Method, device and equipment for monitoring stability of robot spraying and storage medium

Abstract

This invention discloses a method, apparatus, device, and storage medium for monitoring the spraying stability of a robot. The method includes: transmitting a robot spraying test program to a robot under test and a control robot; controlling the robot to perform a spraying correction operation until the spraying condition of the robot under test reaches stability. The spraying correction operation includes: controlling the robot to execute the spraying test program, spraying a test board and a control board, obtaining the single-layer film thickness at each measurement point on the sprayed test board and control board, generating a summary film thickness curve for the test board, calculating the effective spray width and the sum of the effective film thicknesses of the test board and control board, calculating a first difference, and then determining whether the spraying condition of the robot under test is stable. When the spraying condition of the robot under test is unstable, correction is performed on the robot under test. This invention enables intuitive and accurate monitoring and correction of the robot's spraying stability.

Description

Technical Field

[0001] This invention relates to the field of equipment performance monitoring, and in particular to methods, devices, equipment, and storage media for monitoring the stability of robot spraying. Background Technology

[0002] In painting workshops, to ensure the quality of paint spraying, painting robots are often used to perform the painting operations. Robotic spraying quality is more stable than manual spraying, but it also has drawbacks. For example, after equipment wear and tear, the paint output of the painting robot may not match the settings, or the forming ring may become clogged, causing the paint mist to concentrate on one side of the shape, resulting in abnormalities such as color difference, pinholes, and runs. Therefore, the stability of the painting quality of robotic spraying needs to be monitored regularly. To address these issues, there is an urgent need for a method to monitor the stability of robotic spraying, which can intuitively and accurately monitor the robot's spraying stability and make corrections. Summary of the Invention

[0003] This invention provides a method, apparatus, device, and storage medium for monitoring the stability of robot spraying, in order to solve the technical problem of being able to intuitively and accurately monitor and correct the spraying stability of a robot.

[0004] To address the aforementioned technical problems, embodiments of the present invention provide a method for monitoring the stability of robot spraying, comprising the following steps:

[0005] Obtain the robot spraying test program and transmit it to the robot under test and the control robot; wherein the robot under test and the control robot are located at the same spraying station;

[0006] The robot under test and the control robot are controlled to perform a spraying correction operation until the spraying condition of the robot under test reaches a stable state; wherein, the spraying correction operation includes:

[0007] The robot under test and the control robot are controlled to execute the spraying test program to spray the test board and the control board respectively.

[0008] Obtain the single-layer film thickness at each measurement point in the test panel and control panel after spraying, and generate a summary film thickness curve of the test panel based on the single-layer film thickness of each test panel.

[0009] Based on the thickness of each single layer of the test plate, the effective spray width of the test plate and the total effective film thickness of the test plate are calculated; based on the thickness of each single layer of the control plate, the effective spray width of the control plate and the total effective film thickness of the control plate are calculated.

[0010] Calculate the first difference between the total effective film thickness of the test plate and the total effective film thickness of the control plate;

[0011] Based on the summary film thickness curve of the test board, the effective spray width of the test board, and the first difference, it is determined whether the spraying condition of the robot under test is stable.

[0012] When the painting condition of the robot under test is unstable, the robot under test is calibrated.

[0013] As a preferred embodiment, the robot spraying test program includes spraying parameters; the spraying parameters include any one or a combination of the following:

[0014] The robot's spraying pass count, spray gun distance, spray gun movement speed, spray flow rate, rotary cup rotation speed, spray forming air pressure, and electrostatic high voltage.

[0015] As a preferred embodiment, the test plate and the control plate are cold-rolled steel plates that have undergone electrophoretic treatment.

[0016] As a preferred embodiment, obtaining the single-layer film thickness at each measurement point in the sprayed test panel and control panel includes:

[0017] Obtain the film thickness at various measurement points on the test panel and control panel after spraying;

[0018] Subtract the corresponding electrophoretic film thickness from the film thickness at each measurement point to obtain the single-layer film thickness at each measurement point in the test plate and control plate.

