CN113275151B - Spraying pitch adjusting system and method - Google Patents
Spraying pitch adjusting system and method Download PDFInfo
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- CN113275151B CN113275151B CN202110524806.0A CN202110524806A CN113275151B CN 113275151 B CN113275151 B CN 113275151B CN 202110524806 A CN202110524806 A CN 202110524806A CN 113275151 B CN113275151 B CN 113275151B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
Abstract
The invention belongs to the technical field of automobile spraying and discloses a spraying pitch adjusting system and a spraying pitch adjusting method. The code carrying system is used for acquiring target vehicle type information of a vehicle to be sprayed and sending the target vehicle type information to the spraying robot system; the spraying robot system is used for receiving the target vehicle type information, generating queue mode information according to the target vehicle type information and sending the queue mode information to the mechanical transportation system; and the airborne system is used for receiving the queue mode information and adjusting the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the queue mode information so as to realize the automatic adjustment of the pitch. Through the mode, the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed can be automatically adjusted according to the vehicle type of the vehicle to be sprayed and the spraying mode of the corresponding spraying robot, so that seamless control transition of various pitches and accurate control of beats are realized, and the production efficiency control of the robot is optimized.
Description
Technical Field
The invention relates to the technical field of automobile spraying, in particular to a spraying pitch adjusting system and a spraying pitch adjusting method.
Background
With the development of automobile manufacturing industry, automobile manufacturers need to perform mixed line spraying on multiple automobile types at the same time, and the single pitch control of the existing automobile type spraying (robot) has the following problems:
(1) when multi-vehicle type mixed line production is carried out, the spraying requirements of the robot on various pitches cannot be met, and the spraying efficiency loss is caused;
(2) the requirements of various vehicle types and various pitches require human intervention, the operation is difficult and complicated, and the production takt is occupied;
(3) the pitch requirements of different vehicle types of the robot under different production modes can not be seamlessly butted, and flexibility and automation can not be realized.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a spraying pitch adjusting system and a spraying pitch adjusting method, and aims to solve the technical problem of low spraying efficiency caused by the fact that the pitch cannot be automatically controlled according to a vehicle type in the prior art.
To achieve the above object, the present invention provides a spraying pitch adjusting system, including: the system comprises a code carrying system, a spraying robot system and an air transportation system;
the code carrying system is used for acquiring target vehicle type information of a vehicle to be sprayed and sending the target vehicle type information to the spraying robot system;
the spraying robot system is used for receiving the target vehicle type information, generating queue mode information according to the target vehicle type information and sending the queue mode information to the mechanical transportation system;
and the airborne system is used for receiving the queue mode information and adjusting the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the queue mode information so as to realize the automatic adjustment of the pitch.
Optionally, the code-carrier system comprises: the radio frequency identification module and the code carrier sending module;
the radio frequency identification module is used for reading the label of the vehicle to be sprayed, obtaining label information and determining the target vehicle type information of the vehicle to be sprayed according to the label information;
and the code carrier sending module is used for sending the target vehicle type information to the spraying robot system.
Optionally, the painting robot system comprises: the robot system comprises a robot receiving module, a robot queue module, a robot mode module and a robot sending module;
the robot receiving module is used for receiving the target vehicle type information;
the robot queue module is used for generating vehicle type queue information according to the target vehicle type information;
the robot mode module is used for acquiring a spraying mode of a spraying robot corresponding to the vehicle to be sprayed and generating queue mode information according to the vehicle type queue information and the spraying mode;
and the robot sending module is used for sending the queue mode information to the airborne system.
Optionally, the airborne system comprises: the system comprises a mechanical transmission receiving module, a mechanical transmission determining module, a mechanical transmission pitch module and a mechanical transmission adjusting module;
the airborne receiving module is used for receiving the queue mode information;
the mechanical operation determining module is used for determining target vehicle type information of the vehicle to be sprayed and adjacent vehicle type information of the adjacent vehicle to be sprayed according to the queue mode information, determining a target spraying mode of the spraying robot corresponding to the vehicle to be sprayed according to the queue mode information, and acquiring an adjacent spraying mode of the spraying robot corresponding to the adjacent vehicle to be sprayed;
the machine-running pitch module is used for determining a required target pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the target spraying mode, the adjacent spraying mode, the target vehicle type information and the adjacent vehicle type information, and generating a corresponding pitch mode according to the target pitch;
the mechanical operation control module is used for adjusting the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the pitch mode.
Optionally, the spraying pitch adjustment system further comprises: a central control system;
the central control system is used for acquiring the pitch between the vehicles to be sprayed, acquiring the working mode of the spraying robot corresponding to each vehicle to be sprayed, generating production information of a spraying workshop according to the pitch and the working mode, and displaying the production information.
