CN112947196A - Control method, device and equipment for vehicle coating system and storage medium - Google Patents
Control method, device and equipment for vehicle coating system and storage medium Download PDFInfo
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- CN112947196A CN112947196A CN202110197399.7A CN202110197399A CN112947196A CN 112947196 A CN112947196 A CN 112947196A CN 202110197399 A CN202110197399 A CN 202110197399A CN 112947196 A CN112947196 A CN 112947196A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Spray Control Apparatus (AREA)
Abstract
The application discloses a control method, a control device, control equipment and a storage medium of a coating system on a vehicle. The control method of the vehicle painting system in the embodiment of the application is applied to the vehicle painting system, the system comprises a conveying chain and a robot hand, the conveying chain is used for conveying a vehicle, the robot hand is used for painting the vehicle to obtain a chain rewinding command, the method comprises the steps of sending a pause operation command to the robot hand, and recording the number of first conveying pulses; the first conveying pulse number is the number of conveying chain pulses corresponding to the current vehicle; controlling the chain rewinding of the conveying chain, and clearing the pulse number of the conveying chain to zero; acquiring a spraying instruction, and controlling the conveying chain to rotate forwards; and when the number of the conveying chain pulses reaches the first number of the conveying pulses, sending a continuous operation instruction to the robot hand. The method can effectively reduce the time required by the spray coating recovery after chain rewinding in the vehicle production process, improve the production efficiency and reduce the coating turnover cost. The method and the device can be widely applied to the technical field of vehicle production.
Description
Technical Field
The present application relates to the field of vehicle production technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a coating system on a vehicle.
Background
The production process of the vehicle needs a coating and paint spraying process, generally adopts a conveying chain assembly line, places the vehicle on the conveying chain, and automatically performs coating operation through a robot. In the actual production process, a conveying chain fault may occur, the conveying chain needs to be rewound, and after the conveying chain is rewound, the robot hand needs to return to the original point position for re-coating, so that the worker needs to manually operate the robot hand to reset, the working efficiency is low, and the coating cost is high.
In summary, there is a need to solve the technical problems in the related art.
Disclosure of Invention
The present application aims to solve at least one of the technical problems in the related art to some extent.
Therefore, an object of the embodiments of the present application is to provide a method for controlling a painting system on a vehicle, which can effectively improve the painting efficiency of the vehicle and reduce the painting cost.
It is another object of embodiments of the present application to provide a control device for a painting system on a vehicle.
In order to achieve the technical purpose, the technical scheme adopted by the embodiment of the application comprises the following steps:
in a first aspect, an embodiment of the present application provides a method for controlling a vehicle painting system, where the vehicle painting system includes a conveyor chain for transporting a vehicle and a robot for painting the vehicle, and the method includes:
acquiring a chain rewinding instruction, sending a pause operation instruction to the robot hand, and recording a first conveying pulse number; the first conveying pulse number is the number of conveying chain pulses corresponding to the current vehicle;
controlling the chain rewinding of the conveying chain, and clearing the pulse number of the conveying chain to zero;
acquiring a spraying instruction, and controlling the conveying chain to rotate forwards;
and when the number of the conveying chain pulses reaches the first number of the conveying pulses, sending a continuous operation instruction to the robot hand.
In addition, the method according to the above embodiment of the present application may further have the following additional technical features:
further, in an embodiment of the present application, the sending a pause job instruction to the robot includes:
sending a spraying pause instruction and a pulse pause instruction to the robot hand; the spraying pause instruction is used for controlling the robot to stop spraying operation, and the pulse pause instruction is used for locking the pulse number of the robot corresponding to the robot.
Further, in one embodiment of the present application, the conveyor chain includes at least 2 vehicles thereon.
Further, in an embodiment of the present application, after the step of controlling the chain rewinding of the conveying chain and clearing the number of pulses of the conveying chain, the method further includes the following steps:
and emptying the vehicles on the conveying chain.
Further, in an embodiment of the present application, before the step of obtaining the spraying instruction and controlling the forward rotation of the conveying chain, the method further includes the following steps:
and re-winding the vehicle according to the sequence before emptying.
