CN111250312B

CN111250312B - Spraying reciprocating robot, control device thereof and spraying control method

Info

Publication number: CN111250312B
Application number: CN202010091099.6A
Authority: CN
Inventors: 徐小龙; 郭经军; 陈维; 郭宜煌; 李丹
Original assignee: Agirent Xiamen Robot Co ltd
Current assignee: Agirent Xiamen Robot Co ltd
Priority date: 2020-02-13
Filing date: 2020-02-13
Publication date: 2021-07-23
Anticipated expiration: 2040-02-13
Also published as: CN111250312A

Abstract

The invention provides a spraying reciprocating robot, a control device thereof and a spraying control method, wherein the spraying reciprocating robot comprises a three-axis motion mechanism, a paint supply device and a control device, the control device comprises a control unit, and a touch screen, a keyboard and a control switch which are respectively connected with the control unit; the control unit comprises a spraying program setting module for driving the touch screen to display a program setting interface and generating a spraying program according to received spraying control information, a spraying mode switching module for selecting a group of spraying control information in the spraying program according to input, and a paint spraying module for controlling the three-axis movement mechanism and the paint supply device to move and spray according to the selected spraying control information. By the invention, various spraying modes are realized, the spraying parameters are flexibly and conveniently adjusted, and the technical effect of generating a plurality of spraying areas on one spraying plate for visual comparison is achieved.

Description

Spraying reciprocating robot, control device thereof and spraying control method

Technical Field

The invention relates to a spraying device, in particular to a reciprocating spraying robot and a control device and a spraying control method thereof.

Background

The spraying reciprocating machine is a spraying device which atomizes paint by utilizing the high-speed rotation of an atomizer rotating cup and sprays a workpiece to be coated by adopting electrostatic high-voltage control. The spraying reciprocating machine mainly comprises an atomizer, an electrostatic high-voltage control system, a three-axis movement mechanism and a paint supply device.

The existing spraying reciprocating machine mainly aims at spraying products with determined formulas, cannot adjust spraying parameters, spraying modes and the like according to different requirements, and lacks wide applicability and flexibility of spraying.

Disclosure of Invention

In view of the above, the present invention provides a reciprocating robot for spraying, a control device thereof, and a spraying control method thereof, so as to solve the above problems.

A spraying reciprocating robot comprises a three-axis movement mechanism and a paint supply device, and further comprises a control device, wherein the control device is used for controlling the three-axis movement mechanism to drive an atomizer, a spray gun and a spray plate to move on three axes, and the atomizer and the spray gun are used for spraying paint on the spray plate; the control device comprises a control unit, and a touch screen, a keyboard and a control switch which are respectively connected with the control unit, wherein the control unit is respectively connected with the three-axis movement mechanism and the paint supply device; the control unit includes: the spraying program setting module is used for driving the touch screen to display a program setting interface and generating a spraying program according to the spraying control information which is received by the program setting interface and sent by the touch screen, the keyboard and the control switch; the spraying program comprises a plurality of groups of spraying control information, and each group of spraying control information comprises a spraying formula, spraying parameters and a spraying mode; the spraying mode switching module is used for selecting a group of spraying control information in the spraying program according to the input of the touch screen, the keyboard or the control switch; and the paint spraying module is used for controlling the three-axis movement mechanism and the paint supply device to move and spray according to the selected group of spraying control information.

Wherein the spraying formula comprises a paint can number and a corresponding volume; the spraying modes comprise horizontal spraying, vertical spraying and triangular motion spraying; the spraying parameters comprise atomizer spray gun selection, jumping degree, working range, spraying distance, rotating cup rotating speed, forming air, electrostatic high voltage, paint flow and continuous spraying selection; the paint spraying module includes: the atomizer spray gun selection submodule is used for selecting an atomizer or a spray gun according to the spraying control information; the spraying mode control submodule is used for driving the three-axis motion mechanism to move according to the track of the spraying mode according to the spraying control information; the jumping lattice degree control submodule is used for calculating jumping lattice degrees of spraying parameters including spraying distance, rotating speed of a rotary cup, forming air, electrostatic high voltage and paint flow in a working range according to the spraying control information; it is composed ofIn the method, the initial value of the spraying parameter is set as A₁The end value is A_N+1If the jumping frequency is N and the parameter jumping granularity is A, the spraying frequency is N + 1; n ═ 2 spraying distance working range/(initial spraying distance + final spraying distance)]；A＝(A_N+1-A₁) N; the spraying parameter control submodule is used for calculating spraying parameters including spraying distance, rotating cup speed, forming air, electrostatic high voltage and paint flow during each spraying, and adjusting the spraying parameters to the current spraying parameter value before each spraying so as to control the atomizer or the spray gun to spray according to the spraying parameter values; wherein, the parameter value A in the x-th spraying_x＝A₁+A*(x-1)，1<x<N+1。

The atomizer is internally provided with an optical fiber head for monitoring the current rotating speed of the rotary cup, and the optical fiber head is connected with the control unit; when the rotating speed of the rotary cup is adjusted, the spraying parameter control submodule is also used for adjusting the opening of the proportional valve according to the difference value between the current rotating speed of the rotary cup and the rotating speed of the rotary cup sprayed next time so as to change the air flow entering the rotary cup pneumatic motor, so that the current rotating speed of the rotary cup of the equipment is changed until the rotating speed of the rotary cup sprayed next time is reached.

The paint supply device is provided with a gear pump, and when the paint flow is adjusted, the spraying parameter control submodule is also used for adjusting the gear pump according to the difference value of the current flow and the next flow so as to change the paint flow, so that the current paint flow is changed until the next paint flow is reached.

Wherein the control unit further comprises: the spraying mode selection module is used for selecting a spraying mode according to the input of the touch screen, the keyboard or the control switch; wherein the spraying mode comprises a fixed spraying circulation mode and a single spraying mode; the fixed spraying circulation mode is used for defining a complete spraying action once and setting n spraying actions, each spraying action is completed according to a group of spraying control information, and n is more than or equal to 2; the single spraying mode is used for defining a complete spraying action for one time and setting 1 spraying action, and the spraying action is finished according to a group of spraying control information; the plane presetting/selecting module is used for setting an area executed by each spraying action according to the spraying mode determined by the spraying mode selecting module; the area setting is realized by setting the starting positions of the X axis and the Y axis of the spraying action according to the input of the touch screen, the keyboard or the control switch on the program setting interface; the spraying method control submodule is also used for driving the three-axis motion mechanism to move in a corresponding area according to the area set by the plane presetting/selecting module and the track of the corresponding spraying mode.

And the jumping grid degree control submodule is also used for calculating the jumping grid degree of the X-axis speed and the Y-axis speed in a working range according to the spraying control information.

