Robot, spraying control method thereof, spraying control device and storage medium

Abstract

The invention discloses a robot, a spraying control method of the robot, a spraying control device and a storage medium, and relates to the technical field of industrial robot automation control, and the method comprises the steps that under the condition that it is determined that one quantitative cylinder in a double-quantitative-cylinder glue supply system breaks down, a corresponding fault cylinder software shielding instruction is generated, an interlocking condition in a double-cylinder program of the robot is met based on the fault cylinder software shielding instruction; and the actual material allowance and the actual load of the other quantitative cylinder in the double-quantitative-cylinder glue supply system are obtained, the single-cylinder spraying control parameters of the robot are adjusted according to the actual material allowance and the actual load, and spraying control is carried out based on the adjusted single-cylinder spraying control parameters. Therefore, according to the method, on the premise of not adding hardware equipment and not reconstructing an underlying program, rapid software shielding of the fault quantitative cylinder is achieved through the software instruction, stable and continuous production of the single cylinder is guaranteed, and production continuity is guaranteed.

Description

Technical Field

[0001] This application relates to the field of industrial robot automation control technology, and in particular to a robot and its spraying control method, spraying control device and storage medium. Background Technology

[0002] In modern intelligent manufacturing workshops, especially in the glue application / spraying process of the automotive industry, the dual quantitative cylinder glue supply system is a key piece of equipment to ensure continuous production.

[0003] For a glue-applying robot with a dual-cylinder glue supply system, when any metering cylinder in the dual-cylinder glue supply system fails, the relevant technology involves stopping the glue-applying robot for maintenance. If the failure can be repaired in a short time, the robot waits for the repair to be completed before resuming dual-cylinder operation. If a long maintenance is required, the robot can only remain in a stopped state. This method causes the glue-applying work to be interrupted, affecting the work progress and reducing work efficiency. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in the related art. Therefore, the first objective of this application is to propose a robotic spraying control method that, without adding hardware or refactoring the underlying program, achieves rapid shielding of faulty quantitative cylinders through software instructions and ensures stable and continuous production of a single cylinder, thus guaranteeing production continuity.

[0005] The second objective of this application is to provide a robotic spraying control device.

[0006] The third objective of this application is to provide a computer-readable storage medium.

[0007] The fourth objective of this application is to propose a robot.

[0008] To achieve the above objectives, a first aspect of this application proposes a robot spraying control method. The robot includes a dual-quantitative cylinder glue supply system. The method includes: when it is determined that one of the quantitative cylinders in the dual-quantitative cylinder glue supply system has malfunctioned, generating a corresponding faulty cylinder software shielding instruction to satisfy the interlocking conditions in the robot's dual-cylinder program based on the faulty cylinder software shielding instruction; obtaining the actual material balance and actual load of the other quantitative cylinder in the dual-quantitative cylinder glue supply system, and adjusting the robot's single-cylinder spraying control parameters according to the actual material balance and actual load, so as to perform spraying control based on the adjusted single-cylinder spraying control parameters.

[0009] According to the robot spraying control method of this application embodiment, when it is determined that one metering cylinder in the dual metering cylinder glue supply system has malfunctioned, a corresponding faulty cylinder software shielding instruction is generated. This instruction satisfies the interlocking conditions in the robot's dual-cylinder program. The actual material balance and actual load of the other metering cylinder in the dual metering cylinder glue supply system are obtained. Based on the actual material balance and actual load, the robot's single-cylinder spraying control parameters are adjusted, and spraying control is performed based on the adjusted parameters. Therefore, this method, without adding hardware or refactoring the underlying program, achieves rapid shielding of the faulty metering cylinder and ensures stable and continuous production of a single cylinder through software instructions, thus guaranteeing production continuity.

[0010] In addition, the robot spraying control method according to the above embodiments of this application may also have the following additional technical features: According to one embodiment of this application, when it is determined that one metering cylinder in the dual metering cylinder glue supply system has malfunctioned, a corresponding faulty cylinder software masking instruction is generated to satisfy the interlocking conditions in the robot's dual-cylinder program based on the faulty cylinder software masking instruction. This includes: determining the identification information of the faulty cylinder when it is determined that one metering cylinder in the dual metering cylinder glue supply system has malfunctioned; generating the faulty cylinder software masking instruction based on the identification information of the faulty cylinder and a preset software masking instruction; and sending a virtual ready signal corresponding to the faulty cylinder to the robot's control system based on the faulty cylinder software masking instruction to satisfy the interlocking conditions.

[0011] According to one embodiment of this application, the single-cylinder spraying control parameters include filling waiting time and glue supply pressure. The actual material balance and actual load of the other metering cylinder in the dual-metering cylinder glue supply system are obtained, and the single-cylinder spraying control parameters of the robot are adjusted based on the actual material balance and actual load. This includes: determining a single-cylinder parameter dynamic adaptation instruction group; in the case that one metering cylinder in the dual-metering cylinder glue supply system is determined to be faulty, the other metering cylinder in the dual-metering cylinder glue supply system is determined to be a non-faulty cylinder, the identification information of the non-faulty cylinder is identified, and the actual material balance is obtained based on the identification information of the non-faulty cylinder; calling the filling waiting time adjustment instruction in the single-cylinder parameter dynamic adaptation instruction group, and adjusting the filling waiting time in conjunction with the actual material balance; obtaining the robot's pressure feedback data stream to determine the actual load; and calling the glue supply pressure optimization instruction in the single-cylinder parameter dynamic adaptation instruction group, and adjusting the glue supply pressure in conjunction with the actual load.

[0012] According to one embodiment of this application, the method of calling the filling waiting time adjustment instruction in the single-cylinder parameter dynamic adaptation instruction group and adjusting the filling waiting time in combination with the actual material balance also includes: obtaining historical rubber filling data and adjusting the filling waiting time in combination with the historical rubber filling data.

[0013] According to one embodiment of this application, the method of calling the glue supply pressure optimization instruction in the single-cylinder parameter dynamic adaptation instruction group and adjusting the glue supply pressure in combination with the actual load further includes: determining the allowable adjustment range and adjusting the glue supply pressure within the allowable adjustment range.

[0014] According to one embodiment of this application, after spraying control is performed based on the adjusted single-cylinder spraying control parameters, the robot spraying control method further includes: identifying the maintenance and isolation requirements of the faulty cylinder; and if it is determined that the maintenance requirement duration of the faulty cylinder exceeds a preset duration or the isolation requirement is a permanent isolation requirement, calling the robot's program management interface to clear the call instructions and status queries of the faulty cylinder in the spraying main program, subroutines, and background logic.