[0019] As a preferred embodiment, the step of calculating the effective spray width of the test board based on the thickness of each single layer of the test board includes:

[0020] Obtain several consecutive measurement points in the test board where the thickness of a single layer film is greater than the preset film thickness;

[0021] Calculate the first distance between the first and last measurement points in the continuous measurement points of the test board, and take the first distance as the effective spray width of the test board;

[0022] The step of calculating the effective spray width of the control plate based on the thickness of each single layer of the control plate includes:

[0023] Obtain several consecutive measurement points in the control plate where the single-layer film thickness is greater than the preset film thickness;

[0024] Calculate the second distance between the first and last measurement points in the continuous measurement points of the control plate, and use the second distance as the effective spray width of the control plate.

[0025] As a preferred embodiment, the step of calculating the total effective film thickness of the test board based on the thickness of each individual layer of the test board includes:

[0026] The sum of the single-layer film thicknesses of the measurement points located within the effective film thickness in the test plate is obtained to obtain the total effective film thickness of the test plate.

[0027] The step of calculating the total effective film thickness of the control plate based on the thickness of each single layer of the control plate includes:

[0028] The sum of the single-layer film thicknesses of the measurement points located within the effective film thickness in the control plate is obtained.

[0029] As a preferred embodiment, the step of determining whether the coating condition of the robot under test is stable based on the summarized film thickness curve of the test plate, the effective spray width of the test plate, and the first difference includes:

[0030] The robot's painting process is considered unstable if any of the following conditions occur:

[0031] The following conditions are met: a tilted unilateral peak appears in the film thickness curve; a locally bulging sharp peak appears in the film thickness curve; the effective spray width of the robot intermediate coating spray and color paint spray is lower than the first effective spray width threshold; the effective spray width of the robot clear coat spray is lower than the second effective spray width threshold; the effective spray width of the robot clear coat spray is higher than the third effective spray width threshold; and the first difference is greater than a preset difference threshold. Among these conditions, the third effective spray width threshold is greater than the second effective spray width threshold.

[0032] Based on the above embodiments, another embodiment of the present invention provides a monitoring device for robot spraying stability, including: a robot spraying test program acquisition module and a robot spraying correction module;

[0033] The robot spraying correction module includes: a robot spraying submodule, a summary film thickness curve generation submodule, a calculation submodule for the sum of effective spray width and effective film thickness, a first difference calculation submodule, a robot spraying stability judgment submodule, and a robot correction submodule.

[0034] The robot spraying test program acquisition module is used to acquire the robot spraying test program and transmit the robot spraying test program to the robot under test and the control robot; wherein the robot under test and the control robot are located at the same spraying station;

[0035] The robot spraying correction module is used to control the robot under test and the control robot to perform spraying correction operations until the spraying condition of the robot under test reaches a stable state.

[0036] The robot spraying submodule is used to control the robot under test and the control robot to execute the spraying test program and spray the test board and the control board respectively.

[0037] The summary film thickness curve generation submodule is used to obtain the single-layer film thickness at each measurement point in the test board and control board after spraying, generate the summary film thickness curve of the test board based on the single-layer film thickness of the test board, and transmit the generated summary film thickness curve of the test board to the robot spraying stability judgment submodule.

[0038] The effective spray width and effective film thickness sum calculation submodule is used to calculate the effective spray width and effective film thickness of the test board based on the film thickness of each single layer of the test board; calculate the effective spray width and effective film thickness of the control board based on the film thickness of each single layer of the control board; transmit the calculated effective spray width and effective film thickness sum of the test board and control board to the first difference calculation submodule; and transmit the calculated effective spray width of the test board to the robot spraying stability judgment submodule.

[0039] The first difference calculation submodule is used to calculate the first difference between the total effective film thickness of the test board and the total effective film thickness of the control board, and transmit the calculated first difference to the robot spraying stability judgment submodule.

[0040] The robot spraying stability judgment submodule is used to determine whether the spraying status of the robot under test is stable based on the summary film thickness curve of the test board, the effective spray width of the test board and the first difference, and transmit the robot's spraying status to the robot correction submodule.

