Spray gun track generation method, device, equipment and medium

Abstract

The invention discloses a spray gun track generation method and device, equipment and a medium. The method comprises the following steps: based on basic data of a target part set by a user, obtaining a finite element simulation result matched with the target part through finite element simulation software; in response to a selection operation of a user on the finite element simulation software, selecting at least one simulation point location from the simulation point locations as a target point location, and acquiring simulation result information matched with the target point locations as target point location information of the target point locations; and based on the target point location information corresponding to the target point locations, spray gun point location postures matched with the target point locations are generated, and a target spray gun track is obtained according to the spray gun point location postures. According to the technical scheme, the track of the spray gun can be generated in the shot blasting operation, the accuracy of the shot blasting operation is improved, and the shot blasting effect is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical manufacturing and processing, and in particular to a spray gun trajectory generation method, device, equipment and medium. BACKGROUND

[0002] In the field of sheet metal part shot forming, the sheet metal part to be shot is usually fixed on a support by a clamp for shot operation. However, due to the difference of parts, the fixing stiffness of the clamp is different. Some parts are fixed by hanging, resulting in a large degree of freedom of part deformation.

[0003] At present, the shot path planning is mainly completed by off-line programming or teaching programming to program the shot path. Regardless of which way is adopted, the fixed geometric model or the geometric shape of the flat blank part is taken as the reference for path editing. In the actual shot process, with the progress of the process, the part will inevitably deform to a certain extent. When the fixing stiffness of the clamp is insufficient, the part deformation during the shot process will be particularly significant. However, the path setting of the mechanical arm does not fully consider the deformation of the shot part during the shot process, which leads to changes in the key parameters such as the shot angle and the shot distance, and finally causes the deviation of the part shape after shot forming from the expectation. Generally speaking, the shot path planning is based on the input geometric model for off-line programming. In each pre-set position, the distance, angle and projectile flow impact area between the shot gun and the sheet metal part are pre-determined. However, in such path planning process, the deformation of the part during the shot process is not taken into account. Especially in the case of weak fixing stiffness of the clamp, for example, when the sheet metal part is hung on the support for shot, the deformation of the part during the shot process will be more obvious, which will have a significant impact on the relative position of the subsequent shot gun and the sheet metal part.

[0004] In summary, the existing shot gun trajectory generation method in the shot process leads to the problems of poor accuracy of shot operation and poor shot effect. SUMMARY

[0005] The present application provides a shot gun trajectory generation method, device, equipment and medium, which can solve the problem of poor accuracy of shot operation and poor shot effect caused by the existing shot gun trajectory generation method in the shot process.

[0006] In a first aspect, the embodiments of the present application provide a shot gun trajectory generation method, which comprises:

[0007] Based on the basic data of the target part set by the user, a finite element simulation result matched with the target part is obtained through a finite element simulation software, the simulation result is composed of a plurality of simulation points, including coordinate position information of each simulation point and simulation result information respectively matched with each simulation point;

[0008] In response to a selection operation of the user on the finite element simulation software, at least one simulation point is selected as a target point from the simulation points, and simulation result information matched with each target point is obtained as target point information of the target point;

[0009] Based on the target point information corresponding to each target point, a spray gun point posture respectively matched with each target point is generated, and a target spray gun trajectory is obtained according to each spray gun point posture.

[0010] In a second aspect, an embodiment of the present application provides a spray gun trajectory generation device, the device comprising:

[0011] The simulation module is configured to obtain a finite element simulation result matched with the target part through a finite element simulation software based on the basic data of the target part set by the user, the simulation result is composed of a plurality of simulation points, including coordinate position information of each simulation point and simulation result information respectively matched with each simulation point;

[0012] The point determination module is configured to select at least one simulation point as a target point from the simulation points in response to a selection operation of the user on the finite element simulation software, and obtain simulation result information matched with each target point as target point information of the target point;

[0013] The posture generation module is configured to generate a spray gun point posture respectively matched with each target point based on the target point information corresponding to each target point, and obtain a target spray gun trajectory according to each spray gun point posture.

[0014] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising:

[0015] At least one processor; and

[0016] A memory in communication connection with the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute a spray gun trajectory generation method according to any one of the embodiments of the present application.