[0015] According to one embodiment of this application, the robot spraying control method further includes: acquiring the robot's historical alarm records and identifying the high-frequency alarm types in single-cylinder mode based on the historical alarm records; determining target monitoring parameters based on the high-frequency alarm types; performing pre-scanning and trend analysis on the target monitoring parameters during the spraying control process based on the adjusted single-cylinder spraying control parameters; and adjusting the corresponding control parameters and / or generating corresponding risk warning signals when it is determined that there is a fault risk based on the trend analysis results.

[0016] To achieve the above objectives, a second aspect of this application provides a robot spraying control device. The robot includes a dual-quantitative cylinder glue supply system. The device includes: a shielding module, used to generate a corresponding faulty cylinder software shielding instruction when it is determined that one of the quantitative cylinders in the dual-quantitative cylinder glue supply system has malfunctioned, so as to satisfy the interlocking conditions in the robot's dual-cylinder program based on the faulty cylinder software shielding instruction; and a spraying control module, used to obtain the actual material balance and actual load of the other quantitative cylinder in the dual-quantitative cylinder glue supply system, and adjust the robot's single-cylinder spraying control parameters according to the actual material balance and actual load, so as to perform spraying control based on the adjusted single-cylinder spraying control parameters.

[0017] According to the robot spraying control device of this application embodiment, when a fault is determined in one of the metering cylinders in the dual metering cylinder glue supply system, the shielding module generates a corresponding faulty cylinder software shielding command. This command satisfies the interlocking conditions in the robot's dual-cylinder program. The spraying control module obtains the actual material balance and actual load of the other metering cylinder in the dual metering cylinder glue supply system and adjusts the robot's single-cylinder spraying control parameters based on these parameters. Spraying control is then performed based on these adjusted parameters. Thus, without adding hardware or refactoring the underlying program, this device achieves rapid shielding of the faulty metering cylinder and ensures stable and continuous production of a single cylinder through software commands, guaranteeing production continuity.

[0018] To achieve the above objectives, a third aspect of this application provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the robot spraying control method described above.

[0019] According to the computer-readable storage medium of the present application embodiment, when the stored computer program is executed by the processor, the above-described robot spraying control method is implemented. Based on the above-described robot spraying control method, without adding hardware equipment or reconstructing the underlying program, the faulty quantitative cylinder can be quickly shielded through software instructions and the stable and continuous production of a single cylinder can be ensured, thus providing a guarantee for production continuity.

[0020] To achieve the above objectives, a fourth aspect of this application proposes a robot, comprising: a dual-quantitative cylinder glue supply system; and a controller connected to the dual-quantitative cylinder glue supply system, configured to, upon determining that one of the quantitative cylinders in the dual-quantitative cylinder glue supply system has malfunctioned, generate a corresponding faulty cylinder software shielding instruction to isolate the faulty cylinder based on the faulty cylinder software shielding instruction, and obtain the actual material balance and actual load of the other quantitative cylinder in the dual-quantitative cylinder glue supply system, and adjust the robot's single-cylinder spraying control parameters according to the actual material balance and actual load, so as to perform spraying control based on the adjusted single-cylinder spraying control parameters.

[0021] According to the robot in this application embodiment, when the controller determines that one of the metering cylinders in the dual metering cylinder glue supply system has failed, it generates a corresponding faulty cylinder software shielding instruction. The faulty cylinder is isolated based on the faulty cylinder software shielding instruction, and the spraying control is performed based on the adjusted single-cylinder spraying control parameters. Without adding hardware equipment or reconstructing the underlying program, the faulty metering cylinder can be quickly shielded through software instructions, and the stable and continuous production of a single cylinder can be ensured, thus providing a guarantee for production continuity.

[0022] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0023] Figure 1 This is a flowchart of a robot spraying control method according to an embodiment of this application; Figure 2 This is a flowchart of a robot spraying control method according to a specific embodiment of this application; Figure 3 This is a connection diagram of the robot spraying control device according to an embodiment of this application; Figure 4 This is a block diagram of a robot according to an embodiment of this application. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0025] The robot, its spraying control method, spraying control device, and storage medium proposed in this application are described below with reference to the accompanying drawings.

[0026] Currently, factories using similar glue-applying robots in the industry still rely on "downtime for maintenance" as the core technology for handling quantitative cylinder malfunctions, lacking mature alternative solutions for single-cylinder production.

[0027] Specifically, when any metering cylinder in the dual-cylinder glue supply system malfunctions, the relevant technology adopts direct shutdown to troubleshoot the fault. If the fault requires short-term repair, the dual-cylinder operation is resumed after the repair is completed. If long-term maintenance is required, the shutdown state can only be maintained. A few factories may try to temporarily activate a single cylinder, but this can only be achieved by disassembling the physical pipeline of the faulty cylinder and disconnecting the hardware connection, and there is no supporting program.

[0028] Therefore, the following technical problems exist in the related technologies: 1. There is no feasibility for single-cylinder switching. There is no perfect technical solution in the industry that can shield the faulty cylinder through software commands. It is impossible to effectively isolate the faulty cylinder from the normal cylinder. Manually disassembling the pipeline is not only complicated to operate, but also easy to damage the system's sealing, leading to subsequent glue supply leakage. Moreover, there is no standardized process throughout the entire process, and the process compliance does not meet the production requirements at all. Second, the system lacks stability and safety, and there is no dynamic parameter adjustment logic adapted to a single cylinder. Even if the pipeline is forcibly disassembled to enable a single cylinder, it can only rely on fixed pressure and filling speed to operate, which can easily trigger alarms such as excessive pressure and insufficient material supply. Moreover, after disassembly, the system loses interlock protection, which may cause equipment overload damage. Third, poor compatibility. Due to differences in adhesive properties and spraying stations, temporary disassembly solutions for the same type of robot in different factories cannot be reused. When deploying horizontally, it is necessary to explore the operation method for each type of scenario. The high cost and low efficiency of technology implementation further limit its promotion and application in multiple factories.

[0029] Furthermore, in modern intelligent manufacturing workshops, especially in the adhesive / spraying processes of the automotive industry, the dual quantitative cylinder adhesive supply system is a key piece of equipment to ensure continuous production. Typically, the two quantitative cylinders operate in a one-in-use, one-on-standby, or alternating mode to ensure seamless system switching and no disruption to production rhythm should one set fail.

[0030] However, the relevant technologies have the following limitations in controlling robots using dual metering cylinder glue supply systems: 1. Hardware Dependence and Long Downtime: When one of the metering cylinders experiences an irreversible failure (such as internal leakage or piston jamming), the relevant technical solutions require operators to enter the equipment area to physically disassemble, seal, or switch valves. This process not only takes several hours, causing production interruptions, but also requires specialized maintenance personnel and poses certain safety risks.

