CN104941851A - Cleaning robot system and cleaning method and coating robot system and coating method - Google Patents
Cleaning robot system and cleaning method and coating robot system and coating method Download PDFInfo
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- CN104941851A CN104941851A CN201410116527.0A CN201410116527A CN104941851A CN 104941851 A CN104941851 A CN 104941851A CN 201410116527 A CN201410116527 A CN 201410116527A CN 104941851 A CN104941851 A CN 104941851A
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Abstract
The invention relates to robot technologies, in particular to a cleaning robot system and a coating robot system which are used for machinery equipment. By means of the cleaning robot system, in the cleaning process, machinery equipment which is cleaned is controlled to change postures, so that the obscured surface between two parts which are movably assembled in the machinery equipment in a single posture is cleaned.
Description
Technical field
The present invention relates to robot, particularly relate to a kind of cleaning robot robot system and cleaning method of machinery equipment, and the paint robot system of machinery equipment and coating process
Background technology
Application is a common link in the surface processing technique of machinery equipment product, generally comprises the steps such as surface treatment, application and solidification process.In existing coating process, general employing water-washing method (medicine, liquid etc.) carries out surface treatment, adopt spraying method to carry out application, adopt hot wind drying room to carry out last dry solidification process, and whole coating process can realize automation or semi-automation.
In coating process, improving coating quality and efficiency, is two subject matters needing to consider.
Surface-treated cleaning quality and efficiency are also the key factors affecting coating quality and efficiency.
Summary of the invention
The present invention improves the surface treatment quality of machinery equipment and efficiency, provides a kind of robot system and cleaning control method of cleaning robot equipment, and a kind of robot system of application machinery equipment and application control method.
For this reason, according to the improvement of embodiment of the present invention for machinery equipment cleaning technique, a kind of cleaning robot robot system of machinery equipment is provided on the one hand, comprises:
Cleaning robot;
Cleaning agent spray gun, is arranged on cleaning robot wrist portion front end;
Cleaning machine, the outlet of its cleaning agent is communicated with described cleaning agent spray gun by cleaning agent feed-line; And
Purging system controller, control described cleaning machine and cleaning robot co-ordination, wherein in the process of cleaning robot equipment, the machinery equipment conversion attitude described in control, to clean the surface be blocked under single attitude between the parts of any two movable assemblings in described machinery equipment.
According to above-mentioned embodiment, in the process of cleaning robot equipment, machinery equipment conversion attitude described in control, to clean the surface be blocked under single attitude between two parts of movable assembling in described machinery equipment, can improve cleannes and cleaning efficiency.
And then when the machinery equipment described in the described control of another aspect of embodiment of the present invention converts attitude, for the parts of every two movable assemblings, at least one control between two parts moves to each relative extreme position therebetween.Further guarantee cleannes and cleaning efficiency.
If application Dry ice cleaning industrial robot, then industrial robot can controlled autonomous conversion attitude, can obtain better effect.
Based on this, the cleaning control method that a kind of machinery equipment is provided on the one hand again of embodiment of the present invention, comprise the machinery equipment adopted described in cleaning agent cleaning, in cleaning process, make described machinery equipment conversion attitude, to clean the surface be blocked under single attitude between the parts of any two movable assemblings in described machinery equipment.
According to the improvement of embodiment of the present invention for application techniques, a kind of paint robot system of machinery equipment is provided on the one hand, comprises:
Paint robot;
Blackwash sprayer, is arranged on paint robot wrist portion front end;
Coating machine, its coating material outlet is communicated with described blackwash sprayer by paint delivery tube line; And
Finishing system controller, coating machine described in control and paint robot co-ordination, wherein in coating process, the machinery equipment conversion attitude described in control, with the surface be blocked under single attitude between the parts of two movable assemblings any in the machinery equipment described in application.
According to above-mentioned embodiment, in the process of application machinery equipment, machinery equipment conversion attitude described in control, with the surface be blocked under single attitude between the parts of two movable assemblings any in the machinery equipment described in application, can improve coating quality and coating efficiency.
And then the another aspect of embodiment of the present invention, when the machinery equipment described in described control converts attitude, for the parts of every two movable assemblings, at least one control between two parts moves to each relative extreme position therebetween.Further guarantee coating quality and coating efficiency.
If be applied in application industrial robot, then industrial robot can controlled autonomous conversion attitude, can obtain better effect.
The one side again of embodiment of the present invention, a kind of application control method of machinery equipment is provided, comprise the machinery equipment adopted described in paint spraying, in coating process, make described machinery equipment conversion attitude, with the surface be blocked under single attitude between the parts of two movable assemblings any in the machinery equipment described in application.
In sum, the cleaning robot robot system that the embodiment of the present invention provides and paint robot system, can well improve surface treatment quality and the efficiency of machinery equipment.Especially Be very effective when processing industrial robot is applied in.