Wherein the control unit further comprises: and the equipment cleaning module is used for controlling the paint supply device to pump the cleaning solvent to the pipeline after the spraying is finished.

Wherein the equipment cleaning module comprises: the formula selection submodule is used for selecting and calling a cleaning formula according to the cleaning control instruction; the equipment cleaning module drives the touch screen to display a cleaning program setting interface, receives the cleaning control instruction according to the input of the touch screen, the keyboard or the control switch received by the cleaning program setting interface, and selects and calls a cleaning formula; the common parameter setting submodule is used for setting parameters including cleaning steps, gear pump speed, molding air and air according to the cleaning control instruction; wherein the air parameters are air parameters required by the operation of the rotary cup and the spray gun, and comprise motor air, atomizing air and spray amplitude air; the valve control submodule is used for selecting the valves to be controlled and the opening/closing sequence and the execution time of each selected valve according to the public parameters set by the public parameter setting submodule; and the cleaning control submodule is used for driving the paint supply device to pump a cleaning solvent to the pipeline according to the cleaning formula selected by the formula selection submodule, the public parameter set by the public parameter setting submodule, the valve selected by the valve control submodule and the execution time of the valve, and cleaning the equipment pipeline.

The invention also provides a spraying control method, which is applied to the control device of the spraying reciprocating robot, and the method comprises the following steps: the control device drives the touch screen to display a program setting interface, and generates a spraying program according to spraying control information sent by the touch screen, the keyboard or the control switch and received by the program setting interface; the spraying program comprises a plurality of groups of spraying control information, and each group of spraying control information comprises a spraying formula, spraying parameters and a spraying mode; the control device selects a group of spraying control information in the spraying program according to the input of the touch screen, the keyboard or the control switch; and the control device controls the three-axis movement mechanism and the paint supply device to move and spray according to the selected group of spraying control information.

Wherein the spraying formula comprises a paint can number and a corresponding volume; the spraying modes comprise horizontal spraying, vertical spraying and triangular motion spraying; the spraying parameters comprise atomizer spray gun selection, jumping degree, working range, spraying distance, rotating cup rotating speed, forming air, electrostatic high voltage, paint flow and continuous spraying selection; the control device controls the three-axis movement mechanism and the paint supply device to move and spray according to the selected group of spraying control information, and the control device specifically comprises: selecting an atomizer or a spray gun according to the spraying control information; driving the three-axis movement mechanism to move according to the track of the spraying mode according to the spraying control information; calculating the jumping lattice degree of the spraying parameters including the spraying distance, the rotating speed of the rotary cup, the formed air, the electrostatic high voltage and the paint flow in a working range according to the spraying control information; wherein, the initial value of the spraying parameter is set as A₁The end value is A_N+1If the jumping frequency is N and the parameter jumping granularity is A, the spraying frequency is N + 1; n ═ 2 spraying distance working range/(initial spraying distance + final spraying distance)]；A＝(A_N+1-A₁) N; calculating spraying parameters including spraying distance, rotating cup rotating speed, forming air, electrostatic high voltage and paint flow during each spraying, and adjusting the spraying parameters to current spraying parameter values before each spraying so as to control an atomizer or a spray gun to spray according to the spraying parameter values; wherein the x-th time of sprayingValue of parameter A at the time of coating_x＝A₁+A*(x-1)，1<x<N+1。

The control device drives the touch screen to display a program setting interface, and generates a spraying program according to spraying control information sent by the touch screen, the keyboard or the control switch and received by the program setting interface, and the method further comprises the following steps: selecting a spraying mode according to the input of the touch screen, the keyboard or the control switch; wherein the spray modes include a fixed spray cycle mode, and a single spray mode; the fixed spraying circulation mode is used for defining a complete spraying action once and setting n spraying actions, each spraying action is completed according to a group of spraying control information, and n is more than or equal to 2; the single spraying mode is used for defining a complete spraying action for one time and setting 1 spraying action, and the spraying action is finished according to a group of spraying control information; setting an area in which each spraying action is executed according to the selected spraying mode; the area setting is realized by setting the starting positions of the X axis and the Y axis of the spraying action according to the corresponding input of the touch screen, the keyboard or the control switch; the control device controls the three-axis movement mechanism and the paint supply device to move and spray according to the selected group of spraying control information, and the control device specifically comprises: the control device drives the three-axis movement mechanism to move in a corresponding area according to the set area and the track of the corresponding spraying mode; and controlling a paint supply device to spray according to the selected group of spraying control information.

Wherein the method further comprises: and carrying out jump lattice degree calculation on the X-axis speed and the Y-axis speed in a working range according to the spraying control information.

Wherein the method further comprises: and controlling the paint supply device to pump the cleaning solvent to the pipeline after finishing spraying.

Wherein, control supply lacquer device will wash solvent pump to pipeline after accomplishing the spraying, specifically include: selecting and calling a cleaning formula according to a cleaning control instruction; selecting and calling a cleaning formula according to input of a touch screen, a keyboard or a control switch received by a cleaning program setting interface; setting parameters including cleaning steps, gear pump speed, molding air and air according to the cleaning control command; the air parameters are air parameters required by the operation of the rotary cup and the spray gun, and comprise motor air, atomizing air and spray amplitude air; selecting valves to be controlled, and the opening/closing sequence and the execution time of each selected valve according to the set common parameters; and driving the paint supply device to pump a cleaning solvent to the pipeline according to the selected cleaning formula, the set public parameters, the valve and the execution time of the valve, and cleaning the equipment pipeline.

The invention also provides a control device of the spraying reciprocating robot, which comprises a control unit, and a touch screen, a keyboard and a control switch which are respectively connected with the control unit, wherein the control unit is respectively connected with the three-axis motion mechanism and the paint supply device; the control unit includes: the spraying program setting module is used for driving the touch screen to display a program setting interface and generating a spraying program according to the spraying control information which is received by the program setting interface and sent by the touch screen, the keyboard and the control switch; the spraying program comprises a plurality of groups of spraying control information, and each group of spraying control information comprises a spraying formula, spraying parameters and a spraying mode; the spraying mode switching module is used for selecting a group of spraying control information in the spraying program according to the input of the touch screen, the keyboard or the control switch; and the paint spraying module is used for controlling the three-axis movement mechanism and the paint supply device to move and spray according to the selected group of spraying control information.