In a second aspect, the present application provides a control device for a vehicle painting system, the vehicle painting system including a conveyor chain for transporting a vehicle and a robot for painting the vehicle, the device including:
the first acquisition module is used for acquiring a chain rewinding instruction, sending a pause operation instruction to the manipulator and recording a first conveying pulse number; the first conveying pulse number is the number of conveying chain pulses corresponding to the current vehicle;
the processing module is used for controlling the chain rewinding of the conveying chain and clearing the pulse number of the conveying chain;
the second acquisition module is used for acquiring a spraying instruction and controlling the conveying chain to rotate forwards;
and the sending module is used for sending a continuous operation instruction to the robot hand when the pulse number of the conveying chain reaches the first conveying pulse number.
In addition, the device according to the above embodiment of the present application may also have the following additional technical features:
further, in an embodiment of the present application, the first obtaining module is specifically configured to:
sending a spraying pause instruction and a pulse pause instruction to the robot hand; the spraying pause instruction is used for controlling the robot to stop spraying operation, and the pulse pause instruction is used for locking the pulse number of the robot corresponding to the robot.
Further, in an embodiment of the present application, the method further includes: an evacuation module;
the emptying module is used for emptying the vehicles on the conveying chain.
In a third aspect, an embodiment of the present application further provides a control apparatus for a painting system on a vehicle, including:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the control method of the vehicle painting system of the first aspect described above.
In a fourth aspect, the present application further provides a computer-readable storage medium, in which a processor-executable program is stored, and the processor-executable program is used for implementing the control method of the vehicle coating system of the first aspect when executed by a processor.
Advantages and benefits of the present 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 the present application:
the control method of the vehicle painting system in the embodiment of the application is applied to the vehicle painting system, the system comprises a conveying chain and a robot hand, wherein the conveying chain is used for conveying a vehicle, the robot hand is used for painting the vehicle to obtain a chain rewinding command, the method comprises the steps of sending a work pause command to the robot hand, and recording a first conveying pulse number; the first conveying pulse number is the number of conveying chain pulses corresponding to the current vehicle; controlling the chain rewinding of the conveying chain, and clearing the pulse number of the conveying chain to zero; acquiring a spraying instruction, and controlling the conveying chain to rotate forwards; and when the number of the conveying chain pulses reaches the first number of the conveying pulses, sending a continuous operation instruction to the robot hand. The method can effectively reduce the time required by the spray coating recovery after chain rewinding in the vehicle production process, improve the production efficiency and reduce the coating turnover cost.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description is made on the drawings of the embodiments of the present application or the related technical solutions in the prior art, and it should be understood that the drawings in the following description are only for convenience and clarity of describing some embodiments in the technical solutions of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of an embodiment of a system on a vehicle provided herein;
FIG. 2 is a schematic flow chart illustrating a method for controlling a painting system on a vehicle according to the present disclosure;
FIG. 3 is a schematic diagram of an embodiment of a control device for a painting system on a vehicle according to the present disclosure;
fig. 4 is a schematic structural diagram of an embodiment of a control apparatus of a coating system on a vehicle according to the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
Before describing the embodiments of the present application in detail, some terms in the embodiments of the present application are explained below, and the terms appearing in the present application are applied to the explanation below.
Number of pulses of conveying chain: when the conveying chain operates positively, the pulse number of the conveying chain is increased by 1 when the whole vehicle body moves by one parking space.
Number of pulses of robot: when the vehicle body touches the stroke, the robot starts to track the position of the vehicle on the conveying chain by using the pulse number of the robot, and for each robot, the spraying operation is started after the corresponding pulse number (namely the pulse number of the robot) is reached.
The embodiment of the application provides a control method of a vehicle painting system, and referring to fig. 1, the vehicle painting system comprises a conveying chain 3 and a robot hand 1, wherein the conveying chain 3 is used for conveying a vehicle 2, and the robot hand 1 is used for painting the vehicle 2. In the embodiment of the present application, the number of vehicles transported on the conveyor chain may be any integer. Referring to fig. 2, the method mainly comprises the following steps:
in the embodiment of the application, the chain reversing instruction refers to an instruction for controlling the reverse rotation of the conveying chain. Generally speaking, when the conveying chain breaks down, can send the chain-rewinding instruction through host computer system to the motor reversal chain-rewinding of control conveying chain conveniently carries out fault handling. In the embodiment of the application, when a chain rewinding instruction is acquired, a pause operation instruction is sent to the robot, and the pause operation instruction specifically includes a spraying pause instruction and a pulse pause instruction, where the spraying pause instruction is used to control the robot to stop spraying operation, and the pulse pause instruction is used to lock the number of pulses of the robot corresponding to the robot. Then, the current number of conveyor chain pulses is recorded, for example, the current number of conveyor chain pulses is 5, which indicates that the vehicle has advanced to the position of the fifth parking space on the conveyor chain.
