain the corrected third drying angle range.

[0147] The first drying angle range is corrected based on the airflow offset to obtain the corrected first drying angle range. Then, the second drying angle range is subtracted from the corrected first drying angle range to obtain the corrected third drying angle range.

[0148] Subtract the airflow offset from each angle in the first drying angle range to obtain the corrected first drying angle range; then subtract the second drying angle range to obtain the corrected third drying angle range.

[0149] S54: Adjust the air outlet direction of air compressor 9 according to the corrected third air drying angle range.

[0150] Based on the revised third air drying angle range, adjust the orientation of the cooling air outlet of the air compressor 9 so that the cooling air can still accurately blow towards the sprayed area 10 and avoid the current spraying range 11 under natural wind disturbance.

[0151] Also includes: S61: When the natural wind speed is greater than the preset windbreak threshold, the windbreak position of the spraying robot 8 is matched based on the natural wind direction and the spraying position.

[0152] Preset windbreak threshold: A pre-set wind speed threshold used to activate the windbreak deployment. When the natural wind speed exceeds the windbreak threshold, it means that the natural wind will affect the spraying and physical windbreak is required.

[0153] Windproof position: The painting robot 8 moves to a position that can block the natural wind and protect the area being painted. That is, the position directly facing the wind's vent.

[0154] S62: Control the painting robot 8 to move to the windproof position and unfold the preset windproof plate.

[0155] Pre-set wind deflector: A deflector pre-installed on the side of the painting robot 8 away from the robotic arm with the nozzle. It can be folded and unfolded, and the rotation angle of the deflector after unfolding can be adjusted.

[0156] S63: The wind deflection guide angle of the wind deflector is obtained by analyzing and matching the current spraying range 11 and the spraying completed area 10.

[0157] Wind deflection angle: The tilt angle of the wind deflector after it is deployed, so that natural wind is guided to a direction that does not affect the spraying after hitting the wind deflector. For example, it can be directed to the already sprayed area 10 for auxiliary drying.

[0158] After this step, the wind speed of the guided natural wind can be calculated based on the original wind speed and the angle of inclination, and the above-mentioned wind speed and paint drying time can be updated.

[0159] The area requiring protection is determined based on the current spraying area 11, and the area that can receive natural wind guidance is determined based on the completed spraying area 10. The wind deflector's wind-guiding angle directs natural wind to the completed spraying area 10, bypassing the current spraying area 11. Based on the original wind speed and the wind deflector's tilt angle, the guided wind speed can be calculated to update the natural wind's drying time for the paint.

[0160] The wind deflection angle is the angle at which the reflected wind direction points towards the sprayed area 10 without passing through the current sprayed range 11 after the natural wind is reflected by the wind deflector. It can be calculated according to the geometric reflection law based on the natural wind direction, the position of the wind deflector, and the position of the sprayed area 10.

[0161] S64: When the natural wind speed is less than the preset influence wind speed threshold, the natural wind is corrected in conjunction with the cooling wind.

[0162] Preset wind speed threshold: A pre-set threshold for determining whether natural wind can be affected by cooling wind. Specific data depends on the cooling wind speed.

[0163] When the natural wind speed is less than the wind speed threshold, the cooling air outlet of the air compressor 9 is directed toward the area between the natural wind and the current spraying range 11. The cooling air is used to change the direction of the natural wind, so that the natural wind avoids the current spraying range 11.

[0164] When the natural wind speed is less than the wind speed threshold, the cooling air outlet is controlled to face the area between the natural wind and the current spraying range 11. After the cooling air and the natural wind are vectored together, the direction of the combined velocity deviates from the current spraying range 11.

[0165] The impact wind speed threshold is less than the baseline wind speed threshold, which is less than the windbreak threshold. Specifically, the impact wind speed threshold is less than the baseline wind speed threshold, and the baseline wind speed threshold is less than the windbreak threshold. When the natural wind speed is lower than the impact wind speed threshold, the cooling air guides the natural wind. When the natural wind speed is higher than the baseline wind speed threshold, the drying angle of the cooling air is corrected. When the natural wind speed is higher than the windbreak threshold, the windbreak is deployed for physical obstruction.

