Workpiece spraying method, device, equipment and storage medium

Abstract

The present invention relates to the technical field of automobile manufacturing, and particularly relates to a workpiece spraying method, device, equipment and storage medium. By determining a spraying script corresponding to a workpiece to be sprayed, the present invention generates a waiting chain value instruction and an I / O signal through the spraying script for subsequent spraying simulation, and then controls a simulation robot to perform spraying simulation through the waiting chain value instruction and the I / O signal to determine the spraying effect of a new color, and further generates a spraying guidance file to provide guidance for actual spraying, reduce the cost of the first spraying of a new color, and not affect the spraying effect, thus avoiding the technical problem of the high cost of trial spraying of a new color in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile manufacturing, and particularly to a workpiece spraying method, device, equipment and storage medium. Background Art

[0002] In the automobile production chain, each time a new vehicle color is sprayed, a trial spray needs to be carried out first to review the spraying effect and eliminate unsuitable colors. Currently, in the industry, the trial spray of the first new color workpiece is mainly carried out through a centralized paint transfer and adjustment system. The advantage is that the film thickness can be accurately controlled and the color effect of the new color can be accurately presented. The disadvantage is that several hundred kilograms of paint need to be consumed; or the trial spray of the first new color workpiece is carried out by manual spraying through a small system at the side of the line. The advantage is that the paint consumption is small, and the disadvantage is that manual spraying has high skill requirements and it is very easy to appear paint film defects such as sagging and pinholes; at the same time, the accuracy of manual spraying film thickness control is poor, the labor cost is high, and the effect of the new color may not be accurately presented, that is, the trial spray cost of the new color in the traditional technology is relatively high.

[0003] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of the present invention is to provide a workpiece spraying method, device, equipment and storage medium, aiming to solve the technical problem of relatively high trial spray cost of new colors in the prior art.

[0005] To achieve the above purpose, the present invention provides a workpiece spraying method, and the method includes the following steps:

[0006] Determine the spraying script corresponding to the workpiece to be sprayed;

[0007] Generate a waiting chain value instruction and an I / O signal according to the spraying script, and control a simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal;

[0008] Generate a spraying guidance document according to the spraying simulation result;

[0009] Control a spraying robot to perform paint spraying according to the spraying guidance document.

[0010] Optionally, the sprayed workpiece includes at least one sub-workpiece, and each sub-workpiece corresponds to a spraying script;

[0011] The generating a waiting chain value instruction and an I / O signal according to the spraying script, and controlling a simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal includes:

[0012] Determine the regional center positions of the sub-workpieces, and obtain the coordinate information of the regional center positions;

[0013] Sort each spraying script based on the coordinate information;

[0014] Generate a main program file according to the sorted spraying scripts, and the main program file includes: a waiting chain value instruction and an I / O signal;

[0015] Control the simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal.

[0016] Optionally, the controlling the simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal includes:

[0017] When the simulation robot receives the I / O signal, obtain the current arrival chain value corresponding to the spraying conveyor chain;

[0018] Detect whether the current arrival chain value is equal to the waiting chain value corresponding to the waiting chain value instruction;

[0019] If they are equal, perform spraying simulation on each sub-workpiece according to the spraying script corresponding to the waiting chain value instruction according to a preset spraying strategy.

[0020] Optionally, after detecting whether the current arrival chain value is equal to the waiting chain value corresponding to the waiting chain value instruction, it further includes:

[0021] If they are equal, generate a reset signal;

[0022] Control the running state of the spraying conveyor chain according to the reset signal to control the change of the current arrival chain value.

[0023] Optionally, before controlling the simulation robot to perform spraying simulation according to the main program file, it further includes:

[0024] Determine the waiting point instruction in the main program file;

[0025] Annotate the waiting point instruction and update the main program file;

[0026] Correspondingly, the controlling the simulation robot to perform spraying simulation according to the main program file includes:

[0027] Perform format switching according to the annotated main program file;

[0028] After the mode switching is completed, control the simulation robot to perform spraying simulation according to the annotated main program file.

[0029] Optionally, the determining the spraying script corresponding to the workpiece to be sprayed includes:

[0030] Obtain at least one sub-workpiece information of the workpiece to be sprayed;

[0031] Query whether there is a spraying script corresponding to the sub-workpiece information;

[0032] If there is, call the spraying script.

[0033] Optionally, after controlling the simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal, it further includes:

[0034] Judge whether the spraying simulation result meets the preset spraying conditions;

[0035] If not, adjust the attitude information of the simulation robot and the waiting chain value corresponding to the waiting chain value instruction according to the spraying simulation result, and return to the step of performing spraying simulation according to the spraying script.

[0036] In addition, to achieve the above object, the present invention also proposes a workpiece spraying device, and the workpiece spraying device includes:

[0037] A determination module, configured to determine a spraying script corresponding to a workpiece to be sprayed;

[0038] A simulation module, configured to generate a waiting chain value instruction and an I / O signal according to the spraying script, and control a simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal;

[0039] A spraying module, configured to generate a spraying guidance file according to the spraying simulation result;

[0040] The spraying module is further configured to control a spraying robot to perform paint spraying according to the spraying guidance file.

[0041] In addition, to achieve the above object, the present invention also proposes a workpiece spraying device, and the workpiece spraying device includes: a memory, a processor, and a workpiece spraying program stored on the memory and executable on the processor, and the workpiece spraying program is configured to implement the steps of the workpiece spraying method as described above.

[0042] In addition, to achieve the above object, the present invention also proposes a storage medium, and a workpiece spraying program is stored on the storage medium, and when the workpiece spraying program is executed by a processor, it implements the steps of the workpiece spraying method as described above.

[0043] The present invention discloses a workpiece spraying method, which includes: determining a spraying script corresponding to the workpiece to be sprayed; generating a waiting chain value instruction and an I / O signal according to the spraying script, and controlling a simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal; generating a spraying guidance document according to the spraying simulation result; and controlling a spraying robot to perform paint spraying according to the spraying guidance document. Compared with the prior art, by determining the spraying script corresponding to the workpiece to be sprayed, the present invention generates a waiting chain value instruction and an I / O signal through the spraying script to facilitate subsequent spraying simulation, then controls the simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal to determine the spraying effect of the new color, and further generates a spraying guidance document to provide guidance for actual spraying, reducing the cost of the first spraying of the new color, not affecting the spraying effect, and avoiding the technical problem of high trial spraying cost of the new color in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a schematic structural diagram of a workpiece spraying device in the hardware operating environment related to the solution of the embodiment of the present invention;

[0045] Figure 2 is a schematic flowchart of the first embodiment of the workpiece spraying method of the present invention;

[0046] Figure 3 is a schematic structural diagram of a workpiece to be sprayed in an embodiment of the workpiece spraying method of the present invention;

[0047] Figure 4 is a schematic spraying diagram of the engine cover area in an embodiment of the workpiece spraying method of the present invention;

[0048] Figure 5 is a schematic flowchart of the second embodiment of the workpiece spraying method of the present invention;

[0049] Figure 6 is a schematic flowchart of the third embodiment of the workpiece spraying method of the present invention;

[0050] Figure 7 is a schematic block diagram of the first embodiment of the workpiece spraying device of the present invention.

[0051] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0053] Refer to Figure 1 , Figure 1 is a schematic structural diagram of a workpiece spraying device in the hardware operating environment related to the solution of the embodiment of the present invention.

[0054] As shown Figure 1 in the figure, the workpiece spraying device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art can understand that Figure 1 the structure shown in does not constitute a limitation on the workpiece spraying device, and it may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0056] As shown Figure 1 in the figure, the memory 1005, as a storage medium, may include an operating system, a network communication module, a user interface module, and a workpiece spraying program.

[0057] In Figure 1 the workpiece spraying device shown in the figure, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the workpiece spraying device of the present invention may be arranged in the workpiece spraying device. The workpiece spraying device calls the workpiece spraying program stored in the memory 1005 through the processor 1001 and executes the workpiece spraying method provided by the embodiments of the present invention.

[0058] The embodiments of the present invention provide a workpiece spraying method. Referring to Figure 2 , Figure 2 it is a schematic flowchart of the first embodiment of a workpiece spraying method of the present invention.

[0059] In this embodiment, the workpiece spraying method includes the following steps:

[0060] Step S10: Determine a spraying script corresponding to the workpiece to be sprayed.

[0061] It should be noted that the execution subject of the method in this embodiment can be a device with data processing, network communication, and data collection functions, such as a control computer or a computer, etc., or other devices that can achieve the same or similar functions. This embodiment does not make specific limitations. In this embodiment and the following embodiments, a control computer will be used as an example for illustration.

[0062] It should be understood that in traditional technology, when painting vehicles, generally, each vehicle is sprayed through an industrial production chain. When a new color needs to be test-sprayed, due to the overly long paint delivery pipeline of the industrial production chain, a large amount of residue will remain in the paint delivery pipeline after spraying, and it needs to be cleaned again, resulting in a high cost. Or, spraying is carried out manually, which requires a large amount of labor cost, and the spraying effect cannot be guaranteed, and the efficiency is low.

[0063] To solve the above problems, in this embodiment, the paint is first transported to the robot through a small paint delivery system at the line side. One small paint delivery system is connected to two robots, and an expected input of 16 kg of paint can meet the spraying requirements. For example, by controlling one or two robots in the edge area of the traditional production line for spraying, the spraying effect can meet the needs of users.

[0064] It is worth noting that the workpiece to be sprayed mainly targets the vehicle frame, including various sub-workpieces: each car door, engine hood, tailgate, roof, etc. This embodiment does not make specific limitations, and specific references can be made to Figure 3 。

[0065] In addition, the spraying script is a program used to control the robot for spraying.

[0066] Further, the determining the spraying script corresponding to the workpiece to be sprayed includes:

[0067] Obtaining at least one sub-workpiece information of the workpiece to be sprayed;

[0068] Querying whether there is a spraying script corresponding to the sub-workpiece information;

[0069] If it exists, then call the spraying script.

[0070] It should be understood that if there is a spraying program for the workpiece to be sprayed, all the routine programs for mass production spraying of the robot for this workpiece are found; if there is no spraying program, a relevant spraying program is made using simulation software.

[0071] Step S20: Generate a waiting chain value instruction and an I / O signal according to the spraying script, and control the simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal.

[0072] It is understandable that the waiting chain value instruction is used to determine the position of the workpiece to be sprayed on the conveying chain. If the spraying condition is met, the robot is controlled to perform a simulation spraying test, and the I / O signal is used to supply power to the robot.

[0073] In order to obtain the waiting chain value instruction and the I / O signal, in this embodiment, after determining the spraying scripts corresponding to the sub-workpieces of the workpiece to be sprayed, all the spraying scripts can be sorted according to the abscissa position in the preset workpiece coordinate system of the sub-workpieces, and the sorted spraying scripts are copied to the main control module for unified control, so that when the chain values of the subsequent sub-workpieces meet certain conditions, accurate workpiece spraying can be carried out.

[0074] In a specific implementation, before the formal spraying, spraying simulation can be carried out first, so that during the actual spraying, the spraying effect will not be affected due to the robot posture or the workpiece chain value.

[0075] Step S30: Generate a spraying guidance file according to the spraying simulation result.

[0076] It should be noted that the spraying guidance file includes information such as the spraying scripts of the workpiece to be sprayed, the debugged waiting chain value instruction and I / O signal, and the robot posture, and is used to be imported into the spraying production line controller to control the spraying robot to perform actual spraying.

[0077] Step S40: Control the spraying robot to perform paint spraying according to the spraying guidance file.

[0078] This embodiment discloses a workpiece spraying method, and the workpiece spraying method includes: determining the spraying scripts corresponding to the workpiece to be sprayed; generating a waiting chain value instruction and an I / O signal according to the spraying scripts, and controlling a simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal; generating a spraying guidance file according to the spraying simulation result; controlling the spraying robot to perform paint spraying according to the spraying guidance file. In this embodiment, by determining the spraying scripts corresponding to the workpiece to be sprayed, a waiting chain value instruction and an I / O signal are generated through the spraying scripts to facilitate subsequent spraying simulation, and then the simulation robot is controlled to perform spraying simulation according to the waiting chain value instruction and the I / O signal to determine the spraying effect of the new color, and further generate a spraying guidance file to provide guidance for actual spraying, reduce the cost of the first spraying, and do not affect the spraying effect, avoiding the technical problem of the high cost of trial spraying of new colors in the prior art.