Further, to achieve the above object, the present invention also provides a spraying pitch adjusting method applied to the spraying pitch adjusting system, the system including: the system comprises a code carrying system, a spraying robot system and an air transportation system;
the spraying pitch adjusting method comprises the following steps:
the code carrying system acquires target vehicle type information of a vehicle to be sprayed and sends the target vehicle type information to the robot system;
the spraying robot system receives the target vehicle type information, generates queue mode information according to the target vehicle type information, and sends the queue mode information to the airborne system;
and the airborne system receives the queue mode information and adjusts the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the queue mode information.
Optionally, the code-carrier system comprises: the radio frequency identification module and the code carrier sending module;
the code carrying system acquires vehicle type information of a vehicle to be sprayed and sends the vehicle type information to the robot system, and the method comprises the following steps:
the radio frequency identification module reads a label of the vehicle to be sprayed to obtain label information, and determines target vehicle type information of the vehicle to be sprayed according to the label information;
and the code carrier sending module sends the target vehicle type information to the spraying robot system.
Optionally, the painting robot system comprises: the robot system comprises a robot receiving module, a robot queue module, a robot mode module and a robot sending module;
the steps of the spraying robot system receiving the target vehicle type information, generating queue mode information according to the target vehicle type information, and sending the queue mode information to the airborne system include:
the robot receiving module receives the target vehicle type information;
the robot queue module generates vehicle type queue information according to the target vehicle type information;
the robot mode module acquires a spraying mode of a spraying robot corresponding to the vehicle to be sprayed, and generates queue mode information according to the vehicle type queue information and the spraying mode;
and the robot sending module sends the queue mode information to the airborne system.
Optionally, the airborne system comprises: the system comprises a mechanical transmission receiving module, a mechanical transmission determining module, a mechanical transmission pitch module and a mechanical transmission adjusting module;
the step of receiving the queue mode information by the airborne system and adjusting the pitch between the vehicle to be painted and the adjacent vehicle to be painted according to the queue mode information comprises the following steps:
the airborne receiving module receives the queue mode information;
the machine operation determining module determines target vehicle type information of the vehicle to be sprayed and adjacent vehicle type information of the adjacent vehicle to be sprayed according to the queue mode information, determines a target spraying mode of the spraying robot corresponding to the vehicle to be sprayed according to the queue mode information, and acquires an adjacent spraying mode of the spraying robot corresponding to the adjacent vehicle to be sprayed;
the machine-running pitch module determines a required target pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the target spraying mode, the adjacent spraying mode, the target vehicle type information and the adjacent vehicle type information, and generates a corresponding pitch mode according to the target pitch;
and the machine operation control module adjusts the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the pitch mode.
Optionally, the spraying pitch adjustment system further comprises: a central control system;
the airborne system receives the queue mode information, and after the step of adjusting the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the queue mode information, the airborne system further comprises:
the central control system acquires the pitch between the vehicles to be sprayed, acquires the working mode of the spraying robot corresponding to each vehicle to be sprayed, generates production information of a spraying workshop according to the pitch and the working mode, and displays the production information.
In the invention, the code carrying system is used for acquiring target vehicle type information of a vehicle to be sprayed and sending the target vehicle type information to the spraying robot system; the spraying robot system is used for receiving the target vehicle type information, generating queue mode information according to the target vehicle type information and sending the queue mode information to the mechanical transportation system; and the airborne system is used for receiving the queue mode information and adjusting the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the queue mode information so as to realize the automatic adjustment of the pitch. Through the mode, the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed can be automatically adjusted according to the vehicle type of the vehicle to be sprayed and the spraying mode of the corresponding spraying robot, so that seamless control transition of various pitches and accurate control of beats are realized, and the production efficiency control of the robot is optimized.
Drawings
FIG. 1 is a block diagram of a first embodiment of a spray pitch adjustment system of the present invention;
FIG. 2 is a CCR master control PLC and CCLINK IE network configuration of an embodiment of the spraying pitch adjustment system and method of the present invention;
FIG. 3 is a schematic diagram of a CCLINK IE bottom ring network interconnection diagram of a multi-device system according to an embodiment of the present invention;
FIG. 4 is a block diagram of a second embodiment of a spray pitch adjustment system according to the present invention;
FIG. 5 is a schematic flow chart illustrating a first embodiment of a spraying pitch adjusting method according to the present invention;
FIG. 6 is a schematic diagram of a pitch control system according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a block diagram illustrating a first embodiment of a spraying pitch adjusting system according to the present invention. The spraying pitch adjustment system includes: code carrier system 10, painting robot system 20, and airborne system 30.
It should be noted that the code carrying system 10, the painting robot system 20, and the airborne system 30 are connected by a CCLINK IE network, and a CCLINK (Control & Communication Link system) is an open field bus provided by mitsubishi motors, has a large data capacity and multiple selectable Communication speeds, is a network mainly including a device layer, and can also cover a higher-level Control layer and a lower-level sensor layer.
In a specific implementation, fig. 2 shows a network configuration of a CCLINK IE, in which a CCR master control PLC mainly controls field devices, collects data, interacts information, processes alarm information, and the like, and a CCLINK IE optical fiber ring network connects the code carrier system 10, the spraying robot system 20, and the airborne system 30.
