CN114653558B

CN114653558B - Water blowing system for coating production line

Info

Publication number: CN114653558B
Application number: CN202210574267.6A
Authority: CN
Inventors: 刘兴辞
Original assignee: Suzhou Liush Machinery Equipment Co ltd
Current assignee: Suzhou Liush Machinery Equipment Co ltd
Priority date: 2022-05-25
Filing date: 2022-05-25
Publication date: 2022-08-02
Anticipated expiration: 2042-05-25
Also published as: CN114653558A

Abstract

The application discloses a water blowing system for coating assembly line, this water blowing system includes: the moving device is provided with a track and a moving platform which can be driven by a driving mechanism to move along the track; the manipulator is arranged on the mobile station and can move along the track along with the mobile station; the air blow gun is in fluid communication with an air source and is carried by the manipulator; the image collector is arranged on the manipulator or the air blow gun; the control device is in signal connection with the driving mechanism, the manipulator and the image collector respectively, and comprises a standard image library and a standard path library, wherein a plurality of standard image sub-libraries which are established according to the types of workpieces to be dried at the standard drying operation position are stored in the standard image library, and a standard air blowing moving path which is established according to internal nodes of the types of workpieces to be dried at the standard drying operation position is stored in the standard path library.

Description

Water blowing system for coating production line

Technical Field

The application relates to the technical field of product coating, in particular to a water blowing system for a coating production line.

Background

The inner wall surface of some tubular workpieces is complex in structure and is often provided with mechanical structures such as convex ribs, grooves, reinforcing ribs and the like. The length of the tubular workpiece is different from several meters to dozens of meters, moisture can be remained on the inner wall surface of the workpiece after the workpiece is cleaned, if the remained moisture can not be removed in time, the effect of a subsequent spraying process is reduced, and a part of the inner wall surface can not be covered with a coating, so that the part of the inner wall surface is easily corroded, and even the service life of the workpiece is reduced.

Disclosure of Invention

In view of the above-mentioned problems associated with the removal of residual moisture on the inner wall surface of some tubular workpieces in time, it is an object of the present invention to provide a water blowing system for a coating line, which is capable of blowing off residual moisture on the inner wall surface of the tubular workpieces.

In order to achieve the above purpose, the invention provides the following technical scheme: a water blowing system for a coating line, the water blowing system comprising: the moving device is provided with a track extending along the length direction parallel to the workpiece to be dried and a moving table which can be driven by a driving mechanism to move along the track; the manipulator is arranged on the mobile station and can move along the track along with the mobile station; a blow gun in fluid communication with a source of air, the blow gun carried by the manipulator; the image collector is arranged on the manipulator or the air blow gun and is used for collecting and transmitting image information of a workpiece to be dried; the control device is respectively in signal connection with the driving mechanism, the manipulator and the image collector, a standard image library and a standard path library are prestored in the control device, a plurality of standard image sub-libraries which are respectively established according to various styles of workpieces to be dried at standard drying operation positions are stored in the standard image library, each standard image sub-library is composed of a plurality of standard external characteristic images and a plurality of standard internal node images, and a standard blowing moving path which is respectively established according to various styles of workpieces to be dried at standard drying operation positions is stored in the standard path library; the control device is programmed to: shooting a plurality of external characteristic images of a workpiece to be dried currently by using the image collector, and calculating a first deviation amount between a drying operation position where the workpiece to be dried is located currently and a standard drying operation position based on the shot plurality of external characteristic images and the plurality of standard external characteristic images in the standard image sub-library corresponding to the style of the workpiece to be dried; when the first deviation amount is larger than a preset first threshold value, a standard blowing moving path corresponding to the workpiece to be blow-dried in the style is corrected based on the first deviation amount, and the driving mechanism and the manipulator are guided by the corrected blowing moving path to control the blowing gun to reach the inside of the workpiece to be blow-dried for blow-drying operation; in the process of carrying out blow-drying operation on the interior of the workpiece to be blow-dried by the air blow gun, shooting a plurality of internal node images of the workpiece to be blow-dried by using the image collector, and calculating a second deviation value between the current internal node position of the workpiece to be blow-dried and the standard internal node position based on the shot plurality of internal node images and a plurality of standard internal node images in the standard characteristic image sub-library corresponding to the style of the workpiece to be blow-dried; and when the second deviation amount is larger than a preset second threshold value, continuously performing secondary correction on the blowing moving path after the correction based on the second deviation amount, and guiding the driving mechanism and the manipulator to control the blowing gun to continuously perform blow-drying operation by using the blowing moving path after the secondary correction.