[0031] 2. Rigid Program Logic and Poor Compatibility: Robot painting control programs are typically written based on the logic of normal operation of a dual-cylinder system. The program contains numerous interlock signals (such as "both cylinders are ready"), material balance detection logic, and pressure balancing logic. If a single cylinder is physically shielded, these interlock signals cannot be satisfied, causing the robot to continuously report errors and stop. Modifying the program to adapt to single-cylinder mode often requires a deep understanding of the robot's underlying architecture and complex program logic refactoring, which has a high technical threshold and is highly susceptible to introducing new instability factors. The significant differences in program structures between different factories and robot models make it difficult to horizontally promote solutions, creating "information silos."

[0032] 3. Insufficient parameter adaptability: When the dual cylinders are working, parameters such as glue supply pressure and filling waiting time are designed based on the load of the two cylinders working together. If the original parameters are still used after forcibly switching to single cylinder mode, it will lead to a series of problems such as filling timeout, unstable pressure, and uneven glue dispensing, causing frequent production alarms and seriously affecting product quality and equipment stability.

[0033] Therefore, there is an urgent need for a "soft" solution that can fundamentally solve the above problems and achieve a leap from "physical hardware repair" to "intelligent software adaptation".

[0034] To address at least one of the aforementioned technical problems, this application provides a robot spraying control method based entirely on improved software instructions. The aim is to achieve rapid and seamless shielding of faulty quantitative cylinders and automatic adaptation to a stable single-cylinder production mode without increasing any hardware costs or modifying the robot's core underlying program.

[0035] The robot spraying control method of this application will be described in detail below with reference to the accompanying drawings.

[0036] Figure 1 A flowchart of a robot spraying control method provided in an embodiment of this application.

[0037] like Figure 1 As shown, the robot spraying control method may include the following steps: S1, In the event that one of the metering cylinders in the dual metering cylinder glue supply system has failed, a corresponding faulty cylinder software shielding instruction is generated to satisfy the interlocking conditions in the robot's dual cylinder program based on the faulty cylinder software shielding instruction. In other words, when a fault is detected in one of the metering cylinders in the dual metering cylinder glue supply system, a corresponding faulty cylinder software shielding command is generated to isolate the faulty cylinder. This allows the robot's main control program to assume that both cylinders are normal, thereby eliminating the shutdown alarm caused by the failure to meet interlocking conditions such as "cylinder not ready".

[0038] In some embodiments of this application, when it is determined that one metering cylinder in the dual metering cylinder glue supply system has malfunctioned, a corresponding faulty cylinder software masking instruction is generated to satisfy the interlocking conditions in the robot's dual-cylinder program based on the faulty cylinder software masking instruction. This includes: determining the identification information of the faulty cylinder when it is determined that one metering cylinder in the dual metering cylinder glue supply system has malfunctioned; generating a faulty cylinder software masking instruction based on the identification information of the faulty cylinder and a preset software masking instruction; and sending a virtual ready signal corresponding to the faulty cylinder to the robot's control system based on the faulty cylinder software masking instruction to satisfy the interlocking conditions in the robot's dual-cylinder control program.

[0039] Specifically, the faulty cylinder software masking instruction is used to solve the primary problem of "how to make the robot system ignore the existence of the faulty cylinder". For example, the faulty cylinder software masking instruction is MaskFaultyDoser (Doser_ID), where Doser_ID is the number of the faulty cylinder.

[0040] This instruction does not simply skip a program segment; instead, it directly and actively calls the existing interlock signal detection program interface within the robot controller. During execution, this instruction sends a virtual, continuous "ready" signal to the system, simulating a faulty cylinder being in a normal standby state, thus deceptively satisfying the interlock conditions in the original dual-cylinder program. This makes the robot's main control program believe that both cylinders are normal, thereby eliminating the shutdown alarm caused by the failure to meet interlock conditions such as "cylinder not ready."

[0041] This method achieves "zero physical contact" shielding without disassembling any hardware pipes or sensors. Furthermore, instruction execution is in the millisecond range, transforming hardware repairs that would normally take hours into second-level software operations, significantly reducing fault response time. Additionally, by calling standard interfaces, it avoids directly modifying complex and risky underlying interlocking logic, ensuring system stability and security.

[0042] S2, obtain the actual material balance and actual load of the other metering cylinder in the dual metering cylinder glue supply system, and adjust the single-cylinder spraying control parameters of the robot according to the actual material balance and actual load, so as to perform spraying control based on the adjusted single-cylinder spraying control parameters.

[0043] In other words, after successfully shielding the faulty cylinder, the next step is to address the performance optimization issue of "how to make a single cylinder work as stably as a dual cylinder." To this end, this embodiment dynamically adjusts the robot's single-cylinder spraying control parameters by collecting the actual material balance and actual load of the other metering cylinder in the dual metering cylinder glue supply system, thereby ensuring the stable operation of the single-cylinder spraying.

[0044] In some embodiments of this application, the single-cylinder spraying control parameters include filling waiting time and glue supply pressure. The actual material balance and actual load of the other metering cylinder in the dual-metering cylinder glue supply system are obtained, and the robot's single-cylinder spraying control parameters are adjusted based on the actual material balance and actual load. This includes: determining a single-cylinder parameter dynamic adaptation instruction group; in the case that one metering cylinder in the dual-metering cylinder glue supply system is determined to be fault-free, identifying the identification information of the fault-free cylinder, and obtaining the actual material balance based on the identification information of the fault-free cylinder; calling the filling waiting time adjustment instruction in the single-cylinder parameter dynamic adaptation instruction group, and adjusting the filling waiting time in conjunction with the actual material balance; obtaining the robot's pressure feedback data stream to determine the actual load; and calling the glue supply pressure optimization instruction in the single-cylinder parameter dynamic adaptation instruction group, and adjusting the glue supply pressure in conjunction with the actual load.

[0045] Specifically, for example, the single-cylinder parameter dynamic adaptation instruction group includes Set FillWaitPoint(NormalDoser_ID, Adapt_Time), which is the filling wait time adjustment instruction, and Set DynamicPressure(NormalDoser_ID, Min_P, Max_P), which is the glue supply pressure optimization instruction. This instruction group is responsible for fine-tuning the operating parameters of a normally functioning single cylinder to solve the performance optimization problem of "how to make a single cylinder work as stably as a dual cylinder".

[0046] The `Set FillWaitPoint(NormalDoser_ID, Adapt_Time)` command is used to dynamically adjust the filling wait time. It reads data from the robot's existing material balance detection system and intelligently analyzes the filling flow rate and cycle of the rubber compound in single-cylinder mode.