Further, the code carrying system 10 is configured to obtain target vehicle type information of a vehicle to be sprayed, and send the target vehicle type information to the spraying robot system 20.
In a specific implementation, as shown in fig. 3, the code carrier system 10 may be disposed in an AVI (Automatic Vehicle Identification) code carrier control cabinet, and when a Vehicle needs to be painted in a production line, the code carrier system needs to determine a Vehicle type of the Vehicle to be painted. In order to meet the increasing personalized market demands, coating lines of various vehicle types usually exist in the same coating room in order to meet orders of different vehicle types and different colors, in order to achieve automatic spraying and improve spraying efficiency, a current vehicle type needs to be identified, a barcode is arranged on a vehicle to be sprayed, the code carrier system 10 can be provided with a barcode scanning gun, and the barcode scanning gun scans the barcode to obtain target vehicle type information of the vehicle to be sprayed.
It can be understood that the target vehicle type information includes a vehicle series of the vehicle, and since a plurality of vehicles may belong to different vehicle types but belong to the same vehicle series, and the vehicle shape and size of the same vehicle series have small differences, the requirement on the spraying pitch is unique.
As shown in fig. 3, the painting robot system 20 includes a plurality of painting robot control cabinets, for example, a CC internal painting robot main control cabinet, a BC1 robot main control cabinet, and these cabinets are connected to and control the corresponding painting robots.
Further, the painting robot system 20 is configured to receive the target vehicle type information, generate queue mode information according to the target vehicle type information, and send the queue mode information to the airborne system 30.
It should be understood that the queue mode information includes the correspondence relationship between the painting queue and the vehicle model information and the working mode of the robot corresponding to the painting queue, such as CC internal spraying, BC1 internal spraying, and the like. The spraying queue is the arrangement sequence of a group of vehicles to be sprayed. For example: the queue mode information may include a first location (train a, mode a), a second location (train B, mode a), and the like.
Further, the airborne system 30 is configured to receive the queue mode information, and adjust the pitch between the vehicle to be painted and the adjacent vehicle to be painted according to the queue mode information, so as to achieve automatic adjustment of the pitch.
It should be noted that, as shown in fig. 3, the airborne system 30 is disposed in the AVI code carrier control cabinet. The airborne system 30 receives the queue mode information sent by the painting robot system 20 through the CCLINK IE network, and the airborne system 30 determines the vehicle to be painted and the adjacent vehicle to be painted, of which the pitch is to be adjusted, according to the queue mode information, and determines the required pitch between the two vehicles according to the vehicle type information of the two vehicles and the corresponding working mode of the painting robot. For example: the model of the vehicle to be painted is CM5B, the queue information of the vehicle is 001, the working mode of the painting robot corresponding to the vehicle is a, the model CM5B belongs to vehicle system a, and the vehicle system a and the model a are further integrated into an internal vehicle system a and a model a, and the current adjacent vehicle to be painted is also: when train mode a, the pitch control outputs a 1-pitch mode, the pitch of the 1-pitch mode may be 6.5 m.
In this embodiment, the code carrying system is configured to obtain target vehicle type information of a vehicle to be sprayed, and send the target vehicle type information to the spraying robot system; the spraying robot system is used for receiving the target vehicle type information, generating queue mode information according to the target vehicle type information and sending the queue mode information to the mechanical transportation system; and the airborne system is used for receiving the queue mode information and adjusting the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the queue mode information so as to realize the automatic adjustment of the pitch. Through the mode, the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed can be automatically adjusted according to the vehicle type of the vehicle to be sprayed and the spraying mode of the corresponding spraying robot, so that seamless control transition of various pitches and accurate control of beats are realized, and the production efficiency control of the robot is optimized.
Referring to fig. 4, fig. 4 is a block diagram of a second embodiment of a spraying pitch adjustment system according to the present invention. The code carrier system 10 includes: a radio frequency identification module 11 and a code carrier sending module 12.
Further, the radio frequency identification module 11 is configured to read a tag of the vehicle to be painted, obtain tag information, and determine target vehicle type information of the vehicle to be painted according to the tag information.
It should be noted that the radio frequency identification module 11 may be a radio frequency identification reader, a tag containing vehicle information is disposed on the vehicle, the vehicle information includes vehicle type information and the like, and the radio frequency identification reader approaches the tag to obtain target vehicle type information of the vehicle to be painted.
Further, the code carrier sending module 12 is configured to send the target vehicle type information to the painting robot system.
It can be understood that, after the radio frequency identification module 11 reads the target vehicle type information, the code carrier sending module 12 sends the target vehicle type information to the painting robot system 20.
