Paint spraying method and system, intelligent terminal and storage medium

Abstract

The invention relates to a paint spraying method and system, an intelligent terminal and a storage medium, and relates to the field of paint spraying technology.The paint spraying method comprises the steps that a spraying trigger signal is obtained; controlling a movable mechanical arm to move the product to a rotary moving device according to the spraying trigger signal; the rotary moving device is controlled to rotationally move the product to a spraying station, and a station arriving trigger signal is obtained; the spraying device is controlled to spray the product according to the station arrival trigger signal, and the movable mechanical arm is controlled to move the next product to the rotary moving device; obtaining a spraying completion trigger signal; the rotary moving device is controlled to rotate to change the position of the product according to the spraying completion trigger signal, and the station arrival trigger signal is obtained again to control the spraying device to spray the next product; and the movable mechanical arm is controlled to take down the sprayed product from the rotary moving device, and the non-sprayed product is replaced to the rotary moving device. The paint spraying device has the effect of improving the paint spraying efficiency.

Description

Technical Field

[0001] The present application relates to the field of paint spraying technology, and in particular to a paint spraying method, system, intelligent terminal and storage medium. Background Art

[0002] Automatic paint spraying is a technology that uses automated equipment to replace manual painting operations. It is widely used in industries such as automobile manufacturing, furniture production, and home appliance manufacturing to improve efficiency, ensure the uniformity and consistency of coating quality, and reduce potential hazards to the health of operators.

[0003] In the related technology, for the paint spraying of customized or small-batch products, an automatic spraying room is usually used to complete the spraying operation. The mobile robotic arm is controlled to move the product to the spraying station of the automatic spraying room, and then the spraying robotic arm is controlled to spray paint on the product. After the spraying is completed, the mobile robotic arm is controlled to move the sprayed product out of the automatic spraying room, and then the next product is moved into the automatic spraying room to continue spraying.

[0004] With regard to the above-mentioned related technologies, when spraying products using an automatic spray room, it is necessary to move the robotic arm to move the product that has been sprayed at the spray station out of the automatic spray room, and then move the next product to the spray station before continuing to spray. This causes the product movement time to occupy too much of the overall spraying time, resulting in low paint spraying efficiency, and there is still room for improvement. Summary of the invention

[0005] In order to improve the efficiency of paint spraying, the present application provides a paint spraying method, system, intelligent terminal and storage medium.

[0006] In a first aspect, the present application provides a paint spraying method, which adopts the following technical solution: A paint spraying method, comprising: Obtain spraying trigger signal of preset product; Control the preset mobile robot arm to move the product to the preset rotating moving device according to the spraying trigger signal; Control the rotary moving device to rotate and move the product to the preset spraying station, and obtain the arrival station trigger signal; According to the arrival station trigger signal, the preset spraying device is controlled to spray the product, and the mobile robot arm is controlled to move the next product to the rotating mobile device; Get the spraying completion trigger signal; According to the spraying completion trigger signal, the rotary moving device is controlled to rotate and change the product position, and the arrival position trigger signal is obtained again; Control the spraying device to continue spraying the next product according to the again acquired arrival station trigger signal; The mobile robot arm is synchronously controlled to remove the sprayed product from the rotating mobile device and replace the unsprayed product on the rotating mobile device.

[0007] By adopting the above technical scheme, when the spraying trigger signal of the product is detected, the mobile robot arm is controlled to move the product to the rotating mobile device, and then the rotating mobile device is controlled to rotate and move the product to the spraying station, so that the spraying device sprays the product. During the spraying process, the mobile robot arm moves the next product to the rotating mobile device. After the spraying is completed, the rotating mobile device is controlled to rotate and exchange the position of the product, so that the spraying device continues to spray the next product in a very short time, and the mobile robot arm removes the sprayed product from the rotating mobile device and replaces the unsprayed product, thereby greatly reducing the proportion of movement time in the overall spraying time, thereby improving the efficiency of paint spraying.

[0008] Optionally, the step of controlling a preset mobile mechanical arm to move the product to a preset rotating moving device according to a spraying trigger signal includes: Acquire a closed detection signal of a preset automatic spray chamber based on a spray trigger signal; Determine whether the closed detection signal meets the preset closed signal requirements; If it does not meet the requirements, an alarm will be given and the closed detection signal of the automatic spray room will continue to be obtained for cyclic judgment; If it meets the requirements, the mobile robot arm is controlled to move the product to the rotating moving device.

[0009] By adopting the above technical solution, the closure detection signal of the automatic spray room is detected. If the closure detection signal does not meet the requirements of the closed signal, it means that the automatic spray room is not closed tightly. At this time, there may be people in the automatic spray room, so an alarm is issued instead of moving and spraying products, thereby improving the safety of paint spraying.

[0010] Optionally, the step of controlling the mobile mechanical arm to move the product to the rotary moving device includes: Obtaining a placement trigger signal of a preset conveying device; Control the conveying device to convey the product to a preset pick-up position in the automatic spraying room according to the placement trigger signal, and obtain a pick-up position trigger signal; Control the mobile robot arm to move the product on the conveying device to the rotating moving device according to the pick-up position trigger signal and the preset movement parameters, and obtain the removal trigger signal; According to the removal trigger signal, the conveying device is controlled to wait for the sprayed product.