[0041] The robot calibration submodule is used to calibrate the robot under test when the coating condition of the robot under test is unstable.

[0042] Based on the above embodiments, another embodiment of the present invention provides a monitoring device for robot spraying stability. The device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the robot spraying stability monitoring method described in the above embodiments of the invention.

[0043] Based on the above embodiments, another embodiment of the present invention provides a storage medium, the storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the robot spraying stability monitoring method described in the above embodiments of the invention.

[0044] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0045] This invention employs a test robot group and a control robot group, controlling both to execute the same test spraying program to spray identical test and control panels. This yields the single-layer film thickness of the test panel for the test robot and the control panel for the control robot. The final sprayed product is used to evaluate the overall spraying stability of the test robot, avoiding the problem that the stability of a single parameter cannot comprehensively assess the robot's stability. Furthermore, by comparing and analyzing the effective spray width, effective film thickness summation, and summarized film thickness curves of the test and control panels, a quantitative comparison scheme is established for the same robot at different times and different robots at the same time. This allows for intuitive and accurate monitoring of the robot's spraying stability, facilitating correction. Attached Figure Description

[0046] Figure 1 This is a flowchart illustrating a method for monitoring the stability of robot spraying according to an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of a monitoring device for robot spraying stability provided in an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the structure of a monitoring device for robot spraying stability provided in an embodiment of the present invention;

[0049] Figure 4 This is a summary chart of the stability judgment data of the robot under test in this invention. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Example 1

[0052] Please refer to Figure 1 The following is a flowchart illustrating a method for monitoring the stability of robot spraying according to an embodiment of the present invention, including the following specific steps:

[0053] S1. Obtain the robot spraying test program and transmit the robot spraying test program to the robot under test and the control robot; wherein the robot under test and the control robot are located at the same spraying station.

[0054] Specifically, the robot spraying test program includes spraying parameters; the spraying parameters include any one or a combination of the following: the number of spraying passes of the robot, the distance between the spray guns, the speed of the spray gun movement, the spraying flow rate, the rotation speed of the rotary cup, the air pressure for spraying and the electrostatic high voltage.

[0055] In the robot spraying test program, the number of robot spraying passes can be set to test horizontal spraying or test vertical spraying, repeating 4 passes along the same horizontal or vertical line, with each pass being 700-1000mm long; the spray gun distance is set to 200-250m, and the spray gun moving speed is set to 500-700mm / s.

[0056] The spraying parameters for the robot when performing intermediate coating, color paint spraying and clear coat spraying include: spraying flow rate, rotary cup speed, spraying forming air pressure and electrostatic high voltage. These spraying parameters are set according to the parameters for spraying the large areas of the car body. For example, the parameters for the dual-forming robot are set as follows: intermediate coat spraying flow rate: 300-400ml / min; rotary cup speed: 35-45Krpm; spraying forming air pressure: external forming pressure 290-400sLPM, internal forming pressure 130-200sLPM; electrostatic high voltage: 60-70Kv; color paint spraying flow rate: 150-250ml / min; rotary cup speed: 40-50Krpm; spraying forming air pressure: external forming pressure 200-300sLPM, internal forming pressure 80-200sLPM; electrostatic high voltage: 60-70Kv; clear coat spraying flow rate: 250-350ml / min; rotary cup speed: 40-50Krpm; spraying forming air pressure: external forming pressure 300-400sLPM, internal forming pressure 200-200sLPM; electrostatic high voltage: 60-70Kv.

[0057] The control robot can be one or more robots located at the same spraying station as the robot under test, serving as a comparison under the same conditions. Both the robot under test and the control robot perform this robot spraying test procedure, which facilitates the comparison between the robot under test and the control robot.

[0058] S2. Control the robot under test and the control robot to perform spraying correction operations until the spraying condition of the robot under test reaches a stable state.

[0059] The spraying correction operation includes:

[0060] S21. Control the robot under test and the control robot to execute the spraying test program and spray the test board and the control board respectively.

[0061] Specifically, the test plate and the control plate are cold-rolled steel plates that have undergone electrophoretic treatment.