In this embodiment, the radio frequency identification module is configured to read a tag of the vehicle to be painted, obtain tag information, and determine target vehicle type information of the vehicle to be painted according to the tag information; and the code carrier sending module is used for sending the target vehicle type information to the spraying robot system. By the mode, the vehicle type information of the vehicle to be sprayed can be automatically identified, so that the whole spraying is automatic, and the spraying efficiency is improved.
In this embodiment, the painting robot system 20 includes: a robot receiving module 21, a robot queue module 22, a robot mode module 23, and a robot transmitting module 24.
Further, the robot receiving module 21 is configured to receive the target vehicle type information.
After receiving the target vehicle type information, the robot receiving module 21 sends the target vehicle type information to the robot queuing module 22.
Further, the robot queue module 22 is configured to generate vehicle type queue information according to the target vehicle type information.
It can be understood that the robot queue module 22 generates a corresponding relationship between the target vehicle information and the spraying queue where the vehicle is located, each spraying queue corresponds to a corresponding spraying station, and the vehicle to be sprayed is placed on the spraying station to perform the spraying operation. For example, if the spray station number is 001, the corresponding spray queue is 001. And generating corresponding relation between the spraying queue and the vehicle type information so as to generate vehicle type queue information.
Further, the robot mode module 23 is configured to obtain a spraying mode of the spraying robot corresponding to the vehicle to be sprayed, and generate queue mode information according to the vehicle type queue information and the spraying mode.
It should be noted that the spraying station is provided with a corresponding spraying robot, and the spraying robot has different spraying modes, for example: the BC1 robot is used for BC1 spraying, and the CC internal spraying robot is used for CC internal spraying. And generating a corresponding relation between the spraying mode and the corresponding vehicle type queue information so as to generate queue mode information.
Further, the robot sending module 24 is configured to send the queue mode information to the airborne system 30.
It should be understood that robot send module 24 sends queue mode information to airborne system 30 to cause airborne system 30 to adjust the pitch.
In this embodiment, the robot receiving module is configured to receive the target vehicle type information; the robot queue module is used for generating vehicle type queue information according to the target vehicle type information; the robot mode module is used for acquiring a spraying mode of a spraying robot corresponding to the vehicle to be sprayed and generating queue mode information according to the vehicle type queue information and the spraying mode; and the robot sending module is used for sending the queue mode information to the airborne system. By the mode, the robot system automatically generates queue information, and the subsequent machine transportation system can conveniently adjust the pitch.
In the present embodiment, the airborne system 30 includes: an airborne receiving module 31, an airborne determining module 32, an airborne pitch module 33 and an airborne adjusting module 34.
Further, the airborne receiving module 31 is configured to receive the queue mode information.
It should be noted that, after receiving the queue mode information, the machine operation receiving module 31 sends the queue mode information to the machine operation determining module 32.
Further, the machine operation determining module 32 is configured to determine, according to the queue mode information, target vehicle type information of the vehicle to be sprayed and adjacent vehicle type information of the adjacent vehicle to be sprayed, determine, according to the queue mode information, a target spraying mode of the spraying robot corresponding to the vehicle to be sprayed, and obtain an adjacent spraying mode of the spraying robot corresponding to the adjacent vehicle to be sprayed.
It can be understood that, after receiving the queue mode information, the airborne determining module 32 determines the queue mode information of the vehicle to be sprayed adjacent to the vehicle to be sprayed according to the vehicle type queue in the queue mode information, so as to obtain the adjacent vehicle type information of the adjacent vehicle to be sprayed and the adjacent spraying mode of the corresponding spraying robot.
Further, the machine-run pitch module 33 is configured to determine a required target pitch between the vehicle to be painted and the adjacent vehicle to be painted according to the target painting mode, the adjacent painting mode, the target vehicle type information, and the adjacent vehicle type information, and generate a corresponding pitch mode according to the target pitch.
It should be noted that the mechanical movement pitch module 33 determines the pitch between two vehicles to be painted together according to the target painting mode, the adjacent painting mode, the target vehicle type information and the adjacent vehicle type information, and when the vehicle type of the vehicle belongs to the vehicle system B, the painting mode of the corresponding painting robot is the mode a, the vehicle type of the adjacent vehicle belongs to the vehicle system a or the vehicle system B, and the painting mode of the corresponding painting robot is the mode a, it determines that the corresponding pitch mode is the pitch mode 2.
Further, the machine operation control module 34 is configured to adjust a pitch between the vehicle to be painted and the adjacent vehicle to be painted according to the pitch pattern.
It can be appreciated that when the pitch between the two vehicles does not correspond to the corresponding pitch pattern, the airborne adjustment pattern 34 adjusts the pitch of the two vehicles to the pitch corresponding to the pitch pattern, for example: the pitch of the two vehicles is 3.5 meters and the pitch of the corresponding pitch pattern is 6.5 meters, the pitch between the two vehicles is adjusted to 6.5 meters.