Wherein the spraying formula comprises a paint can number and a corresponding volume; the spraying modes comprise horizontal spraying, vertical spraying and triangular motion spraying; the spraying parameters comprise atomizer spray gun selection, jumping degree, working range, spraying distance, rotating cup rotating speed, forming air, electrostatic high voltage, paint flow and continuous spraying selection; the paint spraying module includes: the atomizer spray gun selection submodule is used for selecting an atomizer or a spray gun according to the spraying control information; a spraying mode control submodule for driving the three-axis movement mechanism according to the spraying control informationThe track of the spraying mode moves; the jumping lattice degree control submodule is used for calculating jumping lattice degrees of spraying parameters including spraying distance, rotating speed of a rotary cup, forming air, electrostatic high voltage and paint flow in a working range according to the spraying control information; wherein, the initial value of the spraying parameter is set as A₁The end value is A_N+1If the jumping frequency is N and the parameter jumping granularity is A, the spraying frequency is N + 1; n ═ 2 spraying distance working range/(initial spraying distance + final spraying distance)]；A＝(A_N+1-A₁) N; the spraying parameter control submodule is used for calculating spraying parameters including spraying distance, rotating cup speed, forming air, electrostatic high voltage and paint flow during each spraying, and adjusting the spraying parameters to the current spraying parameter value before each spraying so as to control the atomizer or the spray gun to spray according to the spraying parameter values; wherein, the parameter value A in the x-th spraying_x＝A₁+A*(x-1)，1<x<N+1。

According to the spraying reciprocating robot, the control device and the spraying control method, the spraying parameters and the spraying motion mode are set through the control device, the spraying parameters are adjusted by setting the jumping degree, the three-axis motion mechanism is driven to generate displacement according to the spraying parameters and the spraying motion mode, so that paint sprayed on the spraying back plate generates corresponding tracks, multiple spraying modes are realized, the spraying parameters are flexibly and conveniently adjusted, and the technical effect of generating multiple spraying areas on one spraying plate for visual comparison is achieved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is an exploded view of a reciprocating robot for painting according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of the reciprocating robot for painting in fig. 1.

Fig. 3 is a schematic perspective view of the X-axis movement mechanism in fig. 1.

Fig. 4 is a schematic perspective view of the Y-axis movement mechanism in fig. 1.

Fig. 5 is a perspective view of the paint supplying apparatus of fig. 1.

Fig. 6 is a schematic perspective view of the explosion-proof device in fig. 1.

Fig. 7 is a schematic diagram of the connection of hardware modules of the positive pressure explosion-proof system of the explosion-proof device in fig. 6.

Fig. 8 is a schematic diagram of the connection of hardware modules of the control device in fig. 2.

Fig. 9 is a functional block diagram of a control unit in the first embodiment of the present invention.

Fig. 10 is a functional block diagram of the paint spray module of fig. 9.

FIG. 11 is a schematic illustration of the skip grid and parameter value calculations for spray parameters based on the spray distance working range.

Fig. 12 is a functional block diagram of a control unit in a second embodiment of the present invention.

Fig. 13 is a schematic view of setting a spray area.

Fig. 14 is a schematic diagram of five spray trajectories in a single spray mode.

Fig. 15 is a schematic view of five kinds of spray traces formed according to the setting of the spray area when the spray motion is preset 5 times in the fixed spray cycle pattern.

FIG. 16 is a functional block diagram of the cleaning module of the apparatus of FIG. 9.

Fig. 17 is a schematic diagram of a cleaning program setting interface.

Fig. 18 is a flowchart illustrating a coating control method according to the first embodiment of the present invention.

Fig. 19 is a flowchart of step S3 in fig. 18.

Fig. 20 is a flowchart illustrating a coating control method according to a second embodiment of the present invention.

Fig. 21 is a flowchart illustrating a coating control method according to a third embodiment of the present invention.

Fig. 22 is a flowchart of step S4 in fig. 21.

Detailed Description

In order to clearly understand the above objects, features and advantages of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. In addition, the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Referring to fig. 1 to 5, a reciprocating robot 1 for spraying includes a three-axis movement mechanism 10, a paint supply device 50, a waste tank 60, a control device 70, and an explosion-proof device 80.

The control device 70 is configured to control the three-axis movement mechanism 10 to drive the atomizer 41, the spray gun 43, and the spray plate 21 to move on three axes, and drive the atomizer 41 and the spray gun 43 to spray paint on the spray plate 21. The control device 70 is also used to control the paint supply device 50 to pump paint to the atomizer 41 or the spray gun 43 during spraying, and to control the paint supply device 50 to pump cleaning solvent to the pipeline after spraying is completed.

Specifically, the three-axis movement mechanism 10 includes: a Z-axis movement mechanism 20, an X-axis movement mechanism 30 and a Y-axis movement mechanism 40.

The Z-axis movement mechanism 20 includes: the spray plate 21, the Z-axis motion guide rail 22 and the ball spline 23; the ball spline 23 is used to drive the spray plate 21 to reciprocate along the Z-axis motion guide 22, and to move closer to or away from the spray gun 43.

The X-axis movement mechanism 30 includes: an X-axis guide rail 31, and an X-axis slide 32 which is used for fixing the spray plate 21 and can reciprocate along the X-axis guide rail 31.

The Y-axis movement mechanism 40 includes: a conversion tower 41, an atomizer 42, a spray gun 43, a rotating shaft 44 and a Y-axis motion guide rail 45; the Y-axis moving guide 45 is used for driving the atomizer 42 and the spray gun 43 to reciprocate along the Y-axis direction, the rotating shaft 44 is used for rotating to selectively spray by using the spray gun 43 or the atomizer 42, and the converting tower 41 is used for applying external high voltage to sprayed paint mist or applying internal high voltage to paint before spraying when the atomizer 42 sprays.

The paint supply apparatus 50 includes: a paint tank 51, a gear pump 52, a solvent tank 53, a paint supply device cabinet 54; wherein different paint cans 51 are used to store different paints, the solvent can 53 is used to store a cleaning solvent, and the gear pump 52 is used to pump the paint from the paint can 51 to the atomizer 42 or spray gun 43 during spraying and to pump the cleaning solvent from the solvent can 53 to the line after spraying is completed. In other embodiments, the gear pump 52 may be replaced with a plunger pump.

The canister 60 is used for collecting waste material, and the canister 60 includes a pneumatic stirring device (not shown).

Referring to fig. 6 and 7, the explosion-proof device 80 is used to isolate the charged parts from the paint. Specifically, the explosion-proof device 80 includes: an explosion-proof cabinet body 81 and a positive pressure explosion-proof system 82; this explosion-proof system 82 of malleation is established inside explosion-proof cabinet body 81, includes: positive pressure explosion-proof control unit 821, pressure sensor 822, explosion-proof relief valve 823.