In the above technical solution, preferably, the water blowing system further includes: the identity recognizer is arranged on the manipulator or the air blow gun and is used for recognizing the style of the workpiece to be dried; the control device is in signal connection with the identity recognizer; the control device is further programmed to: and determining the standard image sub-library corresponding to the workpiece to be dried in the current style and the corresponding standard blowing moving path by using the identification result of the identity recognizer.

In the above technical solution, preferably, the first deviation amount and the second deviation amount each include an X-axis deviation amount, a Y-axis deviation amount and a Z-axis deviation amount in the three XYZ axes directions in the three-dimensional coordinate system.

In the above technical solution, preferably, the air blow gun includes an elongated air blow rod and a blowing nozzle distributed at an end of the air blow rod, the air blow rod is clamped by the manipulator, and the image collector is mounted on the air blow rod and is close to the blowing nozzle. Still further preferably, a valve for controlling the flow between the air source and the blowing nozzle is arranged in the blowing rod; when the control device controls the air blowing gun to perform blow-drying operation, the valve is opened.

In the above technical solution, preferably, the image collector includes a high definition camera.

In the above technical solution, preferably, the robot is a six-axis robot.

In the above technical solution, preferably, the moving device further includes: and the closed protective cover is arranged on the length track.

Compared with the prior art, the water blowing system provided by the invention can acquire the external characteristic image and the internal node image of the workpiece to be blown and dried in real time through the image collector, and compare the external characteristic image with the internal node image in the standard image library to correct the standard blowing moving path in real time. Meanwhile, the air blowing gun carries out blow-drying operation in the workpiece to be blow-dried along the corrected air blowing moving path, so that residual moisture on the inner wall surface of the workpiece to be blow-dried is blow-dried.

Drawings

FIG. 1 is a front view of a water blow system for a coating line provided by the present invention;

FIG. 2 is a side view of the water blowing system shown in FIG. 1;

FIG. 3 is a schematic diagram of signal connections of a control device according to the present invention;

FIG. 4 is a schematic diagram of the logic for operation of the control device shown in FIG. 3;

fig. 5 is a front view of a robot provided by the present invention.

The labels in the figure are:

1. a mobile device; 11. a track; 12. a mobile station; 13. a drive mechanism;

2. a manipulator; 21. a base;

22. a movable portion; 221. a mechanical arm; 222. hinging a shaft; 223. a movable motor;

23. a hand portion;

3. an air blow gun; 31. a blowing rod; 32. a blowing nozzle; 33. a valve;

4. an image collector;

5. an identity recognizer;

6. a control device; 61. a standard image library; 62. a standard path library; 63. a processing center;

7. a gas source;

10. drying the workpiece; 20. a hanger.

Detailed Description

To explain the technical content, the structural features, the achieved objects and the functions of the application in detail, the technical solutions in the embodiments of the application will be described below with reference to the drawings in the embodiments of the application, and it is obvious that the described embodiments are only a part of the embodiments of the application, and not all embodiments. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a detailed description of various exemplary embodiments or implementations of the invention. However, various exemplary embodiments may be practiced without these specific details or with one or more equivalent arrangements. Moreover, the various exemplary embodiments may be different, but are not necessarily exclusive. For example, the particular shapes, configurations and characteristics of the exemplary embodiments may be used or implemented in another exemplary embodiment without departing from the inventive concept.