In this embodiment, the machine operation determining module is configured to determine, according to the queue mode information, target vehicle type information of the vehicle to be sprayed and adjacent vehicle type information of the adjacent vehicle to be sprayed, determine, according to the queue mode information, a target spraying mode of the spraying robot corresponding to the vehicle to be sprayed, and obtain an adjacent spraying mode of the spraying robot corresponding to the adjacent vehicle to be sprayed; the machine-running pitch module is used for determining a required target pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the target spraying mode, the adjacent spraying mode, the target vehicle type information and the adjacent vehicle type information, and generating a corresponding pitch mode according to the target pitch; and the mechanical operation adjusting module is used for adjusting the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the pitch mode. Through the mode, the mechanical transportation system automatically adjusts the vehicle pitch according to the vehicle type and the spraying mode of the spraying robot, so that the accurate output of multi-vehicle type multi-pitch control is realized, and the quality and the efficiency of the optimized spraying robot corresponding to the spraying requirement are improved.
In this embodiment, the spraying pitch adjustment system further includes: and a central control system 40.
Further, the central control system 40 is configured to obtain a pitch between the vehicles to be sprayed, obtain a spraying mode of the spraying robot corresponding to each vehicle to be sprayed, generate production information of the spraying workshop according to the pitch and the spraying mode, and display the production information.
It should be understood that, in order to better manage the painting workshop, the central control system 40 acquires the pitch between the vehicles to be painted and the painting mode of the corresponding painting robot through the CCLINK IE network, thereby generating production information of the workshop and displaying the information to the manager.
An embodiment of the present invention provides a spraying pitch adjustment method, and referring to fig. 5, fig. 5 is a schematic flow chart of a first embodiment of a spraying pitch adjustment method according to the present invention.
In this embodiment, the method for adjusting the spraying pitch includes the following steps:
step S10: the code carrying system acquires target vehicle type information of a vehicle to be sprayed and sends the target vehicle type information to the robot system.
It should be noted that the code-carrying system, the painting robot system, and the airborne system are connected via a CCLINK IE network, and a CCLINK (Control & Communication Link system) is an open field bus provided by mitsubishi motors, has a large data capacity, is selectable in multiple stages of Communication speed, is a network based on a device layer, and can cover a higher-level Control layer and a lower-level sensor layer.
In a specific implementation, fig. 2 shows a network configuration of a CCLINK IE, in which a master PLC mainly controls field devices, performs data acquisition, information interaction, alarm information processing, and the like, and a code carrier system, a spraying robot system, and an airborne system are connected by a CCLINK IE optical fiber ring network.
In a specific implementation, as shown in fig. 3, the code carrier system may be disposed in an AVI (Automatic Vehicle Identification) code carrier control cabinet, and when a Vehicle needs to be painted in a production line, the code carrier system needs to determine a Vehicle type of the Vehicle to be painted. In order to meet the increasing personalized market demands, coating lines of various vehicle types can exist in the same coating room generally in order to meet orders of different vehicle types and different colors, in order to achieve automatic spraying and improve spraying efficiency, the current vehicle type needs to be identified, a barcode is arranged on a vehicle to be sprayed, a barcode carrier system can be provided with a barcode scanning gun, and the barcode scanning gun scans the barcode to obtain target vehicle type information of the vehicle to be sprayed.
It can be understood that the target vehicle type information includes a vehicle series of the vehicle, and since a plurality of vehicles may belong to different vehicle types but belong to the same vehicle series, and the vehicle shape and size of the same vehicle series have small differences, the requirement on the spraying pitch is unique.
As shown in fig. 3, the painting robot system is provided with a plurality of painting robot control cabinets, for example, a CC internal painting robot main control cabinet, a BC1 robot main control cabinet, and the like, and these control cabinets are connected to and control the corresponding painting robots.
Further, step S10 includes: the radio frequency identification module reads a label of the vehicle to be sprayed to obtain label information, and determines target vehicle type information of the vehicle to be sprayed according to the label information; and the code carrier sending module sends the target vehicle type information to the spraying robot system.
It should be noted that the radio frequency identification module may be a radio frequency identification reader, a tag containing the vehicle information is disposed on the vehicle, the vehicle information includes vehicle type information and the like, and the radio frequency identification reader approaches the tag to obtain target vehicle type information of the vehicle to be painted.
It can be understood that after the radio frequency identification module reads the target vehicle type information, the code carrier sending module sends the target vehicle type information to the spraying robot system.
Step S20: and the spraying robot system receives the target vehicle type information, generates queue mode information according to the target vehicle type information, and sends the queue mode information to the airborne system.
It should be understood that the queue mode information includes the correspondence relationship between the painting queue and the vehicle model information and the working mode of the robot corresponding to the painting queue, such as CC internal spraying, BC1 internal spraying, and the like. The spraying queue is the arrangement sequence of a group of vehicles to be sprayed. For example: the queue mode information may include a first location (train a, mode a), a second location (train B, mode a), and the like.
Further, step S20 includes: the robot receiving module receives the target vehicle type information; the robot queue module generates vehicle type queue information according to the target vehicle type information; the robot mode module acquires a spraying mode of a spraying robot corresponding to the vehicle to be sprayed, and generates queue mode information according to the vehicle type queue information and the spraying mode; and the robot sending module sends the queue mode information to the airborne system.
It should be noted that, after receiving the target vehicle type information, the robot receiving module sends the target vehicle type information to the robot queuing module.
The robot queue module generates a corresponding relationship between the target vehicle information and the spraying queue where the vehicle is located, each spraying queue corresponds to a corresponding spraying platform, and the vehicle to be sprayed is placed on the spraying platform for spraying. For example, if the spray station number is 001, the corresponding spray queue is 001. And generating corresponding relation between the spraying queue and the vehicle type information so as to generate vehicle type queue information.
It should be noted that the spraying station is provided with a corresponding spraying robot, and the spraying robot has different spraying modes, for example: the BC1 robot is used for BC1 spraying, and the CC internal spraying robot is used for CC internal spraying. And generating a corresponding relation between the spraying mode and the corresponding vehicle type queue information so as to generate queue mode information.
It should be appreciated that the robot send module sends queue mode information to the airborne system to cause the airborne system to adjust the pitch.
Step S30: and the airborne system receives the queue mode information and adjusts the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the queue mode information.
It should be noted that, as shown in fig. 3, the airborne system is disposed in the AVI code carrier control cabinet. The airborne system receives the queue mode information sent by the spraying robot system through the CCLINK IE network, determines the vehicles to be sprayed and the adjacent vehicles to be sprayed with the pitches to be adjusted according to the queue mode information, and determines the pitches required between the two vehicles according to the vehicle type information of the two vehicles and the working modes of the corresponding spraying robots. For example: the model of the vehicle to be painted is CM5B, the queue information of the vehicle is 001, the working mode of the painting robot corresponding to the vehicle is a, the model CM5B belongs to vehicle system a, and the vehicle system a and the model a are further integrated into an internal vehicle system a and a model a, and the current adjacent vehicle to be painted is also: when train mode a, the pitch control outputs a 1-pitch mode, the pitch of the 1-pitch mode may be 6.5 m.
Further, step S30 includes: the airborne receiving module receives the queue mode information;
the machine operation determining module determines target vehicle type information of the vehicle to be sprayed and adjacent vehicle type information of the adjacent vehicle to be sprayed according to the queue mode information, determines a target spraying mode of the spraying robot corresponding to the vehicle to be sprayed according to the queue mode information, and acquires an adjacent spraying mode of the spraying robot corresponding to the adjacent vehicle to be sprayed; the machine-running pitch module determines a required target pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the target spraying mode, the adjacent spraying mode, the target vehicle type information and the adjacent vehicle type information, and generates a corresponding pitch mode according to the target pitch; and the machine operation control module adjusts the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the pitch mode.
It should be noted that, after receiving the queue mode information, the airborne receiving module sends the queue mode information to the airborne determining module.
It can be understood that after receiving the queue mode information, the airborne operation determining module determines the queue mode information of the vehicle to be sprayed adjacent to the vehicle to be sprayed according to the vehicle type queue in the queue mode information, so as to obtain the adjacent vehicle type information of the adjacent vehicle to be sprayed and the adjacent spraying mode of the corresponding spraying robot.
It should be noted that the mechanical movement pitch module determines the pitch between two vehicles to be sprayed together according to the target spraying mode, the adjacent spraying mode, the target vehicle type information and the adjacent vehicle type information, as shown in fig. 6, in the pitch mode 1, the left vehicle type belongs to the vehicle system a, the spraying mode of the corresponding spraying robot is the mode a, the vehicle type of the adjacent right vehicle belongs to the vehicle system a, and the spraying mode of the corresponding spraying robot is the mode a; in the pitch mode 2, the left vehicle type belongs to a vehicle system B, the spraying mode of the corresponding spraying robot is a mode A, the vehicle type of the adjacent right vehicle belongs to the vehicle system A or B, and the spraying mode of the corresponding spraying robot is the mode A; in the pitch pattern 3, the left vehicle type belongs to a vehicle system A, the spraying pattern of the corresponding spraying robot is a pattern B, the vehicle type of the adjacent right vehicle belongs to the vehicle system A, and the spraying pattern of the corresponding spraying robot is the pattern B; in the pitch pattern 4, the left vehicle type belongs to the vehicle system B, the spraying pattern of the corresponding spraying robot is the pattern B, the vehicle type of the adjacent right vehicle belongs to the vehicle system a or B, and the spraying pattern of the corresponding spraying robot is the pattern B.
It can be appreciated that when the pitch between the two vehicles does not correspond to the corresponding pitch pattern, the airborne adjustment pattern 34 adjusts the pitch of the two vehicles to the pitch corresponding to the pitch pattern, for example: the pitch of the two vehicles is 3.5 meters and the pitch of the corresponding pitch pattern is 6.5 meters, the pitch between the two vehicles is adjusted to 6.5 meters.