The positive pressure explosion-proof control unit 821 is used for: when the pressure sensor 822 detects that the pressure in the explosion-proof cabinet body 81 is greater than the set pressure, the explosion-proof pressure relief 823 is controlled to be opened; and when the pressure sensor 822 detects that the pressure in the explosion-proof cabinet 81 is lower than the set pressure, the explosion-proof relief valve 823 is controlled to close.

Referring to fig. 8, the control device 70 includes a control cabinet (not shown), a control unit 71, and a touch screen 72, a keyboard 73 and a control switch 74 respectively connected to the control unit 71. In this embodiment, the control cabinet is a cantilever control cabinet. The control unit 71 is connected to the three-axis movement mechanism 10 and the paint supply device 50, respectively.

Referring to fig. 9, specifically, the control unit 71 includes a spraying program setting module 711, a spraying mode switching module 712, a paint spraying module 713, and an equipment cleaning module 714.

The spraying program setting module 711 is configured to drive the touch screen 72 to display a program setting interface, and generate a spraying program according to the spraying control information sent by the touch screen 72, the keyboard 73, or the control switch 74 and received by the program setting interface; the spraying program comprises a plurality of groups of spraying control information, and each group of spraying control information comprises a spraying formula, a spraying parameter and a spraying mode. The spraying formula comprises a paint can number and a corresponding volume; the spraying mode comprises horizontal spraying, vertical spraying and triangular motion spraying; the spray parameters include atomizer spray gun selection, jump granularity, working range, X-axis speed, Y-axis speed, spray distance, rotating cup speed, shaping air, electrostatic high voltage, paint flow, and continuous spray selection.

The spraying mode switching module 712 is configured to select a set of spraying control information in the spraying program according to the input of the touch screen 72, the keyboard 73, or the control switch 74, and send the selected spraying control information to the paint spraying module 713.

The paint spraying module 713 is configured to control the three-axis moving mechanism 10 and the paint supplying device 50 to move and spray according to the spraying formula, the spraying manner, and the spraying parameter value.

The equipment cleaning module 714 is used for controlling the paint supply device 50 to pump cleaning solvent to the pipeline after finishing spraying.

The touch screen 72 is also configured to display the spraying information of the currently performed spraying action in response to the display driving instruction sent by the control unit 71. The spraying information comprises a current spraying position, an actual spraying speed, a setting error, an operation error, alarm information and self-diagnosis information.

Further, the spraying program setting module 711 can also set the spraying program and the operation authority thereof.

Further, the spraying program setting module 711 also has an editing function: for example, program segment retrieval, program number retrieval, program protection and backup; and during backup, setting a backup period, and backing up the spraying program according to the backup period. The backup cycle is to automatically backup all the spraying programs to a U disk or other memories every week or every month (according to setting), and aims to backup data and prevent accidental deletion or loss.

(1) Skip-grid control of spray parameters

Referring to fig. 10, in particular, the paint spraying module 713 includes: an atomizer spray gun selection sub-module 7131, a spray mode control sub-module 7132, a jump degree control sub-module 7133 and a spray parameter control sub-module 7134.

The atomizer gun selection submodule 7131 controls the rotation of the rotary shaft 44 to select the atomizer 41 or the spray gun 43 according to the spray control information.

The spraying mode control submodule 7132 is configured to drive the three-axis movement mechanism 10 to move according to a trajectory corresponding to a spraying mode according to the spraying control information. The spraying mode is selected and set in advance through the input of the touch screen 72, the keyboard 73 or the control switch 74 received by the program setting interface.

The skip granularity control submodule 7133 is used for pairing packets in a working range according to the spraying control informationAnd calculating the jumping degree according to the spraying parameters including spraying distance, rotating speed of a rotary cup, forming air, electrostatic high voltage and paint flow. Specifically, the jump degree control submodule 7133 is configured to calculate the jump number N, and set the jump degree according to the initial value and the final value of the spraying parameter; wherein, the jumping number N is [2 spraying distance working range/(initial spraying distance + final spraying distance)]Spraying times are N + 1; setting the initial value of spraying parameters to A₁The end value is A_N+1And the parameter jumping degree is A, then A is (A)_N+1-A₁)/N。

The spraying parameter control submodule 7134 is used for calculating spraying parameters including spraying distance, rotating cup speed, forming air, electrostatic high voltage and paint flow during each spraying, and adjusting the spraying parameters to the spraying parameter value before each spraying; wherein, the parameter value A in the x-th spraying_x＝A₁+A*(x-1)，1<x<N+1。

When the atomizer spray gun selection submodule 7131 selects the atomizer 41 or the spray gun 43 according to the spraying control information, the spraying mode control submodule 7132 drives the three-axis movement mechanism 10 to move according to the corresponding spraying mode trajectory according to the spraying control information, so that the atomizer 41 or the spray gun 43 forms a corresponding spraying trajectory on the spray plate by spraying according to the spraying control information.

For example, referring to fig. 11, assuming that the working range of the spraying distance L is 270, the starting spraying distance L1 is 20, the ending spraying distance L2 is 70, the initial value of the electrostatic high voltage is 10KV, and the ending value of the electrostatic high voltage is 40KV, then:

the jumping times N is 2 × 270/(20+70) ═ 6, and the spraying times N +1 is 7;

electrostatic high-voltage jump length is (40-10)/6 is 5 KV;

the electrostatic high voltage parameter value at the xth spray is 10+5 (x-1), wherein 1< x < 7.

For another example, the jump scale control of the rotation speed of the rotary cup: an optical fiber head for monitoring the current rotating speed of the rotary cup is arranged in the atomizer 42 and is connected with the control unit 71; the jumping lattice degree control submodule 7132 calculates the jumping times and jumping lattice degrees of the rotating cup speed, when the rotating cup speed is adjusted, the spraying parameter control submodule 7133 determines the rotating cup speed of the next spraying according to the current rotating cup speed, the jumping times and the jumping lattice degrees, and adjusts the opening degree of the proportional valve 823 according to the difference value between the current rotating cup speed and the rotating cup speed of the next spraying, so as to change the airflow entering the rotating cup pneumatic motor, and the current rotating cup speed of the equipment is changed until the rotating cup speed of the next spraying is reached.

As another example, skip-grid control of paint flow: the jumping grid degree control submodule 7132 calculates the jumping times and the jumping grid degree of the paint flow, and when the paint flow is adjusted, the spraying parameter control submodule 7133 is used for determining the next flow according to the current flow, the jumping times and the jumping grid degree, and adjusting the gear pump 52 according to the difference value of the current flow and the next flow so as to change the paint flow, so that the current paint flow of the equipment is changed until the next sprayed paint flow is reached.

The calculation principle of the parameter values of the other spraying parameters during the xth spraying is the same as the calculation principle of the electrostatic high voltage, and is not described herein again by way of example.