Further, spatially relative terms such as "under … …", "below", "over … …", "upper", and the like, may be used herein to describe one element's relationship to another (or other) element as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures.

In the present application, unless expressly stated or limited otherwise, the term "coupled" is to be construed broadly, e.g., "coupled" may be a fixed connection, a removable connection, or an integral part; may be directly connected or indirectly connected through an intermediate.

Fig. 1 shows a water blowing system for a coating line, which is provided by the invention and is arranged in a moving path of workpieces on the coating line, and can perform a drying operation on inner wall surfaces of cleaned workpieces 10 to be dried of various types, so that the workpieces can obtain better coating effect at a coating station. The water blowing system can be used for the drying operation of pipe body workpieces (such as a workpiece 10 to be dried shown in figure 1, namely a straight arm ascending vehicle large arm square pipe) with different lengths from several meters to dozens of meters. Referring to fig. 3, the water blowing system includes a moving device 1, a blowing gun 3 capable of extending into a workpiece 10 to be dried, a manipulator 2 for adjusting the position of the blowing gun 3, an image collector 4 for collecting image information of the workpiece 10 to be dried, an identity recognizer 5 for recognizing the style of the workpiece 10 to be dried, and a control device 6 serving as a control center.

As shown in fig. 1, the workpiece 10 to be dried is suspended on a hanger 20 and transported through the coating line to the drying operation position. The moving device 1 comprises a rail 11 laid on the floor or on a pedestal and a moving table 12 movable along the rail 11, the rail 11 extending along a longitudinal direction parallel to the longitudinal direction of the workpiece 10 to be dried. Referring to fig. 3, the movable stage 12 is located on the upper side of the rail 11 and is engaged with the rail 11, and the movable stage 12 is configured to be movable along the rail 11 by a driving mechanism 13. The driving mechanism 13 is connected with the control device 6 by signals and controlled by the control device 6, and the driving mechanism 13 can be a power device arranged inside the mobile station 12, such as a motor or an oil pump; or may be a transmission device disposed outside the moving table 12, such as a conveyor belt, a conveyor chain, etc., disposed on the rail 11.

In order to allow the system to operate in high humidity environments, a closed protective cover (not shown) is also provided on the track 11. The closed type hood covers the rail 11 to isolate the water flowing down from the cleaned workpiece 10 to be dried outside the closed type hood, protect the rail 11, and prevent the rail 11 from rusting due to being in a high-humidity environment for a long time.

With continued reference to fig. 1-3, the robot 2 is mounted on a mobile station 12 and is able to move on a track 11 along with the mobile station 12. The manipulator 2 provided by the embodiment is a six-axis manipulator, and the manipulator 2 includes a base 21 mounted on the moving stage 12, a hand 23 far away from the base 21, and a movable part 22 located between the base 21 and the hand 23. Referring to fig. 5, the movable section 22 includes a plurality of robot arms 221, a plurality of hinge shafts 222 hinge-connecting adjacent two robot arms 221, and a plurality of movable motors 223 respectively mounted at the plurality of hinge shafts 222. The hinge shaft 222 defines a moving path of the corresponding robot arm 221, and the movable motor 223 can move the corresponding robot arm 221 on the corresponding moving path. The control device 6 is simultaneously connected with the plurality of movable motors 223 through signals, and the control device 6 can operate the hand 23 of the manipulator 2 to move to a specific position by controlling the plurality of movable motors 223 to work.

With continued reference to fig. 1, the blow gun 3 includes an elongated blow pin 31, a blow nozzle 32 capable of blowing air outwardly, and a valve 33 disposed on the blow pin 31. The blow pin 31 is held by the hand 23 of the robot 2, and the mouthpiece 32 is provided at an end of the blow pin 31 on a side away from the hand 23. Blow pin 31 is a rigid member to ensure that a fixed relative positional relationship is maintained between mouthpiece 32 and hand 23, whereby control means 6 can control the position of mouthpiece 32 accurately by controlling the movement of moving stage 12 and hand 23.