Further, after step S30, the method further includes: the central control system acquires the pitch between the vehicles to be sprayed, acquires the working mode of the spraying robot corresponding to each vehicle to be sprayed, generates production information of a spraying workshop according to the pitch and the working mode, and displays the production information.
It should be understood that, in order to better manage the painting workshop, the central control system acquires the pitch between the vehicles to be painted and the painting mode of the corresponding painting robot through the CCLINK IE network, so as to generate production information of the workshop and display the information to the manager.
In this embodiment, the code carrying system is configured to obtain target vehicle type information of a vehicle to be sprayed, and send the target vehicle type information to the spraying robot system; the spraying robot system is used for receiving the target vehicle type information, generating queue mode information according to the target vehicle type information and sending the queue mode information to the mechanical transportation system; and the airborne system is used for receiving the queue mode information and adjusting the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the queue mode information so as to realize the automatic adjustment of the pitch. Through the mode, the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed can be automatically adjusted according to the vehicle type of the vehicle to be sprayed and the spraying mode of the corresponding spraying robot, so that seamless control transition of various pitches and accurate control of beats are realized, and the production efficiency control of the robot is optimized.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A spray pitch adjustment system, comprising: the system comprises a code carrying system, a spraying robot system and an air transportation system;
the code carrying system is used for acquiring target vehicle type information of a vehicle to be sprayed and sending the target vehicle type information to the spraying robot system;
the spraying robot system is used for receiving the target vehicle type information, generating queue mode information according to the target vehicle type information and sending the queue mode information to the mechanical transportation system;
and the airborne system is used for receiving the queue mode information and adjusting the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the queue mode information so as to realize the automatic adjustment of the pitch.
2. A spray pitch adjustment system according to claim 1, wherein said code carrier system comprises: the radio frequency identification module and the code carrier sending module;
the radio frequency identification module is used for reading the label of the vehicle to be sprayed, obtaining label information and determining the target vehicle type information of the vehicle to be sprayed according to the label information;
and the code carrier sending module is used for sending the target vehicle type information to the spraying robot system.
3. The spray pitch adjustment system of claim 1, wherein said spray robot system comprises: the robot system comprises a robot receiving module, a robot queue module, a robot mode module and a robot sending module;
the robot receiving module is used for receiving the target vehicle type information;
the robot queue module is used for generating vehicle type queue information according to the target vehicle type information;
the robot mode module is used for acquiring a spraying mode of a spraying robot corresponding to the vehicle to be sprayed and generating queue mode information according to the vehicle type queue information and the spraying mode;
and the robot sending module is used for sending the queue mode information to the airborne system.
4. The spray pitch adjustment system of claim 1 wherein said airborne system comprises: the system comprises a mechanical transmission receiving module, a mechanical transmission determining module, a mechanical transmission pitch module and a mechanical transmission adjusting module;
the airborne receiving module is used for receiving the queue mode information;
the mechanical operation determining module is used for determining target vehicle type information of the vehicle to be sprayed and adjacent vehicle type information of the adjacent vehicle to be sprayed according to the queue mode information, determining a target spraying mode of the spraying robot corresponding to the vehicle to be sprayed according to the queue mode information, and acquiring an adjacent spraying mode of the spraying robot corresponding to the adjacent vehicle to be sprayed;
the machine-running pitch module is used for determining a required target pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the target spraying mode, the adjacent spraying mode, the target vehicle type information and the adjacent vehicle type information, and generating a corresponding pitch mode according to the target pitch;
and the mechanical operation adjusting module is used for adjusting the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the pitch mode.
5. The spray pitch adjustment system of claim 1, further comprising: a central control system;
the central control system is used for acquiring the pitch between the vehicles to be sprayed, acquiring the working mode of the spraying robot corresponding to each vehicle to be sprayed, generating production information of a spraying workshop according to the pitch and the working mode, and displaying the production information.
6. A spraying pitch adjusting method, which is applied to a spraying pitch adjusting system, the system comprising: the system comprises a code carrying system, a spraying robot system and an air transportation system;
the spraying pitch adjusting method comprises the following steps:
the code carrying system acquires target vehicle type information of a vehicle to be sprayed and sends the target vehicle type information to the robot system;
the spraying robot system receives the target vehicle type information, generates queue mode information according to the target vehicle type information, and sends the queue mode information to the airborne system;
and the airborne system receives the queue mode information and adjusts the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the queue mode information.
7. The method of claim 6, wherein the carrier code system comprises: the radio frequency identification module and the code carrier sending module;
the code carrying system acquires vehicle type information of a vehicle to be sprayed and sends the vehicle type information to the robot system, and the method comprises the following steps:
the radio frequency identification module reads a label of the vehicle to be sprayed to obtain label information, and determines target vehicle type information of the vehicle to be sprayed according to the label information;
and the code carrier sending module sends the target vehicle type information to the spraying robot system.