According to the invention, through the control of the jump granularity, the jump granularity value and the range of the spraying parameters are set on the touch screen module, so that the parameter value of each granularity in the range of the spraying parameters can be automatically calculated, and the spraying execution of a plurality of groups of spraying parameters can be automatically completed after one-time parameter setting.

(2) Jumping scale control of spray coating trajectory

Referring to fig. 12, in the present embodiment, the control unit 71' further includes:

a spraying mode selection module 715, configured to select a spraying mode according to an input of the touch screen 72, the keyboard 73, or the control switch 74; the spraying mode comprises a fixed spraying circulation mode and a single spraying mode; the fixed spray cycle pattern is used to define: setting n spraying actions for one complete spraying action, wherein each spraying action is finished according to a group of spraying control information, and n is more than or equal to 2; in the present embodiment, n is 5. The single spray pattern is used to define: one complete spraying action is set with 1 spraying action, which is completed according to a set of spraying control information.

A plane presetting/selecting module 716, configured to set an area where each spraying action is performed according to the spraying mode determined by the spraying mode selecting module 715; the area setting is realized by setting the starting positions of the X-axis and the Y-axis of the spraying action according to the input corresponding to the touch screen 72, the keyboard 73 or the control switch 74. Specifically, the plane presetting/selecting module 716 sets the spraying areas according to the input received by the program setting interface through the touch screen 72 or the keyboard 73 or the control switch 74, the starting point of each area may be set at any position, as shown in fig. 13, the rectangular box represents the spraying board area, the pentagon represents the area to be sprayed, 1 represents the starting point, and the starting point 1 may be set at any position on the spraying board area, which is not necessarily required to be from the lower left to the upper right.

Further, the jump lattice degree control sub-module 7133 is further configured to perform jump lattice degree calculation on the X-axis speed and the Y-axis speed within a working range according to the spraying control information. The jumping lattice degree of the horizontal spraying and vertical spraying movement can be randomly set and adjusted within the spraying height range, the minimum height adjustment unit is 10mm, and the minimum jumping lattice degree adjustment unit is 1 mm; the movement speeds of the horizontal spraying and the vertical spraying can be set at will in a speed range, and the X-axis movement distance can be calculated according to the spraying height and the jumping degree set by the parameters.

When the atomizer spray gun selection submodule 7131 selects the atomizer 41 or the spray gun 43 according to the spraying control information, the spraying mode control submodule 7132 drives the three-axis movement mechanism 10 to move according to the corresponding spraying mode trajectory according to the spraying control information, so that the atomizer 41 or the spray gun 43 forms a corresponding spraying trajectory on the spray plate by spraying according to the spraying control information. Specifically, the spraying mode control submodule 7132 supplements, according to the spraying control information and the area set by the plane presetting/selecting module 716, to the initial position of the spray gun, where the spray gun is controlled to move fast to the spraying position, and specifically may include fast feed, feed per minute (second), and automatic acceleration and deceleration feed; and after finishing the spraying of one area, the spraying is interrupted, and the spray gun is controlled to directly move to the spraying starting point of the next spraying area. The feeding function and the interrupting function are conventional functions used in a machine tool, and are not described herein.

As shown in fig. 14, when n is 1, that is, the spraying mode selection module 715 selects the single spraying mode, and 5 spraying tracks represent that the spray gun executes 5 different sets of spraying control information, the operation of spraying paint onto the spray plate according to the corresponding spraying mode and spraying parameters finally forms 5 paint areas on the spray plate, and the effect exhibited by the paint areas can be differentiated according to the different spraying tracks. Each spraying track is formed by once spraying, and uniform jumping adjustment of the spraying tracks can be realized and non-uniform (wider or narrower) jumping adjustment can also be realized through jumping grid degree control. For example, paint spraying according to the spray trajectory of fig. 14-1 presents a uniformly colored painted area, and paint spraying according to the spray trajectory of fig. 14-5 presents a painted area that is darker on the left and lighter on the right.

As shown in fig. 15, when n is 5, that is, the spraying mode selection module 715 selects the fixed spraying cycle mode, and 5 spraying actions are performed per spraying cycle;

as shown in fig. 15-1, the spraying program setting module 711 generates a spraying program in advance according to the spraying control information sent by the touch screen 72, the keyboard 73 or the control switch 74 and received by the program setting interface; the spraying program comprises 5 groups of spraying control information, which are respectively as follows:

a first group: the spraying formula x1, the spraying parameter y1 and the spraying mode are vertical motion spraying;

second group: the spraying formula is absent, the spraying parameters are absent, and the spraying mode is absent (namely, idle running);

third group: the spraying formula x1, the spraying parameter y1 and the spraying mode are triangular motion spraying;

and a fourth group: the spraying formula is absent, the spraying parameters are absent, and the spraying mode is absent (namely, idle running);

and a fifth group: the spraying formula is absent, the spraying parameters are absent, and the spraying mode is absent (namely, idle running);

the plane presetting/selecting module 716 presets the areas where the 5 spraying actions are performed, i.e., the 5 spraying areas are arranged side by side;

the spraying mode control submodule 7132 drives the three-axis movement mechanism to move according to the spraying mode trajectory according to the spraying control information, and a spraying trajectory as shown in fig. 15-1 is formed on the spraying plate.

As shown in fig. 15-2, the spraying program setting module 711 generates a spraying program in advance according to the spraying control information sent by the touch screen 72, the keyboard 73 or the control switch 74 and received by the program setting interface; the spraying program comprises 5 groups of spraying control information, which are respectively as follows:

a first group: the spraying formula x2, the spraying parameter y2 and the spraying mode are vertical motion spraying;

second group: the spraying formula x2, the spraying parameter y2 and the spraying mode are horizontal motion spraying;

third group: the spraying formula x2, the spraying parameter y1 and the spraying mode are triangular motion spraying;

and a fourth group: spraying formula x2, spraying parameter y2 and spraying mode triangular motion spraying;

and a fifth group: spraying formula x2, spraying parameter y2 and horizontal movement spraying in a spraying mode;

the plane presetting/selecting module 716 presets the areas where the 5 spraying actions are performed, i.e., the 5 spraying areas are arranged up and down;

the spraying mode control submodule 7132 drives the three-axis movement mechanism to move according to the spraying mode trajectory according to the spraying control information, and a spraying trajectory as shown in fig. 15-2 is formed on the spraying plate.

Similarly, as shown in fig. 15-3, the plane presetting/selecting module 716 preset the areas where the 5 spraying actions are executed to be 5 spraying areas overlapping settings, and the spraying program setting module 711 generates the spraying program according to the spraying control information received by the program setting interface and sent by the touch screen 72, the keyboard 73, or the control switch 74. The principle is the same, and the detailed description is omitted.