Referring to fig. 3, the water blowing system further includes a gas source 7. The gas source 7 is used for providing gas required for the drying operation. Air supply 7, blow pin 31 and blow nozzle 32 are connected in series, and valve 33 can open and close fluid communication between air supply 7 and blow nozzle 32. The control device 6 is simultaneously in signal connection with the air source 7 and the valve 33 and can start and stop the air source 7 and the valve 33 to control the blowing nozzle 32 to start or stop blowing air to the outside.

Image collector 4 and identity recognition ware 5 are all signal connection and are controlled by controlling means 6, and image collector 4 that this embodiment provided is a high definition digtal camera, and it can be with the image information transmission who gathers to controlling means 6 in. The identity recognizer 5 can send the recognized style of the workpiece 10 to be blown into the control device 6, and the identity recognizer 5 can work in a scanning mark mode, an external contour recognition mode or an electromagnetic element induction mode. Wherein the image collector 4 is arranged on the blow pin 31 and near the mouthpiece 32, and the identification recognizer 5 is arranged on the hand 23 of the manipulator 2. In other embodiments, the image collector may be disposed at other locations on the robot or blow pin, and the identity identifier may be disposed on the blow gun.

As shown in fig. 3, the control device 6 includes a standard image library 61 storing standard images of the respective types of workpieces 10 to be dried, a standard path library 62 storing standard blowing movement paths of the respective types of workpieces 10 to be dried, and a processing center 63 simultaneously signal-connecting the standard image library 61 and the standard path library 62. The processing center 63 is a decision center of the control device 6, which can read the data in the standard image library 61 and the standard path library 62 and can control each controllable component in signal connection with the control device 6 to work.

The standard blowing moving path is established by sequentially connecting in series each standard blowing node of the workpiece 10 to be blown at the standard blowing operation position. The standard blowing nodes are manually selected according to the inner wall surface conditions (such as the positions of ribs, grooves, reinforcing ribs and the like inside) of workpieces 10 to be dried in different styles. When the water blowing system performs the drying operation, the blowing nozzle 32 moves along the standard blowing nodes in sequence, and blows air to the outside at each standard blowing node, so as to dry the residual moisture at each position of the ribs, the grooves and the like in the workpiece 10 to be dried. Understandably, in some inner wall surfaces, the conditions are complex, more workpieces 10 to be dried are arranged such as convex ribs and grooves, the number of corresponding standard air blowing nodes is more, and the distance between two adjacent standard air blowing nodes is shorter; in some internal conditions, the convex ribs, the grooves and the like are relatively simple, the workpieces 10 to be dried are less in arrangement, the corresponding standard drying quantity is relatively small, and the distance between every two adjacent standard blowing nodes is relatively long. In addition, the length of the workpiece 10 to be blown to dryness also has an influence on the length of the standard blowing travel path and the number of standard blowing nodes.

And all the standard air blowing nodes on the standard air blowing moving path are sequentially stored in the standard path library in a three-dimensional coordinate mode. Further, the X axis of the three-dimensional coordinate system may adopt the longitudinal direction of the rail 11, the Z axis may adopt the vertical direction, the Y axis is perpendicular to both the X axis and the Z axis, and the control device 3 may drive the blowing nozzle 32 to move to the corresponding standard blowing node by controlling the moving table 12 and the manipulator 2. Still further, in the present embodiment, the standby position of the blowing nozzle 32 (i.e., the initial position of the blowing nozzle 32 when the drying operation is started) is used as the origin of coordinates, accordingly, the deviation value of each standard blowing node in the XYZ triaxial direction with respect to the standard standby position (the standby position of the blowing nozzle 32 when the standard blowing moving path is established) is the three-dimensional coordinate corresponding to each standard blowing node, and the moving amount of the moving table 12 and the hand 23 of the manipulator 2 in the XYZ triaxial direction when standing by relatively is the three-dimensional coordinate corresponding to the position of the blowing nozzle 32 at the present time.

The standard image library 61 stores a plurality of standard image sub-libraries respectively established by workpieces 10 to be blow-dried of different styles at standard blow-drying operation positions, and each standard image sub-library comprises a group of standard external characteristic images and a plurality of groups of standard internal node images. The standard external feature image is used for displaying the external contour feature of the workpiece 10 to be blow-dried, and the processing center 63 can identify the external contour of the workpiece 10 to be blow-dried in the frame style and identify the standard blow-drying operation position of the workpiece 10 to be blow-dried in the frame style through the standard external feature image. The number of groups of the standard internal node images is consistent with the number of internal nodes of the workpiece 10 to be blow-dried of the corresponding style, and the internal nodes are manually selected and used for correcting the position deviation of the actual blowing moving path of the blowing nozzle 32 and the standard blowing moving path thereof during the blow-drying operation. It should be noted that the (standard) blow-drying operation position, the (standard) blow-drying node position, and the (standard) internal node position described in the present application are relative positions using the standby position of the blow nozzle 32 as a reference point, and these positions are only used for describing relative positional relationships, and it is understood that the deviation of the blow nozzle 32 itself or the deviation of the workpiece 10 to be blow-dried causes the deviation of the above-mentioned positions.

The processing center 63 is able to identify the three-dimensional coordinates of the standard interior node by identifying the same set of standard interior node images. It will be appreciated that for workpieces 10 to be blow-dried that are of greater precision or length, the number of selected interior nodes is greater. The specific number of images of the extrinsic feature image and each set of standard internal node images is not limited, and may be one or more than one, provided that the above-described functions are satisfied.

Fig. 4 shows a logic diagram of the control device 6, and for the same model of workpiece 10 to be dried, a first threshold value D1 corresponding to the standard external feature image and a second threshold value D2 corresponding to the standard internal node image are set in the control device 6. The first threshold value D1 and the second threshold value D2 are both deviation amounts in any one of the three XYZ axes in the three-dimensional coordinate system, for example, when the deviation amount of any one of the two three-dimensional coordinates in the three XYZ axes is larger than the deviation amount set by the threshold value, the deviation of the two three-dimensional coordinates exceeds the first threshold value D1. In other embodiments, the first threshold value D1 or/and the second threshold value D2 may be set to have different deviation amounts in the three XYZ axes to accommodate workpieces to be dried having different contour inner wall surfaces, in which case, if the deviation amount of any one of the two three-dimensional coordinates in the three XYZ axes is larger than the deviation amount set by the threshold value in the one XYZ axis, the deviation of the two three-dimensional coordinates exceeds the threshold value.

The control device 6 is programmed to be able to automatically run the following steps:

s1, identifying the style of the workpiece to be dried, and determining a corresponding standard image sub-library and a standard blowing moving path based on the style;

in the step, the style of the workpiece 10 to be dried is identified through the identity identifier 5, the style is sent to the processing center 63 in the control device 6, and the processing center 63 calls a corresponding standard image sub-library in the standard image library 61 and a corresponding standard air blowing moving path in the standard path library 62 based on the received style information. In some embodiments where no identity recognizer is provided, the style of the workpiece to be dried may also be recognized by capturing the appearance image, in which case the appearance image captured in step S1 may be directly applied to step S3.

S2, reading each group of standard internal node images in the standard image sub-library, and identifying the three-dimensional coordinates of each standard internal node;

taking the standard standby position of the mouthpiece 32 as the origin of coordinates as an example, the three-dimensional coordinates of each identified standard internal node, that is, the deviation amount of the standard internal node from the XYZ three axes on the three-dimensional coordinate system of the standard standby position, are identified.

S3, collecting an external feature image of the workpiece to be dried, comparing the external feature image with a standard external feature image, and generating a first deviation D3;

the first deviation D3 is the deviation between the current blow-drying operation position of the workpiece 10 to be blow-dried and the standard blow-drying operation position identified from the corresponding standard extrinsic feature image in the three-dimensional coordinate system, and it is understood that the deviation includes three deviation values on the three axes XYZ. Because the image collector 4 and the mouthpiece 32 are in a fixed relative position state, if there is a deviation between the two positions, the external feature images collected by the image collector 4 will be different under the same image parameters (such as magnification, focal position, etc.), or the image parameters adopted by the image collector 4 to obtain the same image will be different. The first deviation D3 can be obtained by the difference described above. For example: the first deviation amount D3 can be obtained by the size ratio of the extrinsic feature image to the standard extrinsic feature image, the deviation value between the contour center point of the extrinsic feature image and the contour center point of the standard extrinsic feature image, the deviation of the imaging parameters in the same image, and setting a reference (for example, marking a scale on the blowing rod 31). It should be understood that the above-mentioned manners are only used for illustrating some feasible deviation amount obtaining manners, and the specific deviation amount obtaining manners do not have a limiting effect on the protection scope of the present application.

S4, comparing the first deviation D3 with a first threshold D1, and if the first deviation D3 is larger than a first threshold D1, correcting the three-dimensional coordinates of the standard blowing movement path and each standard internal node based on the first deviation D3;

because each standard blowing node of the standard blowing moving path is stored in the standard path library in the form of a three-dimensional coordinate, if the current drying operation position of the workpiece 10 to be dried has a larger deviation from the standard drying operation position, each three-dimensional coordinate on the standard blowing moving path needs to be modified correspondingly, so that the blowing nozzle 32 can perform the drying operation on the current workpiece 10 to be dried as required. For example, a forward deviation of a unit length exists between a current drying operation position of the workpiece 10 to be dried and a standard drying operation position in the Z-axis direction, and the three-dimensional coordinates of each standard blowing node on the standard blowing moving path all use the standard standby position of the blowing nozzle 32 as a reference, so that in order to enable the current blowing nozzle 32 to complete the drying operation as required, a Z-axis correction amount of a positive unit length needs to be added to each standard blowing node coordinate on the standard path. Accordingly, each standard internal node is used to correct the position deviation between the current blowing movement path of the blowing nozzle 32 and the standard blowing movement path, and in order to prevent the subsequent misjudgment, the three-dimensional coordinates of each standard internal node also need to be corrected in the same way. This step is performed in the processing center 63, and the data in the standard route library 62 is not corrected.

S5, providing a N and N1, and letting N = 1;

where N1 is the total number of standard interior nodes, which can be determined by the number of sets of standard interior node images within the standard image sub-library.

S6, controlling the blowing nozzle to enter the next standard blowing node and blowing air to the outside;

the control means 6 may enter the corresponding standard blowing node by reading the three-dimensional coordinates of the next standard blowing node and controlling the mouthpiece 32 to move to that three-dimensional coordinate. If the step is executed for the first time, the next standard blowing node in the step is the first standard blowing node on the standard blowing moving path (the standby position of the blowing nozzle 32 is the starting position of the drying operation). After the blowing nozzle 32 enters the standard blowing node, the control device 6 starts the air source 7 and opens the valve 33, and the inner wall surface of the workpiece 10 to be dried is blown through the blowing nozzle 32 so as to dry the residual moisture on the nearby inner wall surface. It should be noted that, if the position of the standard air blowing node has been corrected several times, the three-dimensional coordinates of the standard air blowing node after the last correction are adopted in this step.

S7, judging whether the blowing nozzle enters the Nth standard internal node or not, if so, entering the step S71; if not, go to step S8;

in a simpler method, a plurality of standard blowing nodes on a standard blowing movement path can be selected as standard internal nodes, in which case the control device 6 can judge by reading the three-dimensional coordinates of the current blowing nozzle 32 and the three-dimensional coordinates of the nth standard internal node, or by the serial number of the standard blowing node (for example, the standard internal node selects the standard blowing node with the serial number being a multiple of 5). If the three-dimensional coordinates of the standard internal node are different from those of the standard blowing nodes, the determination may be made by whether the nth standard internal node is located between the current standard blowing node and the next standard blowing node, and in this case, if the determination is yes, the blowing nozzle 32 needs to be moved to the nth standard internal node first, and then the process proceeds to step S71.

S71, acquiring an internal node image of the Nth standard internal node, and obtaining a second deviation D4 by comparing the internal node image with the corresponding standard internal node image;

during actual production and manufacturing, factors such as deflection formed by the workpiece 10 to be dried under the action of gravity, deformation of the hanger 20, expansion with heat and contraction with cold caused by the workpiece 10 to be dried under the action of ambient temperature, and deviation caused in the production process may cause slight position deviation of the ribs, grooves and the like inside the workpiece 10 to be dried, that is, the position deviation of the blowing node of the workpiece 10 to be dried relative to the standard blowing node. In addition, a shift in the actual position of the mouthpiece 32 itself also causes a relative positional shift between the two. And these relative positional offsets may be obtained by comparing the current internal node image with the corresponding standard node image. The method for obtaining the second deviation amount D4 can refer to the method for obtaining the first deviation value D3 in step S3, which is not repeated herein.

S72, if the second deviation D4 is larger than the second threshold D2, performing coordinate correction on all subsequent standard blowing nodes and all standard internal nodes after the Nth on the standard blowing moving path based on the second deviation D4;

if the internal node of the workpiece 10 to be blow-dried has a large position offset relative to the standard internal node, the coordinate of the standard blowing node needs to be corrected so that the blowing nozzle 32 can blow air to the ribs, grooves, and the like in the workpiece 10 to be blow-dried as required. Correspondingly, in order to avoid the misjudgment of the subsequent transmission, the position of all the subsequent standard internal nodes also needs to be corrected. For the conventional correction method, reference may be made to the description of step S3, which is not repeated herein.

S73, if N < N1, increasing N by 1;

s8, judging whether blowing of all standard blowing nodes is finished or not, and if so, ending the program; if not, the process returns to step S6.

The step can be performed by comparing the three-dimensional coordinate of the current blowing nozzle 32 with the three-dimensional coordinate of the last standard blowing node on the standard blowing moving path, or determining whether the number of the passed standard blowing nodes is consistent with the number of all standard blowing nodes on the standard blowing moving path, or checking whether the next standard blowing node exists on the standard blowing moving path.

Through the steps, the control device 6 can correct the blowing moving path in real time according to the drying operation position of the workpiece 10 to be dried and the condition of the drying position, so that the drying operation is accurately performed on the convex ribs, the grooves, the reinforcing ribs and the like on the inner wall surface of the workpiece 10 to be dried, and the residual moisture on the inner wall surface of the workpiece 10 to be dried is removed.

Some long workpieces 10 to be dried are limited by the length of the blow pin 31, and the drying operation of the workpieces 10 to be dried cannot be completed at one time. For such workpieces 10 to be blow-dried, two standard blowing movement paths extending from the head and tail ends toward the middle, respectively, and corresponding standard external feature images and standard internal node images can be established. The control device 6 can control the air blowing gun 3 to respectively perform two times of drying operation on the workpiece 10 to be dried from the head and the tail sides based on the data so as to remove residual moisture on the inner wall surface of the workpiece 10 to be dried.

The foregoing shows and describes the general principles, essential features, and advantages of the application. It will be understood by those skilled in the art that the present application is not limited to the embodiments described above, which are presented solely for purposes of illustrating the principles of the application, and that various changes and modifications may be made without departing from the spirit and scope of the application, which is defined by the appended claims, the specification, and equivalents thereof.