[0011] By adopting the above technical solution, when the placement trigger signal is detected, the conveying device is controlled to move the product to the picking position of the automatic spraying room, and then the mobile robot is controlled to move the product to the rotational movement position, and finally the conveying device is controlled to wait to take over the sprayed product, thereby improving the efficiency and convenience of product conveying, moving and taking over.

[0012] Optionally, the step of controlling the conveying device to wait for receiving the sprayed product according to the removal trigger signal includes: Control the conveying device to move to the preset receiving position according to the removal trigger signal, and control the next conveying device to carry the product to the take-up position of the automatic spraying room; Obtaining a receiving position trigger signal of a conveying device and a taking position trigger signal of a next conveying device; According to the carrying position trigger signal, the conveying device is controlled to stop moving and wait for the sprayed product. According to the picking position trigger signal, the next conveying device is controlled to stop moving and wait for the mobile robot arm to pick up the unsprayed product.

[0013] By adopting the above technical solution, after the mobile robotic arm takes the product on the conveying device, the conveying device is controlled to move to the receiving position to wait for the sprayed product, and the next conveying device is controlled to move to the picking position with the product to wait for the mobile robotic arm to pick up the unsprayed product, thereby ensuring the continuity of product picking and further improving the efficiency and convenience of product movement.

[0014] Optionally, the step of synchronously controlling the mobile robot arm to remove the sprayed product from the rotating moving device and replace the unsprayed product onto the rotating moving device includes: According to the preset receiving position movement parameters, the mobile mechanical arm is controlled to remove the sprayed product from the rotating moving device and move it to the conveying device; Control the conveying device to move the product out of the automatic spraying room, and then carry the unsprayed product back into the automatic spraying room; According to the preset receiving and picking movement parameters, the mobile robot arm is controlled to pick up the unpainted product on the next conveying device, and the next conveying device is controlled to move to the receiving position to wait for the finished sprayed product; The mobile robot arm is controlled according to the moving parameters to replace the unsprayed product onto the rotating moving device.

[0015] By adopting the above technical solution, the mobile robot arm is controlled to move the sprayed product to the conveying device, and then the conveying device moves the product out of the automatic spraying room and carries the product to the picking position again. The mobile robot arm moves to the picking position to move the unsprayed product on the next conveying device to the rotating moving device, thereby completing the product replacement and improving the continuity and efficiency of product replacement.

[0016] Optionally, the step of controlling the conveying device to wait for receiving the sprayed product according to the removal trigger signal includes: Acquire the number of conveying times of the conveying device based on the movement trigger signal; Determine whether the number of conveying times meets the preset secondary conveying requirements; If it meets the requirements, the conveying device is controlled to leave the automatic spraying room and move into the automatic spraying room again after carrying the product; If it does not meet the requirements, the conveying device is controlled to wait at the picking position to receive the sprayed products.

[0017] By adopting the above technical scheme, the number of conveying times of the conveying device is detected. When the number of conveying times meets the requirement of secondary conveying, it indicates that after the product on the conveying device is taken away, there is temporarily no sprayed product to take over. Therefore, the conveying device is controlled to leave the automatic spraying room. When the requirement of secondary conveying is not met, the conveying device is controlled to stop at the taking position and wait for the product to be replaced. There is no need to distinguish between the taking and taking positions, thereby reducing the complexity of the movement of the mobile robot arm, and further improving the convenience and efficiency of product movement.

[0018] Optionally, the step of synchronously controlling the mobile robot arm to remove the sprayed product from the rotating moving device and replace the unsprayed product onto the rotating moving device includes: According to the preset picking position movement parameters, the mobile robot arm is controlled to take the sprayed product from the rotating moving device and move it to the top of the conveying device; Control the mobile robot arm to flip the sprayed products according to the preset flipping parameters, and control the mobile robot arm to pick up the unsprayed products on the conveying device; Control the mobile robot arm to switch the positions of the sprayed products and the unsprayed products according to the flipping parameters, and control the mobile robot arm to move the sprayed products to the conveying device; Control the conveying device to move the product out of the automatic spraying room, and then carry the product back into the automatic spraying room; The mobile mechanical arm is controlled to flip the unpainted product according to the flipping parameters, and the mobile mechanical arm is controlled to replace the unpainted product onto the rotating mobile device according to the moving parameters.

[0019] By adopting the above technical solution, the mobile robotic arm is controlled to move the sprayed product to the top of the picking position and flip it over, and then the mobile robotic arm is controlled to grab the unsprayed product on the conveying device, flip it again and replace the position of the product, and the sprayed product is placed on the conveying device and moved out of the automatic spraying room. The mobile robotic arm flips again and replaces the unsprayed product to the rotating moving device, thereby reducing the moving distance of the mobile robotic arm and improving the continuity and efficiency of product replacement.

[0020] In a second aspect, the present application provides a paint spraying system, which adopts the following technical solution: A paint spraying system, comprising: An acquisition module is used to acquire a spraying trigger signal, a workstation arrival trigger signal, and a spraying completion trigger signal; A memory for storing a program of a paint spraying method as described in any one of the above items; The program in the processor memory can be loaded and executed by the processor to implement a paint spraying method as described in any one of the above items.

[0021] By adopting the above technical solution, the processor loads and executes a program of a paint spraying method stored in the memory, and the control acquisition module obtains a series of data related to paint spraying. When the spraying trigger signal of the product is detected, the mobile robot arm is controlled to move the product to the rotating mobile device, and then the rotating mobile device is controlled to rotate and move the product to the spraying station, so that the spraying device sprays the product. During the spraying process, the mobile robot arm moves the next product to the rotating mobile device. After the spraying is completed, the rotating mobile device is controlled to rotate and exchange the position of the product, so that the spraying device continues to spray the next product in a very short time, and the mobile robot arm removes the sprayed product from the rotating mobile device and replaces the unsprayed product, thereby greatly reducing the proportion of movement time in the overall spraying time, thereby improving the efficiency of paint spraying.

[0022] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution: An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a paint spraying method as described in any one of the above items.

[0023] By adopting the above technical solution, by operating the intelligent terminal, the processor loads and executes a computer program of a paint spraying method stored in the memory, so that when the spraying trigger signal of the product is detected, the mobile robot arm is controlled to move the product to the rotating mobile device, and then the rotating mobile device is controlled to rotate and move the product to the spraying station, so that the spraying device sprays the product. During the spraying process, the mobile robot arm moves the next product to the rotating mobile device. After the spraying is completed, the rotating mobile device is controlled to rotate and exchange the position of the product, so that the spraying device continues to spray the next product in a very short time, and the mobile robot arm removes the sprayed product from the rotating mobile device and replaces the unsprayed product, thereby greatly reducing the proportion of movement time in the overall spraying time, thereby improving the efficiency of paint spraying.

[0024] In a fourth aspect, the present application provides a computer storage medium capable of storing corresponding programs, which is convenient for improving the efficiency of paint spraying, and adopts the following technical solutions: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned paint spraying methods.

[0025] By adopting the above technical scheme, a computer program of a paint spraying method is stored in a computer-readable storage medium, so that the processor loads and executes the computer program in the storage medium, so that when a spraying trigger signal of the product is detected, the mobile robot arm is controlled to move the product to the rotating moving device, and then the rotating moving device is controlled to rotate and move the product to the spraying station, so that the spraying device sprays the product. During the spraying process, the mobile robot arm moves the next product to the rotating moving device. After the spraying is completed, the rotating moving device is controlled to rotate and exchange the position of the product, so that the spraying device continues to spray the next product in a very short time, and the mobile robot arm removes the sprayed product from the rotating moving device and replaces the unsprayed product, thereby greatly reducing the proportion of the movement time in the overall spraying time, thereby improving the efficiency of paint spraying.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. When the spraying trigger signal of the product is detected, the mobile robot arm is controlled to move the product to the rotating mobile device, and then the rotating mobile device is controlled to rotate and move the product to the spraying station, so that the spraying device sprays the product. During the spraying process, the mobile robot arm moves the next product to the rotating mobile device. After the spraying is completed, the rotating mobile device is controlled to rotate and exchange the product position, so that the spraying device continues to spray the next product in a very short time, and the mobile robot arm removes the sprayed product from the rotating mobile device and replaces the unsprayed product, thereby greatly reducing the proportion of the moving time in the overall spraying time, thereby improving the efficiency of paint spraying; 2. When the placement trigger signal is detected, the conveying device is controlled to move the product to the pick-up position of the automatic spraying room, and then the mobile robot is controlled to move the product to the rotational movement position, and finally the conveying device is controlled to wait for the sprayed product, thereby improving the efficiency and convenience of product conveying, moving and receiving; 3. Control the mobile robot arm to move the sprayed product to the top of the pick-up position and flip it over, then control the mobile robot arm to grab the unsprayed product on the conveying device, flip it again and change the position of the product, place the sprayed product on the conveying device and move it out of the automatic spraying room, flip the mobile robot arm again, and replace the unsprayed product on the rotating mobile device, thereby reducing the moving distance of the mobile robot arm and improving the continuity and efficiency of product replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of a paint spraying method in an embodiment of the present application.

[0028] Figure 2 It is a flow chart of the steps of controlling a preset mobile robot arm to move a product to a preset rotating moving device according to a spraying trigger signal in an embodiment of the present application.

[0029] Figure 3 It is a flow chart of the steps of controlling the mobile robot arm to move the product to the rotating moving device in an embodiment of the present application.

[0030] Figure 4 This is the process of controlling the conveying device to wait for the sprayed product according to the removal trigger signal in the embodiment of the present application. Figure 1 .

[0031] Figure 5 The present invention is a flow chart of synchronously controlling the mobile robot arm to remove the sprayed product from the rotating moving device and replace the unsprayed product on the rotating moving device. Figure 1 .

[0032] Figure 6 This is the process of controlling the conveying device to wait for the sprayed product according to the removal trigger signal in the embodiment of the present application. Figure 2 .