[0062] The test and control plates are made of cold-rolled steel sheets, with a length of 200mm wide x 800mm long, or other narrower and longer steel sheets can be selected. They undergo electrophoretic treatment before spraying. When the robot executes the spraying test program and sprays the test and control plates, the median line of the long side of the test and control plates must be basically consistent with the robot's trajectory. Sufficiently large aluminum foil or iron plates should be placed under the test and control plates to reduce the impact of unstable paint application around them on the results. The test and control plates should be masked along their long sides with adhesive tape. After spraying the paint, the masking tape should be removed, allowing a flow of electrophoretic paint film to facilitate subsequent measurement of the single-layer film thickness using the difference method.

[0063] The robot under test sprays paint on the test panel, and the control robot sprays paint on the control panel. During the robot spraying process, the requirements for the spray gun distance are as follows: For horizontal spraying panels, the chamber grid plane can be used as the 0-position plane. The distance between the spray gun head and the grid can be kept constant during spraying. The distance from the cup head to the grid plane can be moved to the set gun distance value. If it is a vertical spraying panel program, a vertical stand needs to be used. Before spraying, the stand should be moved to a position where the distance between the spray gun head position and the test spraying position is the set gun distance to ensure that the gun distance is the required value. The requirements for the number of spray coats are as follows: Generally, the intermediate coat spraying is performed once as a test spraying program, and the color paint spraying and clear coat spraying are performed twice as test spraying programs. The requirements for the spraying color are as follows: All colors are acceptable. Preferably, the color with the largest usage can be selected for spraying.

[0064] S22. Obtain the single-layer film thickness at each measurement point in the sprayed test board and control board, and generate a summary film thickness curve of the test board based on the single-layer film thickness of each test board.

[0065] Specifically, obtaining the single-layer film thickness at each measurement point in the sprayed test board and control board includes: obtaining the film thickness at each measurement point in the sprayed test board and control board; subtracting the corresponding electrophoretic film thickness from the film thickness at each measurement point to obtain the single-layer film thickness at each measurement point in the test board and control board.

[0066] Obtaining the single-layer film thickness in the test and control panels after spraying: After the test and control panels are sprayed, the film thickness of a group of sprayed coatings is measured every 1 cm along the long side of the test and control panels until the film thickness of all measurement points is measured. The film thickness of each measurement point is obtained by subtracting the corresponding electrophoretic film thickness from the film thickness of all measurement points.

[0067] S23. Based on the thickness of each single layer of the test plate, calculate the effective spray width of the test plate and the total effective film thickness of the test plate; based on the thickness of each single layer of the control plate, calculate the effective spray width of the control plate and the total effective film thickness of the control plate.

[0068] Specifically, calculating the effective spray width of the test board based on the thickness of each single layer of film on the test board includes: acquiring a number of continuous measurement points on the test board where the thickness of a single layer of film is greater than a preset film thickness; calculating the first distance between the first and last measurement points of the continuous measurement points on the test board, and using the first distance as the effective spray width of the test board; calculating the effective spray width of the control board based on the thickness of each single layer of film on the control board includes: acquiring a number of continuous measurement points on the control board where the thickness of a single layer of film is greater than a preset film thickness; calculating the second distance between the first and last measurement points of the continuous measurement points on the control board, and using the second distance as the effective spray width of the control board.

[0069] Specifically, calculating the total effective film thickness of the test plate based on the individual film thicknesses of the test plate includes: adding the individual film thicknesses of the measurement points located within the effective film thickness of the test plate to obtain the total effective film thickness of the test plate; calculating the total effective film thickness of the control plate based on the individual film thicknesses of the control plate includes: adding the individual film thicknesses of the measurement points located within the effective film thickness of the control plate to obtain the total effective film thickness of the control plate.