Accompanying drawing explanation
The plan structure schematic diagram of a kind of finishing system that Fig. 1 provides for the embodiment of the present invention one;
The process flow diagram of Fig. 2 for adopting the coating process that provides of the embodiment of the present invention one machinery equipment to be carried out to application;
The plan structure schematic diagram of a kind of finishing system that Fig. 3 provides for the embodiment of the present invention two;
Fig. 4 is the structural representation of industrial robot system that in the embodiment of the present invention three, has a 6DOF of multi-arm joint design feature;
The structural representation of a Dry ice cleaning machine robot system of Fig. 5 a for providing in the embodiment of the present invention three;
Fig. 5 b and Fig. 5 c is respectively two kinds of concrete structure schematic diagrames of purging system control device;
The structural representation of a paint robot system of Fig. 6 a for providing in the embodiment of the present invention three;
Fig. 6 b is the enlarged diagram being arranged in dashed circle part-structure in Fig. 6 a;
Fig. 6 c and Fig. 6 d is respectively two kinds of concrete structure schematic diagrames of finishing system control device;
The principle schematic of a kind of application control system that Fig. 7 provides for the embodiment of the present invention three;
The schematic diagram of spraying industrial robot of Fig. 8 for providing in inventive embodiments three;
A kind of supporting structure schematic diagram for hang robot controller cable of Fig. 9 a and Fig. 9 b for providing in inventive embodiments three;
A kind of cleaning control schematic flow sheet of Figure 10 for providing in inventive embodiments three;
A kind of application control flow schematic diagram of Figure 11 for providing in inventive embodiments three.
Reference numerals list:
Finishing system: 1,1,
Dry ice cleaning room 10 dry ice cleaning system 11
Intensification room 20 indoor set 211 outdoor location 212
Lower paint booth 31 times finishing systems 311
Finishing system 321 on upper paint booth 32
Hothouse 40
Conveyer 50 moving device 51,511 ~ 515
Machinery equipment 60,601 ~ 605
Industrial robot 401 cable 402 robot controller 403
Cleaning robot 501 dry ice spray gun 502 dry ice feed-line 503
Purging system control device 505
Paint robot 601 blackwash sprayer 602 paint delivery tube line 603
Finishing system control device 605
Transport controller 701 purging system controller 702 cleaning machine controller 7021
Robot controller 7031,7032,7033,5053,6053
Intensification chamber controller 704
Finishing system controller 706 coating machine controller 7051,7061 on lower finishing system controller 705
Exhaust system controller 7052,7062
Detailed description of the invention
The embodiment of the present invention, under the prerequisite ensureing machinery equipment coating quality, provides the more high efficiency coating process of one and system, with reference to the accompanying drawings, explains embodiments of the present invention respectively with different embodiment.
Embodiment one
As shown in Figure 1, be a kind of finishing system 1 plan structure schematic diagram that the embodiment of the present invention one provides, finishing system 1 comprises:
Dry ice cleaning room 10, and the dry ice cleaning system 11 being arranged in Dry ice cleaning room, dry ice cleaning system 11 uses Dry ice cleaning to treat the machinery equipment 60 of application.
Intensification room 20 and attemperator, attemperator, in order to adjust the temperature of intensification room 20, makes when the machinery equipment 60 of application is in intensification room, and surface temperature goes back up in the temperature range of carrying out needed for application; Attemperator generally comprises indoor set 211 and outdoor location 212, attemperator is the thermal cycle heating equipment adopting the thermals source such as electricity, natural gas, steam to be formed, be made up of indoor heating pipeline and off-premises station, operation principle and the drying oven operation principle of intensification room 20 are just the same, intensification room 20 keeps certain indoor temperature by attemperator, machinery equipment 60 is in intensification room 20, and surface temperature is gone up naturally to required temperature range.Attemperator can controlled adjustment duty to change the temperature needed for intensification room.
Lower paint booth 31, and the lower finishing system 311 being arranged in lower paint booth 31, the machinery equipment 60 utilizing lower finishing system 311 can treat application in lower paint booth 31 carries out primer painting.Lower paint booth 31 can also install exhaust gear additional, to discharge the coating dust and taste that produce in coating process.
Upper paint booth 32, and the upper finishing system 321 being arranged in paint booth 32, the machinery equipment 60 that in utilization, finishing system 321 can treat application in upper paint booth 32 carries out finish paint application.Lower paint booth 31 also can also install exhaust gear additional, to discharge the coating dust and taste that produce in coating process.
Hothouse 40, in order to carry out dry solidification process to the machinery equipment 60 after application.Machinery equipment 60 can natural drying in hothouse 40, also can for improving dry treatment effeciency in hothouse 40, attemperator similar in configuration and intensification room 20.
Conveyer 50, and the moving device 51 be erected on conveyer 50, conveyer 50 fitted to be successively through Dry ice cleaning room 10, intensification room 20, lower paint booth 31, upper paint booth 32 and hothouse 40, treat that the machinery equipment of application can be loaded on moving device 51, moving device 51 is advanced along the X-direction in diagram on conveyer 50, will treat that the machinery equipment of application is processed by Dry ice cleaning room 10, intensification room 20, lower paint booth 31, upper paint booth 32 and hothouse 40 successively.