[0033] Figure 7 The present invention is a flow chart of synchronously controlling the mobile robot arm to remove the sprayed product from the rotating moving device and replace the unsprayed product on the rotating moving device. Figure 2 . DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 7 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] The embodiment of the present application discloses a paint spraying method, specifically discloses a processing terminal, a mobile robot arm, a rotating moving device and a spraying device, the processing terminal is respectively connected to the mobile robot arm, the rotating moving device and the spraying device through data wires or wireless communications to realize data interaction and control, after the processing terminal receives a spraying trigger signal of the product, the processing terminal controls the mobile robot arm to move the product to the rotating moving device, so that the rotating moving device rotates and moves the product to the spraying station, the processing terminal controls the spraying device to spray the product, and the mobile robot arm moves the next product to the rotating moving device at the same time, after the processing terminal detects a spraying completion trigger signal, the rotating moving device rotates and exchanges the product position, so that the spraying device continues to spray the next product, and the mobile robot arm removes the sprayed product from the rotating moving device and moves it out of the automatic spraying room, and moves the unsprayed product to the rotating moving device to wait for another exchange of position, thereby reducing the product movement time occupying the overall spraying time, thereby improving the paint spraying efficiency.

[0036] Reference Figure 1 The present application embodiment discloses a paint spraying method, comprising the following steps: Step S100: obtaining a spraying trigger signal of a preset product.

[0037] The product refers to the product waiting for paint spraying, and the specific product is determined by the operator according to the actual situation. The spraying trigger signal refers to the trigger signal for starting to spray paint on the product, which is input by the operator in the processing terminal.

[0038] Step S101: controlling a preset mobile robot arm to move the product to a preset rotating moving device according to a spraying trigger signal.

[0039] Among them, after the processing terminal receives the spraying trigger signal, the processing terminal responds to the spraying trigger signal, thereby controlling the mobile mechanical arm to move the product to the rotating moving device. The specific method is referred to Figure 2 steps to provide data support for the continuous spraying of subsequent products.

[0040] The mobile robot arm refers to a robot arm used to move the product to the rotary moving device and remove the product from the rotary moving device. The rotary moving device refers to a device that rotates and moves the product to the spraying station, including a servo motor and a rotating rod installed at the output end of the servo motor. A product seat is provided at each end of the rotating rod, and the product can be fixed on the product seat. When the servo motor controls the rotating rod to rotate 180 degrees, the products on the two product seats are exchanged between the receiving position and the spraying position.

[0041] Step S102: Control the rotary moving device to rotate and move the product to a preset spraying station, and obtain a trigger signal of reaching the station.

[0042] Among them, after the mobile robot moves the product to the rotating movable device, the processing terminal controls the servo motor in the rotating movable device to rotate 180 degrees, thereby rotating the product to the spraying station and detecting the arrival at the station trigger signal to provide data support for the subsequent spraying of the product.

[0043] The spraying station refers to the station in the automatic spraying room where the product is sprayed with paint, which is determined by the operator according to the actual situation of the automatic spraying room. The arrival station trigger signal refers to the trigger signal of the rotary moving device moving the product to the spraying station. The arrival station trigger signal is output when the angle sensor determines that the rotation angle of the servo motor is 180 degrees.

[0044] Step S103: controlling a preset spraying device to spray the product according to a trigger signal of reaching the workstation, and controlling a mobile robot arm to move the next product to the rotating moving device.

[0045] Among them, after the processing terminal receives the arrival station trigger signal, the processing terminal responds to the arrival station trigger signal, thereby controlling the spraying device to spray the product. The specific spraying can be remotely operated by the operator, or the spraying device can be controlled to spray according to a preset spraying path, and the mobile robotic arm is controlled to move the next product to the product seat at the other end of the rotating rod in the rotating moving device, thereby completing the product's movement preparation station during the spraying process to reduce the proportion of movement time in spraying time.

[0046] Spraying device refers to the device used to spray paint on products, including automatic spray guns and robotic arms that control the movement of automatic spray guns.

[0047] Step S104: Obtain a spraying completion trigger signal.

[0048] Among them, the spray completion trigger signal refers to the trigger signal for completing the paint spraying work on the product in the spraying station, which can be input by the operator in the processing terminal, or automatically output to the processing terminal by the spraying device after the spraying is completed according to the predetermined path.

[0049] Step S105: Control the rotary moving device to rotate and exchange the product position according to the spraying completion trigger signal, and obtain the arrival position trigger signal again.

[0050] Among them, when the processing terminal receives the spraying completion trigger signal, the processing terminal responds to the spraying completion trigger signal, thereby controlling the servo motor in the rotating moving device to rotate one hundred and eighty degrees, so that the rotating rod moves the sprayed product out of the spraying station, and moves the unsprayed product at the other end into the spraying station, and detects the arrival station trigger signal again to provide data support for subsequent spraying.

[0051] The arrival station trigger signal in this step is consistent with the arrival station trigger signal in step S102, and will not be repeated here.

[0052] Step S106: Control the spraying device to continue spraying the next product according to the again acquired arrival station trigger signal.