120, controlling the chain rewinding of the conveying chain, and clearing the pulse number of the conveying chain to zero;
in the embodiment of the application, after the chain rewinding command is acquired, the conveying chain is controlled to rewind, and the conveying pulse number is cleared, namely when the conveying chain is rotated forwards again, the conveying chain pulse number corresponding to each vehicle is counted from zero to start from new. When the conveying chain starts to chain-back, before a parking space of the chain-back, the vehicle in the parking space is firstly conveyed to other positions for storage, and the process is to empty the vehicle on the conveying chain. When the chain rewinding of the conveying chain is finished, namely all vehicles are emptied from the conveying chain, the conveying chain can be subjected to work such as fault treatment and maintenance.
in the embodiment of the application, after the finishing of the conveying chain, the spraying instruction can be sent through the upper computer, the conveying chain can be controlled to rotate forwards at the moment, and the vehicle can be re-linked according to the sequence before emptying.
And 140, when the pulse number of the conveying chain reaches the first conveying pulse number, sending a continuous operation instruction to the robot hand.
In the embodiment of the application, when the pulse number of the conveying chain reaches the first conveying pulse number, a continuous operation instruction is sent to the robot hand. On one hand, when the number of the conveying chain pulses reaches the first number of the conveying pulses, the fact that the vehicle has already traveled to the position before chain rewinding is indicated, and on the other hand, a continuous operation instruction is sent at the moment, so that a manipulator can continue to work just before spraying and stop, and a spraying task is completed. It can be understood that the control method in the embodiment of the application can complete the chain rewinding and continuous spraying work without resetting the robot hand, and the method can effectively improve the consistency and the working efficiency of the vehicle spraying and reduce the burden of workers.
A control apparatus of a painting system on a vehicle according to an embodiment of the present application is described in detail below with reference to the accompanying drawings.
Referring to fig. 3, a control apparatus of a vehicle painting system provided in an embodiment of the present application, the vehicle painting system including a conveyor chain for conveying a vehicle and a robot for painting the vehicle, the apparatus including:
the first acquisition module 101 is used for acquiring a chain rewinding instruction, sending a pause operation instruction to the robot hand, and recording a first conveying pulse number; the first conveying pulse number is the number of conveying chain pulses corresponding to the current vehicle;
the processing module 102 is used for controlling the chain rewinding of the conveying chain and clearing the pulse number of the conveying chain;
the second obtaining module 103 is used for obtaining a spraying instruction and controlling the conveying chain to rotate forwards;
and the sending module 104 is configured to send a continuous operation instruction to the robot arm when the number of conveying chain pulses reaches the first number of conveying pulses.
Optionally, in an embodiment of the present application, the first obtaining module 101 is specifically configured to:
sending a spraying pause instruction and a pulse pause instruction to the robot hand; the spraying pause instruction is used for controlling the robot to stop spraying operation, and the pulse pause instruction is used for locking the pulse number of the robot corresponding to the robot.
Optionally, in an embodiment of the present application, the apparatus further includes: an evacuation module;
the emptying module is used for emptying the vehicles on the conveying chain.
It is to be understood that the contents of the above method embodiments are all applicable to the present apparatus embodiment, the functions specifically implemented by the present apparatus embodiment are the same as the above method embodiments, and the advantageous effects achieved by the present apparatus embodiment are also the same as the advantageous effects achieved by the above method embodiments.
Referring to fig. 4, an embodiment of the present application further provides a control apparatus for a painting system on a vehicle, including:
at least one processor 201;
at least one memory 202 for storing at least one program;
the at least one program, when executed by the at least one processor 201, causes the at least one processor 201 to implement a method of controlling a system on a vehicle.
Similarly, the contents in the foregoing method embodiments are all applicable to this apparatus embodiment, the functions specifically implemented by this apparatus embodiment are the same as those in the foregoing method embodiments, and the beneficial effects achieved by this apparatus embodiment are also the same as those achieved by the foregoing method embodiments.
The embodiment of the present application also provides a computer-readable storage medium, in which a program executable by the processor 201 is stored, and the program executable by the processor 201 is used for executing the control method of the vehicle coating system described above when executed by the processor 201.
Similarly, the contents in the above method embodiments are all applicable to the computer-readable storage medium embodiments, the functions specifically implemented by the computer-readable storage medium embodiments are the same as those in the above method embodiments, and the beneficial effects achieved by the computer-readable storage medium embodiments are also the same as those achieved by the above method embodiments.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present application are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present application is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion regarding the actual implementation of each module is not necessary for an understanding of the present application. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer, given the nature, function, and internal relationship of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the present application as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the application, which is defined by the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the foregoing description of the specification, reference to the description of "one embodiment/example," "another embodiment/example," or "certain embodiments/examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
While the present application has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method of controlling a vehicle painting system, the vehicle painting system including a conveyor chain for transporting a vehicle and a robot for painting the vehicle, the method comprising the steps of:
acquiring a chain rewinding instruction, sending a pause operation instruction to the robot hand, and recording a first conveying pulse number; the first conveying pulse number is the number of conveying chain pulses corresponding to the current vehicle;
controlling the chain rewinding of the conveying chain, and clearing the pulse number of the conveying chain to zero;
acquiring a spraying instruction, and controlling the conveying chain to rotate forwards;
and when the number of the conveying chain pulses reaches the first number of the conveying pulses, sending a continuous operation instruction to the robot hand.
2. The method of claim 1, wherein said sending a pause job instruction to said robot comprises:
sending a spraying pause instruction and a pulse pause instruction to the robot hand; the spraying pause instruction is used for controlling the robot to stop spraying operation, and the pulse pause instruction is used for locking the pulse number of the robot corresponding to the robot.
3. The method according to any one of claims 1 or 2, characterized in that: the conveying chain comprises at least 2 vehicles.
4. The method according to claim 3, wherein after the step of controlling the chain rewinding and clearing the number of the chain pulses, the method further comprises the steps of:
and emptying the vehicles on the conveying chain.
5. The method of claim 4, wherein before the step of obtaining the spraying command and controlling the forward rotation of the conveyor chain, the method further comprises the steps of:
and re-winding the vehicle according to the sequence before emptying.
6. A control apparatus for a vehicle painting system, the vehicle painting system including a conveyor chain for carrying a vehicle and a robot for painting the vehicle, the apparatus comprising:
the first acquisition module is used for acquiring a chain rewinding instruction, sending a pause operation instruction to the manipulator and recording a first conveying pulse number; the first conveying pulse number is the number of conveying chain pulses corresponding to the current vehicle;
the processing module is used for controlling the chain rewinding of the conveying chain and clearing the pulse number of the conveying chain;
the second acquisition module is used for acquiring a spraying instruction and controlling the conveying chain to rotate forwards;
and the sending module is used for sending a continuous operation instruction to the robot hand when the pulse number of the conveying chain reaches the first conveying pulse number.
7. The apparatus of claim 6, wherein the first obtaining module is specifically configured to:
sending a spraying pause instruction and a pulse pause instruction to the robot hand; the spraying pause instruction is used for controlling the robot to stop spraying operation, and the pulse pause instruction is used for locking the pulse number of the robot corresponding to the robot.
8. The apparatus of claim 6, further comprising: an evacuation module;
the emptying module is used for emptying the vehicles on the conveying chain.
9. A control apparatus for a painting system on a vehicle, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the method of any one of claims 1-5.
10. A computer-readable storage medium having stored therein instructions executable by a processor, the computer-readable storage medium comprising: the processor-executable instructions, when executed by a processor, are for implementing the method of any one of claims 1-5.
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|---|---|---|---|
| CN202110197399.7A CN112947196B (en) | 2021-02-22 | 2021-02-22 | Control method, device and equipment for vehicle coating system and storage medium |
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| CN202110197399.7A CN112947196B (en) | 2021-02-22 | 2021-02-22 | Control method, device and equipment for vehicle coating system and storage medium |
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