Offline programming spraying path generation method and device, electronic equipment and storage medium

Abstract

The invention provides an off-line programming spraying path generation method and device, electronic equipment and a storage medium, and is applied to a terminal.The method comprises the steps that a spraying mechanism model, a spraying tool model and a target workpiece model are constructed, and spraying process parameters are obtained, the spraying model comprises a spraying robot model, a connecting column model and a guide rail model extending in the left-right direction; a target spraying mode is selected, the terminal displays a spraying track parameter setting interface corresponding to the target spraying mode, spraying track parameters input by a user in the spraying track parameter setting interface are obtained, and a target spraying track is generated; and based on the target spraying track, a spraying tool model is used for conducting spraying simulation on a target workpiece model. In the embodiment provided by the invention, the spraying robot model, the connecting column model and the guide rail model extending in the left-right direction are constructed, so that the spraying robot model can move left and right along the guide rail model and move up and down along the connecting column model, the thickness of a simulated paint film is more uniform, and the simulated spraying effect is more attractive.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of offline spraying, and more particularly to a method and device for generating an offline programmed spraying path, an electronic device and a storage medium. BACKGROUND

[0002] Spraying technology plays an important role in industrial manufacturing, but its pain points are also very prominent. In terms of the environment and health, paint mist and harmful gases are generated during the spraying process, and if the ventilation system is not perfect, long-term exposure to workers may cause paint poisoning and affect physical health.

[0003] In the prior art, in order to solve the above problems, an offline programming method can be used, but in the prior art, the simulation result of offline programming cannot be close to the actual situation, which results in that the simulation process cannot be close to the actual situation. SUMMARY

[0004] Therefore, the purpose of the present application is to provide an offline programming spraying path generation method, device, electronic device and storage medium.

[0005] In a first aspect, the present application provides an offline programming spraying path generation method applied to a terminal, comprising:

[0006] A spraying mechanism model, a spraying tool model and a target workpiece model are constructed, and spraying process parameters are obtained, the spraying model comprising: a spraying robot model, a connecting column model and a guide rail model extending in the left-right direction;

[0007] A target spraying mode is selected, the terminal displays a spraying trajectory parameter setting interface corresponding to the target spraying mode, obtains spraying trajectory parameters input by a user in the spraying trajectory parameter setting interface, and generates a target spraying trajectory;

[0008] Based on the target spraying trajectory, the target workpiece model is sprayed simulated by using the spraying tool model;

[0009] In the process of spraying simulation of the target workpiece model by using the spraying tool model based on the target spraying trajectory:

[0010] Under the condition that the spraying posture of the spraying tool model and the spraying process parameters remain unchanged, the spraying robot model moves upward or downward along the connecting column model, and the connecting column model moves along the guide rail model, so that the spraying path of the spraying tool model conforms to the target spraying trajectory;

[0011] The connecting column model can move along the guide rail model, the connecting column model is defined with a movable part, the movable part can move up and down along the connecting column model, and the movable part is connected with the spraying robot model.

[0012] In the embodiments provided in the present application, by constructing a spray robot model, a connecting column model and a guide rail model extending along the left and right directions, the spray robot model can move left and right along the guide rail model, and move up and down along the connecting column model. Compared with the prior art, spraying is performed by changing the spraying posture of the spray tool model. In view of the fact that the spraying posture and related spraying parameters of the spray tool model have not changed, the thickness of the paint film is more uniform, the spraying effect is more beautiful, and a reliable basis is provided for subsequent spraying.

[0013] At the same time, users can choose the trajectory generation mode by themselves and simulate the spraying effect on the workpiece under different trajectories, which solves the technical problem in the existing technology that the simulation results of offline programming cannot be close to the actual situation, resulting in the simulation process being unable to be close to the actual situation.

[0014] One possible approach is that the spraying process parameters include: spray gun flow rate, spraying distance, fan pressure, paint curing content, spray gun speed, paint viscosity and at least one of atomization pressure, minimum cross-sectional diameter, maximum cross-sectional diameter, maximum spray height and spray color.

[0015] One possible method is that the target spraying mode is selected, the terminal displays a spraying trajectory parameter setting interface corresponding to the target spraying mode, obtains the spraying trajectory parameters input by the user in the spraying trajectory parameter setting interface, and in the step of generating the target spraying trajectory, if the target spraying mode is conformal spraying, the spraying trajectory parameter setting interface includes: a processing parameter setting item and the path parameter setting item;

[0016] In response to the user clicking on the processing parameter setting item, a processing parameter setting interface is displayed, wherein the processing parameter setting interface includes: a processing surface picking item, a processing boundary picking item, and an orientation parameter setting item, wherein the orientation parameter setting item includes: a processing forward direction setting item, a parallel direction setting item, a starting position setting item, and a point posture coordinate system Z-axis setting item;

[0017] In response to the user clicking on the path parameter setting item, a path parameter setting interface is displayed, wherein the path parameter setting interface displays the trajectory parameter setting item, the start and end parameter setting items, and the entry and exit setting items.

[0018] One possible approach is that, when a target spraying mode is selected, the terminal displays a spraying trajectory parameter setting interface corresponding to the target spraying mode, obtains spraying trajectory parameters input by a user in the spraying trajectory parameter setting interface, and in the step of generating a target spraying trajectory, if the target workpiece model includes a reinforcing rib, the target spraying mode is linear spraying;

[0019] The spraying trajectory parameter setting interface includes: processing boundary picking items, trajectory entry and exit setting items and offset setting items.

[0020] In one possible embodiment, the spraying mechanism model further includes: a positioner model, the target workpiece model is located above the positioner model, and when the positioner model moves, the positioner model moves along with the target workpiece model;

[0021] The spraying area of ​​the target workpiece model is larger than the spraying range of the spraying mechanism model;

[0022] Based on the target spraying trajectory, the process of using the spraying tool model to perform spraying simulation on the target workpiece model also includes:

[0023] The positioner model is moved leftward or rightward to drive the target workpiece model to move leftward or rightward.

[0024] One possible approach is that the distance that the positioner model moves is less than or equal to the effective length of the guide rail model.

[0025] In one possible manner, the method further comprises: after the step of performing spray simulation on the target workpiece model using the spray tool model based on the target spray trajectory, if the simulation does not meet the spraying requirements, modifying the spray path setting parameters;

[0026] If the simulation meets the spraying requirements, the robot control program is exported in response to the export instruction.

[0027] In a second aspect, the present application provides an offline programming spray path generation device, which is applied to a terminal, comprising:

[0028] Import module: used to import the spraying mechanism model, spraying tool model and target workpiece model, and obtain spraying process parameters. The spraying model includes: spraying robot model, connecting column model and guide rail model extending in the left and right directions;

[0029] Selection module: used to select a target spraying mode, the terminal displays a spraying trajectory parameter setting interface corresponding to the target spraying mode, obtains the spraying trajectory parameters input by the user in the spraying trajectory parameter setting interface, and generates a target spraying trajectory;

[0030] Simulation module: used for performing spraying simulation on the target workpiece model using the spraying tool model based on the target spraying trajectory;

[0031] The simulation module is specifically configured to enable the spraying robot model to move upward or downward along the connecting column model, and the connecting column model to move along the guide rail model, so that the spraying path of the spraying tool model conforms to the target spraying trajectory;

[0032] The connecting column model is defined as movable along the guide rail model, and the connecting column model is defined with a movable part, which is defined as movable up and down along the connecting column model and connected with the spraying robot model.

[0033] In a third aspect, the present application provides an electronic device, comprising:

[0034] at least one processor; and

[0035] at least one memory connected with the processor in communication, wherein:

[0036] The memory stores program instructions executable by the processor, and the processor invoking the program instructions can execute the method of the first aspect.

[0037] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions make the computer execute the method of the first aspect.

[0038] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application will be realized and achieved by the structure particularly pointed out in the description, claims and drawings.

[0039] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0041] Figure 1 A method flow chart of an off-line programming spraying path generation method provided by an embodiment of the present application;

[0042] Figure 2 A spraying mechanism model schematic diagram shown by an exemplary embodiment provided by an embodiment of the present application;

[0043] Figure 3 A spraying mechanism trajectory setting interface diagram shown by an exemplary embodiment provided by an embodiment of the present application;

[0044] Figure 4 A schematic diagram of a spraying mechanism model is shown as another exemplary embodiment provided by an embodiment of the present invention;

[0045] Figure 5 A device structure diagram of an off-line programming spray path generation method provided by an embodiment of the present invention;

[0046] Figure 6 This is a structural diagram of an electronic device provided by an embodiment of the present invention.

[0047] 10. Spraying robot model; 20. Guide rail model; 30. Connecting column model; 40. Moving parts; 50. Positioner model. DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0049] The spray coating process plays a vital role in industrial manufacturing, but it also presents significant challenges. Regarding environmental and health concerns, the spray coating process produces paint mist and harmful gases. Without adequate ventilation systems, long-term exposure can lead to paint poisoning and negative health effects for workers.

[0050] In the prior art, in order to solve the above problems, an offline programming method can be used. However, in the prior art, the simulation results of the offline programming cannot be close to the actual situation, which results in the simulation process not being close to the actual situation.

[0051] In order to solve the above problems, the present application provides an offline programming spray path generation method, which is applied to a terminal and specifically includes the following steps:

[0052] S10: Import the spraying mechanism model, the spraying tool model and the target workpiece model, and obtain the spraying process parameters.

[0053] Reference Figure 2 The spraying model includes: a spraying robot model 10, a connecting column model 30 and a guide rail model 20 extending along the left and right directions.

[0054] In the embodiment provided in this application, the connection column model 30 is defined as follows:

[0055] The connecting column model 30 is defined as being movable along the guide rail model 20 . The connecting column model 30 is defined as having a movable part. The movable part is defined as being movable up and down along the connecting column model 30 , and the movable part is connected to the spray robot model 10 .

[0056] Reference Figure 2 In the embodiment provided in the present application, when the connecting column model 30 moves left and right along the guide rail model 20, it drives the spraying robot model 10 to move along the extension direction of the guide rail model 20. In order to realize the up and down movement of the spraying robot model 10, the movable parts are defined in the connecting column model 30, and the connection relationship between the movable parts and the spraying robot model 10 is defined. Therefore, when the movable parts move up and down, the spraying robot model 10 follows the movable parts to move up and down.

[0057] In the embodiment provided in the present application, after the spraying mechanism model, the spraying tool model and the target workpiece model are imported, the geometric parameters of the spraying mechanism model, the spraying tool model and the target workpiece model need to be defined.

[0058] In the embodiments provided in the present application, the target workpiece model corresponds to the workpiece model to be sprayed. In order to construct the target workpiece model, those skilled in the art need to obtain geometric parameters of the target workpiece model.

[0059] S20: Select a target spraying mode, the terminal displays a spraying trajectory parameter setting interface corresponding to the target spraying mode, obtains the spraying trajectory parameters input by the user in the spraying trajectory parameter setting interface, and generates a target spraying trajectory.

[0060] In the embodiments provided in the present application, the target spraying mode corresponds to the spraying mode selected by the user, which can be understood as the spraying mode used in the simulation process described later.

[0061] In the embodiment provided in the present application, two spraying methods can be simulated, one is a conformal spraying method, and the other is a linear spraying method.

[0062] When the user selects a spraying method, the spraying trajectory parameter setting interface corresponding to the spraying method will be displayed. The user can enter the spraying trajectory parameters in this interface to generate the target spraying trajectory.

[0063] In the embodiment provided in the present application, the target spraying trajectory corresponds to the expected spraying trajectory in the simulation process described later.

[0064] S30: Based on the target spraying trajectory, the spraying tool model is used to perform spraying simulation on the target workpiece model.

[0065] Once the spraying trajectory is given, the spraying robot model 10 can be used to simulate the spraying process and observe the simulation results.

[0066] In the process, the spraying posture of the spraying robot model 10 and the spraying process parameters remain unchanged, the spraying robot model 10 moves upward or downward along the connecting column model 30, and the connecting column model 30 moves along the guide rail model 20, so that the spraying path of the spraying tool model conforms to the target spraying trajectory.

[0067] In the embodiments provided in the present application, the spraying robot model can move left and right along the guide rail model and move up and down along the connecting column model by constructing the spraying robot model, the connecting column model and the guide rail model extending in the left-right direction. Compared with the prior art, the spraying is performed by changing the spraying posture of the spraying tool model, and the film thickness is more uniform in view of the fact that the spraying posture of the spraying tool model and the related spraying parameters do not change, so that the spraying effect is more beautiful, and a reliable basis is provided for subsequent spraying.

[0068] Meanwhile, the user can select the trajectory generation mode by himself, can simulate the spraying effect of the workpiece under different trajectories, and solves the technical problem that the simulation result of offline programming in the prior art cannot be close to the actual situation, so that the simulation process cannot be close to the actual situation.

[0069] In the embodiments provided in the present application, the spraying process parameters include at least one of the spraying gun flow, the spraying distance, the fan-shaped pressure, the paint curing content, the spraying gun speed, the paint viscosity, the atomization pressure, the minimum cross-sectional diameter, the maximum cross-sectional diameter, the maximum height of the brush and the brush color.

[0070] Specifically, the user can input the spraying process parameters in the setting interface of the spraying tool model, so it can be known that in the embodiments provided in the present application, the terminal displays the spraying tool model setting item, responds to the user selecting the spraying tool model, displays the spraying trajectory parameter setting interface, and acquires the spraying trajectory parameters input by the user in the spraying trajectory parameter setting interface, so that the terminal can acquire the spraying trajectory parameters.

[0071] In the embodiments provided in the present application, the spraying process parameters include at least one of the spraying gun flow, the spraying distance, the fan-shaped pressure, the paint curing content, the spraying gun speed, the paint viscosity, the atomization pressure, the minimum cross-sectional diameter, the maximum cross-sectional diameter, the maximum height of the brush and the brush color.

[0072] Compared with the prior art, the spraying process parameters can be set in multiple dimensions, and the reliability of the spraying simulation is improved.

[0073] The trajectory setting method in the embodiments provided in the present application is described below:

[0074] Assuming that the spraying method selected by the user is conformal spraying, the terminal will display the spraying trajectory parameter setting interface corresponding to conformal spraying, which includes processing parameter setting items and path parameter setting items.

[0075] Assume that the user clicks on the processing parameter setting item. In response to the user clicking on the processing parameter setting item, the terminal displays the processing parameter setting interface.

[0076] Reference Figure 3 The processing parameter setting interface specifically includes processing surface picking items, processing boundary picking items, and orientation parameter setting items.

[0077] In the embodiment provided in this application, the processing surface picking item is used to determine the spray surface with spraying, the processing boundary picking item determines the spraying boundary, and the orientation parameter setting item is used to define the position and orientation of the spray path (or spray gun coordinate system) relative to the workpiece coordinate system or the world coordinate system.

[0078] In the embodiment provided in the present application, the orientation parameter setting items specifically include a processing forward setting item, a parallel direction setting item, a starting position setting item, and a point attitude coordinate system setting item.

[0079] The machining forward setting items specifically include three options: X-axis forward and reverse, Y-axis forward and reverse, and Z-axis forward and reverse. They are mainly used to define the direction in which the spray gun moves along the X, Y, and Z coordinate axes in the basic coordinate system (usually the workpiece coordinate system or the coordinate system defined by the path).

[0080] The parallel direction setting item is mainly used to define the arrangement direction between adjacent spray strips (rows) on the selected plane, including three options: horizontal, vertical and horizontal angle. In the parallel direction setting item, horizontal usually refers to the direction parallel to the Y axis of the selected coordinate system, and adjacent spray strips are offset along the X direction. Vertical usually refers to the direction parallel to the X axis of the selected coordinate system. Adjacent spray strips are offset along the Y direction. Angle with horizontal: allows users to customize an angle (such as 0° to 180°) so that the direction of adjacent spray strips is neither strictly parallel to X nor parallel to Y, but arranged at a specific angle.

[0081] Here, the starting position setting item is mainly used to define the corner of the spray area boundary box where the starting point of the first spray strip is located.

[0082] The Z-axis of the point-to-point coordinate system is used to define each path point on the path. The Z-axis of the spray gun's tool coordinate system is usually defined as the center axis of the spray gun, which is the main direction of the paint spray.

[0083] Assuming that the user clicks on the path parameter setting item, the terminal displays a path parameter setting interface in response to the user clicking on the path parameter setting item. The path parameter setting interface displays track parameter setting items, start and end parameter setting items, and entry and exit setting items.

[0084] Exemplarily, the trajectory parameter setting items specifically include the tool feeding mode setting items and the line distance setting items. The tool feeding mode can also be called the scanning mode or path filling strategy. It is the core parameter that determines how the spray gun moves between adjacent spray strips. In this application, the user can select the desired tool feeding mode in the tool feeding mode setting item, such as parallel unidirectional, parallel reciprocating, Z-line parallel reciprocating or spiral. The user can select the desired tool feeding mode for simulation.

[0085] The start and end parameter settings are mainly used to define the behavior of the spray gun at the start and end points of a single path. Specifically, the number of starting extensions and the number of ending extensions can be configured.

[0086] The cut-in and cut-out settings are mainly used to configure the spray gun cut-in distance and the spray gun cut-out distance. The configuration of the spray gun cut-in distance is mainly used to define the process of the spray gun moving from a safe position to the starting point of the spray path to ensure that the coating thickness and coverage at the starting point are consistent with the middle section of the path. The configuration of the spray gun cut-out distance is mainly used to define the process of the spray gun exiting from the end point of the spray path to a safe position to avoid paint accumulation or drawing at the end point.

[0087] In some embodiments, if the target workpiece model includes reinforcing ribs, the target spraying method is linear spraying.

[0088] In this scenario, the spray trajectory parameter setting interface includes: processing boundary picking items, trajectory entry and exit setting items, and offset setting items.

[0089] In the above manner, after selecting a spraying method, the user can input relevant parameters of the trajectory in the corresponding spraying trajectory parameter setting interface, thereby generating a spraying trajectory.

[0090] Through the above methods, users can easily modify, adjust and optimize the program, and find the best robot motion path and process parameters by simulating different solutions to improve work quality and efficiency.

[0091] Reference Figure 4 In the embodiment provided in the present application, the length of the guide rail model 20 is limited. Based on this, the left and right movement range of the connecting column model 30 has a limit range, that is, the left and right movement range of the spraying mechanism model is limited, which leads to the spraying range of the spraying robot model 10 being limited when the spraying posture and spraying process parameters of the spraying robot model 10 remain unchanged.

[0092] If the spraying area of ​​the target workpiece model is larger than the spraying range of the spraying mechanism model, the movement of the guide rail alone cannot meet the spraying requirements. Based on this, in this scenario, the spraying mechanism model also includes a positioner model 50, and the target workpiece model is located above the positioner model 50. When the positioner model 50 moves, the positioner model 50 follows the target workpiece model.

[0093] In this scenario, in addition to the guide rail model 20 driving the connecting column model 30 to move, the positioner model 50 moves leftward or rightward to drive the target workpiece model to move leftward or rightward.

[0094] Specifically, in the embodiment provided in the present application, the distance that the positioner model 50 moves is less than or equal to the effective length of the guide rail model 20 .

[0095] In the present application, the effective length of the guide rail model 20 corresponds to the length of the connecting column model 30 moving on the guide rail.

[0096] A specific example is provided below:

[0097] Assume that the area of ​​a certain component that needs to be sprayed is a 30m*1m rectangle, and define the effective length of the guide rail model 20 as 10m, that is, the operating range of the connecting column model 30 on the guide rail model 20 is 10m.

[0098] First, the first spraying is carried out. Since the spraying cannot be completed in the first spraying, the conformal spraying method is selected as an example. Area A is picked as the target for the first spraying. The area of ​​area A is 10m*1m. At this time, the positioner drives the target workpiece model to move 10m to complete the spraying of area B.

[0099] If the distance moved by the positioner model is greater than the effective length of the guide rail model 20, some areas still cannot be sprayed.

[0100] Therefore, the distance moved by the positioner model is less than or equal to the effective length of the guide rail model 20, which can ensure that the workpiece is completely sprayed when the spraying area of ​​the workpiece model is larger than the spraying range of the spraying mechanism model.

[0101] In the embodiments provided in the present application, the generated spray path can be simulated, coverage simulated, color card set, film thickness simulated, and film thickness detected to check whether there are interference collisions, unreachable, over-limit, robot singular points or unknown robot positions in the generated path under theoretical conditions.

[0102] Specifically, the process requirements include: smooth appearance, no visible damage to the paint surface such as orange peel, uniform paint thickness, and a paint film thickness of 120-180 microns.

[0103] On the basis of the above-mentioned embodiment, if the simulation result does not meet the spraying requirements, the spraying path setting parameters are modified.

[0104] If the simulation meets the spraying requirements, the robot control program is exported in response to the export instruction, and the spraying robot can now spray according to the control program.

[0105] Reference Figure 5 In the embodiment provided in this application, an offline programming spray path generation device is applied to a terminal, which includes:

[0106] Import module: used to import the spraying mechanism model, spraying tool model and target workpiece model, and obtain the spraying process parameters. The spraying model includes: spraying robot model, connecting column model and guide rail model extending in the left and right directions;

[0107] Selection module: used to select the target spraying mode. The terminal displays the spraying trajectory parameter setting interface corresponding to the target spraying mode, obtains the spraying trajectory parameters entered by the user in the spraying trajectory parameter setting interface, and generates the target spraying trajectory;

[0108] Simulation module: used to simulate the spraying of the target workpiece model using the spraying tool model based on the target spraying trajectory;

[0109] Simulation module: specifically used to make the spray robot model move up or down along the connecting column model, and the connecting column model move along the guide rail model, so that the spraying path of the spray tool model conforms to the target spraying trajectory;

[0110] Among them, the connecting column model is defined as: movable along the guide rail model, the connecting column model is defined as having a movable part, the movable part is defined as: movable up and down along the connecting column model, and the movable part is connected to the spray robot model.

[0111] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those in the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0112] The computer program product of the present application can be a computer program product comprising a computer readable storage medium having stored, thereon, computer readable program codes configured to implement the methods of the present application. The program codes can include computer program codes for implementing the methods of the present application.

[0113] Figure 6 A block diagram of an example electronic device suitable for implementing an embodiment of the present application is shown. Figure 6 The electronic device shown is merely one example. It should be appreciated that the functions and scope of the present application embodiments are not limited to the electronic device shown.

[0114] As shown in Figure 6 The electronic device is in the form of a general purpose computing device. Components of the electronic device can include, but are not limited to, one or more processors 410, memory 430, and a bus 440 that connects the various system components, including the memory 430 and the processing unit 410.

[0115] The bus 440 represents one or more of any of several bus structures, including a memory bus or memory controller, a peripheral bus, a graphics bus (e.g., AGP, PCI-Express bus), and a local bus using any of a variety of bus architectures (e.g., 12C, Industrial Standard Architecture (ISA), Micro Channel Architecture (MCA), Peripheral Component Interconnect (PCI), Peripheral Component Interconnect-Extended (PCI-X), RapidIO, Serial ATA (SATA), Advanced Technology Attachment (ATA), Firewire (IEEE 1394), etc.). Examples of such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0116] Electronic devices typically include a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0117] Memory 430 may include computer-readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. Memory 430 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0118] A program / utility having a set (at least one) of program modules may be stored in memory 430. Such program modules include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules generally perform the functions and / or methods described in the embodiments of the present invention.

[0119] The processor 410 executes various functional applications and data processing by running the programs stored in the memory 430, such as implementing the embodiments of the present invention. Figure 1 The method shown.

[0120] The embodiment of the present invention provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions enable a computer to execute the embodiment of the present invention. Figure 1 The method shown.

[0121] The computer readable storage medium can be implemented in any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0122] A computer readable signal medium can include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium can be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0123] Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0124] The computer program code for performing the operations of the embodiments of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect via the Internet).

[0125] The foregoing description describes specific embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0126] In the description of the embodiments of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In the embodiments of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in the embodiments of the present invention and the features of different embodiments or examples, unless they are mutually inconsistent.

[0127] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the embodiments of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0128] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred implementation of the embodiments of the invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the invention pertain.

[0129] The word "if," as used herein, may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0130] It should be noted that the terminals involved in the embodiments of the present invention may include but are not limited to personal computers (Personal Computer; hereinafter referred to as: PC), personal digital assistants (Personal Digital Assistant; hereinafter referred to as: PDA), wireless handheld devices, tablet computers (Tablet Computer), mobile phones, MP3 players, MP4 players, etc.

[0131] In the several embodiments provided in the embodiments of the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0132] In addition, the functional units in various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional units.

[0133] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform some steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, and other media that can store program code.

[0134] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An offline programming spray path generation method, applied to a terminal, characterized in that: include: Constructing a spraying mechanism model, a spraying tool model, and a target workpiece model, and obtaining spraying process parameters, wherein the spraying model includes: a spraying robot model, a connecting column model, and a guide rail model extending in the left and right directions; Select a target spraying mode, the terminal displays a spraying trajectory parameter setting interface corresponding to the target spraying mode, obtains the spraying trajectory parameters input by the user in the spraying trajectory parameter setting interface, and generates a target spraying trajectory; Based on the target spraying trajectory, using the spraying tool model to perform spraying simulation on the target workpiece model; Based on the target spraying trajectory, during the spraying simulation of the target workpiece model using the spraying tool model: When the spraying posture and spraying process parameters of the spraying tool model remain unchanged, the spraying robot model moves upward or downward along the connecting column model, and the connecting column model moves along the guide rail model, so that the spraying path of the spraying tool model conforms to the target spraying trajectory; Among them, the connecting column model is defined as being movable along the guide rail model, the connecting column model is defined as having a movable part, the movable part is defined as being movable up and down along the connecting column model, and the movable part is connected to the spray robot model.