[0079] Reference Figure 5 , Figure 5 is a schematic flowchart of the second embodiment of a workpiece spraying method of the present invention.

[0080] Based on the above first embodiment, in this embodiment, step S20 includes:

[0081] Step S201: Determine the regional center positions of each sub-workpiece, and obtain the coordinate information of the regional center positions.

[0082] It should be noted that in this embodiment, since the robot is symmetrically arranged left and right, the workpiece to be sprayed can be symmetrically split first. Each side of the robot corresponds to one side of the workpiece to be sprayed. The corresponding regional center position can be the position center after splitting. Refer to Figure 4 , Figure 4 is one side area after splitting of the vehicle engine hood. Point A in the figure is the regional center position.

[0083] It can be understood that obtaining the coordinate information of the regional center position means the coordinate information collected under the preset workpiece coordinate system.

[0084] Step S202: Sort each spraying script based on the coordinate information.

[0085] In a specific implementation, taking single-side spraying as an example, summarize the left-side spraying programs and sort them according to the values of the regional center points of the sprayed workpieces in the X-axis direction of the workpiece coordinate system. The values of the regional center points of the sprayed workpieces in the X-axis direction of the workpiece coordinate system are sorted as proc1, proc2...procN. This embodiment does not make specific limitations on this.

[0086] Step S203: Generate a main program file according to the sorted spraying script. The main program file includes: a waiting chain value instruction and an I / O signal.

[0087] It can be understood that the main program file is a file generated by copying the spraying scripts corresponding to each sub-workpiece in the workpiece to be sprayed to the main program module to control the robot to spray the workpiece. The main program file is different from the control program in the production chain and is only used for the first color trial spray.

[0088] Furthermore, since there are generally waiting point instructions in the spraying script to control the conveyor chain to stop at some fixed positions to facilitate the robot to spray the workpiece. In this embodiment, since it is not a workpiece with a large production quantity, after generating the main program file according to the sorted spraying script in this embodiment, it further includes:

[0089] Determine the waiting point instructions in the main program file;

[0090] Annotate the waiting point instructions and update the main program file;

[0091] Correspondingly, controlling the simulation robot to perform spraying simulation according to the main program file includes:

[0092] Perform format switching according to the annotated main program file;

[0093] After the mode switching is completed, control the simulation robot to perform spraying simulation according to the annotated main program file.

[0094] In specific implementation, transfer all the routine programs proc1, proc2... procN for workpiece spraying to a newly created main program module. To avoid naming conflicts of robot target points, the program format can be converted from the robtargets mode to the * mode using a robot program editor, then copy the program content to the new main program module and save the main program file. Finally, comment out all the wait point instructions in the new main program module, so as to completely control the movement of the robot using I / O signals and wait chain value instructions.

[0095] Since a sprayed workpiece includes multiple sub-workpiece information, and in order to perform spraying on each sub-workpiece, generally multiple coordinates are set on each sub-workpiece. When running the programs corresponding to each sub-workpiece and reading the workpiece coordinates for spraying, there may be cases of reading errors. After performing format switching on the annotated main program file, when performing spraying, only the workpiece coordinates corresponding to the current chain value will be read, preventing the occurrence of spraying failures.

[0096] Step S204: Control the simulation robot to perform spraying simulation according to the wait chain value instruction and the I / O signal.

[0097] It should be understood that the wait chain value instruction is used to judge the position of the workpiece to be sprayed on the conveying chain. If the spraying condition is satisfied, control the robot to perform simulation spraying test, and the I / O signal is used to supply power to the robot.

[0098] Further, the controlling the simulation robot to perform spraying simulation according to the wait chain value instruction and the I / O signal includes:

[0099] When the simulation robot receives the I / O signal, obtain the current arrival chain value corresponding to the spraying conveying chain;

[0100] Detect whether the current arrival chain value is equal to the wait chain value corresponding to the wait chain value instruction;

[0101] If they are equal, perform spraying simulation on each sub-workpiece according to the spraying script corresponding to the wait chain value instruction according to a preset spraying strategy.

[0102] In a specific implementation, taking the routine programs of workpiece spraying, namely L_HD_SX5G, L_HDtoFF_SX5G, L_FF_SX5G, L_FFtoFWF_SX5G, L_FWF_SX5G, L_FWFtoRF1_SX5G, L_RF1_SX5G, L_RF1toFD_SX5G, L_FD_SX5G, L_FDtoRF2_SX5G, L_RF2toBD_SX5G, L_BD_SX5G, L_BDtoBF_SX5G, L_BF_SX5G, L_BFtoCP_SX5G, L_CP_SX5G, L_CPtoTKV_SX5G, L_TKV_SX5G, L_TKVtoHome_SX5G as examples, the movement rhythm of the robot is controlled by I / O signals and wait chain value instructions; first, the wait chain value instruction is executed until the robot chain value is equal to 2400 mm, then a ConveyorHoldReq signal for controlling the stop of the chain is output to stop the conveyor chain, and then the L_HD_SX5G program is executed. After the execution of L_HD_SX5G is completed, the ConveyorHoldReq signal for controlling the stop of the chain is reset to start the conveyor chain; then the wait chain value instruction is executed again until the robot chain value is equal to 3000 mm, then a ConveyorHoldReq signal for controlling the stop of the chain is output to stop the conveyor chain, and then the L_HDtoFF_SX5G program is executed. After the execution of the L_HDtoFF_SX5G program is completed, the ConveyorHoldReq signal for controlling the stop of the chain is reset to start the conveyor chain; then the wait chain value instruction is executed again until the robot chain value is equal to 3200 mm, then a ConveyorHoldReq signal for controlling the stop of the chain is output to stop the conveyor chain, and then the L_FF_SX5G program is executed. After the execution of the L_FF_SX5G program is completed, the ConveyorHoldReq signal for controlling the stop of the chain is reset to start the conveyor chain; and so on in a loop until the robot returns to the home position after the execution of L_TKVtoHome_SX5G.

[0103] Among them, since the central point positions of the sub-workpiece areas on the vehicle may be the same, the corresponding wait chain values can be the same.

[0104] Further, after detecting whether the currently reached chain value is equal to the wait chain value corresponding to the wait chain value instruction, it further includes:

[0105] If they are equal, a reset signal is generated;

[0106] Controlling the running state of the spraying conveyor chain according to the reset signal to control the change of the currently reached chain value.

[0107] It can be understood that when the current arrival chain value is equal to the waiting chain value, it indicates that the workpiece to be sprayed has reached the set spraying position. At this time, spraying the color of the workpiece can ensure the best spraying effect.

[0108] Among them, the reset signal is used to control the conveyor chain to stop or start running. For example, when the robot chain value is equal to the chain value corresponding to a certain workpiece, then a do signal for controlling the chain stop is output to make the conveyor chain stop, and then the spraying program corresponding to the workpiece is executed. After the spraying program is executed, the do signal for controlling the chain stop is reset through the reset signal to start the conveyor chain; then the waiting chain value instruction is executed until all workpieces are sprayed.

[0109] In this embodiment, by generating the waiting chain value instruction and I / O signal corresponding to the spraying script for each sub-workpiece of the workpiece to be sprayed, the simulation robot is controlled to perform simulation testing, so as to realize the simulation of the first spraying, and it can also provide a reference for subsequent parameter adjustment.

[0110] Reference Figure 6 , Figure 6 is a schematic flowchart of the third embodiment of a workpiece spraying method of the present invention.

[0111] Based on the above second embodiment, in this embodiment, after the step S20, the following is further included:

[0112] Step S30`: Determine whether the spraying simulation result meets the preset spraying conditions.

[0113] It should be noted that the preset spraying conditions can be conditions set by the user for detecting the spraying effect, such as: average film thickness, whether there is sagging, pinholes, display effect, and visual effect, etc. This embodiment does not make specific limitations on this.

[0114] Step S40`: If not, adjust the attitude information of the simulation robot and the waiting chain value corresponding to the waiting chain value instruction according to the spraying simulation result, and return to the step of performing spraying simulation according to the spraying script.

[0115] In specific implementation, after adjusting the attitude information of the simulation robot and the waiting chain value corresponding to the waiting chain value instruction, use the robot program editor to make relevant robot workpiece codes and index files of the main program module, index files of color and robot value, and spraying brush table files, import them into the robot and perform a RAPID restart to make the files take effect, so that subsequent new files can be successfully simulated and run until the preset spraying conditions are met, and then return to the step of performing spraying simulation according to the spraying script.

[0116] In this embodiment, when the spraying simulation result does not meet the preset spraying conditions, the attitude information of the simulation robot and the waiting chain value corresponding to the waiting chain value instruction are adjusted to achieve re-simulation until the best spraying display effect is obtained, which is convenient for subsequent trial spraying of new colors and greatly reduces the cost of new color spraying.

[0117] In addition, an embodiment of the present invention further provides a storage medium, on which a workpiece spraying program is stored. When the workpiece spraying program is executed by a processor, the steps of the workpiece spraying method described above are implemented.

[0118] Since this storage medium adopts all the technical solutions of the above-mentioned all embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be elaborated here one by one.

[0119] Refer to Figure 7 , Figure 7 which is the structural block diagram of the first embodiment of the workpiece spraying device of the present invention.

[0120] As Figure 7 shown, the workpiece spraying device proposed by the embodiment of the present invention includes:

[0121] A determination module 10, configured to determine a spraying script corresponding to the workpiece to be sprayed.

[0122] It should be understood that in the traditional technology, when painting a vehicle, generally, each vehicle is sprayed through an industrial production chain. When trial spraying of a new color is required, due to the too long paint delivery pipeline of the industrial production chain, a large amount of residue will remain in the paint delivery pipeline after spraying, and it needs to be cleaned again, resulting in a high cost. Or, spraying is carried out manually, which requires a large amount of labor cost and cannot guarantee the spraying effect, and the efficiency is low.

[0123] To solve the above problems, in this embodiment, first, a small paint delivery system on the side of the line is used to deliver paint to the robot. One small paint delivery system is connected to two robots, and it is estimated that an input of 16 kg of paint can meet the spraying requirements. For example, by controlling one or two robots in the edge area of the traditional production line for spraying, the spraying effect can meet the needs of users.

[0124] It is worth noting that the workpiece to be sprayed mainly targets the vehicle frame and includes various sub-workpieces: each car door, engine hood, tailgate, roof, etc. This embodiment does not make specific limitations on this, and specific references can be made to Figure 3 .

[0125] In addition, the spraying script is a program for controlling the robot to perform spraying.

[0126] Further, the determining the spraying script corresponding to the workpiece to be sprayed includes:

[0127] Obtain at least one sub-workpiece information of the workpiece to be sprayed;

[0128] Query whether there is a spraying script corresponding to the sub-workpiece information;

[0129] If it exists, call the spraying script.

[0130] It should be understood that if there is a spraying program for the workpiece to be sprayed, find all the routine programs for mass production spraying of the robot for this workpiece; if there is no spraying program, use simulation software to make relevant spraying programs.

[0131] The simulation module 20 is used to generate a waiting chain value instruction and an I / O signal according to the spraying script, and control the simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal.

[0132] It can be understood that the waiting chain value instruction is used to judge the position of the workpiece to be sprayed on the conveying chain. If the spraying condition is met, the robot is controlled to perform simulation spraying test. The I / O signal is used to supply power to the robot.

[0133] In order to obtain the waiting chain value instruction and the I / O signal, in this embodiment, after determining the spraying scripts corresponding to the sub-workpieces of the workpiece to be sprayed, all the spraying scripts can be sorted according to the abscissa position in the preset workpiece coordinate system of the sub-workpiece, and the sorted spraying scripts are copied to the main control module for unified control, so that when the chain values of the subsequent sub-workpieces meet certain conditions, accurate workpiece spraying can be carried out.

[0134] In specific implementation, before formal spraying, spraying simulation can be carried out first, so that during actual spraying, the spraying effect will not be affected by reasons such as the robot posture or the workpiece chain value.

[0135] The spraying module 30 is used to generate a spraying guidance file according to the spraying simulation result.

[0136] It should be noted that the spraying guidance file contains information such as the spraying script of the workpiece to be sprayed, the debugged waiting chain value instruction and I / O signal, and the robot posture, etc., and is used to be imported into the spraying production line controller to control the spraying robot to perform actual spraying.

[0137] The spraying module 30 is also used to control the spraying robot to perform paint spraying according to the spraying guidance file.

[0138] In one embodiment, the simulation module 20 is further configured to determine the regional center positions of the sub-workpieces, and obtain the coordinate information of the regional center positions; sort each spraying script based on the coordinate information; generate a main program file according to the sorted spraying scripts, where the main program file includes: a waiting chain value instruction and an I / O signal; control the simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal.

[0139] In one embodiment, when the simulation robot receives the I / O signal, the simulation module 20 is further configured to obtain the current arrival chain value corresponding to the spraying conveyor chain; detect whether the current arrival chain value is equal to the waiting chain value corresponding to the waiting chain value instruction; if they are equal, perform spraying simulation on each sub-workpiece according to the spraying script corresponding to the waiting chain value instruction according to a preset spraying strategy.

[0140] In one embodiment, if they are equal, the simulation module 20 is further configured to generate a reset signal; control the running state of the spraying conveyor chain according to the reset signal to control the change of the current arrival chain value.

[0141] In one embodiment, the simulation module 20 is further configured to determine the waiting point instructions in the main program file; annotate the waiting point instructions and update the main program file; correspondingly, the control of the simulation robot to perform spraying simulation according to the main program file includes: performing format switching according to the annotated main program file; after the mode switching is completed, controlling the simulation robot to perform spraying simulation according to the annotated main program file.

[0142] In one embodiment, the determination module 10 is further configured to obtain at least one sub-workpiece information of the workpiece to be sprayed; query whether there is a spraying script corresponding to the sub-workpiece information; if there is, call the spraying script.

[0143] In one embodiment, the simulation module 20 is further configured to determine whether the spraying simulation result meets the preset spraying conditions; if not, adjust the attitude information of the simulation robot and the waiting chain value corresponding to the waiting chain value instruction according to the spraying simulation result, and return to the step of performing spraying simulation according to the spraying script.

[0144] This embodiment discloses a workpiece spraying method, which includes: determining a spraying script corresponding to the workpiece to be sprayed; generating a waiting chain value instruction and I / O signals according to the spraying script, and controlling a simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signals; generating a spraying guidance document according to the spraying simulation result; and controlling a spraying robot to perform paint spraying according to the spraying guidance document. In this embodiment, by determining the spraying script corresponding to the workpiece to be sprayed, waiting chain value instructions and I / O signals are generated through the spraying script to facilitate subsequent spraying simulation. Then, the waiting chain value instruction and the I / O signals are used to control the simulation robot to perform spraying simulation to determine the spraying effect of the new color, and further generate a spraying guidance document to provide guidance for actual spraying, reduce the cost of the first spraying, and do not affect the spraying effect, avoiding the technical problem of the high cost of trial spraying of new colors in the prior art.

[0145] It should be understood that the above is only for illustration and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can set according to needs, and the present invention does not make any restrictions in this regard.

[0146] It should be noted that the above-described work process is only illustrative and does not limit the protection scope of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and no restrictions are made here.

[0147] In addition, for the technical details not described in detail in this embodiment, reference can be made to the workpiece spraying method provided in any embodiment of the present invention, and details will not be repeated here.

[0148] In addition, it should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or system. Without more limitations, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or system including that element.

[0149] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0150] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as Read Only Memory (ROM) / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0151] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A workpiece spraying method, characterized in that, The workpiece spraying method includes: Determine a spraying script corresponding to the workpiece to be sprayed; Generate a waiting chain value instruction and an I / O signal according to the spraying script, and control a simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal; Generate a spraying guidance file according to the spraying simulation result, where the spraying guidance file includes the spraying script of the workpiece to be sprayed, the debugged waiting chain value instruction and I / O signal, and the robot posture; Control a spraying robot to perform paint spraying according to the spraying guidance file; The sprayed workpiece includes at least one sub-workpiece, and each sub-workpiece corresponds to a spraying script; The generating a waiting chain value instruction and an I / O signal according to the spraying script, and controlling a simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal includes: Determine the regional center position of each sub-workpiece, and obtain the coordinate information of the regional center position; Sort each spraying script based on the coordinate information; Generate a main program file according to the sorted spraying script, and the main program file includes: a waiting chain value instruction and an I / O signal; Control the simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal.

2. The workpiece spraying method according to claim 1, characterized in that The controlling the simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal includes: When the simulation robot receives the I / O signal, obtain the current arrival chain value corresponding to the spraying conveyor chain; Detect whether the current arrival chain value is equal to the waiting chain value corresponding to the waiting chain value instruction; If they are equal, perform spraying simulation on each sub-workpiece according to the spraying script corresponding to the waiting chain value instruction according to a preset spraying strategy.

3. The workpiece spraying method according to claim 2, characterized in that, After detecting whether the current arrival chain value is equal to the waiting chain value corresponding to the waiting chain value instruction, it further includes: If they are equal, generate a reset signal; Control the running state of the spraying conveyor chain according to the reset signal to control the change of the current arrival chain value.

4. The workpiece spraying method according to claim 1, wherein, Before controlling the simulation robot to perform spraying simulation according to the main program file, it further includes: Determine the waiting point instruction in the main program file; Annotate the waiting point instruction and update the main program file; Correspondingly, the controlling the simulation robot to perform spraying simulation according to the main program file includes: Perform format switching according to the annotated main program file; After the mode switching is completed, control the simulation robot to perform spraying simulation according to the annotated main program file.

5. The workpiece spraying method according to claim 1, characterized in that The determining a spraying script corresponding to the workpiece to be sprayed includes: Obtain at least one sub-workpiece information of the workpiece to be sprayed; Query whether there is a spraying script corresponding to the sub-workpiece information; If it exists, call the spraying script.

6. The workpiece spraying method according to any one of claims 1-5, characterized in that, After controlling the simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signal, it further includes: Judge whether the spraying simulation result meets the preset spraying conditions; If it does not meet, adjust the posture information of the simulation robot and the waiting chain value corresponding to the waiting chain value instruction according to the spraying simulation result, and return to the step of performing spraying simulation according to the spraying script.

7. A workpiece spraying device, characterized in that, The workpiece spraying device includes: A determination module, configured to determine a spraying script corresponding to a workpiece to be sprayed; A simulation module, configured to generate a waiting chain value instruction and I / O signals according to the spraying script, and control a simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signals; A spraying module, configured to generate a spraying guidance file according to the spraying simulation result, wherein the spraying guidance file includes the spraying script of the workpiece to be sprayed, the debugged waiting chain value instruction and I / O signals, and the robot posture; The spraying module is further configured to control a spraying robot to perform paint spraying according to the spraying guidance file; The simulation module is further configured to determine the regional center positions of each sub-workpiece, and obtain the coordinate information of the regional center positions; sort each spraying script based on the coordinate information; generate a main program file according to the sorted spraying script, and the main program file includes: a waiting chain value instruction and I / O signals; control the simulation robot to perform spraying simulation according to the waiting chain value instruction and the I / O signals.

8. A workpiece spraying device, characterized in that, The workpiece spraying device includes: a memory, a processor, and a workpiece spraying program stored on the memory and executable on the processor, and the workpiece spraying program is configured to implement the workpiece spraying method according to any one of claims 1 to 6.

9. A storage medium, characterized in that, A workpiece spraying program is stored on the storage medium, and when the workpiece spraying program is executed by a processor, it implements the workpiece spraying method according to any one of claims 1 to 6.

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