In finishing system 1 shown in Fig. 1, Dry ice cleaning room 10, intensification room 20, lower paint booth 31, upper paint booth 32 and hothouse 40 have three face wall bodies and upper ceiling respectively, and intensification room 20 and hothouse 40 generally also need to arrange body of wall (not drawing in figure) above to keep indoor temperature, body of wall before other each rooms can consider whether arrange as required, or can be set to glass wall to observe the handling situations of each indoor.Be communicated with by conveyer 50 between each room, can arrange door or shield is isolated between adjacent two Room, the large I of door or shield is walked for the moving device 51 being loaded with machinery equipment 60 is accessible, and opening and closing operations can by manually performing or automatically controlling.
Still as shown in Figure 1, conveyer 50 can form annular conveyer, after machinery equipment 60 is transported hothouse 40 by moving device 51, the treatment process such as subsequent packages can be carried out in the operating area of outdoor delimitation, then continue to advance go back to purge chamber 10 outward to load the machinery equipment that the next one needs application, reciprocation cycle operation.
If only need application one coating, then descend paint booth 31 and upper paint booth 32 to merge and be set to one, if also need more multiple tracks coating process, then can increase the quantity of paint booth according to procedure calls.If need dry process between certain adjacent twice coating process, then between adjacent paint booth, hothouse can be increased again.Demand and so on, those skilled in the art can realize according in embodiment one, disclosed content is convenient, and all in protection domain of the presently claimed invention.
It should be noted that, in the specific embodiment of the invention, the conveyer 50 in Fig. 1 is non-essential, also can utilize the transportation machines equipment such as the dolly not needing conveyer.
As shown in Figure 2, the coating process provided for adopting the embodiment of the present invention one carries out the process flow diagram of application to a machinery equipment, treat that the machinery equipment 60 of application is stated from moving device 51, successively through Dry ice cleaning room 10, intensification room 20, lower paint booth 31, upper paint booth 32 and hothouse 40, be handled as follows successively according to step shown in Fig. 2:
S201, in Dry ice cleaning room 10, treat the machinery equipment 60 of application by Dry ice cleaning;
S202, the machinery equipment treating application in intensification room 20 carry out hyperthermic treatment, in temperature range machinery equipment 60 surface temperature treating application being gone back up to carry out needed for application;
S203, in lower paint booth 31, carry out lower application by the machinery equipment 60 that application treated by primer base;
S204, the machinery equipment 60 treating application in upper paint booth 32 with topcoat paint carry out on application;
S205, in hothouse 40, dry solidification process is carried out to the machinery equipment 60 after application.
Step S201 carries out the surface cleaning process before application to machinery equipment, and dry ice is good a kind of surface cleaner.Because different materials has different contraction speed in the temperature difference, by pressure-air, the dry ice pellet of cryogenic particles shape is ejected into the machinery equipment surface needing application, low temperature dry ice pellet produces thermal contraction because surface temperature sharply declines and causes attachment to become fragile, volume increases 750 times simultaneously, thus attachment is come off, effectively can remove the dirt such as the greasy dirt of machinery equipment surface bonding, paint, ink, binder, carbon distribution, pitch, top layer rust dirt, welding slag.Compare with the clean surface treatment mode that waits of other water, cleannes and cleaning efficiency are all higher.For ensureing the tack of coating, the machinery equipment surface of carrying out application needs the uniform temperature reached, the temperature of the graininess dry ice used during Dry ice cleaning is generally at subzero tens degree, such as-78 degrees centigrade, cause the machinery equipment surface temperature after cleaning too low, directly cannot carry out next step application, in embodiments of the present invention, have employed step S202 and solve this problem.Wherein, dry ice not only can be granular, also can be powdery.When the material ratio of the machinery equipment be coated is easier to scratch, preferably use powdery dry ice.
The step S202 machinery equipment cleaned to dry ice carries out hyperthermic treatment, such as, make the surface temperature of machinery equipment go up between 50 degree ~ 65 degree, and good temperature is 53 degree, 55 degree or about 58 degree etc.This temperature range can be determined according to the technological requirement of different coating and different machinery equipments, and 50 degree ~ 65 degree is only an example.In temperature-rise period, the dry ice remaining in machinery equipment surface also raises with temperature and distils, and the surface natural drying thereupon of machinery equipment, temperature and aridity meet the needs of next step application process simultaneously.
Step S203 and S204 is to clean and machinery equipment after heating up carries out application, and the machinery equipment that specifically can comprise with application treated by primer base carries out lower application, then carries out upper application by the machinery equipment that topcoat paint treats application.If some priming paint carries out upper application again after needing drying, then can install a drying steps again additional between step 203 and step 204.If some machinery equipment only needs an application, then only need an application step.
Step S205 is the step that final drying is reinforced, and machinery equipment is in dry run, and coating is attached to machinery equipment surface completely, completes whole coating process.
Wherein, step S201 can be completed by manual operation dry ice cleaner in Dry ice cleaning room, the cleaning robot be arranged in Dry ice cleaning room also can be utilized to automatically perform ice and work clearly.Step S202 can complete in the intensification room with Insulation.Step S203 and S204 can complete by manual operation flush coater in paint booth, and the paint robot be arranged in paint booth also can be utilized to automatically perform spray coating operations.