8. The method of claim 6, wherein the spray robot system comprises: the robot system comprises a robot receiving module, a robot queue module, a robot mode module and a robot sending module;
the steps of the spraying robot system receiving the target vehicle type information, generating queue mode information according to the target vehicle type information, and sending the queue mode information to the airborne system include:
the robot receiving module receives the target vehicle type information;
the robot queue module generates vehicle type queue information according to the target vehicle type information;
the robot mode module acquires a spraying mode of a spraying robot corresponding to the vehicle to be sprayed, and generates queue mode information according to the vehicle type queue information and the spraying mode;
and the robot sending module sends the queue mode information to the airborne system.
9. The method of claim 6, wherein the airborne system comprises: the system comprises a mechanical transmission receiving module, a mechanical transmission determining module, a mechanical transmission pitch module and a mechanical transmission adjusting module;
the step of receiving the queue mode information by the airborne system and adjusting the pitch between the vehicle to be painted and the adjacent vehicle to be painted according to the queue mode information comprises the following steps:
the airborne receiving module receives the queue mode information;
the machine operation determining module determines target vehicle type information of the vehicle to be sprayed and adjacent vehicle type information of the adjacent vehicle to be sprayed according to the queue mode information, determines a target spraying mode of the spraying robot corresponding to the vehicle to be sprayed according to the queue mode information, and acquires an adjacent spraying mode of the spraying robot corresponding to the adjacent vehicle to be sprayed;
the machine-running pitch module determines a required target pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the target spraying mode, the adjacent spraying mode, the target vehicle type information and the adjacent vehicle type information, and generates a corresponding pitch mode according to the target pitch;
the mechanical operation adjusting module adjusts the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the pitch mode.
10. The method of claim 6, wherein the spray pitch adjustment system further comprises: a central control system;
the airborne system receives the queue mode information, and after the step of adjusting the pitch between the vehicle to be sprayed and the adjacent vehicle to be sprayed according to the queue mode information, the airborne system further comprises:
the central control system acquires the pitch between the vehicles to be sprayed, acquires the working mode of the spraying robot corresponding to each vehicle to be sprayed, generates production information of a spraying workshop according to the pitch and the working mode, and displays the production information.
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| CN113976353B (en) * | 2021-10-12 | 2022-10-14 | 广汽本田汽车有限公司 | Detection system for vehicle color spraying |
| CN115138500B (en) * | 2022-06-16 | 2023-10-27 | 东风柳州汽车有限公司 | Automobile skylight spraying control method, device, equipment and storage medium |
| CN115283164B (en) * | 2022-07-29 | 2023-06-09 | 东风柳州汽车有限公司 | Vehicle paint spraying track generation method, device, equipment and storage medium |
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| ES224883A1 (en) * | 1955-11-07 | 1956-01-16 | Cullell Pares Jose | A procedure for the obtaining of an agglomerated vegetable material with inalterable protection on one of its faces (Machine-translation by Google Translate, not legally binding) |
| CN201596610U (en) * | 2009-11-25 | 2010-10-06 | 浙江泰龙铝轮有限公司 | Hanger on automatic aluminum hub spraying equipment |
| CN201678250U (en) * | 2010-04-14 | 2010-12-22 | 合肥昌河汽车有限责任公司 | Flexible automatic conveying system with variable pitches |
| KR101181186B1 (en) * | 2010-10-20 | 2012-09-18 | 현대자동차주식회사 | Telematics for remote control of air-conditioning and remote air-conditioning control method using the same |
| CN105180821B (en) * | 2015-07-31 | 2017-08-15 | 西安斯通管业有限公司 | Fiber winds the system and method for pitch in on-line measurement multiple tube |
| CN109850554B (en) * | 2017-11-30 | 2021-05-25 | 合肥欣奕华智能机器有限公司 | Manipulator and control method thereof |
| CN109676278B (en) * | 2019-02-02 | 2021-03-19 | 宁波吉利汽车研究开发有限公司 | Method and device for producing welding by matching multiple robots and workstation PLC |
| CN109991917A (en) * | 2019-04-09 | 2019-07-09 | 东风汽车集团有限公司 | Composite and flexible windscreen recognition methods |
| CN110711974B (en) * | 2019-09-25 | 2021-07-13 | 中国第一汽车股份有限公司 | Multi-vehicle flexible welding line information management and scheduling system |
| CN112059605A (en) * | 2020-07-31 | 2020-12-11 | 厦门阿匹斯智能制造系统有限公司 | Robot-based mixed line production line and production method |
| CN112452581A (en) * | 2020-10-13 | 2021-03-09 | 江苏三立液压机械有限公司 | Moving workpiece automatic spraying robot system based on machine vision and working method |
| CN112651472A (en) * | 2020-12-29 | 2021-04-13 | 国网智慧能源交通技术创新中心(苏州)有限公司 | Automobile intelligent identification battery replacement system and method based on radio frequency tag |
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