[0166] Also includes: S71: Calculate the blowing height of air compressor 9 and obtain the target height based on the spraying environment.

[0167] Airflow height: The installation height of the cooling air outlet of air compressor 9. This can be determined based on the height of air compressor 9.

[0168] Target height: The height of the sprayed area that needs to be dried. This refers to the height of the workpiece surface above the ground in the spraying environment.

[0169] S72: Calculate the height difference between the blowing height and the target height, and calculate the preset pitch angle of the swing blade based on the height difference.

[0170] Height difference: The difference between the blowing height and the target height. It represents the distance the air compressor 9 needs to push the air upwards. Height difference = Target height - Blowing height.

[0171] Pre-set swing blades: Swing blades pre-set at the cooling air outlet or heat dissipation vent of the air compressor 9. Specifically, they are divided into pitch blades that can flip up and down and swing blades that can flip left and right.

[0172] Pitch angle: The angle of the pitch blade based on the horizontal plane.

[0173] The required elevation angle for the cooling air is calculated based on the height difference. The pitch angle is calculated as arctan(height difference / horizontal distance). The horizontal distance is the distance from the air compressor 9 to the spraying area. The horizontal distance is also the projected distance in the horizontal plane from the cooling air outlet of the air compressor 9 to the center of the target spraying area, which can be determined by the position of the air compressor 9 and the position of the spraying area.

[0174] S73: Determine the horizontal sway angle of the oscillating page based on natural wind information and the third air drying angle range.

[0175] Horizontal swing angle: The angle at which the swing blade swings left and right on the vertical horizontal plane.

[0176] The horizontal sway angle is determined based on the natural wind direction and the range of the third air drying angle, so that the cooling air can avoid interference from the natural wind in the horizontal direction and cover the sprayed area 10.

[0177] S74: Outputs cooling air with pitch and horizontal sway angles.

[0178] The oscillating blades are controlled to output cooling air at the calculated pitch and horizontal sway angles.

[0179] S75: Calculate the wind speed difference between the natural wind speed and the preset reference cooling wind speed.

[0180] Preset baseline cooling airflow speed: The pre-set airflow speed of the cooling airflow without interference from the oscillating blades.

[0181] Wind speed difference: The difference between the natural wind speed and the reference cooling wind speed.

[0182] Wind speed difference = |Natural wind speed - Baseline cooling wind speed|.

[0183] S76: When the wind speed difference is not greater than the preset adjustment difference, the swing speed of the oscillating blades is dynamically adjusted to affect the natural wind.

[0184] Preset adjustment difference: The difference between the wind speed increased by adjusting the flaps and the original wind speed.

[0185] Oscillation speed: The speed at which the blades oscillate affects the mixing effect of cooling air and natural air. The higher the oscillation speed, the more thoroughly the cooling air and natural air mix, and the more stable the confluence direction. The oscillation speed is determined based on the difference between the natural air speed and the cooling air speed.

[0186] When the difference between the natural wind speed and the reference cooling wind speed is within the adjustable range, the swing speed of the blades can be adjusted to make the cooling wind and natural wind form a stable confluence direction near the spray gun, thus avoiding the natural wind disturbing the paint mist.

[0187] Also includes: S81: Retrieve the moving speed of the painting robot 8 and the swing parameters of the robotic arm.

[0188] Movement speed: The movement speed of the painting robot 8 in the current environment.

[0189] Arm swing parameters: Based on the painting robot 8's painting path and the planned painting path, parameters such as the swing angle of the robotic arm during operation are included. These parameters include the swing amplitude, swing frequency, and spray gun acceleration of the robotic arm.

[0190] Based on the spraying path of the spraying robot 8 and the parameters such as the swing angle of the robotic arm during cooperation, the spraying path is planned.

[0191] S82: Calculate the paint mist offset angle in the air after the paint is sprayed, based on the moving speed and swing arm parameters.

[0192] Paint mist offset angle: The angle at which the paint mist deviates from its landing point after being sprayed from the spray gun due to the robot's movement and the swinging of the robotic arm. The faster the robot moves, the greater the offset.

[0193] The speed of the spray gun at the end of the robotic arm is calculated based on the moving speed of the painting robot 8, and the acceleration of the spray gun is calculated based on the swing arm parameters.

[0194] Paint mist offset angle = arctan(entrainment velocity / paint mist ejection velocity). The paint mist ejection velocity is determined by the spray gun parameters.

[0195] The entanglement velocity is the velocity component of the spray gun at the end of the robotic arm in the spraying direction, which is equal to the vector sum of the robot's moving velocity and the robotic arm's swinging velocity in the spraying direction; the paint mist ejection velocity is determined by the spray gun parameters.

[0196] S83: Based on the paint mist offset angle, match the target distance between the air compressor 9 and the painting robot 8.

[0197] Target spacing: The optimal spacing between the air compressor 9 and the painting robot 8, so that the cooling air can just compensate for the paint mist deviation when it reaches the painting position.

[0198] S84: Calculate the compensating airflow velocity of the air compressor 9 towards the spraying position based on the target spacing.

[0199] Compensating airflow velocity: The air compressor 9 needs to blow out a compensating airflow velocity to counteract paint mist deviation and ensure that the paint falls accurately at the target position.

[0200] Compensating airflow velocity = paint mist offset / cooling air duration. Paint mist offset is determined by the paint mist offset angle and spraying distance. Cooling air duration equals the time it takes for the paint mist to travel from the spray gun nozzle to the workpiece surface, obtained by dividing the spraying distance by the paint mist ejection velocity.

[0201] S85: Controls the angle of the cooling air from air compressor 9 toward the spraying position and compensates for paint mist offset with the airflow.

[0202] The cooling air outlet is oriented towards the spraying position, and the cooling air is output at the calculated compensated airflow speed to help correct the paint mist deviation direction and ensure that the paint falls accurately at the target position.

[0203] The cooling air outlet direction is automatically adjusted based on the paint mist offset angle: when the paint mist offset angle is not greater than the preset allowable offset angle threshold, the cooling air blows along the third drying angle range towards the sprayed area 10, avoiding the current sprayed area 11, to dry the sprayed area 10; when the paint mist offset angle is greater than the preset allowable offset angle threshold, it is determined that the paint mist landing point will deviate from the allowable range, and the cooling air angle of the air compressor 9 is controlled to point towards the spraying position, and cooling air is output at a compensating airflow speed, so that the compensating airflow acts directionally during the period when the paint mist flies from the spray gun nozzle to the workpiece surface, thus counteracting the paint mist offset. When the paint mist offset angle falls back to within the allowable offset angle threshold, the cooling air resumes blowing along the third drying angle range towards the sprayed area 10, avoiding the current sprayed area 11.

[0204] When air compressor 9 needs to supply air to multiple painting robots 8, the steps include: S91: Retrieve the spraying range, spraying progress, and air consumption requirements of each spraying robot 8.

[0205] Spraying range: The size of the spraying area handled by each of the 8 spraying robots. That is, the actual area to be sprayed in a single operation.

[0206] Painting progress: The progress of each robot in completing its respective painting task.

[0207] Gas demand: Instantaneous gas demand of each robot.

[0208] S92: Compare the spraying range of all spraying robots 8, and select the spraying robot 8 with the largest spraying range as the priority robot.

[0209] Priority Robot: The robot with the largest spraying area among all robots will be given priority in ensuring its air supply quality.

[0210] The spraying range of all robots is compared. First, the robot with the largest spraying range is selected, and then the robot corresponding to the largest spraying range is marked as the priority robot.

[0211] S93: Control the air compressor 9 to move within the synchronous following range 12 of the priority robot, so that the distance between the air compressor 9 and the priority robot is kept within the pressure stabilization distance range.

[0212] Control the air compressor 9 to move within the synchronous following range 12 of the priority robot, ensuring that the distance between the air compressor 9 and the priority robot is always within the pressure stabilization distance range, thus ensuring stable air supply to the priority robot.