Claims

1. A water blowing system for a coating line, comprising:

the moving device is provided with a track extending along the length direction parallel to the workpiece to be dried and a moving table which can be driven by a driving mechanism to move along the track;

the manipulator is arranged on the mobile station and can move along the track along with the mobile station;

a blow gun in fluid communication with a source of air, the blow gun carried by the manipulator;

the image collector is arranged on the manipulator or the air blow gun and is used for collecting and transmitting image information of a workpiece to be dried; and

the control device is respectively in signal connection with the driving mechanism, the manipulator and the image collector, a standard image library and a standard path library are prestored in the control device, a plurality of standard image sub-libraries which are respectively established according to various styles of workpieces to be dried at standard drying operation positions are stored in the standard image library, each standard image sub-library is composed of a plurality of standard external characteristic images and a plurality of standard internal node images, and a standard blowing moving path which is respectively established according to various styles of workpieces to be dried at standard drying operation positions is stored in the standard path library; the control device is programmed to:

shooting a plurality of external characteristic images of a workpiece to be dried currently by using the image collector, and calculating a first deviation amount between a drying operation position where the workpiece to be dried is located currently and a standard drying operation position based on the shot plurality of external characteristic images and the plurality of standard external characteristic images in the standard image sub-library corresponding to the style of the workpiece to be dried;

when the first deviation amount is larger than a preset first threshold value, a standard blowing moving path corresponding to the workpiece to be blow-dried in the style is corrected based on the first deviation amount, and the driving mechanism and the manipulator are guided by the corrected blowing moving path to control the blowing gun to reach the inside of the workpiece to be blow-dried for blow-drying operation;

in the process of carrying out blow-drying operation on the interior of the workpiece to be blow-dried by the air blow gun, shooting a plurality of internal node images of the workpiece to be blow-dried by using the image collector, and calculating a second deviation value between the current internal node position of the workpiece to be blow-dried and the standard internal node position based on the shot plurality of internal node images and a plurality of standard internal node images in the standard characteristic image sub-library corresponding to the style of the workpiece to be blow-dried; and

and when the second deviation amount is larger than a preset second threshold value, continuously performing secondary correction on the blowing moving path after the correction based on the second deviation amount, and guiding the driving mechanism and the manipulator to control the blowing gun to continuously perform blow-drying operation by using the blowing moving path after the secondary correction.

2. The water blowing system as claimed in claim 1, further comprising: the identity recognizer is arranged on the manipulator or the air blow gun and is used for recognizing the style of the workpiece to be dried; the control device is in signal connection with the identity recognizer; the control device is further programmed to: and determining the standard image sub-library corresponding to the workpiece to be dried in the current style and the corresponding standard blowing moving path by using the identification result of the identity recognizer.

3. The water blowing system as recited in claim 1, wherein the first deviation amount and the second deviation amount each include an X-axis deviation amount, a Y-axis deviation amount and a Z-axis deviation amount in three XYZ-axis directions in a three-dimensional coordinate system.

4. The water blowing system as recited in claim 1, wherein said blowing gun includes an elongated blowing shaft and blowing nozzles disposed at an end of said blowing shaft, said blowing shaft being held by said robot, said image collector being mounted on said blowing shaft and adjacent to said blowing nozzles.

5. The water blowing system as claimed in claim 4, wherein a valve for controlling the flow between the air source and the blowing nozzle is arranged in the blowing rod; when the control device controls the air blowing gun to perform blow-drying operation, the valve is opened.

6. The water blowing system of claim 1, wherein the image collector comprises a high-definition camera.

7. The water blowing system of claim 1, wherein the robot is a six-axis robot.

8. The water blowing system as recited in claim 1, wherein the moving means further comprises: the closed protective cover is arranged on the track.