2. The method according to claim 1, characterized in that The spraying process parameters include: spray gun flow rate, spraying distance, fan pressure, paint curing content, spray gun speed, paint viscosity and at least one of atomization pressure, minimum cross-sectional diameter, maximum cross-sectional diameter, maximum spray height and spray color.

3. The method according to claim 1, characterized in that The target spraying mode is selected, the terminal displays a spraying trajectory parameter setting interface corresponding to the target spraying mode, obtains the spraying trajectory parameters input by the user in the spraying trajectory parameter setting interface, and in the step of generating the target spraying trajectory, if the target spraying mode is conformal spraying, the spraying trajectory parameter setting interface includes: a processing parameter setting item and the path parameter setting item; In response to the user clicking on the processing parameter setting item, a processing parameter setting interface is displayed, wherein the processing parameter setting interface includes: a processing surface picking item, a processing boundary picking item, and an orientation parameter setting item, wherein the orientation parameter setting item includes: a processing forward direction setting item, a parallel direction setting item, a starting position setting item, and a point posture coordinate system Z-axis setting item; In response to the user clicking on the path parameter setting item, a path parameter setting interface is displayed, wherein the path parameter setting interface displays the trajectory parameter setting item, the start and end parameter setting items, and the entry and exit setting items.

4. The method according to claim 1, wherein The target spraying mode is selected, the terminal displays a spraying trajectory parameter setting interface corresponding to the target spraying mode, obtains the spraying trajectory parameters input by the user in the spraying trajectory parameter setting interface, and in the step of generating the target spraying trajectory, if the target workpiece model includes a reinforcing rib, the target spraying mode is linear spraying; The spraying trajectory parameter setting interface includes: processing boundary picking items, trajectory entry and exit setting items and offset setting items.

5. The method according to any one of claims 1 to 4, characterized in that The spraying mechanism model further includes: a positioner model, the target workpiece model is located above the positioner model, and when the positioner model moves, the positioner model moves along with the target workpiece model; The spraying area of ​​the target workpiece model is larger than the spraying range of the spraying mechanism model; Based on the target spraying trajectory, the process of using the spraying tool model to perform spraying simulation on the target workpiece model also includes: The positioner model is moved leftward or rightward to drive the target workpiece model to move leftward or rightward.

6. The method according to claim 5, characterized in that The distance that the positioner model moves is less than or equal to the effective length of the guide rail model.

7. The method according to claim 1, characterized in that The method further comprises: after the step of performing spray simulation on the target workpiece model using the spray tool model based on the target spray trajectory, if the simulation does not meet the spray requirements, modifying the spray path setting parameters; If the simulation meets the spraying requirements, the robot control program is exported in response to the export instruction.

8. An off-line programming spray path generation device, applied to a terminal, characterized in that: include: Import module: used to import the spraying mechanism model, spraying tool model and target workpiece model, and obtain spraying process parameters. The spraying model includes: spraying robot model, connecting column model and guide rail model extending in the left and right directions; Selection module: used to select a target spraying mode, the terminal displays a spraying trajectory parameter setting interface corresponding to the target spraying mode, obtains the spraying trajectory parameters input by the user in the spraying trajectory parameter setting interface, and generates a target spraying trajectory; Simulation module: used for performing spraying simulation on the target workpiece model using the spraying tool model based on the target spraying trajectory; The simulation module is specifically configured to enable the spraying robot model to move upward or downward along the connecting column model, and the connecting column model to move along the guide rail model, so that the spraying path of the spraying tool model conforms to the target spraying trajectory; Among them, the connecting column model is defined as being movable along the guide rail model, the connecting column model is defined as having a movable part, the movable part is defined as being movable up and down along the connecting column model, and the movable part is connected to the spray robot model.

9. An electronic device, characterized in that: include: at least one processor; as well as at least one memory in communication with the processor, wherein: The memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the method according to any one of claims 1 to 7.

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