[0213] S94: Determine the air supply position of air compressor 9 in all painting robots 8, and match the working range of robots other than the priority robot.

[0214] Working range: This refers to the area that the air compressor 9 can reach when supplying air to the other painting robots 8. A circular area is formed with the current position of the air compressor 9 as the center and a preset distance that can meet the small-area painting requirement as the radius. When the other painting robots 8 work within this circular area, the distance between them and the air compressor 9 does not exceed the preset distance. This circular area is the working range.

[0215] Based on the current location of the air compressor 9, determine the working range of the other painting robots 8, excluding the priority robot. When the other robots operate within this working range, the distance between them and the air compressor 9 shall not exceed a preset distance sufficient for small-area painting.

[0216] S95: When the painting progress of the painting robot 8 with the largest painting range is completed or the air demand is reduced, the priority robot is dynamically switched.

[0217] When the priority robot completes its painting progress or the air demand drops below a preset threshold, the painting range of the other robots is re-compared, a new priority robot is selected, and the air compressor 9 is controlled to follow the new priority robot.

[0218] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A control method of a screw air compressor applied to a spray robot, characterized by, include: S1: Collect the spraying environment, and determine the spraying path of the spraying robot (8) and the spraying walking path in coordination with the spraying path based on the preset target drawing graphics and preset spraying size. S2: Match the synchronous following range (12) of the air compressor (9) to the spraying robot (8) according to the spraying walking path and the preset pressure stabilization distance range. S3: Record the area where the spraying robot (8) has completed the spraying work as the spraying completed area (10), and determine the current spraying range (11) based on the spraying position of the spraying robot (8) and the preset spraying influence range. S4: retrieve the cooling air angle and cooling air direction of the cooling air outlet of the air compressor (9), and within the synchronous following range (12), select the first air drying angle range that can be blown towards the sprayed area (10). S5: Based on the first drying angle range, select the second drying angle range that can be blown to the current spraying range (11), and calculate the third drying angle range by subtracting the second drying angle range from the first drying angle range. S6: Based on the third air drying angle range and the synchronous following range (12), plan the synchronous following path of the air compressor (9).

2. The control method of a screw air compressor applied to a spray robot according to claim 1, characterized in that, Also includes: S21: Retrieve the paint film thickness at the current spraying point and retrieve paint information; S22: Based on paint information, paint film thickness, and preset basic safety distance, calculate and match the dynamic voltage stabilization distance; S23: Update the voltage regulation distance range using dynamic voltage regulation distance; S24: Rematch the synchronization range (12) of the air compressor (9) and the painting robot (8) with the updated stabilization distance range; S25: Recalculate the third drying angle range based on the updated synchronization range (12).

3. The control method of a screw air compressor applied to a spray robot according to claim 2, characterized in that, Also includes: S31: Determine the air supply location of the air compressor (9) and collect the ambient temperature and humidity as well as the cooling air outlet temperature and humidity of the air compressor (9); S32: Calculate the effective angle range under each cooling air angle, and select the coverage angle with the largest effective angle range; S33: Match the target drying time for each location based on ambient temperature and humidity, paint information, and paint film thickness; S34: Calculate the connection distance between each location and the gas supply location, and match the actual drying time for each location based on the ambient temperature and humidity, paint information and paint film thickness; S35: Calculate the time difference between the target drying time and the actual drying time, and filter out the drying locations with the largest time difference; S36: Within the third drying angle range, blow air first on the sprayed area (10) at the coverage angle, and then blow air on the position to be dried.

4. The control method of a screw air compressor applied to a spray robot according to claim 3, characterized in that, Also includes: S41: Collect natural wind information; S42: Record the time when the spraying is completed at each location; S43: Calculate the drying time of natural wind at each location in real time based on ambient temperature and humidity, spraying completion time and natural wind information; S44: The total air-drying time is obtained by adding the actual air-drying time to the air-drying contribution time; S45: Calculate the required time by subtracting the total air-drying time from the target drying time in real time, and correct the time difference with the required time. S46: When the total air drying time is not less than the target drying time, the matching spraying position is determined as the drying area, and the drying area is excluded from the spraying completed area (10).