[0018] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make a processor execute a method for generating a spray gun trajectory according to any of the embodiments of the present application.

[0019] The technical scheme of the embodiment of the present application, based on the basic data of the target part set by the user, obtains the finite element simulation result matched with the target part through the finite element simulation software, then in response to the selection operation of the user on the finite element simulation software, selects at least one simulation point as a target point in each simulation point, and obtains the simulation result information matched with each target point as the target point information of the target point, and finally based on the target point information corresponding to each target point, respectively generates the spray gun point posture matched with each target point, and obtains the target spray gun trajectory according to each spray gun point posture, solves the problem that the accuracy of the shot blasting operation and the shot blasting effect are poor caused by the spray gun trajectory generation method in the existing shot blasting process, realizes the generation of the spray gun trajectory in the shot blasting operation, improves the accuracy of the shot blasting operation, and improves the shot blasting effect.

[0020] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1a is a part deformation schematic diagram in shot blasting operation according to the prior art;

[0023] Figure 1b is a schematic diagram of the relationship between the spray gun trajectory and the position of the part to be shot blasted in the shot blasting operation according to the prior art;

[0024] Figure 1c is a schematic diagram of the relationship between the spray gun trajectory and the position of the part to be shot blasted in the shot blasting operation according to the prior art;

[0025] Figure 1d is a flowchart of a spray gun trajectory generation method according to the first embodiment of the present application;

[0026] Figure 2 is a flowchart of a spray gun trajectory generation method according to the second embodiment of the present application;

[0027] Figure 3 is a structural schematic diagram of a spray gun trajectory generation device according to an embodiment of the present application;

[0028] Figure 4 is a structural schematic diagram of an electronic device for implementing a spray gun trajectory generation method according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0030] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0032] During the shot peening process for sheet metal parts, the part being shot peened is typically secured to a support using a fixture. The rigidity of the fixture varies depending on the part. Some parts are suspended, allowing for greater freedom of deformation. Shot peening path planning is typically accomplished through offline programming or teach-in programming. In both cases, the path is based on a fixed geometric model or the geometry of the flat blank part. However, as the shot peening process progresses, the part will deform. If the fixture rigidity is not high enough, the deformation during the shot peening process will be significant. The robotic arm's path does not account for this deformation during the shot peening process. Subsequent parameters such as the shot peening angle and distance will change, causing the final shot peened part shape to deviate from the predicted shape.

[0033] The path planning of shot peening is generally performed by offline programming based on the input geometric model. At each predetermined position, the distance and angle between the spray gun and the sheet metal part, as well as the area of ​​impact of the projectile flow are predetermined. In the above path planning process, the deformation of the parts during the shot peening process is generally not considered. However, in some occasions where the rigidity of the fixture is not very large (such as sheet metal parts suspended on a bracket for shot peening), the deformation of the parts during the shot peening process will be more obvious, which will have a greater impact on the relative position of the subsequent spray gun and the sheet metal part. Figure 1a As shown:

[0034] like Figure 1a As shown, according to the flat shape of the parts, the Figure 1a There are four points: initial position, middle position 1, middle position 2, and end position. Fix one end of the sheet metal part and perform shot peening. As the shot peening proceeds, the deformation of the sheet metal part becomes more and more obvious. When the spray gun is in the initial position, the shape of the part is flat, and the relative position relationship between the shot peening and the sheet metal part is consistent with the expected (shot peening distance, angle, area). When the spray gun is in middle position 1 and middle position 2, the sheet metal part has undergone a large deformation, and the relative position relationship between the spray gun and the part has deviated greatly from the plan (shot peening distance, angle, area). When the spray gun is in the end position, the deformation of the sheet metal part is more obvious, and the deviation of the relative position between the spray gun and the part is even greater. Figure 1a From the analysis, it can be seen that the pre-planned shot peening path cannot effectively consider the deformation of the parts during the process. This will cause deviations in the distance, angle, and area of ​​the shot peening in the later stage, making it impossible for the parts to achieve the expected shape after shot peening.