Further, the spraying control program also comprises the selection switching control information of the spray gun and the atomizer: in another embodiment, a complete spray cycle can also be based on a spray process with one spray gun and one atomizer switching, for example, spray action 1-spray trajectory a with the spray gun, spray action 2-spray trajectory b with the atomizer, spray action 3-spray trajectory c with the spray gun, spray action 4-spray trajectory d with the atomizer, spray action 5-spray trajectory e with the spray gun. In other embodiments, a complete spray cycle can also be based on a spray process in which two spray guns and two atomizers are switched, for example, spray action 1-spray trajectory a with spray gun 1, spray action 2-spray trajectory b with atomizer 1, spray action 3-spray trajectory c with spray gun 2, spray action 4-spray trajectory d with atomizer 2, spray action 5-spray trajectory e with spray gun 1. The spraying tracks a, b, c, d, e may be selected and set in advance through inputs of the touch screen 72, the keyboard 73 or the control switch 74 received by the program setting interface, and may be the same as, different from, partially the same as, and partially different from each other, which are not listed herein.

Further, n sets of spraying control information are included in a complete spraying cycle, and the spraying parameters in each set may be the same or different. When the spraying parameters in each group are different, the adjustment can be performed according to the jump degree, and the jump degree adjustment of the spraying parameters and the working principle of the spraying track and the spraying area setting are as described above, which is not described herein again.

According to the invention, through the arrangement of the spraying areas, a plurality of spraying areas can be sprayed on one spraying plate area according to different spraying tracks and different spraying parameters, so that the technical effects of generating a plurality of spraying areas on one spraying plate area and carrying out visual comparison are achieved.

As shown in fig. 16, the equipment cleaning module 714 includes:

and the formula selection submodule 7141 is used for selecting and calling a cleaning formula according to the cleaning control instruction. The device cleaning module 714 drives the touch screen 72 to display a cleaning program setting interface, and selects and calls a cleaning formula according to the input of the touch screen 72, the keyboard 73 or the control switch 74 received by the cleaning program setting interface;

the common parameter setting submodule 7142 is used for setting parameters including cleaning step number, gear pump speed, molding air and air according to the cleaning control instruction; wherein the air parameters are air parameters required by the operation of the rotary cup and the spray gun, and comprise motor air, atomizing air and spray amplitude air; further, the common parameter setting sub-module 7142 sets the common parameters according to the input of the touch screen 72, the keyboard 73 or the control switch 74 received by the washing program setting interface;

a valve control sub-module 7143, configured to select a valve to be controlled, and an opening/closing sequence and an execution time of each selected valve according to the common parameter set by the common parameter setting sub-module 7142; wherein, the valve that sets up includes: a purge gas source valve, a cleaning agent source valve, a paint opening valve, a paint/cleaning agent valve, a paint pump, a paint selection valve and a main pipeline purge valve; in this embodiment, the number of purge gas source valves is 2, the number of paint/cleaner valves is 3, the number of paint open valves is 3, the number of paint pumps is 3, and the number of selected paints is 3. The valve is arranged in the spraying reciprocating robot 1 and is installed corresponding to the pipeline, the cleaning agent source valve is arranged corresponding to the solvent tank 53, the paint opening valve and the paint pump are arranged corresponding to the paint tank 51, the valve arrangement mode and the position in the prior art are basically adopted for specific arrangement, and repeated description is omitted here. Specifically, as shown in fig. 17, the valve control sub-module 7143 selects and sets the valves according to the inputs of the touch screen 72, the keyboard 73 or the control switch 74 received by the cleaning program setting interface, for example, B00 to B12 correspond to various valves, when the valves are opened, the corresponding buttons are pressed by the touch screen, the color of the small square will be darker to indicate that the corresponding valves are opened, and there are 20 steps in total; the step number is set in a public parameter, and T represents the execution time of the step;

and the cleaning control sub-module 7144 is used for driving the paint supply device 50 to pump a cleaning solvent to the pipeline to clean the equipment pipeline according to the cleaning formula selected by the formula selection sub-module 7141, the common parameters set by the common parameter setting sub-module 7142, the valve set by the valve control sub-module 7143 and the execution time of the valve.

Referring to fig. 18, a flow chart of a spraying control method according to a first embodiment of the present invention is shown, where the spraying control method includes the following steps:

step S1, the control device drives the touch screen to display a program setting interface, and generates a spraying program according to the spraying control information sent by the touch screen, the keyboard or the control switch and received by the program setting interface; the spraying program comprises a plurality of groups of spraying control information, and each group of spraying control information comprises a spraying formula, spraying parameters and a spraying mode;

further, the spraying formula comprises a paint can number and a corresponding volume; the spraying mode comprises horizontal spraying, vertical spraying and triangular motion spraying; the spray parameters include atomizer spray gun selection, jump latitude, working range, spray distance, rotating cup speed, shaping air, electrostatic high voltage, paint flow, continuous spray selection.

Step S2, the control device selects a group of spraying control information in the spraying program according to the input of the touch screen, the keyboard or the control switch; and

and step S3, the control device controls the three-axis movement mechanism and the paint supply device to move and spray according to the selected group of spraying control information.

(1) Skip-grid control of spray parameters

Further, as shown in fig. 19, in step S3, the control device controls the three-axis moving mechanism and the paint supplying device to move and spray according to the selected set of spraying control information, which specifically includes the following steps:

step S31, selecting an atomizer or a spray gun according to the spraying control information;

step S32, driving the three-axis motion mechanism to move according to the track of the spraying mode according to the spraying control information; the spraying modes comprise horizontal motion spraying, vertical motion spraying and triangular motion spraying. The spraying mode is selected and set in advance through the input of a touch screen, a keyboard or a control switch received by a program setting interface.

Step S33, calculating jump degree of spraying parameters including spraying distance, rotating speed of a rotary cup, forming air, electrostatic high voltage and paint flow in a working range according to the spraying control information; wherein, if the initial value of the spraying parameter is A1, the final value is AN +1, the jumping frequency is N, and the jumping degree of the parameter is A,

spraying times are N + 1;

n ═ 2 spraying distance working range/(initial spraying distance + final spraying distance) ];

A＝(A_N+1-A₁)/N；

step S34, calculating spraying parameters including spraying distance, rotating cup speed, forming air, electrostatic high voltage and paint flow during each spraying, and adjusting the spraying parameters to the spraying parameter value before each spraying; wherein, the parameter value A in the x-th spraying_x＝A₁+A*(x-1)，1<x<N+1。

(2) Jumping scale control of spray coating trajectory

Referring to fig. 20, in step S1, after the control device drives the touch screen to display a program setting interface and generates the spraying program according to the spraying control information sent by the touch screen, the keyboard, or the control switch and received by the program setting interface, the method further includes:

step S11, selecting a spraying mode according to the input of a touch screen, a keyboard or a control switch; the spraying mode comprises a fixed spraying circulation mode and a single spraying mode; the fixed spray cycle pattern is used to define: setting n spraying actions for one complete spraying action, wherein each spraying action is finished according to a group of spraying control information, and n is more than or equal to 2; in the present embodiment, n is 5. The single spray pattern is used to define: one complete spraying action is set with 1 spraying action, which is completed according to a set of spraying control information.