[0047] `Set DynamicPressure (NormalDoser_ID, Min_P, Max_P)`: This command optimizes the glue supply pressure. It correlates with the robot's pressure feedback data stream in real time to obtain the actual load of a single cylinder and dynamically sets the glue supply pressure. This replaces the fixed pressure value previously set for dual cylinders, effectively avoiding equipment overload alarms due to excessive pressure, or quality defects such as uneven glue dispensing and stringing due to insufficient pressure.

[0048] In this embodiment, the execution of instructions is based on the real-time data of the robot system itself, making parameter adjustments more precise and scientific. At the same time, it can adapt to changes in working conditions under different viscosities of rubber and different ambient temperatures, achieving "one-click adaptation" of parameters. This solves the problem of frequent alarms such as filling timeout and abnormal pressure caused by parameter mismatch from the source, and reduces the alarm rate of single-cylinder operation.

[0049] In some embodiments of this application, the method of calling the filling waiting time adjustment instruction in the single-cylinder parameter dynamic adaptation instruction group and adjusting the filling waiting time in combination with the actual material balance also includes: obtaining historical rubber filling data and adjusting the filling waiting time in combination with the historical rubber filling data.

[0050] Specifically, taking the fill waiting time adjustment command Set FillWaitPoint (NormalDoser_ID,Adapt_Time) as an example, the Adapt_Time parameter is not a fixed value, but an adaptive value dynamically calculated based on historical data to improve the accuracy of the fill waiting time setting. This ensures that there is sufficient time to complete the filling of the adhesive in single-cylinder feeding mode, avoiding "insufficient adhesive" alarms caused by insufficient filling.

[0051] In one embodiment of this application, the method of calling the glue supply pressure optimization instruction in the single-cylinder parameter dynamic adaptation instruction group and adjusting the glue supply pressure in combination with the actual load also includes: determining the allowable adjustment range and adjusting the glue supply pressure within the allowable adjustment range.

[0052] In other words, the pressure feedback data stream of the robot is correlated in real time, and a reasonable pressure range [Min_P, Max_P] is dynamically set according to the actual load of a single cylinder. Within this range, the glue supply pressure is adjusted in real time, which effectively avoids equipment overload alarms caused by excessive pressure, or quality defects such as uneven glue dispensing and stringing caused by excessive pressure.

[0053] In one embodiment of this application, after spraying control is performed based on the adjusted single-cylinder spraying control parameters, the robot spraying control method further includes: identifying the maintenance and isolation requirements of the faulty cylinder; and if it is determined that the maintenance requirement duration of the faulty cylinder exceeds a preset duration or the isolation requirement is a permanent isolation requirement, calling the robot's program management interface to clear the call instructions and status queries of the faulty cylinder in the spraying main program, subroutines, and background logic.

[0054] Specifically, for scenarios requiring long-term maintenance or permanent isolation of faulty cylinders, the robot's program management interface is invoked via DeleteDoserLogic (Doser_ID) to proactively remove all call instructions and status queries from the original main painting program, subroutines, and background logic of the faulty cylinder. This acts as a "logic-level cleaner," ensuring that any residual logic of the faulty cylinder will not be accidentally triggered in the future, achieving complete logical isolation.

[0055] In some embodiments of this application, the robot spraying control method further includes: acquiring historical alarm records of the robot and identifying high-frequency alarm types in single-cylinder mode based on the historical alarm records; determining target monitoring parameters based on the high-frequency alarm types; performing pre-scanning and trend analysis on the target monitoring parameters during the spraying control process based on the adjusted single-cylinder spraying control parameters; and adjusting the corresponding control parameters and / or generating corresponding risk warning signals when it is determined that there is a fault risk based on the trend analysis results.

[0056] Specifically, the system uses the command `Set AlarmPreCheck (NormalDoser_ID, Alarm_Type_List)` to associate and analyze the robot's original alarm history, extracting frequently occurring alarm types in single-cylinder mode (such as "material shortage warning" and "frequent pressure fluctuations"). Based on this historical data, the system performs pre-scanning and trend analysis of key parameters before or during each production cycle. Once risk signs are detected, it proactively fine-tunes internal parameters or provides maintenance prompts, thus transforming passive alarms into proactive warnings.

[0057] As a specific embodiment of this application, taking the UBC-type glue-applying robot used in a painting workshop as an example, where U represents the glue supply and mixing system, B represents the robot arm body, and C represents the control core of the entire system, responsible for coordinating the robot's movement and the work of the glue remover. This glue-applying robot is equipped with dual quantitative cylinders A / B, uses high-viscosity structural adhesive (viscosity 25000 cP), has a spraying program with 36 path points, and standard spraying speeds vPaint400 (glue output 5g / s) and vPaint800 (glue output 10g / s). The dual-cylinder glue supply pressure is 27 bar, and the cycle time is 180 seconds per unit. This application details the specific implementation steps in the scenario of "B-cylinder screw drive motor failure (current abnormally rises to 4.5A, exceeding the normal range of 0-3A, estimated repair time 5 hours)," focusing on the modification of the CheckBDoserState function and the application of the CheckADoserState function. Figure 2 As shown, the robot spraying control method may include the following steps: S101 operates according to the target program when the robot is in normal dual-cylinder operation.

[0058] The robot is in normal dual-cylinder operation mode, with 75% (approximately 37.5 kg) of adhesive remaining in cylinder A and 60% (approximately 30 kg) of adhesive remaining in cylinder B, with an adhesive supply pressure of 27.0 bar, and is being sprayed to the p550 path point (side panel area of ​​the vehicle body). After the fault occurs, the current of cylinder B motor suddenly increases, triggering the "10010 Motor Power Off" alarm. The robot stops working, the operation interface displays "Abnormal current of cylinder B motor", and the quantitative machine control cabinet shows that the inlet and outlet valves of cylinder B are open and the motor is not moving.

[0059] S102, when it is determined that cylinder B has a fault, a corresponding faulty cylinder software masking instruction is generated to satisfy the interlocking conditions based on the faulty cylinder software masking instruction.

[0060] This involves fault confirmation and modification of the CheckBDoserState function (approximately 2 minutes). Specifically, the engineer checked the data for cylinder B using a teach pendant: motor current 4.5A (abnormal), temperature 45℃ (normal), pressure 26.8 bar (normal), confirming the fault type as "cylinder B motor fault," which requires deep masking. Enter the RAPID (Robotics Application Programming Interactive Development) program editing interface, open the CheckBDoserState function, add a fault judgment branch for cylinder B (IF goD1B_State=4THEN RETURN;), and modify the function code as shown in the "Technical Solution". This generates the corresponding software masking instruction for the faulty cylinder. After compiling the program and confirming that there are no syntax errors, set the cylinder B state variable goD1B_State to 4 (fault indicator) to complete the masking of cylinder B at the program level.