[0035] Taking the simplest rectangular plate as an example, assuming there are 2 shot peening strips in total, the planned shot peening sequence is as follows: Figure 1bThe planned shot path mainly includes two paths: 1→2→3→4 and 5→6→7→8. Among them, the first pose is the starting point, and the eighth pose is the ending point. As the shot progresses, the part shape changes, and the shot gun pose on the pre-planned shot path deviates from the relative position of the part. After the shot, the part shape is as shown in Figure 1c As can be seen, the right end of the part deforms significantly during the shot, at which time Figure 1b The end point 8 of the shot gun trajectory in Figure 1c There is a significant difference in space between the end point 8 in Figure 1c The original shot gun trajectory corresponding to the shot operation has poor accuracy and poor shot effect.

[0036] Embodiment one

[0037] Figure 1d A flowchart of a shot gun trajectory generation method provided for embodiment one of the present application. The present embodiment can be applied to the generation of a shot gun trajectory in a shot operation. The method can be executed by a shot gun trajectory generation device, which can be realized in the form of hardware and / or software. The shot gun trajectory generation device can be configured in a terminal or server with shot gun trajectory generation function.

[0038] As shown in Figure 1d The method comprises:

[0039] S110, based on the basic data of the target part set by the user, obtaining a finite element simulation result matched with the target part through a finite element simulation software.

[0040] The finite element simulation software is a tool for simulating and analyzing engineering problems. It can convert complex engineering problems into mathematical models and obtain corresponding results by computer calculation. In the present embodiment, the finite element simulation model can be specifically MSC.Marc finite element simulation software.

[0041] Further, the basic data includes: material composition, size data, motion trajectory of the target part, and boundary conditions, equivalent heat source model and equivalent force field model matched with the current working condition; specifically, the material composition refers to the type and composition of the material used by the target part, different materials have different physical and mechanical properties, these properties will have important influence on the deformation and stress distribution of the part in the shot forming process, which is set by the staff according to the actual working condition; the size data is the key information describing the size and shape of the target part. It includes the length, width, height, thickness and other geometric parameters of the part, which is set by the staff according to the actual working condition; the motion trajectory refers to the moving path of the target part in the shot process, which can be a straight line, a curve or a complex spatial curve, depending on the requirements of the shot process and the shape of the part, the determination of the motion trajectory needs to consider the working range of the shot equipment, the shot angle and distance and other factors, which is set by the staff according to the actual working condition; the boundary conditions refer to the setting of the environment and constraint conditions of the target part in the finite element simulation, which includes gravity, tooling fixation, fixture clamping and other factors, which is set by the staff according to the actual working condition; the equivalent heat source model is a model used to simulate the heat input in the shot process, in shot forming, the impact of the projectile flow on the surface of the part will produce heat, which will affect the temperature distribution and deformation of the part. The equivalent heat source model converts the impact energy of the projectile flow into heat and simulates it in the finite element model. For example, a Gaussian heat source model can be used to simulate the impact of the projectile flow, which assumes that the heat source is a Gaussian distributed point heat source, and its heat distribution conforms to the Gaussian function; the equivalent force field model is a model used to simulate the force action in the shot process, which converts the impact force of the projectile flow into an equivalent force field for analysis in the finite element model, the equivalent force field model can consider the distribution, impact angle and speed of the projectile flow, etc., to accurately predict the stress distribution and deformation of the part, for example, a dynamic explicit analysis method can be used to solve the equivalent force field model, which can quickly simulate the dynamic response of the part under impact load, etc.

[0042] In one specific implementation scenario of the embodiment, the specific steps of obtaining the finite element simulation result matched with the target part through the finite element simulation software can be: Step 1: According to the basic data of the target part set by the user, a geometric model of the part is established in the finite element simulation software. This model needs to accurately reflect the shape, size and material properties of the part. For example, in the MSC.Marc finite element simulation software, solid elements or shell elements can be used to establish the model of the flat plate part. Step 2: On the basis of establishing the model, according to the boundary conditions set by the user, the part model is constrained and loaded. For example, set constraints such as gravity, tooling fixation, and load conditions such as equivalent heat source and equivalent force field. Step 3: After setting the model and boundary conditions, run the finite element simulation software for analysis. The software will solve the part model according to the set parameters and algorithms to obtain the coordinate position information of each simulation point and the simulation result information matched with each simulation point respectively.

[0043] Further, the simulation element result is composed of a plurality of simulation points, including coordinate position information of each simulation point and simulation result information matched with each simulation point respectively.

[0044] Specifically, the coordinate position information of the simulation point refers to the position coordinates of each simulation point in space. These coordinate information can be used to describe the deformation and displacement of the part during the shot peening process. For example, during the shot peening forming of the flat plate part, the coordinate position information of each simulation point can include the coordinate values in x, y and z directions, which can reflect the deformation trend and displacement amount of the part during the shot peening process. The simulation result information refers to the simulation results related to each simulation point, including the distribution of physical quantities such as stress, strain, temperature, etc.

[0045] S120, in response to the selection operation of the user on the finite element simulation software, at least one simulation point in each simulation point is selected as a target point, and the simulation result information matched with each target point is obtained as the target point information of the target point.

[0046] Among them, at least one simulation point in each simulation point is selected as a target point, and the simulation result information matched with each target point is obtained as the target point information of the target point, including: in response to the selection operation of the user on at least one simulation point in each simulation point through the finite element simulation software to generate a target point, and obtain the coordinate position information of the target point; based on the coordinate information of each target point in the simulation element result, find and obtain the simulation result information matched with each target point as the target point information of the target point.

[0047] Exemplarily, in the process of engineering analysis using finite element simulation software, when the user makes a selection operation, the user enters a stage of selecting target points and obtaining relevant information thereof. The user selects simulation points through the finite element simulation software, which can be selecting a single point or selecting multiple points in batches. Once the user completes the selection operation, the software generates corresponding target points according to the user's selection. Each target point has its unique coordinate position information, which is represented in the form of (x, y, z) and corresponds to the position of the target point in the direction of three coordinate axes in three-dimensional space. After determining the target points, the software searches for the simulation results based on the coordinate information of the target points and obtains the simulation result information matched with each target point. For example, by searching for a target point with coordinates (x=10, y=20, z=30), the software can obtain the stress distribution of the point and understand the stress variation law of the point in the stress process; or obtain the temperature distribution information of the point and analyze the temperature variation trend of the point in the thermal environment. Finally, the software integrates the coordinate position information of the target points and the simulation result information matched with the target points to form the target point information of the target points.

[0048] S130, based on the target point information corresponding to each target point, respectively generating a gun point posture matched with each target point, and obtaining a target gun trajectory according to the gun point postures.

[0049] On the basis of the above steps, after obtaining each gun point posture, the target gun trajectory is formed by sequentially connecting each gun point posture. Specifically, the gun posture information obtained in each analysis step is sequentially connected according to time steps or shot sequence. For example, in a simulation process including multiple analysis steps, the gun posture A corresponding to analysis step 1, the gun posture B corresponding to analysis step 2, the gun posture C corresponding to analysis step 3, and the like are sequentially connected from the posture A to the posture B, and then to the posture C, and so on, to form a continuous target gun trajectory. This method ensures that the gun trajectory closely follows the deformation of the part in the shot process, so that the shot area of the gun always matches the grid area applied by the equivalent model, effectively avoiding the shot deviation problem caused by the deformation of the part.

[0050] Optionally, after obtaining the target gun trajectory according to the gun point postures, the method further includes: inputting the target gun trajectory to a mechanical arm control program through a preset industrial robot interface, so that the mechanical arm performs shot work on the target part based on the target gun trajectory.

[0051] Specifically, after obtaining the target spray gun trajectory, in order to apply the planned trajectory to actual production, the help of a preset industrial robot interface is needed. The industrial robot interface is a specially designed communication interface, which is responsible for realizing the data transmission and instruction interaction between the mechanical arm control program and external equipment (such as a computer system for shot trajectory planning). Through the interface, the target spray gun trajectory is accurately input to the mechanical arm control program. After receiving the target spray gun trajectory information, the mechanical arm control program begins to play a role. It converts the received trajectory information into motion instructions for each joint of the mechanical arm, and controls the motion of the mechanical arm. The mechanical arm drives the spray gun to move according to the planning of the target spray gun trajectory under the driving of these instructions.