Step S12, setting the executed area of each spraying action according to the selected spraying mode; the area setting is realized by setting the starting positions of the X axis and the Y axis of the spraying action according to the corresponding input of the touch screen, the keyboard or the control switch.

Specifically, the setting of the spraying areas is performed according to the input received by the program setting interface through the touch screen, the keyboard or the control switch, and the starting point of each area can be set at any position.

Further, referring to fig. 21, the spraying control method further includes:

and step S4, controlling the paint supply device to pump the cleaning solvent to the pipeline after finishing spraying.

Referring to fig. 22, specifically, step S4 includes:

and step S41, selecting and calling a cleaning formula according to the cleaning control instruction. The control device drives the touch screen to display a cleaning program setting interface, and selects and calls a cleaning formula according to the input of the touch screen, the keyboard or the control switch received by the cleaning program setting interface;

step S42, setting parameters including cleaning steps, gear pump speed, molding air and air according to the cleaning control instruction; wherein the air parameters are air parameters required by the operation of the rotary cup and the spray gun, and comprise motor air, atomizing air and spray amplitude air;

further, the control device sets the public parameters according to the input of the touch screen, the keyboard or the control switch received by the cleaning program setting interface.

Step S43, selecting the valve to be controlled, and the opening/closing sequence and execution time of each selected valve according to the set public parameters;

and step S44, driving the paint supply device to pump the cleaning solvent to the pipeline according to the selected cleaning formula, the set public parameters, the valve and the execution time of the valve, and cleaning the equipment pipeline.

In the embodiments provided in the present invention, the disclosed system, terminal and method can be implemented in other ways. For example, the above-described terminal embodiment is illustrative, and the division of the unit is a logical function division, and there may be another division manner in actual implementation.

The units described as separate parts may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

It should be noted that the description of the present invention and the accompanying drawings illustrate preferred embodiments of the present invention, but the present invention may be embodied in many different forms and is not limited to the embodiments described in the present specification, which are provided as additional limitations to the present invention, and the present invention is provided for understanding the present disclosure more fully. Furthermore, the above-mentioned technical features are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.

Claims

1. A spraying reciprocating robot comprises a three-axis movement mechanism and a paint supply device, and is characterized by further comprising a control device, wherein the control device is used for controlling the three-axis movement mechanism to drive an atomizer, a spray gun and a spray plate to move on three axes, and the atomizer and the spray gun are used for spraying paint on the spray plate;

the control device comprises a control unit, and a touch screen, a keyboard and a control switch which are respectively connected with the control unit, wherein the control unit is respectively connected with the three-axis movement mechanism and the paint supply device; the control unit includes:

the spraying program setting module is used for driving the touch screen to display a program setting interface and generating a spraying program according to the spraying control information which is received by the program setting interface and sent by the touch screen, the keyboard and the control switch; the spraying program comprises a plurality of groups of spraying control information, and each group of spraying control information comprises a spraying formula, spraying parameters and a spraying mode; the spraying formula comprises a paint can number and a corresponding volume; the spraying modes comprise horizontal spraying, vertical spraying and triangular motion spraying; the spraying parameters comprise atomizer spray gun selection, jumping degree, working range, spraying distance, rotating cup rotating speed, forming air, electrostatic high voltage, paint flow and continuous spraying selection;

the spraying mode switching module is used for selecting a group of spraying control information in the spraying program according to the input of the touch screen, the keyboard or the control switch;

the paint spraying module is used for controlling the three-axis movement mechanism and the paint supply device to move and spray according to the selected group of spraying control information; the paint spraying module specifically comprises:

the atomizer spray gun selection submodule is used for selecting an atomizer or a spray gun according to the spraying control information;

the spraying mode control submodule is used for driving the three-axis motion mechanism to move according to the track of the spraying mode according to the spraying control information;

the jumping lattice degree control submodule is used for calculating jumping lattice degrees of spraying parameters including spraying distance, rotating speed of a rotary cup, forming air, electrostatic high voltage and paint flow in a working range according to the spraying control information; wherein, the initial value of the spraying parameter is set as A₁The end value is A_N+1The jumping frequency is N, the parameter jumping granularity is A, then,

spraying times are N + 1;

A＝(A_N+1-A₁)/N；

the spraying parameter control submodule is used for calculating spraying parameters including spraying distance, rotating cup speed, forming air, electrostatic high voltage and paint flow during each spraying, and adjusting the spraying parameters to the current spraying parameter value before each spraying so as to control the atomizer or the spray gun to spray according to the spraying parameter values; wherein, the parameter value A in the x-th spraying_x＝A₁+A*(x-1)，1<x<N+1。

2. The reciprocating spraying robot as claimed in claim 1, wherein a fiber head for monitoring the current rotating speed of the rotary cup is installed in the atomizer, and the fiber head is connected with the control unit; when the rotating speed of the rotary cup is adjusted, the spraying parameter control submodule is also used for adjusting the opening of the proportional valve according to the difference value between the current rotating speed of the rotary cup and the rotating speed of the rotary cup sprayed next time so as to change the air flow entering the rotary cup pneumatic motor, so that the current rotating speed of the rotary cup of the equipment is changed until the rotating speed of the rotary cup sprayed next time is reached.

3. The reciprocating painting robot of claim 1, wherein the paint supply is provided with a gear pump, and when the paint flow rate is adjusted, the painting parameter control submodule is further configured to adjust the gear pump according to a difference between the current flow rate and the next flow rate to change the paint flow rate, so that the current paint flow rate is changed until the next paint flow rate is reached.