[0053] Among them, after the processing terminal receives the arrival station trigger signal, it controls the spraying device again to spray the product newly moved into the spraying station, thereby shortening the time for moving the product out and in, and then improving the efficiency of spraying.

[0054] Step S107: synchronously controlling the mobile robot arm to remove the sprayed product from the rotating moving device and replace the unsprayed product onto the rotating moving device.

[0055] When the spraying device is spraying the next product, the processing terminal controls the mobile robot to remove the sprayed product from the product seat in the rotating mobile device, and replace the unsprayed product to the product seat of the rotating mobile device, waiting for the rotating mobile device to rotate again to change the position of the product. The specific method is referred to Figure 5 or Figure 7 steps.

[0056] Reference Figure 2 The steps of controlling a preset mobile robot arm to move the product to a preset rotating moving device according to a spraying trigger signal include: Step S200: obtaining a closed detection signal of a preset automatic spraying room based on a spraying trigger signal.

[0057] When the processing terminal receives the spray trigger signal, the processing terminal responds to the spray trigger signal, thereby detecting the closed detection signal of the automatic spray room, and providing data support for the subsequent determination of whether the product can be moved.

[0058] The automatic spraying room refers to the space where the product is moved, sprayed and replaced. The mobile robot is located in the middle of the automatic spraying room, the spraying device is located on the wall on one side of the automatic spraying room, and the rotating moving device is located between the mobile robot and the spraying device, so as to rotate the product on the mobile robot to the bottom of the spraying device, and rotate the sprayed product to the mobile robot. The closed detection signal refers to the detection signal of whether the automatic spraying room is closed. The infrared device on the door of the automatic spraying room detects the state of the access control and sends the closed detection signal to the processing terminal.

[0059] Step S201: Determine whether the closed detection signal meets the preset closed signal requirement.

[0060] Among them, the closed signal refers to the signal that the access control of the automatic spray room has been closed, which is stored in the processing terminal by the operator. The requirement of the closed signal refers to consistency with the closed signal.

[0061] The processing terminal determines whether the closure detection signal is consistent with the closed signal, thereby determining whether the automatic spray room has been closed.

[0062] Step S2011: If it does not meet the requirements, an alarm is issued and the closed detection signal of the automatic spray room is continuously obtained for cyclic judgment.

[0063] Among them, if the processing terminal determines that the closed detection signal is inconsistent with the closed signal, it means that the automatic spray room is not closed. If spraying is carried out, people may enter during the process and cause safety problems. Therefore, an alarm prompt is given, all devices are stopped, and the closed detection signal of the automatic spray room continues to be detected, so as to continue to pay attention to changes in the access control status of the automatic spray room.

[0064] Step S2012: If the conditions are met, the mobile robot arm is controlled to move the product to the rotating moving device.

[0065] If the processing terminal determines that the closed detection signal is consistent with the closed signal, it means that the automatic spray chamber has been closed, so the mobile robot arm can be controlled to move the product to the rotating moving device. For specific methods, refer to Figure 3 steps.

[0066] Reference Figure 3 The steps of controlling the mobile robot arm to move the product to the rotary moving device include: Step S300: obtaining a placement trigger signal of a preset conveying device.

[0067] The placement trigger signal refers to the signal that the product is placed on the conveying device and moved into the automatic spraying room, which can be obtained by the operator inputting the processing terminal. The conveying device refers to the device used to move the product outside the automatic spraying room into the automatic spraying room, and move the sprayed product out of the automatic spraying room, including a circular track and a conveying trolley running along the track. The product is placed on the conveying trolley and transported into or out of the automatic spraying room by the conveying trolley.

[0068] Step S301: Control the conveying device to convey the product to a preset pick-up position in the automatic spraying room according to the placement trigger signal, and obtain a pick-up position trigger signal.

[0069] Among them, when the processing terminal receives the placement trigger signal, the processing terminal responds to the placement trigger signal, thereby controlling the conveying device to convey the product to the picking position in the automatic spraying room, so as to facilitate the mobile robotic arm to pick up the unsprayed products, and detect the picking position trigger signal to provide data support for the subsequent control of the mobile robotic arm to pick up.

[0070] The pickup position refers to the position where the product stops and waits for the mobile robot to pick it up. The specific position is determined by the operator according to the actual situation. The pickup position trigger signal refers to the trigger signal for the conveyor device to move the product to the pickup position, which can be sensed by the infrared device installed at the pickup position and sent to the processing terminal.

[0071] Step S302: Control the mobile robot arm to move the product on the conveying device to the rotating moving device according to the picking position trigger signal and the preset moving parameters, and obtain a removal trigger signal.

[0072] Among them, after the processing terminal receives the picking position trigger signal, the processing terminal responds to the picking position trigger signal, thereby controlling the mobile mechanical arm to move the product on the conveying device to the rotating moving device according to the moving parameters. The specific method is referred to Figure 5 or Figure 7 The steps in the embodiment are performed, and the removal trigger signal is detected to provide data support for the control of the subsequent conveying device.

[0073] The moving parameters refer to the path that the mobile robot moves the product from the conveying device to the rotating moving device. The operator inputs the moving parameters and stores them in the processing terminal according to the actual situation. The removal trigger signal refers to the trigger signal for the mobile robot to remove the product from the conveying device. It can be output to the processing terminal when the force-sensitive sensor on the conveying device detects that the product is not on the device.

[0074] Step S303: Control the conveying device to wait for the sprayed product according to the removal trigger signal.

[0075] When the processing terminal receives the removal trigger signal, the processing terminal responds to the removal trigger signal, thereby controlling the conveying device to wait for the sprayed product. The specific method is as follows: Figure 4 or Figure 6 steps.

[0076] Reference Figure 4 The steps of controlling the conveying device to wait for the sprayed product according to the removal trigger signal include: Step S400: Control the conveying device to move to a preset receiving position according to the removal trigger signal, and control the next conveying device to carry the product to move to the take-up position of the automatic spraying room.

[0077] Among them, when the processing terminal receives the removal trigger signal, the processing terminal responds to the removal trigger signal, thereby controlling the conveying device to move to the receiving position to wait for the sprayed product, and controls the next conveying device to carry the product to the picking position of the automatic spraying room to wait for the mobile robot arm to pick up the product again.

[0078] The receiving position refers to the position on the track in the conveying device for the conveying trolley to stop and receive the sprayed products, which is determined by the operator according to the actual situation.

[0079] Step S401: Obtain a receiving position trigger signal of a conveying device and a taking position trigger signal of a next conveying device.

[0080] The receiving position trigger signal refers to the trigger signal of the conveying device moving to the receiving position, which is sensed by the infrared device installed at the receiving position and sent to the processing terminal. The picking position trigger signal in this step is consistent with the picking position trigger signal in step S301, and will not be repeated here.

[0081] Step S402: according to the carrying position trigger signal, the conveying device is controlled to stop moving and wait for receiving the sprayed product, and according to the picking position trigger signal, the next conveying device is controlled to stop moving and wait for the mobile robot arm to pick up the unsprayed product.

[0082] Among them, when the processing terminal receives the carrying position trigger signal, it indicates that the conveying device moves to the receiving position, so the conveying device is controlled to stop moving to wait for the sprayed product. When the processing terminal receives the picking position trigger signal, it indicates that the next conveying device moves the product to the picking position and waits for the mobile robot arm to pick it up. The above process is a general cycle process, and the interval between the first and second product picking is short. At this time, there is no product available for transportation out of the automatic spraying room. Therefore, the first conveyor trolley is controlled to leave the automatic spraying room directly, and the second conveyor trolley waits for taking over. The last product that has been sprayed is moved to the receiving position by an empty conveyor trolley to be taken over and transported out of the automatic spraying room.

[0083] Reference Figure 5 The steps of synchronously controlling the mobile robot arm to remove the sprayed product from the rotating moving device and replace the unsprayed product onto the rotating moving device include: Step S500: controlling the mobile robot arm to remove the sprayed product from the rotating moving device and move it to the conveying device according to the preset receiving position movement parameters.

[0084] Among them, the processing terminal controls the mobile robot arm according to the receiving position movement parameters to remove the device that has completed spraying from the product seat on the rotating moving device, and moves it to the conveying device at the receiving position to provide an idle product seat for replacing the product.

[0085] The receiving position movement parameters refer to the path parameters of the mobile robot arm moving from the product seat of the rotary moving device to the receiving position, and are stored in the processing terminal by the operator.

[0086] Step S501: Control the conveying device to move the product out of the automatic spraying room, and then carry the unsprayed product back into the automatic spraying room.

[0087] Among them, when the force-sensitive sensor on the conveying device detects that the product is placed on the conveying cart, the conveying device is controlled to move the sprayed product out of the automatic spraying room. After unloading the product on the conveying cart, the unsprayed product is carried into the automatic spraying room again to wait for the mobile robotic arm to pick it up for spraying.

[0088] Step S502: Control the mobile robot arm to pick up the unpainted product on the next conveying device according to the preset receiving and picking movement parameters, and control the next conveying device to move to the receiving position to wait for the received product.

[0089] Among them, in the process of the conveying device moving the product out of the automatic spraying room, the processing terminal controls the mobile robot arm to move to the picking position according to the acceptance and picking parameters, so as to pick up the unsprayed product on the next conveying device. After the force-sensitive sensor on the next conveying device detects that the product has left the conveying device, the next conveying device moves to the acceptance position, so as to obtain the next product that has completed spraying.

[0090] The receiving and picking movement parameters refer to the path parameters of the mobile robot arm moving from the receiving position to the picking position, which are stored in the processing terminal by the operator.

[0091] Step S503: controlling the mobile robot arm to replace the unpainted product onto the rotating moving device according to the moving parameters.

[0092] Among them, after the mobile robotic arm picks up the unpainted product, the processing terminal controls the mobile robotic arm according to the path corresponding to the moving parameters to move the unpainted product from the picking position to the product seat in the rotating moving device, thereby waiting for the rotating moving device to rotate and exchange the product position, so as to move the product to the spraying station for spraying.

[0093] Reference Figure 6 The steps of controlling the conveying device to wait for the sprayed product according to the removal trigger signal include: Step S600: Acquire the number of conveying times of the conveying device based on the movement trigger signal.

[0094] The number of conveying times refers to the number of times the conveying device conveys the product during the entire spraying process. If it is the first conveyed product, the number is 1, which is counted by a counter.

[0095] Step S601: Determine whether the number of conveying times meets the preset secondary conveying requirement.

[0096] Among them, secondary conveying means that the number of conveying is two times, and the requirement of secondary conveying means that it is consistent with the number of secondary conveying. The processing terminal determines whether the number of conveying is consistent with the number of secondary conveying, so as to determine whether the current conveying device needs to stop and wait for the sprayed products.

[0097] Step S6011: If it meets the requirements, the conveying device is controlled to leave the automatic spraying room and move into the automatic spraying room again after carrying the product.

[0098] Among them, if the processing terminal determines that the number of conveying times is consistent with the number of secondary conveying times, it indicates that it is in the stage of starting conveying. At this time, two products need to be picked up continuously. Therefore, the purpose of placing the sprayed products after the first two conveying devices have not been picked up is to control the conveying device to leave the automatic spraying room directly, and move to the picking position of the automatic spraying room after carrying the product again to wait for it to be picked up again. In turn, the subsequent conveying device will take over a product while taking up the product, and finally leave two products on the rotating moving device. Therefore, the two controlled conveying devices are finally controlled to enter the automatic spraying room to take over the two last products one after another.

[0099] Step S6012: If not, the conveying device is controlled to wait at the picking position to receive the sprayed product.

[0100] If the processing terminal determines that the number of conveying times is inconsistent with the number of secondary conveying times, it indicates that there are sprayed products at this time, so the conveying device is controlled to wait at the picking position to receive the sprayed products.

[0101] Reference Figure 7 The steps of synchronously controlling the mobile robot arm to remove the sprayed product from the rotating moving device and replace the unsprayed product onto the rotating moving device include: Step S700: According to the preset pick-up position movement parameters, the mobile robot arm is controlled to remove the sprayed product from the rotating moving device and move it to above the conveying device.

[0102] Among them, the processing terminal controls the robotic arm according to the path corresponding to the picking position movement parameters to move the sprayed product from the product seat in the rotating moving device to above the conveying device at the picking position, thereby waiting to place the sprayed product on the conveying device at the picking position and move it out of the automatic spraying room.

[0103] The pick-up position movement parameter refers to the path of the mobile robot arm moving from the product seat of the rotary moving device to the pick-up position, and is stored in the processing terminal by the operator.

[0104] Step S701: Control the mobile robot arm to flip the sprayed product according to the preset flipping parameters, and control the mobile robot arm to pick up the unsprayed product on the conveying device.

[0105] Among them, after the mobile robot moves the product to the picking position, the processing terminal controls the mobile robot to flip the sprayed product according to the flipping parameters, so that the sprayed product faces upward, and the clamp on the back picks up the unsprayed product in the conveying device at the picking position, so that there is space on the conveying device for placing the sprayed product.

[0106] The flipping parameter refers to the degree to which the mobile robot arm flips the sprayed product circumferentially, which is 180 degrees. That is, the original product orientation is facing upward after flipping, while the other fixture is facing downward to pick up another product.

[0107] Step S702: Control the mobile robot arm to switch the positions of the painted product and the unpainted product according to the flipping parameters, and control the mobile robot arm to move the painted product to the conveying device.

[0108] Among them, after the mobile robotic arm picks up the unpainted product, the processing terminal controls the mobile robotic arm to flip again according to the degree corresponding to the flipping parameter, so that the unpainted product faces upward and the sprayed product faces downward, and controls the mobile robotic arm to move the sprayed product to the conveying device, thereby waiting for the conveying device to move the sprayed device out of the automatic spraying room.

[0109] Step S703: Control the conveying device to move the product out of the automatic spraying room, and then carry the product back into the automatic spraying room again.

[0110] Among them, after the conveying device receives the signal from the force-sensitive sensor that the product is placed on the conveying device, the conveying device moves the product out of the automatic spraying room, and then carries the product again and moves to the picking position of the automatic spraying room to wait for it to be picked up again.

[0111] Step S704: controlling the mobile robot arm to flip the unpainted product according to the flipping parameters, and controlling the mobile robot arm to replace the unpainted product onto the rotating moving device according to the moving parameters.

[0112] Among them, after the mobile robotic arm places the sprayed product on the conveying device, the mobile robotic arm flips the unsprayed product again according to the degree corresponding to the flipping parameter, so that the unsprayed product faces downward, and then controls the mobile robotic arm according to the path corresponding to the moving parameter to move the unsprayed product from the picking position to the product seat on the rotating moving device, thereby completing the product replacement.

[0113] Based on the same inventive concept, the embodiment of the present application provides a paint spraying system, comprising: An acquisition module is used to acquire a spraying trigger signal, a workstation arrival trigger signal, and a spraying completion trigger signal; A memory for storing a program of a paint spraying method; The program in the memory can be loaded and executed by the processor to implement a paint spraying method.

[0114] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0115] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a paint spraying method.

[0116] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0117] Based on the same inventive concept, an embodiment of the present application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a paint spraying method.

[0118] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0119] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A paint spraying method, characterized in that: include: Obtain spraying trigger signal of preset product; Control the preset mobile robot arm to move the product to the preset rotating moving device according to the spraying trigger signal; Control the rotary moving device to rotate and move the product to the preset spraying station, and obtain the arrival station trigger signal; According to the arrival station trigger signal, the preset spraying device is controlled to spray the product, and the mobile robot arm is controlled to move the next product to the rotating mobile device; Get the spraying completion trigger signal; According to the spraying completion trigger signal, the rotary moving device is controlled to rotate and change the product position, and the arrival position trigger signal is obtained again; Control the spraying device to continue spraying the next product according to the again acquired arrival station trigger signal; The mobile robot arm is synchronously controlled to remove the sprayed product from the rotating mobile device and replace the unsprayed product on the rotating mobile device.

2. A paint spraying method according to claim 1, characterized in that: The steps of controlling a preset mobile mechanical arm to move the product to a preset rotating moving device according to a spraying trigger signal include: Acquire a closed detection signal of a preset automatic spray chamber based on a spray trigger signal; Determine whether the closed detection signal meets the preset closed signal requirements; If it does not meet the requirements, an alarm will be given and the closed detection signal of the automatic spray room will continue to be obtained for cyclic judgment; If it meets the requirements, the mobile robot arm is controlled to move the product to the rotating moving device.

3. A paint spraying method according to claim 2, characterized in that: The steps of controlling the mobile robot to move the product to the rotary moving device include: Obtaining a placement trigger signal of a preset conveying device; Control the conveying device to convey the product to a preset pick-up position in the automatic spraying room according to the placement trigger signal, and obtain a pick-up position trigger signal; Control the mobile robot arm to move the product on the conveying device to the rotating moving device according to the pick-up position trigger signal and the preset movement parameters, and obtain the removal trigger signal; According to the removal trigger signal, the conveying device is controlled to wait for the sprayed product.

4. A paint spraying method according to claim 3, characterized in that: The steps of controlling the conveying device to wait for the sprayed product according to the removal trigger signal include: Control the conveying device to move to the preset receiving position according to the removal trigger signal, and control the next conveying device to carry the product to the take-up position of the automatic spraying room; Obtaining a receiving position trigger signal of a conveying device and a taking position trigger signal of a next conveying device; According to the carrying position trigger signal, the conveying device is controlled to stop moving and wait for the sprayed product. According to the picking position trigger signal, the next conveying device is controlled to stop moving and wait for the mobile robot arm to pick up the unsprayed product.

5. A paint spraying method according to claim 4, characterized in that: The steps of synchronously controlling the mobile robot arm to remove the sprayed product from the rotating moving device and replace the unsprayed product on the rotating moving device include: According to the preset receiving position movement parameters, the mobile mechanical arm is controlled to remove the sprayed product from the rotating moving device and move it to the conveying device; Control the conveying device to move the product out of the automatic spraying room, and then carry the unsprayed product back into the automatic spraying room; According to the preset receiving and picking movement parameters, the mobile robot arm is controlled to pick up the unpainted product on the next conveying device, and the next conveying device is controlled to move to the receiving position to wait for the finished sprayed product; The mobile robot arm is controlled according to the moving parameters to replace the unsprayed product onto the rotating moving device.

6. A paint spraying method according to claim 3, characterized in that: The steps of controlling the conveying device to wait for the sprayed product according to the removal trigger signal include: Acquire the number of conveying times of the conveying device based on the movement trigger signal; Determine whether the number of conveying times meets the preset secondary conveying requirements; If it meets the requirements, the conveying device is controlled to leave the automatic spraying room and move into the automatic spraying room again after carrying the product; If it does not meet the requirements, the conveying device is controlled to wait at the picking position to receive the sprayed products.

7. A paint spraying method according to claim 6, characterized in that: The steps of synchronously controlling the mobile robot arm to remove the sprayed product from the rotating moving device and replace the unsprayed product on the rotating moving device include: According to the preset picking position movement parameters, the mobile robot arm is controlled to take the sprayed product from the rotating moving device and move it to the top of the conveying device; Control the mobile robot arm to flip the sprayed products according to the preset flipping parameters, and control the mobile robot arm to pick up the unsprayed products on the conveying device; Control the mobile robot arm to switch the positions of the sprayed products and the unsprayed products according to the flipping parameters, and control the mobile robot arm to move the sprayed products to the conveying device; Control the conveying device to move the product out of the automatic spraying room, and then carry the product back into the automatic spraying room; The mobile mechanical arm is controlled to flip the unpainted product according to the flipping parameters, and the mobile mechanical arm is controlled to replace the unpainted product onto the rotating mobile device according to the moving parameters.

8. A paint spraying system, characterized in that: include: An acquisition module is used to acquire a spraying trigger signal, a workstation arrival trigger signal, and a spraying completion trigger signal; A memory for storing a program of a paint spraying method according to any one of claims 1 to 7; The program in the memory can be loaded and executed by the processor to implement a paint spraying method as claimed in any one of claims 1 to 7.

9. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a paint spraying method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and executes a paint spraying method according to any one of claims 1 to 7.

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