[0052] The technical scheme of the embodiment of the present application is based on the basic data of the target part set by the user, obtains the finite element simulation result matched with the target part through the finite element simulation software, then responds to the selection operation of the user on the finite element simulation software, selects at least one simulation point as a target point in each simulation point, and obtains the simulation result information matched with each target point as the target point information of the target point, and finally based on the target point information corresponding to each target point, respectively generates the spray gun point posture matched with each target point, and obtains the target spray gun trajectory according to each spray gun point posture, realizes the generation of the spray gun trajectory in the shot operation, improves the accuracy of the shot operation, and improves the shot effect.

[0053] Embodiment two

[0054] Figure 2 A flowchart of a spray gun trajectory generation method provided by the second embodiment of the present application is provided. The present embodiment is based on the above-mentioned embodiments and is refined. In the present embodiment, the method of calculating the spray gun point posture matched with the target point based on the target point information matched with the target point is refined.

[0055] As Figure 2 shown, the method comprises:

[0056] S210, based on the basic data of the target part set by the user, obtaining the finite element simulation result matched with the target part through the finite element simulation software.

[0057] S220, responding to the selection operation of the user on the finite element simulation software, selecting at least one simulation point as a target point in each simulation point, and obtaining the simulation result information matched with each target point as the target point information of the target point.

[0058] S230, obtaining the target point information of the target point.

[0059] S240, based on the target point position information matched with the target point position, a spray gun point position attitude matched with the target point position is calculated, and a target spray gun trajectory is obtained according to each spray gun point position attitude.

[0060] Wherein, based on the target point position information matched with the target point position, a spray gun point position attitude matched with the target point position is calculated, including: obtaining the coordinate information of the target node, and taking the target node as the center, all simulation point positions in a preset radius range in the finite element simulation result are extracted to form a node set; based on the geometric distribution of the node set, a fitting local surface matched with the node set is obtained by a least square method fitting operation on the node set, and a surface normal vector of the fitting local surface at the target node is calculated; a spray gun parameter is obtained in advance, and the spray gun point position attitude matched with the target point position is determined according to the spray gun parameter, the coordinate information of the target node and the surface normal vector, wherein the spray gun parameter includes: shot angle and shot distance.

[0061] Exemplarily, in the embodiment, when calculating the shot point pose based on the target point information, the first step is to obtain the coordinate information of the target node. Taking the target node as the center, all the simulation points within a preset radius range in the finite element simulation result are extracted to form a node set, and the preset radius is a distance value set in advance according to actual process requirements and part characteristics. For example, for some small and high-precision parts, the preset radius can be set to 5 mm, and for large parts, the preset radius can be increased to 20 mm or even larger. The node set contains all the simulation points within a certain range around the target node, and the distribution and data of these points reflect the local geometric characteristics and physical state of the region. Then, based on the geometric distribution of the node set, a fitting operation is performed on the node set by using the least square method. The least square method is a mathematical optimization technique that finds the best function match of data by minimizing the sum of squares of errors. In this scenario, the least square method can find a surface that best fits the distribution of the node set, i.e., a local surface fitting, which can approximately represent the actual surface shape around the target node, providing an accurate geometric model for subsequent calculation of the surface normal vector. The surface normal vector is a vector perpendicular to the tangent plane at a point on the surface, which determines the direction of the surface at that point. Then, the pre-set shot parameters are obtained, including the shot angle and the shot distance. The shot angle refers to the included angle between the shot direction of the shot gun and the surface normal vector, which directly affects the impact force and coverage of the shot on the surface of the part. Different part materials and forming requirements require different shot angles, for example, for some materials with high hardness, a larger shot angle can be required to increase the impact force of the shot; and for some parts with high surface precision requirements, a smaller shot angle is required to ensure the uniformity of the shot. The shot distance refers to the distance from the nozzle of the shot gun to the target point, which affects the speed and energy distribution of the shot when it reaches the target point. A suitable shot distance can ensure that the shot has enough energy to achieve effective shot effect when it reaches the target point, while preventing uneven shot or damage to the surface of the part due to too close or too far distance.

[0062] Specifically, the pre-set shot parameters are obtained, and based on the shot parameters, the coordinate information of the target node and the surface normal vector, the shot point pose matched with the target point is determined, including: adjusting the shot angle of the shot gun according to the surface normal vector, and adjusting the shot distance of the shot gun to the target part according to the coordinate information of the target node, to obtain the shot point pose matched with the target point.

[0063] The shot angle determines the direction of the shot impacting the surface of the target part, and has a direct impact on the stress distribution and deformation effect of the shot on the surface of the part. The shot distance is related to the speed and energy of the shot when it reaches the surface of the part, and then affects the strength and uniformity of the shot, which is determined by relevant personnel according to the actual working condition, and this embodiment does not limit it. When determining the pose of the shot point, first, the shot angle of the shot gun is adjusted according to the surface normal vector. The surface normal vector represents the directional characteristics of the surface at the target point, which is a vector perpendicular to the tangent plane at the point. Taking the shot processing of the aero-engine blade as an example, the surface of the blade is a complex curved surface, and the directions of the surface normal vectors at different positions are different. In order to enable the shot to impact the surface of the blade at a suitable angle, it is necessary to adjust the shot angle of the shot gun according to the surface normal vector of each target point. If the surface normal vector and the horizontal direction form a 30° angle, and the ideal preset shot angle is 45° with the surface normal vector, then the shot gun needs to adjust its own pose so that its shooting direction forms a 45° angle with the surface normal vector. In this way, the shot can accurately hit the surface of the blade according to the predetermined angle, and effectively strengthen the specific area of the blade. At the same time, the shot distance between the shot gun and the target part also needs to be adjusted according to the coordinate information of the target node. The coordinate information of the target node accurately locates the position of the target point in the three-dimensional space. The setting of the shot distance needs to consider the type of the shot, the shooting ability of the shot gun, and the material of the target part, etc. For example, when performing shot processing on a metal part with high hardness, in order to ensure that the shot has enough energy to change the stress state of the surface of the part, the shot distance may need to be set relatively close. For some parts with a relatively fragile surface that is easy to be damaged, the shot distance needs to be appropriately increased to reduce the impact force of the shot and avoid excessive damage to the surface of the part. Assuming that the coordinate of the target node is (x1, y1, z1), and according to the pre-planned and calculated process, the appropriate shot distance at the point is d1, then the shot gun needs to be moved to a place that is d1 away from the position represented by the coordinate of the target node, in order to ensure the effectiveness and safety of the shot process. Through accurate adjustment of the shot angle and the shot distance, the final pose of the shot point that matches the target point is obtained. This pose determines the specific position and shooting direction of the shot gun in the three-dimensional space, so that the shot gun can perform shot operation on the target point in the best state. In actual shot operation, the shot gun will be adjusted and moved according to the pose of the shot point corresponding to each target point, to ensure that each key part of the target part can be processed by high-quality shot, so as to realize the expected forming effect of the target part in shape, stress distribution, etc., and meet the strict requirements of industrial production on the performance and quality of the part.

[0064] The technical scheme of the embodiment of the present application is based on the basic data of the target part set by the user, obtains the finite element simulation result matched with the target part through the finite element simulation software, then responds to the selection operation of the user on the finite element simulation software, selects at least one simulation point as a target point in each simulation point, and obtains the simulation result information matched with each target point as the target point information of the target point, finally obtains the target point information of the target point, calculates the shot gun point posture matched with the target point based on the target point information matched with the target point, and obtains the target shot gun trajectory according to each shot gun point posture, thereby realizing the generation of the shot gun trajectory in the shot blasting operation, improving the accuracy of the shot blasting operation, and improving the shot blasting effect.

[0065] Embodiment three

[0066] Figure 3 A structural schematic diagram of a shot gun trajectory generation device provided for the third embodiment of the present application is shown in FIG. 3. Figure 3 As shown in the figure, the device comprises:

[0067] The simulation module 310 is configured to obtain the finite element simulation result matched with the target part through the finite element simulation software based on the basic data of the target part set by the user, the simulation result is composed of a plurality of simulation points, and includes the coordinate position information of each simulation point and the simulation result information matched with each simulation point respectively.

[0068] The point determination module 320 is configured to select at least one simulation point as a target point in each simulation point in response to the selection operation of the user on the finite element simulation software, and obtain the simulation result information matched with each target point as the target point information of the target point.

[0069] The posture generation module 330 is configured to generate the shot gun point posture matched with each target point respectively based on the target point information corresponding to each target point, and obtain the target shot gun trajectory according to each shot gun point posture.

[0070] The technical scheme of the embodiment of the present application is based on the basic data of the target part set by the user, obtains the finite element simulation result matched with the target part through the finite element simulation software, then responds to the selection operation of the user on the finite element simulation software, selects at least one simulation point as a target point in each simulation point, and obtains the simulation result information matched with each target point as the target point information of the target point, finally obtains the target point information of the target point, calculates the shot gun point posture matched with the target point based on the target point information matched with the target point, and obtains the target shot gun trajectory according to each shot gun point posture, thereby realizing the generation of the shot gun trajectory in the shot blasting operation, improving the accuracy of the shot blasting operation, and improving the shot blasting effect.

[0071] On the basis of the above-mentioned embodiments, the point position determination module 320 comprises:

[0072] A point position selection unit is configured to generate a target point position in response to a selection operation of at least one simulation point position by a user through the finite element simulation software, and obtain coordinate position information of the target point position.

[0073] An information acquisition unit is configured to search and acquire simulation result information matched with each target point position based on the coordinate information of each target point position in the simulation result, as target point position information of the target point position.

[0074] On the basis of the above-mentioned embodiments, the posture generation module 330 comprises:

[0075] A point position information acquisition unit is configured to obtain target point position information of the target point position.

[0076] A posture calculation unit is configured to calculate a spray gun point position posture matched with the target point position based on the target point position information matched with the target point position.

[0077] On the basis of the above-mentioned embodiments, the posture calculation unit comprises:

[0078] A node set generation unit is configured to obtain coordinate information of the target node, and extract all simulation point positions within a preset radius range in the finite element simulation result to form a node set with the target node as the center.

[0079] A fitting unit is configured to perform a fitting operation on the node set by a least square method based on a geometric distribution of the node set, to obtain a fitted local surface matched with the node set, and calculate a surface normal vector of the fitted local surface at the target node.

[0080] A parameter acquisition unit is configured to obtain a pre-set spray gun parameter, and determine a spray gun point position posture matched with the target point position according to the spray gun parameter, the coordinate information of the target node, and the surface normal vector, wherein the spray gun parameter comprises a shot angle and a shot distance.

[0081] On the basis of the above-mentioned embodiments, the parameter acquisition unit is specifically configured to adjust the shot angle of the spray gun according to the surface normal vector, and adjust the shot distance of the spray gun from the target part according to the coordinate information of the target node, to obtain the spray gun point position posture matched with the target point position.

[0082] On the basis of the above-mentioned embodiments, the pose generation module 330 is further configured to: after obtaining the target spray gun trajectory according to the pose of each spray gun point, input the target spray gun trajectory to a mechanical arm control program through a preset industrial robot interface, so that the mechanical arm performs a shot blasting operation on the target part based on the target spray gun trajectory.

[0083] The spray gun trajectory generation device provided in the embodiments of the present application can execute the spray gun trajectory generation method provided in any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0084] Embodiment four

[0085] Figure 4 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0086] As shown in Figure 4 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which are in communication with the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0087] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunications networks.

[0088] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for generating a spray gun trajectory.

[0089] Accordingly, the method includes:

[0090] Based on the basic data of the target part set by the user, a finite element simulation result matching the target part is obtained through finite element simulation software, wherein the simulation result is composed of multiple simulation points, including coordinate position information of each simulation point and simulation result information matching each simulation point;

[0091] In response to a user's selection operation on the finite element simulation software, at least one simulation point is selected from each simulation point as a target point, and simulation result information matching each target point is obtained as target point information of the target point;

[0092] Based on the target point information corresponding to each target point, a spray gun point posture matching each target point is generated respectively, and a target spray gun trajectory is obtained according to each spray gun point posture.

[0093] In some embodiments, a method for generating a spray gun trajectory can be implemented as a computer program that is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for generating a spray gun trajectory described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform a method for generating a spray gun trajectory in any other appropriate manner (e.g., by means of firmware).

[0094] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0095] Computer programs used to implement the processes of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program

[0096] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0097] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0098] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), blockchain network, and the Internet.

[0099] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0100] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in different orders, as long as the desired results of the present disclosure are achieved, and the present disclosure is not limited herein.

Claims

1. A method for generating a spray gun trajectory, characterized in that: include: Based on the basic data of the target part set by the user, a finite element simulation result matching the target part is obtained through finite element simulation software, wherein the simulation result is composed of multiple simulation points, including coordinate position information of each simulation point and simulation result information matching each simulation point; In response to a user's selection operation on the finite element simulation software, at least one simulation point is selected from each simulation point as a target point, and simulation result information matching each target point is obtained as target point information of the target point; Based on the target point information corresponding to each target point, a spray gun point posture matching each target point is generated respectively, and a target spray gun trajectory is obtained according to each spray gun point posture.

2. The method according to claim 1, characterized in that The basic data include: material composition, dimensional data, motion trajectory of the target part, as well as boundary conditions, equivalent heat source model and equivalent force field model that match the current working conditions.

3. The method according to claim 1, characterized in that Selecting at least one simulation point from each simulation point as a target point, and obtaining simulation result information matching each target point as target point information of the target point, including: In response to a user selecting at least one of the simulation points through finite element simulation software, a target point is generated, and coordinate position information of the target point is obtained; In the simulation element results, based on the coordinate information of each target point, simulation result information matching each target point is searched and obtained as the target point information of the target point.

4. The method according to claim 1, wherein Based on the target point information corresponding to each target point, the spray gun point postures that match each target point are generated respectively, including: Acquire target point information of the target point; Based on the target point information matching the target point, a spray gun point posture matching the target point is calculated.

5. The method according to claim 1, wherein Based on the target point information matching the target point, a spray gun point posture matching the target point is calculated, including: Obtaining coordinate information of the target node, and extracting all simulation points within a preset radius from the finite element simulation results with the target node as the center of a circle to form a node set; Based on the geometric distribution of the node set, a fitting operation is performed on the node set by a least squares method to obtain a fitting local surface matching the node set, and a surface normal vector of the fitting local surface at the target node is calculated; Obtain pre-set spray gun parameters, and determine the spray gun point posture that matches the target point according to the spray gun parameters, the coordinate information of the target node and the surface normal vector, wherein the spray gun parameters include: shot peening angle and shot peening distance.

6. The method according to claim 5, characterized in that Obtaining pre-set spray gun parameters, and determining a spray gun point posture that matches the target point according to the spray gun parameters, the coordinate information of the target node, and the surface normal vector, including: The shot peening angle of the spray gun is adjusted according to the surface normal vector, and the shot peening distance between the spray gun and the target part is adjusted according to the coordinate information of the target node to obtain a spray gun point posture that matches the target point.

7. The method according to claim 1, characterized in that After obtaining the target spray gun trajectory according to the posture of each spray gun point, it also includes: The target spray gun trajectory is input into a robot arm control program through a preset industrial robot interface, so that the robot arm performs a shot peening operation on the target part based on the target spray gun trajectory.

8. A spray gun trajectory generating device, characterized in that: include: A simulation module is used to obtain a finite element simulation result matching the target part based on the basic data of the target part set by the user through finite element simulation software. The simulation result is composed of multiple simulation points, including coordinate position information of each simulation point and simulation result information matching each simulation point; a point determination module, configured to select at least one simulation point from each simulation point as a target point in response to a user's selection operation on the finite element simulation software, and obtain simulation result information matching each target point as target point information of the target point; The posture generation module is used to generate the spray gun point postures that match each target point based on the target point information corresponding to each target point, and obtain the target spray gun trajectory according to each spray gun point posture.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to execute a method for generating a spray gun trajectory according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a method for generating a spray gun trajectory according to any one of claims 1 to 7 when executed.

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