[0070] Inputting the single-layer film thicknesses at each measurement point in the test and control boards obtained above into a dedicated calculator automatically generates a summary film thickness curve for the test board and outputs the sum of the effective spray width and effective film thickness for both the test and control boards. The effective spray width is defined as the length of a series of measurement points where the single-layer film thickness is greater than half the highest single-layer film thickness. Specifically, several consecutive measurement points with a single-layer film thickness greater than a preset film thickness are taken from the test board, and the distance between the beginning and end of these consecutive measurement points is the effective spray width of the test board. Similarly, several consecutive measurement points with a single-layer film thickness greater than a preset film thickness are taken from the control board, and the distance between the beginning and end of these consecutive measurement points is the effective spray width of the control board. The preset film thickness is half the highest single-layer film thickness. The sum of the effective film thicknesses is the sum of the single-layer film thicknesses of the measurement points located within the effective spray width.

[0071] S24. Calculate the first difference between the total effective film thickness of the test plate and the total effective film thickness of the control plate.

[0072] S25. Based on the summary film thickness curve of the test board, the effective spray width of the test board, and the first difference, determine whether the coating condition of the robot under test is stable.

[0073] Specifically, determining whether the coating condition of the robot under test is stable based on the summary film thickness curve of the test board, the effective spray width of the test board, and the first difference includes: determining that the coating condition of the robot is unstable when any of the following conditions occur: a tilted unilateral peak appears in the summary film thickness curve; a locally bulging sharp peak appears in the summary film thickness curve; the effective spray width of the robot's intermediate coat spraying and color paint spraying is lower than the first effective spray width threshold; the effective spray width of the robot's clear coat spraying is lower than the second effective spray width threshold; the effective spray width of the robot's clear coat spraying is higher than the third effective spray width threshold; and the first difference is greater than a preset difference threshold; wherein, the third effective spray width threshold is greater than the second effective spray width threshold.

[0074] The coating stability of the robot under test was evaluated in three dimensions: effective spray width, effective film thickness sum, and whether the summed film thickness curve was skewed.

[0075] Effective spray width: The effective spray width varies depending on the robot brand. Generally, the effective spray width for intermediate coat and color paint spraying should not be less than 320mm, and the effective spray width for clear coat spraying should not be less than 300mm or more than 500mm. In this embodiment of the invention, these effective spray width thresholds can be set based on the historical best performance of the control robot. Effective film thickness summation: This is mainly compared with the summation value of the effective film thickness of the control robot. A difference of more than 15% between the summation of the effective film thickness of the tested robot and the control robot is considered abnormal. Is the summarized film thickness curve skewed? The summarized film thickness curve can visually show the film thickness distribution. Observe whether the effective film thickness is concentrated in the summarized film thickness curve, or whether the effective film thickness is tilted to one side, i.e., whether there is a tilted unilateral peak or a locally protruding sharp peak in the summarized film thickness curve. Any abnormality in the above three evaluation conditions indicates a deterioration in the robot's spraying condition. In addition, the spraying data of the control robot can be the spraying data of the control robot located at the same spraying station as the robot under test, or the spraying results collected by the robot under test in previous spraying processes.

[0076] S26. When the painting condition of the robot under test is unstable, the robot under test shall be calibrated.

[0077] Specifically, when the painting condition of the robot under test is unstable, the robot that is found to be unstable can be adjusted by maintenance, replacement of parts, etc., and the above painting correction can be repeated until the robot reaches stable conditions.

[0078] As can be seen from the above, this invention provides a method for monitoring the stability of robot spraying. By setting up a test robot group and a control robot group, and controlling both the test robots and control robots to execute the same test spraying program, the same test board and control board are sprayed respectively. The overall spraying stability of the test robot is evaluated by the final sprayed product, avoiding the problem that the stability of a single parameter cannot comprehensively assess the robot's stability. Furthermore, by comparing and analyzing the effective spray width, effective film thickness summation, and summary film thickness curve of the test board and control board, a quantitative comparison scheme is established for the same robot at different times and different robots at the same time. This allows for intuitive and accurate monitoring of the robot's spraying stability, facilitating its correction.

[0079] Example 2

[0080] Please refer to Figure 2 This is a schematic diagram of a robot spraying stability monitoring device provided in an embodiment of the present invention. The device includes: a robot spraying test program acquisition module and a robot spraying correction module.