[0061] S103, Activation and parameter adaptation of single-cylinder mode for cylinder A.

[0062] This step takes approximately 30 seconds. Specifically, it may include the following steps: Call the Get CylinderState(A) command to confirm that cylinder A is in normal condition (goD1A_State=2, motor current 2.1A), send a signal to the meter control cabinet, close the inlet valve (MK8=0) and outlet valve (MK15=0) of cylinder B, lock the motor (M=0), and the operation interface displays "Cylinder B is disabled, currently in single-cylinder mode of cylinder A"; Filling wait point optimization: The system calculates that the remaining rubber material requirement for the path from p550 to p860 is 25g. The remaining rubber material in cylinder A is 37.5kg, which meets the requirement. The path point p580 is selected as the filling point. The CheckADoserState function call logic is inserted before p580 in the main program, that is, the cylinder A detection function is called to obtain the single bar requirement of cylinder A.

[0063] Dynamic pressure compensation: Based on the single-cylinder requirements of cylinder A, the target pressure of 32.4 bar (27 bar × 1.2) is calculated. The pressure is adjusted at a rate of 0.3 bar / second through the fixed displacement machine control cabinet. The operation interface displays the pressure rising from 26.8 bar to 32.4 bar in real time.

[0064] S104 controls the operation of a single cylinder and continuously monitors the status of cylinder A, generating corresponding reminder signals based on the monitoring results.

[0065] Specifically, the robot resumes spraying from p550. When it reaches p580, App_CycleStop pauses spraying. The CheckADoserState function continuously monitors the status of cylinder A (goD1A_State=1, needs to be filled). It automatically sends the SetGOgoD1Order,11 command to start filling. After 8 seconds, filling is completed (goD1A_State=2). App_CycleStart resumes spraying. There is no human intervention throughout the entire process. Early warning monitoring: When the remaining amount in cylinder A drops to 20% (10kg), the system detects "remaining demand 8kg + safety margin 0.8kg ≤ 10kg", triggering an "insufficient glue warning". The engineer replenishes the glue to 70% (35kg) within 10 minutes, and the warning is lifted. Within 5 hours, the CheckADoserState function triggered filling 10 times, all of which were successfully executed. The glue supply pressure of cylinder A remained stable at 32.0-32.6 bar without alarms, and 100 workpieces were successfully coated.

[0066] S105, Cylinder B repair and dual-cylinder mode restoration.

[0067] This step takes approximately 5 minutes. Specifically, after the B cylinder motor is repaired, the sealing is confirmed to be normal through pressure testing (5 bar pressure maintained for 20 seconds, then decreasing by 0.1 bar). The inlet valve (MK8=1) and outlet valve (MK15=1) of the B cylinder are then gradually opened, restoring the B cylinder's remaining capacity to 30% (15 kg). Enter the RAPID program, delete the fault judgment branch (IF goD1B_State=4 THEN RETURN) in the CheckBDoserState function, and set goD1B_State to 2 (normal). The CheckBDoserState function is called to confirm that cylinder B is in normal condition. The main program switches to dual-cylinder mode, with cylinders A and B supplying glue alternately. The pressure is restored to 27 bar, and the operation interface displays "Dual-cylinder mode is running normally".

[0068] Therefore, the following technical effects can be achieved based on the above method: 1. Production continuity: The time from the occurrence of a fault to the recovery of both cylinders is short, with no long downtime, avoiding the production capacity loss caused by long downtime of related technical solutions; 2. Operational stability: The CheckADoserState function has a high success rate in filling, which reduces the alarm rate of single-cylinder operation and the deviation of rubber strip width, and improves the quality compliance rate; 3. Ease of operation: Only the CheckBDoserState function needs to be modified and the CheckADoserState function needs to be called. No hardware changes are required, which shortens the troubleshooting and recovery time.

[0069] In this embodiment, the CheckADoserState and CheckBDoserState functions are the core control carriers for mode switching. The function logic can be flexibly adjusted according to the characteristics of the adhesive (e.g., setting MaxTime to 6 seconds for low-viscosity adhesives) and the vehicle model cycle time (e.g., advancing the filling point for sedans). In addition, this technology relies on the robot's original basic functions such as "adhesive supply pressure feedback" and "program call interface". The autonomous command is equivalent to adding a "fault handling branch" to the original program without changing the core logic. Moreover, the command parameters can be adjusted according to the characteristics of adhesives from different factories (e.g., setting FillWaitPoint to 4s for high-viscosity adhesives), which is highly adaptable and can be directly reused by existing robots of the same type.

[0070] Therefore, the control method of the glue-applying robot in this embodiment can achieve the following technical effects: 1. Breakthrough in the industry's single-cylinder switching technology gap: It fills the technical gap in the industry where there is no software command to shield the faulty cylinder, and solves the problems of traditional technology requiring manual disassembly of the faulty cylinder pipeline and the inability to effectively isolate the faulty cylinder from the normal cylinder. At the same time, it avoids the risks of system sealing damage, glue supply leakage and process non-compliance caused by disassembly, and enables rapid switching to single-cylinder production without hardware disassembly after a fault.

[0071] 2. Solving the problem of poor stability in single-cylinder operation: In response to the problems in related technologies such as reliance on fixed parameters for single-cylinder operation, easy triggering of pressure abnormalities, and insufficient material supply alarms, this application constructs a parameter adjustment logic adapted to single cylinders through dynamic pressure regulation, intelligent early warning and filling waiting point optimization, which greatly reduces the alarm rate during long-term maintenance and avoids frequent manual intervention.

[0072] 3. Breaking down cross-factory compatibility barriers: Overcoming the problem that temporary disassembly solutions in related technologies cannot be reused due to differences in adhesive properties and spraying stations, the instructions in this application have modular adaptability and can flexibly adjust parameters according to the production needs of the same type of robot in different factories, without the need to redevelop and debug for each type of scenario, thus reducing the difficulty of cross-technology development.

[0073] 4. Significantly improved production continuity: In case of failure, single-cylinder production can be quickly switched via software commands without stopping the machine to wait for the faulty cylinder to be repaired, completely avoiding production line interruptions caused by fixed displacement cylinder failure and ensuring stable production rhythm.

[0074] 5. Significant cost savings: On the one hand, it reduces production capacity loss caused by downtime; on the other hand, it avoids the labor costs of manually disassembling pipelines and the material waste caused by pipeline damage and glue leakage. A single plant can save a lot of energy and production loss costs per year, and the economic benefits will multiply after being promoted in multiple plants.

[0075] 6. Equipment safety and process compliance assurance: Fault isolation can be achieved without disassembling hardware, avoiding the risk of system sealing damage and interlock protection failure. At the same time, the single-cylinder operating parameters are dynamically adapted to the entire spraying process, ensuring that the glue line quality meets the vehicle process standards and reducing the problem of parts damage and scratches in the later engineering adjustment stage.

[0076] 7. Enhanced technology promotion value: It can be quickly reused in other factories using the same type of glue-applying robot, providing a standardized technical solution for handling quantitative cylinder failures in the industry and promoting overall production efficiency improvement.

[0077] Furthermore, based on the above, the control method of this application can be implemented by relying on the robot's existing basic program framework and hardware system, designing a structured software instruction module, with "soft shielding" and "dynamic adaptation" as the core, to achieve logical isolation of the faulty cylinder and operational optimization of the normal cylinder. This scheme is specifically implemented by the following three core instruction modules working together: 1. Faulty cylinder software masking instruction module.

[0078] This module is the cornerstone of the invention, and its core function is to solve the primary problem of "how to make the robot system ignore the existence of a faulty cylinder".

[0079] Command core: MaskFaultyDoser (Doser_ID). Where Doser_ID is the number of the faulty displacement cylinder.

[0080] Working principle: This instruction does not simply skip a program segment, but directly and actively calls the existing interlock signal detection program interface within the robot controller. During execution, this instruction sends a virtual, continuous "ready" signal to the system, simulating a faulty cylinder being in a normal standby state, thus deceptively satisfying the interlock conditions in the original dual-cylinder program. This makes the robot's main control program believe that both cylinders are normal, thereby eliminating the shutdown alarm caused by the failure to meet interlock conditions such as "cylinder not ready".

[0081] It has the following technological advantages: Non-invasive: No hardware pipes or sensors need to be disassembled, achieving "zero physical contact" shielding.

[0082] Rapid response: Commands are executed in milliseconds, transforming hardware repairs that would otherwise take hours into software operations that take seconds, greatly shortening fault response time.

[0083] Underlying compatibility: By calling standard interfaces, the system avoids directly modifying complex and risky underlying interlocking logic, thus ensuring system stability and security.

[0084] 2. Single-cylinder parameter dynamic adaptation command group.

[0085] After successfully shutting down the faulty cylinder, the next step is to address the performance optimization issue of "how to make a single cylinder work as stably as a dual-cylinder system." This instruction group is responsible for fine-tuning the operating parameters of the normally functioning single cylinder.

[0086] Instruction structure and function: `Set FillWaitPoint(NormalDoser_ID, Adapt_Time)`: This command dynamically adjusts the filling wait time. It reads data from the robot's existing material balance detection system and intelligently analyzes the filling flow rate and cycle of the adhesive in single-cylinder mode. The `Adapt_Time` parameter is not a fixed value, but an adaptive value dynamically calculated based on historical data, ensuring sufficient time to complete adhesive filling in single-cylinder feeding mode and avoiding "insufficient filling" alarms.

[0087] `Set DynamicPressure (NormalDoser_ID, Min_P, Max_P)`: This command optimizes the glue supply pressure. It dynamically sets a reasonable pressure range [Min_P, Max_P] based on the robot's pressure feedback data stream in real time and the actual load of a single cylinder. This replaces the fixed pressure value previously set for dual cylinders, effectively avoiding equipment overload alarms due to excessive pressure or quality defects such as uneven glue dispensing and stringing due to insufficient pressure.

[0088] It has the following technological advantages: Data-driven: The execution of instructions is based on real-time data from the robot system itself, making parameter adjustments more precise and scientific.

[0089] Highly adaptable: It can adapt to different viscosities of rubber compounds and different working conditions under different ambient temperatures, achieving "one-click parameter adaptation".

[0090] Eliminate alarms at their source: This solves the problem of frequent alarms such as filling timeout and abnormal pressure caused by parameter mismatch, reducing the alarm rate of single-cylinder operation.

[0091] 3. Faulty cylinder depth isolation and system prediction command.

[0092] For scenarios requiring long-term maintenance or permanent isolation of faulty cylinders, this module provides deeper cleaning and early warning functions.

[0093] Instruction structure and function: Delete DoserLogic (Doser_ID): This command invokes the robot's program management interface to proactively clear all call instructions and status queries from the original main painting program, subroutines, and background logic of the faulty cylinder. This acts as a "logic-level cleaner," ensuring that any residual logic of the faulty cylinder will not be accidentally triggered in the future, achieving complete logical isolation.

[0094] `Set AlarmPreCheck (NormalDoser_ID, Alarm_Type_List)`: This is a proactive safety measure. This command correlates with and analyzes the robot's existing alarm history, extracting frequently occurring alarm types in single-cylinder mode (such as "material shortage warning" and "frequent pressure fluctuations"). Based on this historical data, the system performs pre-scanning and trend analysis of key parameters before or during each production cycle. Once risk signs are detected, it proactively fine-tunes internal parameters or provides maintenance prompts, thus transforming passive alarms into active warnings.

[0095] It has the following technological advantages: System Cleaning: Thoroughly remove program traces from faulty cylinders to prevent potential future logical conflicts.

[0096] Intelligent early warning: Shifting from passive response to proactive defense, further improving the continuity and predictability of production.

[0097] The above instructions can be designed using a highly modular and parameterized approach, as detailed below: Modular structure: Each instruction module has a single function and a clear interface, and can be flexibly combined and called according to on-site needs (whether it is temporary shielding or permanent isolation).

[0098] Parametric configuration: All information related to a specific robot or metering cylinder (such as cylinder number, pressure range, adaptation time, etc.) is designed as externally configurable parameters. When applied to new factories or different robot models, technicians do not need to understand complex internal code or refactor the robot's basic program; they only need to modify these parameter tables to quickly deploy and reuse the entire solution. This greatly reduces the technical threshold and implementation costs, successfully breaking down compatibility barriers between different robot brands and program versions.

[0099] In summary, compared with related technologies, this application has the following significant advantages: 1. Extreme cost reduction: Completely eliminates the costs of hardware modification, pipeline replacement and the resulting lengthy labor hours, while also avoiding the expensive and high-risk overall program reconstruction costs required to adapt to single-cylinder mode.

[0100] 2. High efficiency and stability: Mode switching is achieved quickly (within seconds) via software commands, minimizing production downtime. Dynamic parameter adaptation based on real-time data makes single-cylinder operation several times more stable than traditional forced switching methods, reducing alarm rates and effectively ensuring production cycle time and product quality.

[0101] 3. High level of intelligence and automation: Throughout the entire process, from fault shielding and parameter optimization to risk prediction, no manual intervention or repeated debugging based on experience is required, realizing the transformation from "humans adapting to machines" to "machines adapting to themselves".

[0102] 4. Excellent scalability: Its modular and parameterized design makes it "plug and play", providing the entire industry with a low-cost, highly adaptable, and standardized fault emergency solution.

[0103] In summary, the robot spraying control method according to the embodiments of this application, when it is determined that one metering cylinder in the dual metering cylinder glue supply system has malfunctioned, generates a corresponding faulty cylinder software shielding instruction. This instruction satisfies the interlocking conditions in the robot's dual-cylinder program. Then, it obtains the actual material balance and actual load of the other metering cylinder in the dual metering cylinder glue supply system. Based on these parameters, it adjusts the robot's single-cylinder spraying control parameters for spraying control. Thus, this method, without adding hardware or refactoring the underlying program, achieves rapid shielding of the faulty metering cylinder and ensures stable and continuous single-cylinder production through software instructions, providing a guarantee for production continuity.

[0104] Corresponding to the above embodiments, this application also proposes a robot spraying control device.

[0105] In some embodiments of this application, the robot includes a dual metering cylinder glue supply system.

[0106] like Figure 3 As shown, the robot spraying control device of this application embodiment includes: a shielding module 10 and a spraying control module 20.

[0107] The shielding module 10 is used to generate a corresponding faulty cylinder software shielding instruction when it is determined that one of the metering cylinders in the dual metering cylinder glue supply system has failed, so as to satisfy the interlocking conditions in the robot's dual-cylinder program based on the faulty cylinder software shielding instruction; the spraying control module 20 is used to obtain the actual material balance and actual load of the other metering cylinder in the dual metering cylinder glue supply system, and adjust the robot's single-cylinder spraying control parameters according to the actual material balance and actual load, so as to perform spraying control based on the adjusted single-cylinder spraying control parameters.

[0108] According to one embodiment of this application, when it is determined that one metering cylinder in the dual metering cylinder glue supply system has malfunctioned, the shielding module 10 generates a corresponding faulty cylinder software shielding instruction to satisfy the interlocking conditions in the robot's dual-cylinder program based on the faulty cylinder software shielding instruction. Specifically, it is used to: determine the identification information of the faulty cylinder when it is determined that one metering cylinder in the dual metering cylinder glue supply system has malfunctioned; generate a faulty cylinder software shielding instruction based on the identification information of the faulty cylinder and a preset software shielding instruction; and send a virtual ready signal corresponding to the faulty cylinder to the robot's control system based on the faulty cylinder software shielding instruction to satisfy the interlocking conditions in the robot's dual-cylinder control program.

[0109] According to one embodiment of this application, the single-cylinder spraying control parameters include filling waiting time and glue supply pressure. The spraying control module 20 obtains the actual material balance and actual load of the other metering cylinder in the dual metering cylinder glue supply system, and adjusts the robot's single-cylinder spraying control parameters according to the actual material balance and actual load. Specifically, it is used to: determine the single-cylinder parameter dynamic adaptation instruction group; when it is determined that one metering cylinder in the dual metering cylinder glue supply system is faulty, determine that the other metering cylinder in the dual metering cylinder glue supply system is a non-faulty cylinder, identify the identification information of the non-faulty cylinder, and obtain the actual material balance according to the identification information of the non-faulty cylinder; call the filling waiting time adjustment instruction in the single-cylinder parameter dynamic adaptation instruction group, and adjust the filling waiting time in combination with the actual material balance; obtain the robot's pressure feedback data stream to determine the actual load; call the glue supply pressure optimization instruction in the single-cylinder parameter dynamic adaptation instruction group, and adjust the glue supply pressure in combination with the actual load.

[0110] According to one embodiment of this application, the spraying control module 20 calls the filling waiting time adjustment instruction in the single-cylinder parameter dynamic adaptation instruction group, and adjusts the filling waiting time in combination with the actual material balance. It is also used to: obtain historical rubber filling data, and adjust the filling waiting time in combination with the historical rubber filling data.

[0111] According to one embodiment of this application, the spraying control module 20 calls the glue supply pressure optimization instruction in the single cylinder parameter dynamic adaptation instruction group, and adjusts the glue supply pressure in combination with the actual load. It is also used to: determine the allowable adjustment range, and adjust the glue supply pressure within the allowable adjustment range.

[0112] According to one embodiment of this application, after spraying control is performed based on the adjusted single-cylinder spraying control parameters, the spraying control module 20 is further configured to: identify the maintenance isolation requirements of the faulty cylinder; and, if the maintenance requirement duration of the faulty cylinder exceeds the preset duration or the isolation requirement is a permanent isolation requirement, call the robot's program management interface to clear the call instructions and status queries of the faulty cylinder in the spraying main program, subroutines, and background logic.

[0113] According to one embodiment of this application, the spraying control module 20 is further configured to: acquire historical alarm records of the robot and identify the high-frequency alarm types in single-cylinder mode based on the historical alarm records; determine target monitoring parameters based on the high-frequency alarm types; perform pre-scanning and trend analysis on the target monitoring parameters during the spraying control process based on the adjusted single-cylinder spraying control parameters; and adjust the corresponding control parameters and / or generate corresponding risk warning signals if a fault risk is determined based on the trend analysis results.

[0114] It should be noted that for details not disclosed in the robot painting control device of the embodiments of this application, please refer to the details disclosed in the robot painting control method of the above embodiments of this application, which will not be repeated here.

[0115] According to the robot spraying control device of this application embodiment, when a fault is determined in one of the metering cylinders in the dual metering cylinder glue supply system, the shielding module generates a corresponding faulty cylinder software shielding command to isolate the faulty cylinder. The spraying control module obtains the actual material balance and actual load of the other metering cylinder in the dual metering cylinder glue supply system, and adjusts the robot's single-cylinder spraying control parameters based on the actual material balance and actual load, and performs spraying control based on the adjusted single-cylinder spraying control parameters. Thus, without adding hardware equipment or refactoring the underlying program, this device achieves rapid shielding of the faulty metering cylinder and ensures stable and continuous production of a single cylinder through software commands, providing a guarantee for production continuity.

[0116] Corresponding to the above embodiments, this application also proposes a computer-readable storage medium. The computer-readable storage medium of this application embodiment stores a computer program, wherein when the computer program is executed by a processor, it implements the steps of the robot spraying control method described above.

[0117] According to the computer-readable storage medium of the present application embodiment, when the stored computer program is executed by the processor, the above-described robot spraying control method is implemented. Based on the above-described robot spraying control method, without adding hardware equipment or reconstructing the underlying program, the faulty quantitative cylinder can be quickly shielded through software instructions and the stable and continuous production of a single cylinder can be ensured, thus providing a guarantee for production continuity.

[0118] Corresponding to the above embodiments, this application also proposes a robot.

[0119] like Figure 4 As shown, the robot 100 in this embodiment includes: a dual-quantitative cylinder glue supply system 110; and a controller 120 connected to the dual-quantitative cylinder glue supply system 110. The controller 120 is configured to generate a corresponding faulty cylinder software shielding instruction when it is determined that one of the quantitative cylinders in the dual-quantitative cylinder glue supply system 110 has failed, so as to isolate the faulty cylinder based on the faulty cylinder software shielding instruction, and to obtain the actual material balance and actual load of the other quantitative cylinder in the dual-quantitative cylinder glue supply system 110. The controller 120 then adjusts the robot's single-cylinder spraying control parameters based on the actual material balance and actual load, so as to perform spraying control based on the adjusted single-cylinder spraying control parameters.

[0120] According to the robot in this application embodiment, when the controller determines that one of the metering cylinders in the dual metering cylinder glue supply system has failed, it generates a corresponding faulty cylinder software shielding instruction. The faulty cylinder is isolated based on the faulty cylinder software shielding instruction, and the spraying control is performed based on the adjusted single-cylinder spraying control parameters. Without adding hardware equipment or reconstructing the underlying program, the faulty metering cylinder can be quickly shielded through software instructions, and the stable and continuous production of a single cylinder can be ensured, thus providing a guarantee for production continuity.

[0121] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0122] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0123] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0124] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0125] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0126] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A robot spraying control method, characterized in that, The robot includes a dual-quantitative-cylinder adhesive supply system, and the method includes: If it is determined that one of the metering cylinders in the dual metering cylinder glue supply system has malfunctioned, a corresponding faulty cylinder software shielding instruction is generated to satisfy the interlocking conditions in the robot's dual-cylinder program based on the faulty cylinder software shielding instruction. The actual material balance and actual load of the other metering cylinder in the dual metering cylinder glue supply system are obtained, and the single-cylinder spraying control parameters of the robot are adjusted according to the actual material balance and actual load, so as to perform spraying control based on the adjusted single-cylinder spraying control parameters.

2. The robot spraying control method according to claim 1, characterized in that, If a fault is detected in one of the metering cylinders in the dual metering cylinder glue supply system, a corresponding faulty cylinder software masking instruction is generated. This instruction is used to satisfy the interlocking conditions in the robot's dual-cylinder program, including: If it is determined that one metering cylinder in the dual metering cylinder glue supply system has malfunctioned, the identification information of the malfunctioning cylinder shall be determined; The software blocking instruction for the faulty cylinder is generated based on the identification information of the faulty cylinder and the preset software blocking instruction; Based on the software masking instruction for the faulty cylinder, a virtual ready signal corresponding to the faulty cylinder is sent to the robot's control system to satisfy the interlocking condition.

3. The robot spraying control method according to claim 1, characterized in that, The single-cylinder spraying control parameters include filling waiting time and glue supply pressure. The actual material balance and actual load of the other metering cylinder in the dual-metering cylinder glue supply system are obtained, and the single-cylinder spraying control parameters of the robot are adjusted based on the actual material balance and actual load, including: Determine the dynamic adaptation instruction group for single-cylinder parameters; If it is determined that one metering cylinder in the dual metering cylinder glue supply system is faulty, the other metering cylinder in the dual metering cylinder glue supply system is determined to be a non-faulty cylinder, the identification information of the non-faulty cylinder is identified, and the actual material balance is obtained based on the identification information of the non-faulty cylinder. The filling waiting time adjustment instruction in the single-cylinder parameter dynamic adaptation instruction group is invoked, and the filling waiting time is adjusted in combination with the actual material balance. Acquire the pressure feedback data stream of the robot to determine the actual load; The glue supply pressure optimization instruction in the single-cylinder parameter dynamic adaptation instruction group is invoked, and the glue supply pressure is adjusted in combination with the actual load.

4. The robot spraying control method according to claim 3, characterized in that, Invoking the filling waiting time adjustment instruction in the single-cylinder parameter dynamic adaptation instruction group, and adjusting the filling waiting time in conjunction with the actual material balance, further includes: Obtain historical rubber filling data and adjust the filling waiting time based on the historical rubber filling data.

5. The robot spraying control method according to claim 3, characterized in that, Invoking the glue supply pressure optimization instruction in the single-cylinder parameter dynamic adaptation instruction group, and adjusting the glue supply pressure in conjunction with the actual load, further includes: Determine the allowable adjustment range, and adjust the glue supply pressure within the allowable adjustment range.

6. The robot spraying control method according to any one of claims 1-5, characterized in that, After controlling the spraying based on the adjusted single-cylinder spraying control parameters, the following is also included: Identify the maintenance and isolation requirements of the faulty cylinder; If, based on the inspection and isolation requirements, it is determined that the inspection and isolation time of the faulty cylinder exceeds the preset time or that the isolation requirement is a permanent isolation requirement, the robot's program management interface is invoked to clear the call instructions and status queries of the faulty cylinder in the main spraying program, subroutines, and background logic.

7. The robot spraying control method according to any one of claims 1-5, characterized in that, The method further includes: Obtain the robot's historical alarm records and identify the most frequent alarm types in single-bar mode based on the historical alarm records; Determine the target monitoring parameters based on the types of frequent alarms; During the spraying control process based on the adjusted single-cylinder spraying control parameters, the target monitoring parameters are pre-scanned and trend analyzed. If a fault risk is identified based on trend analysis results, the corresponding control parameters are adjusted and / or corresponding risk warning signals are generated.

8. A robot spraying control device, characterized in that, The robot includes a dual-quantitative-cylinder glue supply system, and the device includes: The shielding module is used to generate a corresponding faulty cylinder software shielding instruction when it is determined that one of the metering cylinders in the dual metering cylinder glue supply system has failed, so as to satisfy the interlocking conditions in the robot's dual cylinder program based on the faulty cylinder software shielding instruction. The spraying control module is used to obtain the actual material balance and actual load of the other metering cylinder in the dual metering cylinder glue supply system, and adjust the single-cylinder spraying control parameters of the robot according to the actual material balance and actual load, so as to perform spraying control based on the adjusted single-cylinder spraying control parameters.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, it implements the steps of the robot painting control method as described in any one of claims 1 to 7.

10. A robot, characterized in that, include: Dual metering cylinder glue supply system; The controller, connected to the dual-quantitative cylinder glue supply system, is configured to generate a corresponding faulty cylinder software shielding instruction when a faulty cylinder is determined to be in the dual-quantitative cylinder glue supply system. The faulty cylinder is isolated based on the faulty cylinder software shielding instruction. The controller also obtains the actual material balance and actual load of the other quantitative cylinder in the dual-quantitative cylinder glue supply system, and adjusts the single-cylinder spraying control parameters of the robot based on the actual material balance and actual load. Spraying control is then performed based on the adjusted single-cylinder spraying control parameters.

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