5. The control method of a screw air compressor applied to a spray robot according to claim 4, characterized in that, Also includes: S51: Retrieve natural wind direction and speed from natural wind information; S52: When the natural wind speed is greater than the preset reference wind speed threshold, it is determined that the natural wind will agitate the cooling air of the air compressor (9), and the airflow offset of the natural wind to the cooling air is calculated based on the cooling air angle and cooling air direction, combined with the natural wind speed. S53: Correct the first drying angle range with the airflow offset and obtain the corrected third drying angle range; S54: Adjust the air outlet direction of the air compressor (9) according to the corrected third air drying angle range.

6. The control method of a screw air compressor applied to a spray robot according to claim 5, characterized in that, Also includes: S61: When the natural wind speed is greater than the preset windbreak threshold, the windbreak position of the spraying robot (8) is matched based on the natural wind direction and the spraying position. S62: Control the painting robot (8) to move to the windproof position and unfold the preset windproof plate; S63: The wind-blocking guide angle of the wind deflector is obtained by analyzing and matching the current spraying range (11) and the spraying completed area (10); S64: When the natural wind speed is less than the preset influence wind speed threshold, the natural wind is corrected in conjunction with the cooling wind.

7. The control method of a screw air compressor applied to a spray robot according to claim 6, characterized in that, Also includes: S71: Request the blowing height of the air compressor (9) and obtain the target height based on the spraying environment; S72: Calculate the height difference between the blowing height and the target height, and calculate the preset pitch and swing angle of the flap based on the height difference; S73: Determine the horizontal sway angle of the page based on natural wind information and the third air drying angle range; S74: Outputs cooling air with pitch and horizontal sway angles; S75: Calculate the wind speed difference between the natural wind speed and the preset reference cooling wind speed; S76: When the wind speed difference is not greater than the preset adjustment difference, the swing speed of the oscillating blades is dynamically adjusted to affect the natural wind.

8. The control method for a screw air compressor applied to a painting robot according to claim 1, characterized in that, Also includes: S81: Retrieve the moving speed of the spraying robot (8) and the swing arm parameters of the robotic arm; S82: Calculate the paint mist offset angle in the air after the paint is sprayed, based on the moving speed and swing arm parameters; S83: Based on the paint mist offset angle, match the target distance between the air compressor (9) and the painting robot (8); S84: Calculate the compensating airflow velocity of the air compressor (9) towards the spraying position based on the target spacing; S85: Control the cooling air angle of the air compressor (9) to point to the spraying position and compensate for the paint mist offset with the airflow.

9. The control method for a screw air compressor applied to a painting robot according to claim 1, characterized in that, When the air compressor (9) needs to supply air to multiple painting robots (8), the steps include: S91: Retrieve the spraying range, spraying progress and air consumption of each spraying robot (8); S92: Compare the spraying range of all spraying robots (8) and select the spraying robot (8) with the largest spraying range as the priority robot; S93: Control the air compressor (9) to move within the synchronous following range (12) of the priority robot, so that the distance between the air compressor (9) and the priority robot is kept within the pressure stabilization distance range; S94: Select the air compressor (9) located at the air supply position of all painting robots (8) and match the working range of robots other than the priority robot; S95: When the spraying progress of the spraying robot (8) with the largest spraying range is completed or the air demand is reduced, the priority robot is dynamically switched.

10. A screw air compressor device for a painting robot, controlled by a control method for a screw air compressor for a painting robot as described in any one of claims 1 to 9, characterized in that, It includes a housing (1), a support base (2) mounted on the top of the housing (1), a screw compressor main unit (3) mounted on the support base (2), a drive motor (4) mounted on the support base (2) for driving the screw compressor main unit (3), and a cooling mechanism (5) mounted on the support base (2) for cooling the screw compressor main unit (3). The bottom of the housing (1) is provided with a movable roller (6), and the top of the housing (1) is provided with a handle (7).

Images