Cleaning before application, extremely important to guarantee coating quality.Adopt above-mentioned coating process provided by the invention, utilize dry ice before application, well can remove the dirt on machinery equipment surface, and in hyperthermic treatment process, machinery equipment surface is thereupon dry, do not need extra drying process, therefore under guarantee coating quality prerequisite, improve coating efficiency.The cleaning way of Dry ice cleaning or a kind of very environmental protection, not needing additionally to drop into any environmental practice can meet ecological requirements.
Embodiment two
As shown in Figure 3, for the finishing system 1 formed on the basis of finishing system 1 shown in embodiment one, utilize at least 5 moving devices (511 ~ 515), can synchronously process 5 machinery equipments (601 ~ 605), and by selecting scavenging period, upper spray time and lower spray time, and the temperature of adjustment intensification room and hothouse, can pipelining be realized.If there is conveyer 50, then conveyer 50 can be linked to be ring-type in outside, and in region beyond hothouse 40, delimits certain area and carry out the operations such as packaging, further increase the efficiency of painting operation along conveyer 50.Conveyer 50 such as chain type transport tape etc.
Microscope carrier on each moving device (511 ~ 515) can also lifting under jack machinism effect, to meet the needs of needs lifting machinery equipment in some cleaning and coating process, the technology that jack machinism is well known to those skilled in the art, is not described in detail here.
Finishing system 1 shown in Fig. 3, in, the coating process flow process of each machinery equipment still as shown in Figure 2, different machinery equipment (601 ~ 605) of same time is in different operating rooms, the treatment step carried out is different, such as, when machinery equipment 601 is cleaned in Dry ice cleaning room 10, machinery equipment 602 carries out hyperthermic treatment in intensification room 20, machinery equipment 603 carries out lower application in lower paint booth 31, machinery equipment 604 carry out in upper paint booth 32 on application, machinery equipment 605 carries out dry solidification process in hothouse 40.The machinery equipment installed may be coated with in addition outside hothouse 40, carry out the subsequent handlings etc. such as packaging process.
Embodiment three
Finishing system 1 and the finishing system shown in Fig. 31 shown in Fig. 1, in, dry ice cleaning system 11, lower finishing system 311 and upper finishing system 321, can adopt manually-operated equipment, and the robot system of Automated condtrol also can be adopted to realize automated job.Adopt the robot system of Automated condtrol to realize automated job and can improve coating efficiency further.
For convenience of understanding, first to the structure of conventional industrial robot system, the structure of Dry ice cleaning machine robot system that utilizes robot to realize, and the structure of the paint robot system utilizing robot to realize and operation principle are described.
As shown in Figure 4, it is a structural representation with the 6DOF industrial robot system of multi-arm joint cascaded structure, comprise industrial robot 401 and robot controller 403, industrial robot 401 is 3 arm 6 joint cascaded structures, consult each rotation direction in Fig. 4 shown in arrow, in robot 401, each rotary joint can rotate with S axle, L axle, U axle, B axle, R axle and T axle respectively, forms 6DOF robot.Concrete, on the base station of bottom, be provided with the rotary plate rotated freely around vertical axis and S axle, on rotary plate, lower arm is bearing in around trunnion axis and L axle by axle, can wave in front-rear direction.On the upper end of lower arm, upper arm is bearing in around trunnion axis and U axle by axle, vertically waves.The front end of upper arm is provided with wrist portion, wrist portion comprises main body, waves body and rotary body, main body is installed to be and rotates freely around the central shaft and R axle of the length direction of upper arm, waves body and is bearing in around the axle and B axle that body front end and R axle intersect vertically by axle, thus wave.The front end that rotary body is waving body rotates around rotating shaft and T axle.Each joint part is built-in with the motor driving and rotate, and the parts such as angular transducer needed for controlling or velocity sensor, in some industrial system, also needs to increase the parts such as video camera, range sensor in robot outside.Robot controller 403 is connected by component signal such as cable 402 and each drive motors and these sensor cameras, according to the detection signal etc. of the mode of operation set and feedback, and the operation etc. of the advancing of control industrial robot, attitude and wrist portion.According to the demand of various automated job, the structure of industrial robot system is very many, is only an example shown in Fig. 4.
As shown in Figure 5 a, it is the structural representation of a Dry ice cleaning machine robot system, comprise cleaning robot 501, be arranged on the dry ice spray gun 502 of cleaning robot 501 wrist portion front end, dry ice spray gun 502 is by the dry ice outlet of dry ice feed-line 503 with dry ice cleaner 504, purging system control device 505 signal connects dry ice cleaner 504 and cleaning robot 501, in order to coordinate the cooperation between dry ice cleaner 504 and cleaning robot 501, such as when starting dry ice cleaner 504, control cleaning robot 501 according to the cleaning model of setting and convert attitude, machinery equipment to be sprayed is cleaned.Such as cleaning robot 501 can be the 6DOF robot shown in Fig. 4 again, time in the operating area that machinery equipment to be sprayed is in cleaning robot 501, the wrist portion front end of cleaning robot 501 can drive dry ice spray gun 502, according to the step specified in cleaning model and parameter, control the anglec of rotation of arm and wrist portion, dry ice particles is sprayed onto machinery equipment each face except bottom surface, needs all surface of cleaning to carry out cleaning to machinery equipment.Can also set in cleaning model and cleaning is increased the weight of to significant points, such as, in a certain ad hoc structure position, lengthen the time of cleaning, strengthen the pressure etc. of dry ice spray gun.This process may need the jack machinism on moving device 51 to coordinate, and the machinery equipment treating application carries out necessary descending operation.Or control the lifting of microscope carrier residing for cleaning robot 501 self, with the needs of cleaning height different in matching purge process.Consult shown in Fig. 5, in the Dry ice cleaning machine robot system shown in Fig. 5 a, purging system control device 505 controls Dry ice cleaning machine robot system, and automatically complete the cleaning to machinery equipment, cleaning agent is not limited to dry ice, also can adopt other cleaning agents.
If clean general machinery equipment, then purging system control device 505 needs to control cleaning machine and the whole cleaning process of cooperation control, can be realized by a controller, also can be as shown in Figure 5 b, be made up of two controllers, comprise purging system controller 5051 and cleaning machine controller 5052, cleaning machine controller 5052 is for controlling cleaning machine, purging system controller 5051 in cleaning process, the work between cooperation control cleaning machine controller 5052 and other controllers.If be industrial robot by the machinery equipment of cleaning, then purging system control device 505 also needs to control robot to be cleaned, as shown in Figure 5 c, a robot controller 5053 can also be comprised in purging system control device 505, purging system controller 5051 in cleaning process, the work between cooperation control cleaning machine controller 5052, robot controller 5053 and other controllers.Purging system controller 5051, cleaning machine controller 5052 and robot controller 5053 can merge between two or three merging are arranged, also independent setting can be separated separately, between by bus or interface circuit communication connection, it is medium that such as cleaning machine controller 5052 can be arranged on dry ice cleaner.
As shown in Figure 6 a, it is the structural representation of a paint robot system, comprise paint robot 601, be arranged on the blackwash sprayer 602 of paint robot 601 wrist portion front end, blackwash sprayer 602 is communicated to the coating material outlet of coating machine 604 by paint delivery tube line 603, and paint delivery tube line 603 is through the hollow structure in robot 601 forethiga and wrist portion.Finishing system control device 605 signal connects coating machine 604 and paint robot 601, in order to coordinate the cooperation between coating machine 604 and paint robot 601, such as when starting coating machine 604, control paint robot 601 according to the spray pattern of setting and convert attitude, machinery equipment to be sprayed is sprayed.Such as paint robot 601 can be the 6DOF robot shown in Fig. 4, time in the operating area that machinery equipment to be sprayed is in paint robot 601, the wrist portion front end of paint robot 601 can drive blackwash sprayer 602, according to the step specified in spray pattern and parameter, control the anglec of rotation of arm and wrist portion, by spray painting to each face except bottom surface of machinery equipment.Can also set in spray pattern and spraying is increased the weight of to significant points, such as, in a certain ad hoc structure position, lengthen the time of spraying, strengthen the pressure etc. of blackwash sprayer.This process may need the jack machinism on moving device 51 to coordinate, and the machinery equipment treating application carries out necessary lifting.Or the lifting of microscope carrier residing for spray robot 501 self, to coordinate in spraying process the needs spraying height.As shown in Figure 6 b, be the hollow structure schematic diagram of paint robot 601 forearm and wrist portion, hollow structure is wherein that paint delivery tube line 603 is arranged.Paint delivery tube line 603 is connected to blackwash sprayer 602 by the hollow structure of paint robot 601 forearm and wrist portion, can well prevent the arm of paint delivery tube line 603 and robot in operation process from producing and interfere, also save working space simultaneously.Consult shown in Fig. 7, in the paint robot system shown in Fig. 6, independently can arrange a coating machine controller in coating machine 604, finishing system control device 605 controls the operation of dry ice cleaner by coating machine controller.
Finishing system control device 605 can utilize a controller to realize, and also as shown in Fig. 6 c and Fig. 6 d, with reference to the concrete structure of purging system control device 505, can utilize two or three controllers realizations.
Paint robot system shown in Dry ice cleaning machine robot system shown in Fig. 5 a and Fig. 6 a is used in the system that the embodiment of the present invention one provides, then form an automatization operation system, in the purge chamber 10 of automatization operation system, there is the Dry ice cleaning machine robot system that can automatically clean, have in lower paint booth 31 and automatically carry out lower painting and hold paint robot system, there is in upper paint booth 32 the upper paint robot system of automatically carrying out upper application.
Further, because the structure of different machines equipment differs greatly, utilizing robot to carry out in automation cleaning and painting operation, needing to design different cleaning patterns and spray coating operations pattern for different machinery equipments.For making Dry ice cleaning machine robot system, lower paint robot system and upper paint robot system can automatically identify manipulating object, thus call corresponding mode of operation, on moving device 51, a dismountable wireless signal transmitter can be installed, with the identify label of machinery equipment in the wireless signal launched, Dry ice cleaning machine robot system, lower paint robot system and upper paint robot system arrange a wireless signal receiver respectively, for receive with identity indicate wireless signal and send to connected controller, to call and to treat the mode of operation that the machinery equipment of application matches, the technological means of specific implementation is well known to those skilled in the art, here be described no longer in detail.
Utilize robot to automatically perform step 201, S203 and S204 can well improve coating efficiency, robot wrist front end can cover different surfaces and all angles of machinery equipment with spray gun, such as, can accomplish comprehensive covering preferably to box-type machinery equipment, automobile case etc.But for there being the machinery equipment of the relation of being rotationally connected between some parts, machinery equipment such as to be sprayed inherently one have multi-arm joint cascaded structure industrial robot time, between the arm joint of every two movable assemblings after assembling, just can expose under the attitude that some surface is formed in specific relative rotation angle, and be blocked under the attitude formed in other relative rotation angle.If adopt single attitude to carry out washing and cleaning operation, these surfaces be blocked will be missed, thus affect cleaning performance.Also cannot cover when spraying under single attitude, the later stage needs independent repair procedure to repair these surfaces of painting, and this all will produce considerable influence to coating quality and coating efficiency.
In the embodiment of the present invention three, that industrial machine is artificially routine with the machinery equipment be coated, can in Dry ice cleaning and coating process, control by the industrial robot conversion attitude sprayed, the surface be blocked under exposing single attitude between adjacent two parts assembled to make activity, thus ensure cleaning and coating quality, and avoid the patch work in later stage, further increase spray efficiency.
As shown in Figure 7, the embodiment of the present invention three, for realizing automation paint, can utilize system bus to be coupled together by following controller and form complete control system:
Transport controller 701 is the controller of the jack machinism that moving device 51 and moving device 51 may be arranged, specifically to the drive system in moving device 51, and the oil pressure elevating system in jack machinism controls, moving device 51 is made to advance to the job position of specifying along conveyer 50;
Purging system control device 702 is the controller of dry ice robot cleaning system, cleaning machine controller 7021 is in dry ice robot cleaning system, the controller of dry ice cleaner, cleaning machine controller 7021 is according to the instruction of purging system control device 702, ratio in concrete control dry ice cleaner between dry ice and compressed air, the pressure of pump and spray gun pressure etc.; In dry ice container, can also level sensor be set, Real-Time Monitoring dry ice storage, cleaning machine controller 7021 is according to the detection signal of level sensor, report to the police when dry ice storage drops to certain value, if needed, can also notify that cleaning control device 702 stops cleaning further.
Robot controller (7031,7032, the 7033) controller for using when the robot of application is in job position in different disposal step, consult shown in Fig. 1, if do not need in paint finishing to spray multiple robot simultaneously, then robot controller (7031,7032,7033) can be a controller, consult shown in Fig. 3, if adopt automatic assembly line operation, need to process multiple robot simultaneously, three such as shown in Fig. 3, then need to arrange three robot controllers for different job positions.
Intensification chamber controller 704 is the controller of attemperator in intensification room.
Lower finishing system controller 705 and upper finishing system controller 706 are respectively the controller of lower paint robot system and upper paint robot system, when coating machine controller (7051,7061) is respectively upper and lower application, and the controller of coating machine.Upper and lower coating machine controller (7051,7061), respectively according to the instruction of connected finishing system controller, specifically controls the pressure of compressed air pump and the pressure etc. of blackwash sprayer in coating machine; In coating narrow-necked earthen jar, also can level sensor be set, Real-Time Monitoring coating storage, coating machine controller (7051,7061) is according to the detection signal of level sensor, report to the police when coating storage drops to certain value, if needed, spray coating operations can also be stopped by notice painting cartridge controller further.
Purging system controller 702 is as the controller of dry ice machine washing system, cooperation control cleaning machine controller 7021 and robot controller 7031 simultaneously, make to cooperatively interact between Dry ice cleaning machine robot system and the robot treating application, in cleaning process, treat the robot conversion attitude of application, with the surface be blocked under single attitude between the parts of any two movable assemblings of cleaning robot.
Lower finishing system controller 705 is as the controller of lower paint robot system, cooperation control coating machine controller 7051 and the robot controller 7032 treating application simultaneously, make to cooperatively interact between lower paint robot system and the robot treating application, in coating process, treat the robot conversion attitude of application, with the surface be blocked under single attitude between the parts of any two movable assemblings of paint robot.
In like manner, upper finishing system controller 706 is as the controller of upper paint robot system, cooperation control coating machine controller 7061 and the robot controller 7033 treating application simultaneously, make to cooperatively interact between paint robot and the robot treating application, in upper coating process, treat the robot conversion attitude of application, with the surface be blocked under single attitude between the parts of any two movable assemblings of paint robot.
It should be noted that, in upper application and lower coating process, if need exhaust system cooperating, then exhaust system controller (7052,7062) can also be participated in spraying operation.
Between each controller shown in Fig. 7, be connected and interactive controlling signal by system bus, co-ordination between each step, previous step terminates rear triggering next step, form complete automatic assembly line operation, the cooperation control principle wherein used is well known to those skilled in the art, and is not described in detail here.
Below to how to clean and in coating process, to control to treat that the robot conversion attitude of application is described in detail.
As shown in Figure 8, for industrial robot in spraying process, convert the schematic diagram of attitude time, after an arm of industrial robot rotates to an angle, and in kinematic coupling portion between base, hatched example areas Q is exposed, thus can be sprayed onto.
Shown in Figure 8, moving device can also there is the fixture 801 of stationary machines equipment, and the lifting platform 802 of elevating control can be carried out, fixture 801 pairs of machinery equipments play reinforcement effect, lifting platform 802 is used in the height adjusting machinery equipment in cleaning or spraying process, Fig. 8 is only illustrative diagram, and those skilled in the art can adopt multiple concrete structure to realize, and describe in detail no longer one by one here.
When being industrial robot by the machinery equipment that sprays, industrial robot purge chamber, lower paint booth and on paint booth time, need respectively with the robot controller communication connection in each room.The cable of the robot controller in each room can hang on a support, and as shown in figures 9 a and 9b, support can be provided with signal transducer 901, and suspension member 902 and hook 903, between suspension member 902 and hook 903, self-recoverage elasticity connects.As illustrated in fig. 9, when hook 903 not hanging with the cable of robot controller, hook top is in the position that can be detected by signal transducer 901, sensor 901 thus detection signal can be sent to robot controller, when hook 903 drops because hanging with the cable of robot controller, signal transducer cannot detect the transmitting of hook top and termination detection signal, robot controller is according to this detection signal, judge that cable is not switched on when not receiving detection signal, namely also job position is not arrived by the industrial robot sprayed, judge that cable is switched on when receiving detection signal, namely job position is arrived by the industrial robot sprayed.This detection signal may be used for the control signal whether starting to carry out operation, when industrial robot does not also arrive job position, and each controller break-off.
As shown in Figure 10, the cleaning control flow process that purging system controller 702 performs mainly comprises the steps:
Step 1001, determine to treat that the robot of application arrives operating position;
Step 1002, identification treat the robot identify label of application;
Corresponding mode of operation is called in the identify label that step 1003, basis identify;
Step 10041, control Dry ice cleaning machine people start working;
Step 10042, control dry ice cleaner are started working;
Step 10043, control treat the robot conversion attitude of application;
Step 1005, cleaning terminate;
Step 1006, send cleaning step END instruction, cleaning step END instruction is for triggering next step.
In above-mentioned control flow, step 10041,10042 and 10043 can be carried out simultaneously, and also can carry out respectively, precedence when carrying out respectively sets as required.After step 10043 performs, in cleaning process, robot controller 7031 controls to treat that the robot of application starts according to predetermined operating mode conversion attitude, in the process of conversion attitude, purging system controller 702 Suspend Job can be notified when needs suspend, or notify purging system controller 702 Suspend Job etc. when self there is operation troubles.In the process of conversion attitude, purging system controller 702 and robot controller 7031 can work according to predetermined mode of operation respectively separately, also can to work in coordination operation, such as robot controller 7031 is when transforming to a certain particular pose, notice purging system controller 702 carries out emphasis cleaning to a certain position, and the positional information that emphasis cleans is sent to purging system controller 702, purging system controller 702, by cleaning machine controller 7021, strengthens the expulsion pressure, density etc. of dry ice.Concrete control flow; those skilled in the art can set according to the architectural feature of robot; this is not limited in the embodiment of the present invention; as long as control conversion attitude in the cleaning process of robot; to realize, to the thorough cleaning on the surface that is blocked under a certain single attitude, all belonging to protection scope of the present invention.Change attitude comprise at least with the one under type, convert any one arm joint the anglec of rotation, convert whole robot position, towards etc.Wherein, shown in Figure 8, control to convert attitude between any two arms joint, in fact the anglec of rotation relative between control two arm joints is, in embodiments of the present invention, each extreme position relative between the parts of two movable assemblings can be transformed to preferably, such as, when upper arm rotates along L axle, convert between former and later two limit anglecs of rotation, expose all surface be blocked because mutually assembling, and its conversion attitude can be controlled respectively for the parts of every two movable assemblings, carry out emphasis cleaning simultaneously.Robot architecture's characteristic Design good berth pattern that these all can spray in advance as required.
As shown in figure 11, the application control principle of upper finishing system controller 705 and lower finishing system controller 706 is just the same, and posture changing principle is also identical with the posture changing principle in cleaning process, following application control flow is example, and the main distinction of Dry ice cleaning control flow is in following steps:
Step 11041, control paint robot are started working;
Step 11042, control coating machine are started working;
Step 11043, control treat the robot conversion attitude of application;
Step 1105, application terminate;
Step 1106, send the END instruction of application step.
Cleaning robot and robot to be sprayed are respectively according to the mode of operation operation set, and spray robot and robot to be sprayed respectively according to the mode of operation operation set time, following scene is seen: Dry ice cleaning machine people or spray robot with the posture changing of setting and treated while spray robot carries out operation in cleaning process and any one spraying process, robot to be sprayed is also converting attitude with set model, during parts operation particularly for every two movable assemblings, two relative movement are to convert attitude, attitude is converted especially between each relative extreme position.If one in the parts of two movable assemblings is fixed part, then move to each extreme position for controlling another.If be both movable part, also can control the relative motion simultaneously of two parts, or control that one of them is static, another moves to each extreme position.So like this, repeated transformation is several times after attitude, and all surfaces that should clean or spray all can be covered to.The gesture stability principle of robot is well known to those skilled in the art, the embodiment of the present invention three utilizes gesture stability principle, in the Dry ice cleaning process and spraying process of robot, the attitude of robot is controlled, cleaning performance and coating quality are greatly improved, namely ensure that the coating quality of robot, additionally reduce follow-up repair procedure, when particularly the control system shown in Fig. 7 being used for the paint finishing controlled as shown in Figure 3, fully achieve automation continuous productive process, improve the efficiency of spraying operation.
In above-mentioned any embodiment, water paint all can be adopted to spray, when using water paint, pollution and environmental protection treatment cost can be effectively reduced.It should be noted that, dissolution of coatings, powdery paints can be adopted as required, be not limited to above-mentioned water paint.
The robot architecture of example in above-described embodiment three is only an example, the concrete structure of scope not limiting robot.
The Control system architecture of example in above-described embodiment three; also be only an example; coating process provided by the invention according to content disclosed in the embodiment of the present invention, can be used in various control system, then all in scope by those skilled in the art.
What above-described embodiment three provided carries out posture changing control to manipulating object in cleaning and spraying process, being not restricted to manipulating object is industrial robot, any one is had to the product of multi-arm joint activity assembling, the mode that can provide according to the embodiment of the present invention three improves coating quality and efficiency.Such as can not the equally controlled autokinetic movement of machine people to convert the product of attitude, can multi-arm robot be utilized, utilize each arm of multi-arm robot to hold some positions of product, product is carried out to the operation of conversion attitude in cleaning and spraying process.
Cleaning robot robot system shown in above-described embodiment three, also can use other cleaning agents as required, cleaning agent is not limited to dry ice.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a cleaning robot robot system for machinery equipment, is characterized in that, comprising:
Cleaning robot;
Cleaning agent spray gun, is arranged on cleaning robot wrist portion front end;
Cleaning machine, the outlet of its cleaning agent is communicated with described cleaning agent spray gun by cleaning agent feed-line; And
Purging system controller, control described cleaning machine and cleaning robot co-ordination, wherein in the process of cleaning robot equipment, the machinery equipment conversion attitude described in control, to clean the surface be blocked under single attitude between the parts of any two movable assemblings in described machinery equipment.
2. cleaning robot robot system as claimed in claim 1, it is characterized in that, when machinery equipment described in described control converts attitude, for the parts of every two movable assemblings, at least one control between two parts moves to each relative extreme position therebetween.
3. cleaning robot robot system as claimed in claim 1 or 2, it is characterized in that, described cleaning agent is dry ice, and described machinery equipment is industrial robot.
4. the cleaning control method of a machinery equipment, comprise the machinery equipment adopted described in cleaning agent cleaning, it is characterized in that, in cleaning process, make described machinery equipment conversion attitude, to clean the surface be blocked under single attitude between the parts of any two movable assemblings in described machinery equipment.
5. cleaning control method as claimed in claim 4, it is characterized in that, described cleaning agent is dry ice, and described machinery equipment is industrial robot.
6. a paint robot system for machinery equipment, is characterized in that, comprising:
Paint robot;
Blackwash sprayer, is arranged on paint robot wrist portion front end;
Coating machine, its coating material outlet is communicated with described blackwash sprayer by paint delivery tube line; And
Finishing system controller, coating machine described in control and paint robot co-ordination, wherein in coating process, the machinery equipment conversion attitude described in control, with the surface be blocked under single attitude between the parts of two movable assemblings any in the machinery equipment described in application.
7. paint robot system as claimed in claim 6, it is characterized in that, when machinery equipment described in described control converts attitude, for the parts of every two movable assemblings, at least one control between two parts moves to each relative extreme position therebetween.
8. paint robot system as claimed in claims 6 or 7, it is characterized in that, described machinery equipment is industrial robot.
9. the application control method of a machinery equipment, comprise the machinery equipment adopted described in paint spraying, it is characterized in that, in coating process, make described machinery equipment conversion attitude, with the surface be blocked under single attitude between the parts of two movable assemblings any in the machinery equipment described in application.
10. application control method as claimed in claim 9, it is characterized in that, described machinery equipment is industrial robot.
Priority Applications (2)
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| CN201410116527.0A CN104941851B (en) | 2014-03-26 | 2014-03-26 | Cleaning robot system and cleaning method and paint robot system and coating process |
| JP2015050807A JP6240628B2 (en) | 2014-03-26 | 2015-03-13 | Cleaning robot system, cleaning control method, painting robot system, and painting control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410116527.0A CN104941851B (en) | 2014-03-26 | 2014-03-26 | Cleaning robot system and cleaning method and paint robot system and coating process |
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| CN104941851A true CN104941851A (en) | 2015-09-30 |
| CN104941851B CN104941851B (en) | 2018-07-20 |
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| US20210078211A1 (en) * | 2017-12-14 | 2021-03-18 | Compagnie Generale Des Etablissements Michelin | Method and device for cleaning a vulcanization mold |
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| CN116159167A (en) * | 2023-03-09 | 2023-05-26 | 哈尔滨工业大学 | Spraying mechanical arm for epidemic prevention robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2015186800A (en) | 2015-10-29 |
| CN104941851B (en) | 2018-07-20 |
| JP6240628B2 (en) | 2017-11-29 |
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