[0081] The robot spraying correction module includes: a robot spraying submodule, a summary film thickness curve generation submodule, a calculation submodule for the sum of effective spray width and effective film thickness, a first difference calculation submodule, a robot spraying stability judgment submodule, and a robot correction submodule.

[0082] The robot spraying test program acquisition module is used to acquire the robot spraying test program and transmit the robot spraying test program to the robot under test and the control robot; wherein the robot under test and the control robot are located at the same spraying station;

[0083] The robot spraying correction module is used to control the robot under test and the control robot to perform spraying correction operations until the spraying condition of the robot under test reaches a stable state.

[0084] The robot spraying submodule is used to control the robot under test and the control robot to execute the spraying test program and spray the test board and the control board respectively.

[0085] The summary film thickness curve generation submodule is used to obtain the single-layer film thickness at each measurement point in the test board and control board after spraying, generate the summary film thickness curve of the test board based on the single-layer film thickness of the test board, and transmit the generated summary film thickness curve of the test board to the robot spraying stability judgment submodule.

[0086] The effective spray width and effective film thickness sum calculation submodule is used to calculate the effective spray width and effective film thickness of the test board based on the film thickness of each single layer of the test board; calculate the effective spray width and effective film thickness of the control board based on the film thickness of each single layer of the control board; transmit the calculated effective spray width and effective film thickness sum of the test board and control board to the first difference calculation submodule; and transmit the calculated effective spray width of the test board to the robot spraying stability judgment submodule.

[0087] The first difference calculation submodule is used to calculate the first difference between the total effective film thickness of the test board and the total effective film thickness of the control board, and transmit the calculated first difference to the robot spraying stability judgment submodule.

[0088] The robot spraying stability judgment submodule is used to determine whether the spraying status of the robot under test is stable based on the summary film thickness curve of the test board, the effective spray width of the test board and the first difference, and transmit the robot's spraying status to the robot correction submodule.

[0089] The robot calibration submodule is used to calibrate the robot under test when the coating condition of the robot under test is unstable.

[0090] Example 3

[0091] Please refer to Figure 3 This is a schematic diagram of a robot spraying stability monitoring device provided in an embodiment of the present invention. The device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the robot spraying stability monitoring method described in the above embodiment of the invention.

[0092] Example 4

[0093] Accordingly, embodiments of the present invention provide a storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the robot spraying stability monitoring method described in the above embodiments of the invention.

[0094] To better demonstrate this technical solution, we selected to monitor the stability of the robot spraying at the paint spraying station to further illustrate the specific implementation process of this method, which includes the following steps:

[0095] To monitor the stability of the robot spraying at the paint external spraying station, metallic gray was used as the spraying color. Twelve robots were tested, and all robots uploaded the horizontal spraying test program and metallic gray parameter table. The spraying parameters were set as follows: spraying flow rate: 150 mL / min; rotary cup speed: 45 krpm; spraying forming air pressure: internal forming pressure 290 s LPM, external forming pressure 130 s LPM; electrostatic high voltage: 70 kV.

[0096] In the painting test program for each robot, a grid area for painting was set up. A 400mm x 1000m sheet of aluminum foil was laid out in the direction perpendicular to the trajectory. An electrophoretic test plate with adhesive tape was placed on each sheet of foil, and the test plates were numbered according to their corresponding robots. The test spraying program for all color paint external spraying robots was run twice, with an interval of 1-2 minutes between sprayings. After spraying, the test plates were placed on the inner surface of the experimental vehicle and dried in a topcoat oven.

[0097] Remove the dried test panels and measure the thickness of the metallic ash single-layer film on all panels. Measure a sufficient number of points on each panel, with a 1cm interval between points. The entire side panel or four consecutive points showing a single-layer film thickness less than half the maximum single-layer film thickness are considered the correct result. Enter the measured single-layer film thickness values ​​into the corresponding analyzer according to the robot's number. This will generate effective spray width, effective film thickness summation, and a summary single-layer film thickness graph.

[0098] Analyze the test results of each robot. The effective spray width should be 320-450mm; anything exceeding this is considered abnormal. The effective film thickness summation range should be 500-660mm; anything exceeding this is considered abnormal. The summarized film thickness curve should not show a significant unilateral peak; otherwise, it is considered abnormal. Compile the analysis results and report them to the equipment maintenance department.

[0099] The equipment maintenance department cleans the cup head, forming ring, HUB and other components of the robot that are experiencing unstable spraying, and retests the stability. If the requirements are still not met, the corresponding parts of the robot are replaced and the test is repeated until the spraying is stable.

[0100] Please refer to Figure 4 This is a summary chart of stability assessment data for the robot under test according to the present invention. Figure 4As shown in the test results of the paint spraying robot, the stability judgment data of three robots under test were selected to judge the stability of the robots. The effective spray width of robot R11 was 240, which was relatively small. During spraying, it was prone to producing uneven stripes of light and dark with excessive thickness, which was judged as an abnormal state. The effective spray width of robot R12 met the requirements. The sum of film thickness curves had no local peaks, and the sum of effective film thicknesses was >500, which was good overall, and the condition was judged as good. The effective spray width of robot R13 met the requirements, but the sum of film thickness curves had a sharp peak on the left, and the sum of effective film thicknesses was relatively low, indicating that there were local over-thickness and poor overall paint application during spraying, which was judged as an abnormal state.

[0101] In summary, the present invention provides a monitoring device, equipment, and storage medium for robot spraying stability, which can intuitively and accurately monitor and correct the spraying stability of the robot.

[0102] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0103] Those skilled in the art will clearly understand that, for convenience and simplicity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0104] The device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The device may include, but is not limited to, processors and memory.

[0105] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the device, connecting various parts of the device via various interfaces and lines.

[0106] The memory can be used to store the computer program. The processor implements various functions of the device by running or executing the computer program stored in the memory and calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function, etc.; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0107] The storage medium is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When executed by a processor, the computer program can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0108] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for monitoring the stability of robot spraying, characterized in that, Includes the following steps: Obtain the robot spraying test program and transmit it to the robot under test and the control robot; wherein the robot under test and the control robot are located at the same spraying station; The robot under test and the control robot are controlled to perform a spraying correction operation until the spraying condition of the robot under test reaches a stable state; wherein, the spraying correction operation includes: The robot under test and the control robot are controlled to execute the spraying test program to spray the test board and the control board respectively. Obtain the single-layer film thickness at each measurement point in the test panel and control panel after spraying, and generate a summary film thickness curve of the test panel based on the single-layer film thickness of each test panel. Based on the thickness of each single layer of the test plate, the effective spray width of the test plate and the total effective film thickness of the test plate are calculated; based on the thickness of each single layer of the control plate, the effective spray width of the control plate and the total effective film thickness of the control plate are calculated. Calculate the first difference between the total effective film thickness of the test plate and the total effective film thickness of the control plate; Based on the summary film thickness curve of the test board, the effective spray width of the test board, and the first difference, it is determined whether the spraying condition of the robot under test is stable. When the painting condition of the robot under test is unstable, the robot under test is calibrated.

2. The method for monitoring the stability of robot spraying as described in claim 1, characterized in that, The robot spraying test program includes spraying parameters; the spraying parameters include any one or a combination of the following: The robot's spraying pass count, spray gun distance, spray gun movement speed, spray flow rate, rotary cup rotation speed, spray forming air pressure, and electrostatic high voltage.

3. The method for monitoring the stability of robot spraying as described in claim 1, characterized in that, The test plate and control plate are cold-rolled steel plates that have undergone electrophoretic treatment.

4. The method for monitoring the stability of robot spraying as described in claim 3, characterized in that, The process of obtaining the single-layer film thickness at each measurement point in the sprayed test panel and control panel includes: Obtain the film thickness at various measurement points on the test panel and control panel after spraying; Subtract the corresponding electrophoretic film thickness from the film thickness at each measurement point to obtain the single-layer film thickness at each measurement point in the test plate and control plate.

5. The method for monitoring the stability of robot spraying as described in claim 4, characterized in that, The step of calculating the effective spray width of the test board based on the thickness of each single layer of the test board includes: Obtain several consecutive measurement points in the test board where the thickness of a single layer film is greater than the preset film thickness; Calculate the first distance between the first and last measurement points in the continuous measurement points of the test board, and take the first distance as the effective spray width of the test board; The step of calculating the effective spray width of the control plate based on the thickness of each single layer of the control plate includes: Obtain several consecutive measurement points in the control plate where the single-layer film thickness is greater than the preset film thickness; Calculate the second distance between the first and last measurement points in the continuous measurement points of the control plate, and use the second distance as the effective spray width of the control plate.

6. The method for monitoring the stability of robot spraying as described in claim 5, characterized in that, The step of calculating the total effective film thickness of the test board based on the thickness of each individual film layer includes: The sum of the single-layer film thicknesses of the measurement points located within the effective film thickness in the test plate is obtained to obtain the total effective film thickness of the test plate. The step of calculating the total effective film thickness of the control plate based on the thickness of each single layer of the control plate includes: The sum of the single-layer film thicknesses of the measurement points located within the effective film thickness in the control plate is obtained.

7. The method for monitoring the stability of robot spraying as described in claim 6, characterized in that, The step of determining whether the coating condition of the robot under test is stable based on the summarized film thickness curve of the test board, the effective spray width of the test board, and the first difference includes: The robot's painting process is considered unstable if any of the following conditions occur: The following conditions are met: a tilted unilateral peak appears in the film thickness curve; a locally bulging sharp peak appears in the film thickness curve; the effective spray width of the robot intermediate coating spray and color paint spray is lower than the first effective spray width threshold; the effective spray width of the robot clear coat spray is lower than the second effective spray width threshold; the effective spray width of the robot clear coat spray is higher than the third effective spray width threshold; and the first difference is greater than a preset difference threshold. Among these conditions, the third effective spray width threshold is greater than the second effective spray width threshold.

8. A monitoring device for the stability of robot spraying, characterized in that, include: Robot spraying test program acquisition module and robot spraying correction module; The robot spraying correction module includes: a robot spraying submodule, a summary film thickness curve generation submodule, a calculation submodule for the sum of effective spray width and effective film thickness, a first difference calculation submodule, a robot spraying stability judgment submodule, and a robot correction submodule. The robot spraying test program acquisition module is used to acquire the robot spraying test program and transmit the robot spraying test program to the robot under test and the control robot; wherein the robot under test and the control robot are located at the same spraying station; The robot spraying correction module is used to control the robot under test and the control robot to perform spraying correction operations until the spraying condition of the robot under test reaches a stable state. The robot spraying submodule is used to control the robot under test and the control robot to execute the spraying test program and spray the test board and the control board respectively. The summary film thickness curve generation submodule is used to obtain the single-layer film thickness at each measurement point in the test board and control board after spraying, generate the summary film thickness curve of the test board based on the single-layer film thickness of the test board, and transmit the generated summary film thickness curve of the test board to the robot spraying stability judgment submodule. The effective spray width and effective film thickness sum calculation submodule is used to calculate the effective spray width and effective film thickness of the test board based on the film thickness of each single layer of the test board; calculate the effective spray width and effective film thickness of the control board based on the film thickness of each single layer of the control board; transmit the calculated effective spray width and effective film thickness sum of the test board and control board to the first difference calculation submodule; and transmit the calculated effective spray width of the test board to the robot spraying stability judgment submodule. The first difference calculation submodule is used to calculate the first difference between the total effective film thickness of the test board and the total effective film thickness of the control board, and transmit the calculated first difference to the robot spraying stability judgment submodule. The robot spraying stability judgment submodule is used to determine whether the spraying status of the robot under test is stable based on the summary film thickness curve of the test board, the effective spray width of the test board and the first difference, and transmit the robot's spraying status to the robot correction submodule. The robot calibration submodule is used to calibrate the robot under test when the coating condition of the robot under test is unstable.

9. A monitoring device for the stability of robot spraying, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the method for monitoring the stability of robot spraying as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the robot spraying stability monitoring method as described in any one of claims 1 to 7.

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