4. The spray coating reciprocating robot of claim 1, wherein said control unit further comprises:

the spraying mode selection module is used for selecting a spraying mode according to the input of the touch screen, the keyboard or the control switch; wherein the spraying mode comprises a fixed spraying circulation mode and a single spraying mode; the fixed spraying circulation mode is used for defining a complete spraying action once and setting n spraying actions, each spraying action is completed according to a group of spraying control information, and n is more than or equal to 2; the single spraying mode is used for defining a complete spraying action for one time and setting 1 spraying action, and the spraying action is finished according to a group of spraying control information;

the plane presetting/selecting module is used for setting an area executed by each spraying action according to the spraying mode determined by the spraying mode selecting module; the area setting is realized by setting the starting positions of the X axis and the Y axis of the spraying action according to the input of the touch screen, the keyboard or the control switch on the program setting interface;

and the spraying mode control submodule is also used for driving the three-axis motion mechanism to move in a corresponding area according to the track of the corresponding spraying mode according to the area set by the plane presetting/selecting module.

5. The reciprocating spray painting robot of claim 4, wherein the skip-grid-rate control submodule is further configured to perform skip-grid-rate calculations for the X-axis speed and the Y-axis speed within a working range according to the spray painting control information.

6. The spray coating reciprocating robot of claim 1, wherein said control unit further comprises:

and the equipment cleaning module is used for controlling the paint supply device to pump the cleaning solvent to the pipeline after the spraying is finished.

7. The spray coating reciprocating robot of claim 6, wherein said equipment cleaning module comprises:

the formula selection submodule is used for selecting and calling a cleaning formula according to the cleaning control instruction; the equipment cleaning module drives the touch screen to display a cleaning program setting interface, receives the cleaning control instruction according to the input of the touch screen, the keyboard or the control switch received by the cleaning program setting interface, and selects and calls a cleaning formula;

the common parameter setting submodule is used for setting parameters including cleaning steps, gear pump speed, molding air and air according to the cleaning control instruction; wherein the air parameters are air parameters required by the operation of the rotary cup and the spray gun, and comprise motor air, atomizing air and spray amplitude air;

the valve control submodule is used for selecting the valves to be controlled and the opening/closing sequence and the execution time of each selected valve according to the public parameters set by the public parameter setting submodule;

and the cleaning control submodule is used for driving the paint supply device to pump a cleaning solvent to the pipeline according to the cleaning formula selected by the formula selection submodule, the public parameter set by the public parameter setting submodule, the valve selected by the valve control submodule and the execution time of the valve, and cleaning the equipment pipeline.

8. A painting control method applied to the control device of the painting shuttle robot according to any one of claims 1 to 7, the method comprising:

the control device drives the touch screen to display a program setting interface, and generates a spraying program according to spraying control information sent by the touch screen, the keyboard or the control switch and received by the program setting interface; the spraying program comprises a plurality of groups of spraying control information, and each group of spraying control information comprises a spraying formula, spraying parameters and a spraying mode; the spraying formula comprises a paint can number and a corresponding volume; the spraying modes comprise horizontal spraying, vertical spraying and triangular motion spraying; the spraying parameters comprise atomizer spray gun selection, jumping degree, working range, spraying distance, rotating cup rotating speed, forming air, electrostatic high voltage, paint flow and continuous spraying selection;

the control device selects a group of spraying control information in the spraying program according to the input of the touch screen, the keyboard or the control switch; and

the control device controls the three-axis movement mechanism and the paint supply device to move and spray according to the selected group of spraying control information, and the control device specifically comprises:

selecting an atomizer or a spray gun according to the spraying control information;

driving the three-axis movement mechanism to move according to the track of the spraying mode according to the spraying control information;

calculating the jumping lattice degree of the spraying parameters including the spraying distance, the rotating speed of the rotary cup, the formed air, the electrostatic high voltage and the paint flow in a working range according to the spraying control information; wherein, the initial value of the spraying parameter is set as A₁The end value is A_N+1The jumping frequency is N, the parameter jumping granularity is A, then,

spraying times are N + 1;

A＝(A_N+1-A₁)/N；

calculating spraying parameters including spraying distance, rotating cup rotating speed, forming air, electrostatic high voltage and paint flow during each spraying, and adjusting the spraying parameters to current spraying parameter values before each spraying so as to control an atomizer or a spray gun to spray according to the spraying parameter values; wherein, the parameter value A in the x-th spraying_x＝A₁+A*(x-1)，1<x<N+1。

9. The method according to claim 8, wherein the control device drives the touch screen to display a program setting interface, and after generating the spraying program according to the spraying control information sent by the touch screen, the keyboard or the control switch and received by the program setting interface, the method further comprises:

selecting a spraying mode according to the input of the touch screen, the keyboard or the control switch; wherein the spray modes include a fixed spray cycle mode, and a single spray mode; the fixed spraying circulation mode is used for defining a complete spraying action once and setting n spraying actions, each spraying action is completed according to a group of spraying control information, and n is more than or equal to 2; the single spraying mode is used for defining a complete spraying action for one time and setting 1 spraying action, and the spraying action is finished according to a group of spraying control information;

setting an area in which each spraying action is executed according to the selected spraying mode; the area setting is realized by setting the starting positions of the X axis and the Y axis of the spraying action according to the corresponding input of the touch screen, the keyboard or the control switch;

the control device drives the three-axis movement mechanism to move in a corresponding area according to the set area and the track of the corresponding spraying mode; and controlling a paint supply device to spray according to the selected group of spraying control information.

10. The spray control method of claim 9, further comprising:

and carrying out jump lattice degree calculation on the X-axis speed and the Y-axis speed in a working range according to the spraying control information.

11. The spray control method of claim 8, further comprising:

and controlling the paint supply device to pump the cleaning solvent to the pipeline after finishing spraying.

12. The coating control method according to claim 11, wherein controlling the paint supply device to pump the cleaning solvent to the pipeline after the coating is completed comprises:

selecting and calling a cleaning formula according to a cleaning control instruction; selecting and calling a cleaning formula according to input of a touch screen, a keyboard or a control switch received by a cleaning program setting interface;

setting parameters including cleaning steps, gear pump speed, molding air and air according to the cleaning control command; the air parameters are air parameters required by the operation of the rotary cup and the spray gun, and comprise motor air, atomizing air and spray amplitude air;

selecting valves to be controlled, and the opening/closing sequence and the execution time of each selected valve according to the set common parameters;

and driving the paint supply device to pump a cleaning solvent to the pipeline according to the selected cleaning formula, the set public parameters, the valve and the execution time of the valve, and cleaning the equipment pipeline.

13. A control device of a spraying reciprocating robot is characterized by comprising a control unit, a touch screen, a keyboard and a control switch, wherein the touch screen, the keyboard and the control switch are respectively connected with the control unit; the control unit includes:

spraying times are N + 1;

A＝(A_N+1-A₁)/N；

14. The control device of claim 13, wherein the control unit further comprises:

15. The control device of claim 13, wherein the control unit further comprises:

16. The control apparatus of claim 15, wherein the equipment cleaning module comprises: