CN111250313A

CN111250313A - Spraying reciprocating robot, control device thereof and spraying control method

Info

Publication number: CN111250313A
Application number: CN202010091112.8A
Authority: CN
Inventors: 郭经军; 郭宜煌; 陈维; 徐小龙; 李丹; 鲍剑
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: 2020-06-09
Anticipated expiration: 2040-02-13
Also published as: CN111250313B

Abstract

The invention provides a spraying reciprocating robot and a control device and a spraying control method thereof, 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 connected with the control unit; the control unit package comprises a spraying program setting module for driving the touch screen to display a program setting interface so as to generate a spraying program according to the received spraying control information input by the touch screen, the keyboard or the control switch; the device also comprises a paint spraying module for calling a spraying program so as to drive the three-axis movement mechanism to move according to a spraying track, and the paint supply device, the atomizer or the spray gun are controlled to spray according to a spraying formula and spraying parameters. According to the invention, the effect of flexibly setting and adjusting the spraying action according to the spraying requirement is realized, so that the wide applicability of the spraying reciprocating robot is improved.

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 carries out spraying operation on determined products, and because spraying parameters and spraying tracks can directly influence the spraying effect, the existing spraying reciprocating machine cannot automatically adjust the spraying parameters, the spraying tracks and the like according to different production processes, product characteristics, the spraying effect and other requirements, and is lack of 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.

The invention provides a spraying reciprocating robot, which 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 controlling the atomizer and the spray gun to spray; 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 spraying program setting module is used for driving the touch screen to display a program setting interface and generating a spraying program according to spraying control information input by the touch screen, the keyboard or the control switch and received by the program setting interface; the spraying program comprises a spraying formula, spraying parameters and a spraying track; and the paint spraying module is used for calling the spraying program, driving the three-axis movement mechanism to move according to the spraying track, and controlling the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters.

Wherein the spraying formula comprises a paint can number and a corresponding volume; the spraying track comprises horizontal spraying, vertical spraying and triangular motion spraying; the spraying parameters comprise atomizer spray gun selection, working range, X-axis speed, Y-axis speed, spraying distance, rotating cup rotating speed, forming air, electrostatic high voltage and paint flow; 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 program; the spraying track control submodule is used for driving the three-axis motion mechanism to move according to a spraying track; and the spraying parameter control submodule is used for adjusting the current parameter values including the working range, the X-axis speed, the Y-axis speed, the spraying distance, the rotating cup rotating speed, the forming air, the electrostatic high voltage and the paint flow to the spraying parameter values corresponding to the spraying action to be executed so as to control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameter values.

Wherein the control unit further comprises: the plane presetting/selecting module is used for setting an area executed by the spraying action according to a spraying program called by the paint spraying module; the area setting is realized according to the setting of the touch screen, the keyboard or the control switch on the X-axis and Y-axis initial positions of the spraying action received by the program setting interface; the spraying track control submodule is also used for driving the three-axis movement mechanism to move in the corresponding area according to the spraying program and the area set by the plane presetting/selecting module.

The spraying program setting module is used for generating and storing a plurality of groups of spraying programs according to different received spraying control information input by the touch screen, the keyboard or the control switch; the control unit further includes: 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 received by the program setting interface; 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 one complete spraying action and setting 1 spraying action, and the spraying action is finished according to a group of spraying control information; the paint spraying module is further used for selecting and calling x groups of spraying control information in the spraying program and the calling sequence of the x groups of spraying control information according to the selected spraying mode and the input of the touch screen, the keyboard or the control switch received by the program setting interface; wherein n is more than or equal to x is more than or equal to 1; the spraying track control submodule is also used for sequentially calling the spraying control information according to the x groups of spraying control information and the calling sequence thereof so as to drive the three-axis motion mechanism to move according to the spraying track; and the spraying parameter control submodule is also used for adjusting the spraying parameter values according to the x groups of spraying control information and the calling sequence thereof so as to control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameter values, thereby executing x times of spraying actions.

The spraying program setting module is used for generating and storing a plurality of groups of spraying programs according to different received spraying control information input by the touch screen, the keyboard or the control switch; the paint spraying module is further used for selecting and calling one group of the spraying programs according to the input of the touch screen, the keyboard or the control switch, so as to drive the three-axis movement mechanism to move according to the spraying track, and control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters.

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 input by the touch screen, the keyboard or the control switch and received by the program setting interface; the spraying program comprises a spraying formula, spraying parameters and a spraying track; and the control device calls the spraying program, drives the three-axis movement mechanism to move according to the spraying track, and controls the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters.

Wherein the spraying formula comprises a paint can number and a corresponding volume; the spraying track comprises horizontal spraying, vertical spraying and triangular motion spraying; the spraying parameters comprise atomizer spray gun selection, working range, spraying distance, X-axis speed, Y-axis speed, rotating cup rotating speed, forming air, electrostatic high voltage and paint flow; the control device calls the spraying program, drives the three-axis movement mechanism to move according to the spraying track, and controls the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters, 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 spraying track according to the spraying control information; and adjusting current parameter values including a working range, an X-axis speed, a Y-axis speed, a spraying distance, a rotating cup rotating speed, forming air, electrostatic high voltage and paint flow to spraying parameter values corresponding to the spraying action to be executed so as to control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameter values.

The control device drives the touch screen to display a program setting interface, and generates a spraying program according to spraying control information input 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: setting an area executed by a spraying action according to a spraying program called by the paint spraying module; the area setting is realized according to the setting of the touch screen, the keyboard or the control switch on the X-axis and Y-axis initial positions of the spraying action received by the program setting interface; the control device calls the spraying program, drives the three-axis movement mechanism to move according to the spraying track, and controls the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters, and the control device specifically comprises: driving the three-axis motion mechanism to move in a corresponding area according to a spraying program and the set area and a corresponding spraying track; and controlling a paint supply device, an atomizer or a spray gun to spray according to the spraying formula and the spraying parameters.

The control device drives the touch screen to display a program setting interface, and generates a spraying program according to spraying control information input by the touch screen, the keyboard or the control switch and received by the program setting interface, and the method specifically comprises the following steps: the control device drives the touch screen to display a program setting interface, and generates and stores a plurality of groups of spraying programs according to different spraying control information input by the touch screen, the keyboard or the control switch and received by the program setting interface; after the area where the spraying action is executed is set according to the spraying program called by the paint spraying module, 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 received by the program setting interface; 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 one complete spraying action and setting 1 spraying action, and the spraying action is finished according to a group of spraying control information; the control device calls the spraying program, drives the three-axis movement mechanism to move according to the spraying track, and controls the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters, and the control device specifically comprises: selecting and calling x groups of spraying control information in the spraying program and the calling sequence of the x groups of spraying control information according to the selected spraying mode and the input of the touch screen, the keyboard or the control switch received by the program setting interface; wherein n is more than or equal to x is more than or equal to 1; according to the x groups of spraying control information and the calling sequence thereof, sequentially calling the spraying control information to drive the three-axis movement mechanism to move according to the spraying track; and adjusting the spraying parameter values according to the x groups of spraying control information and the calling sequence thereof so as to control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameter values, thereby executing x times of spraying actions.

The control device drives the touch screen to display a program setting interface, and generates a spraying program according to spraying control information input by the touch screen, the keyboard or the control switch and received by the program setting interface, and the method specifically comprises the following steps: the control device drives the touch screen to display a program setting interface, and generates and stores a plurality of groups of spraying programs according to different spraying control information input by the touch screen, the keyboard or the control switch and received by the program setting interface; the control device calls the spraying program, drives the three-axis movement mechanism to move according to the spraying track, and controls the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters, and the control device specifically comprises: and the control device selects and calls one group of the spraying programs according to the input of the touch screen, the keyboard or the control switch received by the program setting interface so as to drive the three-axis motion mechanism to move according to the spraying track and control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters.

The invention provides a control device of a 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 a three-axis motion mechanism and a 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 spraying control information input by the touch screen, the keyboard or the control switch and received by the program setting interface; the spraying program comprises a spraying formula, spraying parameters and a spraying track; and the paint spraying module is used for calling the spraying program, driving the three-axis movement mechanism to move according to the spraying track, and controlling the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters.

According to the spraying reciprocating robot, the control device and the spraying control method, the control device is used for setting the spraying parameters and the spraying track in advance according to the spraying processing requirements, driving the three-axis motion mechanism to generate displacement according to the spraying parameters and the spraying track, and controlling the paint supply device, the atomizer or the spray gun to spray so as to generate a corresponding spraying effect, so that the effect of flexibly setting and adjusting the spraying action according to the spraying requirements is realized, and the wide applicability of the spraying reciprocating robot is improved.

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 diagram of 4 spray traces formed when 4 different sets of spray programs are executed.

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 functional block diagram of a control unit in a third embodiment of the present invention.

FIG. 15 is a functional block diagram of the cleaning module of the apparatus of FIG. 9.

Fig. 16 is a schematic view of a cleaning program setting interface.

Fig. 17 is a flowchart illustrating a coating control method according to the first embodiment of the present invention.

Fig. 18 is a flowchart of step S2 in fig. 17.

Fig. 19 is a flowchart illustrating a coating control method according to a second embodiment of the present invention.

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

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

Fig. 22 is a flowchart of step S5 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.

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.

The control device 70 is configured to:

controlling 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 driving the atomizer 41 and the spray gun 43 to spray paint on the spray plate 21;

the paint supply device 50 is controlled to pump paint to the atomizer 41 or the spray gun 43 during spraying, and the paint supply device 50 is controlled to pump cleaning solvent to the piping after spraying is completed.

In a laboratory scene, the reciprocating spraying robot 1 drives the three-axis movement mechanism 10 to drive the atomizer 41 or the spray gun 43 to move according to a preset track through the control device 70, and controls the paint supply device 50 to pump paint to the atomizer 41 or the spray gun 43 according to preset spraying parameters so as to spray a corresponding spraying track on the spraying plate 21, thereby achieving the purposes of visually displaying and comparing the spraying effects. Further, when the reciprocating spraying robot 1 is in an actual production and processing scene, the spraying plate 21 is replaced by a product clamping station to be actually processed, and similarly, the control device 70 can drive the three-axis movement mechanism 10 and the paint supply device 50 to move and spray according to corresponding spraying control information, so as to complete product spraying; wherein, the spraying control information can be preset and adjusted according to the product to be processed (the specific working principle will be detailed below). Therefore, the spraying reciprocating robot 1 can meet different application scenes and different spraying requirements, and has good flexibility and wide applicability.

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

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 input 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 spraying formula, spraying parameters and a spraying track. The spraying formula comprises a paint can number and a corresponding volume; the spraying track comprises horizontal spraying, vertical spraying and triangular motion spraying; the spray parameters include atomizer gun selection, operating range, X-axis speed, Y-axis speed, spray distance, rotating cup speed, shaping air, electrostatic high voltage, paint flow.

The paint spraying module 712 is configured to invoke the spraying program, drive the three-axis moving mechanism 10 to move according to the spraying trajectory, and control the paint supplying device 50, the atomizer 41, or the spray gun 43 to perform spraying according to the spraying formula and the spraying parameter value.

In this embodiment, before each spraying operation, the touch screen 72, the keyboard 73 or the control switch 74 receives the spraying control information input by the operator according to the spraying requirement, and the spraying program setting module 711 generates a corresponding spraying program according to the spraying control information, so that the paint spraying module 712 is directly called to execute the spraying operation.

In another embodiment, the spraying program setting module 711 is further configured to generate and store a plurality of groups of spraying programs according to the received different spraying control information input by the touch screen 72, the keyboard 73, or the control switch 74. The paint spraying module 712 is further configured to select and invoke one of the spraying programs to perform a corresponding spraying action according to the input of the touch screen 72, the keyboard 73 or the control switch 74 received by the program setting interface when performing the spraying action.

The equipment cleaning module 713 is used for controlling the paint supply device 50 to pump cleaning solvent to the pipeline after the painting is finished.

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.

Referring to fig. 10, in particular, the paint spraying module 712 includes: an atomizer spray gun selection sub-module 7121, a spray trajectory control sub-module 7122 and a spray parameter control sub-module 7123.

The atomizer gun selection submodule 7121 controls the rotation of the rotary shaft 44 to select the atomizer 41 or the spray gun 43 according to a spraying program.

The spraying track control submodule 7122 is configured to drive the three-axis movement mechanism 10 to move according to a spraying track. Wherein the spraying track is pre-selected and set by the input of the touch screen 72, the keyboard 73 or the control switch 74 received by the program setting interface.

The spraying parameter control submodule 7123 is configured to adjust current parameter values including a working range, an X-axis speed, a Y-axis speed, a spraying distance, a revolving cup speed, shaping air, an electrostatic high voltage, and a paint flow rate to spraying parameter values corresponding to a spraying action to be performed, so as to control the paint supply device 50, the atomizer 41, or the spray gun 43 to perform spraying according to the spraying formula and the spraying parameter values.

As shown in fig. 11, the 4 painting trajectories represent operations of spraying paint onto the spray plate according to the corresponding painting trajectories and the corresponding painting parameter values when the spray gun executes 4 different sets of painting programs, and finally form 4 painting areas on the spray plate 21, where the painting effect exhibited by each painting area is different according to the different painting trajectories and the different painting parameter values. In a similar way, the spraying parameter values and the spraying tracks are preset according to the requirements of product processing on the spraying effect, so that different production and processing requirements can be met.

Further, referring to fig. 12, the control unit 71a further includes:

a plane presetting/selecting module 714, configured to set an area where the spraying action is performed according to the spraying program called by the paint spraying module 712; specifically, the plane presetting/selecting module 714 sets the spraying area according to the setting of the X-axis and Y-axis starting positions of the spraying action by the touch screen 72, the keyboard 73 or the control switch 74 received by the program setting interface. The starting point of the area can be set at any position, as shown in fig. 13, the rectangular box represents the spray board area, the pentagon represents the area to be sprayed, 1 represents the starting point, and the starting point 1 can be set at any position on the spray board area, and does not necessarily need to be from the lower left to the upper right.

The spraying trajectory control submodule 7122 drives the three-axis movement mechanism to move in the corresponding area according to the spraying program and the area set by the plane presetting/selecting module 715. Specifically, the spraying trajectory control submodule 7122 supplements a feed to control a Y-axis motion mechanism to drive the spray gun to rapidly move to the spraying starting position, and specifically may include rapid feed, feed per minute (second), and automatic acceleration and deceleration feed; and the spraying is interrupted after finishing the primary spraying action of the area, and the spray gun is controlled to directly return to the initial position. The feeding function and the interrupting function are conventional functions used in a machine tool, and are not described herein.

As described above, since the specification of the product to be sprayed is not always a regular shape, or the part to be sprayed is not always the whole product, the reciprocating robot for spraying can flexibly set and adjust the starting position and the ending position of the spraying action according to the spraying requirement by presetting the area for executing the spraying action, thereby ensuring the precision of spraying.

Further, as shown in fig. 14, the control unit 71b 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 received by the program setting interface; 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 once and setting 1 spraying action, and the spraying action is completed according to a group of spraying control information.

When n is equal to 1, that is, the spraying mode selection module 715 selects the single-spraying mode, the paint spraying module 712 selects and calls 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 received by the program setting interface.

When n is equal to x, x is greater than or equal to 2, that is, the spraying mode selection module 715 selects a fixed spraying cycle mode, and each spraying cycle executes x spraying actions; the paint spraying module 712 is further configured to select x groups of spraying control information in the spraying program and a calling sequence of the x groups of spraying control information according to an input received by the program setting interface through the touch screen 72 or the keyboard 73 or the control switch 74. The spraying trajectory control submodule 7122 sequentially calls the spraying control information according to the x groups of spraying control information and the calling sequence thereof to drive the three-axis movement mechanism to move according to the spraying trajectory, and the spraying parameter control submodule 7123 adjusts the spraying parameter values according to the x groups of spraying control information and the calling sequence thereof to control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameter values, thereby executing x spraying actions. Wherein, the spraying parameters and the spraying tracks in each group can be the same as each other, can be different from each other, and are partially the same as each other.

As described above, the reciprocating spray robot can perform a single spray setting and a continuous spray setting by selection of the spray mode, that is, in the case where the reciprocating spray robot performs one kind of product processing, since the spray control information does not need to be adjusted, the spray processing of the one kind of product is continued by performing a single spray; in another common situation, the workpiece of the same product comprises a plurality of parts to be sprayed, but the spraying requirements of each spraying part are different, the spraying reciprocating robot executes a fixed spraying circulation mode, and corresponding spraying control information and loading sequence are respectively called in advance according to the spraying requirements of different spraying parts; when the product is sprayed and processed, the spraying and processing of a plurality of different spraying parts of one product can be continuously finished by executing a complete spraying and processing cycle.

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.

As shown in fig. 15, the facility cleaning module 713 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 713 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. 16, 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. 17, 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 input by the touch screen, the keyboard or the control switch received by the program setting interface; the spraying program comprises a spraying formula, spraying parameters and a spraying track;

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 gun selection, operating range, spray distance, X-axis speed, Y-axis speed, rotating cup speed, shaping air, electrostatic high voltage, paint flow.

And step S2, the control device calls a spraying program, drives the three-axis movement mechanism to move according to the spraying track, and controls the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters.

In another embodiment, step S1 specifically includes: the control device drives the touch screen to display a program setting interface, and generates and stores a plurality of groups of spraying programs according to different spraying control information input by the touch screen, the keyboard or the control switch and received by the program setting interface. Correspondingly, step S2 specifically includes: the control device selects and calls one group of spraying programs according to the input of the touch screen, the keyboard or the control switch received by the program setting interface, drives the three-axis motion mechanism to move according to the spraying track, and controls the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters.

Further, as shown in fig. 18, in step S2, the method includes that the control device invokes a spraying program, drives the three-axis movement mechanism to move according to the spraying track, and controls the paint supply device, the atomizer, or the spray gun to perform spraying according to the spraying formula and the spraying parameters, which specifically includes:

step S21, selecting an atomizer or a spray gun according to a spraying program;

step S22, driving the three-axis motion mechanism to move according to the spraying track; wherein the spraying track is pre-selected and set by the input of the touch screen 72, the keyboard 73 or the control switch 74 received by the program setting interface.

And step S23, adjusting the current parameter values including the working range, the X-axis speed, the Y-axis speed, the spraying distance, the rotating cup speed, the forming air, the electrostatic high voltage and the paint flow to the spraying parameter values corresponding to the spraying action to be executed so as to control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameter values.

Further, as shown in fig. 19, in step S2, before the control device calls the spraying program and drives the three-axis moving mechanism to move according to the spraying track, and controls the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters, the method further includes:

step S3, setting the area executed by the spraying action according to the called spraying program; and the area setting is realized according to the setting of the touch screen, the keyboard or the control switch on the X-axis and Y-axis initial positions of the spraying action received by the program setting interface.

Wherein the starting point of the region can be set at an arbitrary position.

Correspondingly, step S2 specifically includes:

step S201, driving the three-axis movement mechanism to move in a corresponding area according to a spraying program and a set area and a corresponding spraying track; and

and S202, controlling a paint supply device, an atomizer or a spray gun to spray according to the spraying formula and the spraying parameters.

Further, as shown in fig. 20, after the step S3, namely, setting the area where the painting action is executed according to the called painting program, the method further includes:

step S4, selecting a spraying mode according to the input of the touch screen, the keyboard or the control switch received by the program setting interface; 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 once and setting 1 spraying action, and the spraying action is completed according to a group of spraying control information.

Correspondingly, step S2 specifically includes:

step S211, the control device selects x groups of spraying control information in the spraying program and the calling sequence of the x groups of spraying control information according to the selected spraying mode and the input of the touch screen, the keyboard or the control switch received by the program setting interface; wherein x is the number of spraying actions contained in the selected spraying mode, and n is more than or equal to x and more than or equal to 1.

Step S212, sequentially calling the spraying control information to drive the three-axis movement mechanism to move according to the spraying track according to the x groups of spraying control information and the calling sequence thereof;

step S213, adjusting the spraying parameter values according to the x groups of spraying control information and the calling sequence thereof to control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameter values, thereby executing x spraying actions.

Wherein, n groups of spraying control information contained in a complete spraying cycle, and the spraying parameters and the spraying tracks in each group can be the same or different.

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

and step S5, controlling the paint supply device to pump the cleaning solvent to the pipeline after finishing spraying.

Referring to fig. 22, specifically, step S5 includes:

and step S51, 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 S52, 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 S53, 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 S54, 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 controlling the atomizer and the spray gun to spray;

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 spraying program setting module is used for driving the touch screen to display a program setting interface and generating a spraying program according to spraying control information input by the touch screen, the keyboard or the control switch and received by the program setting interface; the spraying program comprises a spraying formula, spraying parameters and a spraying track; and

and the paint spraying module is used for calling the spraying program, driving the three-axis movement mechanism to move according to the spraying track, and controlling the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters.

2. The reciprocating spray painting robot of claim 1 wherein said spray paint formula includes a paint can number and corresponding volume; the spraying track comprises horizontal spraying, vertical spraying and triangular motion spraying; the spraying parameters comprise atomizer spray gun selection, working range, X-axis speed, Y-axis speed, spraying distance, rotating cup rotating speed, forming air, electrostatic high voltage and paint flow;

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 program;

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

and the spraying parameter control submodule is used for adjusting the current parameter values including the working range, the X-axis speed, the Y-axis speed, the spraying distance, the rotating cup rotating speed, the forming air, the electrostatic high voltage and the paint flow to the spraying parameter values corresponding to the spraying action to be executed so as to control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameter values.

3. The spray coating reciprocating robot of claim 2, wherein said control unit further comprises:

the plane presetting/selecting module is used for setting an area executed by the spraying action according to a spraying program called by the paint spraying module; the area setting is realized according to the setting of the touch screen, the keyboard or the control switch on the X-axis and Y-axis initial positions of the spraying action received by the program setting interface;

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

4. The reciprocating robot for painting according to claim 2, wherein the painting program setting module is configured to generate and store a plurality of groups of painting programs according to different painting control information received from the touch screen, the keyboard or the control switch;

the control unit further includes:

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 received by the program setting interface; 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 one complete spraying action and setting 1 spraying action, and the spraying action is finished according to a group of spraying control information;

the paint spraying module is further used for selecting and calling x groups of spraying control information in the spraying program and the calling sequence of the x groups of spraying control information according to the selected spraying mode and the input of the touch screen, the keyboard or the control switch received by the program setting interface; wherein n is more than or equal to x is more than or equal to 1;

the spraying track control submodule is also used for sequentially calling the spraying control information according to the x groups of spraying control information and the calling sequence thereof so as to drive the three-axis motion mechanism to move according to the spraying track; and

and the spraying parameter control submodule is also used for adjusting the spraying parameter values according to the x groups of spraying control information and the calling sequence thereof so as to control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameter values, thereby executing x spraying actions.

5. The reciprocating robot for painting according to claim 1, wherein the painting program setting module is configured to generate and store a plurality of groups of painting programs according to different painting control information received from the touch screen, the keyboard or the control switch;

the paint spraying module is further used for selecting and calling one group of the spraying programs according to the input of the touch screen, the keyboard or the control switch, so as to drive the three-axis movement mechanism to move according to the spraying track, and control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters.

6. A painting control method applied to the control device of the painting shuttle robot according to any one of claims 1 to 5, 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 input by the touch screen, the keyboard or the control switch and received by the program setting interface; the spraying program comprises a spraying formula, spraying parameters and a spraying track;

and the control device calls the spraying program, drives the three-axis movement mechanism to move according to the spraying track, and controls the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters.

7. The spray control method of claim 6, wherein said spray formulation includes a paint can number and a corresponding volume; the spraying track comprises horizontal spraying, vertical spraying and triangular motion spraying; the spraying parameters comprise atomizer spray gun selection, working range, spraying distance, X-axis speed, Y-axis speed, rotating cup rotating speed, forming air, electrostatic high voltage and paint flow;

the control device calls the spraying program, drives the three-axis movement mechanism to move according to the spraying track, and controls the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters, 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 spraying track according to the spraying control information;

and adjusting current parameter values including a working range, an X-axis speed, a Y-axis speed, a spraying distance, a rotating cup rotating speed, forming air, electrostatic high voltage and paint flow to spraying parameter values corresponding to the spraying action to be executed so as to control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameter values.

8. The method according to claim 7, wherein 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 input by the touch screen, the keyboard or the control switch received by the program setting interface, the method further comprises:

setting an area executed by a spraying action according to a spraying program called by the paint spraying module; the area setting is realized according to the setting of the touch screen, the keyboard or the control switch on the X-axis and Y-axis initial positions of the spraying action received by the program setting interface;

driving the three-axis motion mechanism to move in a corresponding area according to a spraying program and the set area and a corresponding spraying track;

and controlling a paint supply device, an atomizer or a spray gun to spray according to the spraying formula and the spraying parameters.

9. The method according to claim 7, wherein the controlling device drives the touch screen to display a program setting interface, and generates the spraying program according to the spraying control information input by the touch screen, the keyboard or the control switch, which is received by the program setting interface, specifically comprises: the control device drives the touch screen to display a program setting interface, and generates and stores a plurality of groups of spraying programs according to different spraying control information input by the touch screen, the keyboard or the control switch and received by the program setting interface;

after the area where the spraying action is executed is set according to the spraying program called by the paint spraying module, 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 received by the program setting interface; 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 one complete spraying action and setting 1 spraying action, and the spraying action is finished according to a group of spraying control information;

selecting and calling x groups of spraying control information in the spraying program and the calling sequence of the x groups of spraying control information according to the selected spraying mode and the input of the touch screen, the keyboard or the control switch received by the program setting interface; wherein n is more than or equal to x is more than or equal to 1;

according to the x groups of spraying control information and the calling sequence thereof, sequentially calling the spraying control information to drive the three-axis movement mechanism to move according to the spraying track; and

and adjusting the spraying parameter values according to the x groups of spraying control information and the calling sequence thereof so as to control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameter values, thereby executing x times of spraying actions.

10. The method according to claim 6, wherein the controlling device drives the touch screen to display a program setting interface, and generates the spraying program according to the spraying control information input by the touch screen, the keyboard or the control switch, which is received by the program setting interface, specifically comprising: the control device drives the touch screen to display a program setting interface, and generates and stores a plurality of groups of spraying programs according to different spraying control information input by the touch screen, the keyboard or the control switch and received by the program setting interface;

the control device calls the spraying program, drives the three-axis movement mechanism to move according to the spraying track, and controls the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters, and the control device specifically comprises: and the control device selects and calls one group of the spraying programs according to the input of the touch screen, the keyboard or the control switch received by the program setting interface so as to drive the three-axis motion mechanism to move according to the spraying track and control the paint supply device, the atomizer or the spray gun to spray according to the spraying formula and the spraying parameters.

11. The control device of the spraying reciprocating robot is characterized by comprising 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:

12. The control apparatus of claim 11, wherein said spray formulation includes a paint can number and a corresponding volume; the spraying track comprises horizontal spraying, vertical spraying and triangular motion spraying; the spraying parameters comprise atomizer spray gun selection, working range, X-axis speed, Y-axis speed, spraying distance, rotating cup rotating speed, forming air, electrostatic high voltage and paint flow;

the paint spraying module includes:

13. The control device of claim 12, wherein the control unit further comprises:

14. The control device of the reciprocating robot for painting according to claim 12, wherein the painting program setting module is configured to generate and store a plurality of groups of painting programs according to different painting control information received from the touch screen, the keyboard or the control switch;

the control unit further includes: