CN113695117A

CN113695117A - Accessory inlet and outlet control method suitable for large-sized workpiece spraying

Info

Publication number: CN113695117A
Application number: CN202111050821.2A
Authority: CN
Inventors: 吴志翔; 何玉平
Original assignee: Huzhou Luobote Machinery Technology Co ltd
Current assignee: Beijing Dongfang Howail Industry Equipment Co ltd
Priority date: 2021-09-08
Filing date: 2021-09-08
Publication date: 2021-11-26
Anticipated expiration: 2041-09-08
Also published as: CN113695117B

Abstract

The invention relates to the technical field of automatic spraying, in particular to a fitting in-out control method suitable for large-scale workpiece spraying, which comprises the following steps that an L1 hook moves forward to the front of a workpiece feeding station on a hoisting and transporting line, and a hook following limiting device limits the hook and moves to the workpiece feeding station along with the hook; the L2 mechanical arm puts the workpiece on a hook of a hoisting and transporting line through an automatic workpiece taking and placing device at a workpiece feeding station; the L3 workpiece advances to a workpiece pose detection and correction station along with the hook on the hoisting transport line, and the workpiece pose detection and correction device performs pose detection and correction operation on the workpiece. The method can improve the supporting stability and the anti-deformation performance of the workpiece by adopting the automatic workpiece taking and placing device in the workpiece taking and placing process, and the automatic workpiece taking and placing device has wide applicability; can get the couple that the in-process was got to the work piece was put through couple retinue stop device and carry on spacingly to needs, avoid the couple to get to appear rocking at the work piece in-process.

Description

Accessory inlet and outlet control method suitable for large-sized workpiece spraying

Technical Field

The invention relates to the technical field of automatic spraying, in particular to a fitting in-out control method suitable for spraying large-sized workpieces.

Background

The working flow of the automatic spraying method for the large plate-shaped workpiece is as follows: the mechanical arm puts the workpiece on a hook of a hoisting conveying line at a feeding station of the workpiece, the workpiece moves forward to a spraying station of the workpiece on the hoisting conveying line along with the hook, spraying equipment sprays paint to the workpiece, the workpiece continues to move forward to a blanking station of the workpiece on the hoisting conveying line along with the hook after spraying is finished, and the mechanical arm takes the workpiece off the hook at the blanking station of the workpiece.

The existing automatic workpiece spraying method has the following defects: 1. in the process that a workpiece is placed on or taken down from a hoisting conveying line hook by a mechanical arm through a clamp, the clamp is completely connected with the workpiece through vacuum adsorption force, when the workpiece is large and heavy, the workpiece can be effectively supported only by generating great vacuum adsorption force (otherwise, the workpiece can fall off), but the workpiece is likely to deform due to the great vacuum adsorption force, and the performance of the workpiece is poor once the workpiece deforms; 2. in the process that a mechanical arm puts a workpiece on or takes the workpiece off a hoisting transportation line hook through a clamp, the hook usually shakes, so that the mechanical arm cannot quickly and effectively put the workpiece on or take the workpiece off the hook; 3. the workpiece can easily deflect in the process of running along with the hook, so that the workpiece cannot be effectively sprayed on a paint spraying station.

Patent application No. cn201610374365.x discloses a vacuum clamp for a solar cell panel, which comprises a main body frame, a vacuum system and a secondary protection mechanism; the vacuum system comprises a vacuum electromagnetic valve and a sucker; the secondary protection mechanism comprises a fixed support, a first rotating arm, a second rotating arm and a third rotating arm with a claw; one end of the first rotating arm is hinged with the second rotating arm, the second rotating arm is hinged with the third rotating arm with the claw, the first rotating arm is hinged with the fixed support, and the third rotating arm with the claw is hinged with the fixed support; a push rod is hinged at the hinged position of the first rotating arm and the second rotating arm; the push rod is fixedly connected with a piston rod of the air cylinder; the cylinder is hinged with the fixed support through the rotating block. However, the solar cell panel vacuum clamp is only suitable for cell panels with the same size and is poor in applicability.

The patent with the application number of CN201220004045.2 discloses a reconfigurable follow clamp for fixing a liquid packaging bag, wherein a follow clamp plate is arranged on a cutting machine, a cross-shaped groove is formed in the center of the follow clamp plate, and the cross-shaped groove comprises a fixing groove and a cutting walking groove; the tetrahedral packaging bag clamp assembly comprises two flag-shaped fixing blocks, wherein a V-shaped groove is formed in each flag-shaped fixing block, the two flag-shaped fixing blocks are respectively positioned on two sides of the cutting chute, and the two flag-shaped fixing blocks are arranged in a central symmetry mode by using the center origin of the cross groove. The clamp can be used for fixing the liquid packaging bag in a following manner. But the pallet is not suitable for pallet fixing of a hook on a hoisting transport line.

The patent with the application number of CN202110180728.7 discloses a workpiece recognition automatic spraying control method and system, wherein a workpiece recognition module is arranged in front of a spraying station of a workpiece, when the workpiece enters a recognition area, a workpiece recognition camera is triggered to take a picture, the picture is sent to a server, and the server compares the currently taken picture with the workpiece picture meeting the spraying requirement to determine whether the position of the corresponding workpiece meets the spraying requirement. However, the method has low accuracy in detecting and identifying the pose of the workpiece, and an effective solution for automatically correcting the pose of the workpiece is not provided.

Disclosure of Invention

The invention provides an accessory in-and-out control method suitable for large-scale workpiece spraying, aiming at the problems in the prior art, in the workpiece picking and placing process, the workpiece automatic picking and placing device is adopted to improve the supporting stability and the anti-deformation performance of the workpiece, and the workpiece automatic picking and placing device has wide applicability; before the workpiece taking and placing process, the hook needing to be taken and placed is limited through the hook accompanying limiting device, so that the hook is prevented from shaking in the workpiece taking and placing process; before the workpiece is painted, the workpiece to be painted is subjected to pose detection and correction through the workpiece pose detection and correction device, so that the workpiece can be effectively painted at a painting station.

The technical scheme adopted by the invention for solving the technical problems is as follows: a fitting in-out control method suitable for large-scale workpiece spraying comprises the following steps,

the L1 hook moves to the front of a workpiece loading station on the hoisting and transporting line, and the hook following limiting device limits the hook and moves to the workpiece loading station along with the hook;

the L2 mechanical arm puts the workpiece on a hook of a hoisting and transporting line through an automatic workpiece taking and placing device at a workpiece feeding station;

the L3 workpiece advances to a workpiece pose detection and correction station on the hoisting and conveying line along with the hook, and the workpiece pose detection and correction device performs pose detection and correction operation on the workpiece;

the L4 workpiece moves forward to a workpiece paint spraying station on the hoisting and transporting line along with the hook, and paint spraying equipment performs paint spraying operation on the workpiece;

the L5 workpiece moves forward to the front of a workpiece blanking station on a hoisting and transporting line along with the hook, and the hook following limiting device limits the hook and moves to the workpiece blanking station along with the hook;

and the L6 mechanical arm takes the workpiece off a hook of the hoisting and conveying line through the automatic workpiece taking and placing device at the workpiece blanking station.

Preferably, in the steps L2 and L6, the step of connecting the robot arm to the workpiece by the workpiece robot handler comprises,

s1 the controller controls the mechanical arm to move the automatic workpiece taking and placing device to the back of the workpiece and make the first clamping plate align with the first clamping surface and the second clamping plate align with the second clamping surface;

the S2 controller controls the first clamping plate driving part to start to enable the first clamping plate to push the first clamping surface so as to adjust the position of the clamping seat in the first direction and reset; the controller controls the second clamping plate driving part to start so that the second clamping plate pushes the second clamping surface to adjust the position of the clamping seat in the second direction and reset; wherein the first direction is the width direction of the workpiece, and the second direction is the length direction of the workpiece;

the S3 controller controls the first clamping plate driving part to be started again to enable the two first clamping plates to be clamped with the first clamping surfaces of the clamping seats, and controls the second clamping plate driving part to be started again to enable the two second clamping plates to be clamped with the second clamping surfaces of the clamping seats;

the S4 controller controls the telescopic driving part to start so that the mechanical arm and the supporting component approach to the supporting plate II along with the supporting plate in the same direction until the adsorption part on the supporting component contacts with the back of the workpiece;

and S5 the controller controls the vacuum adsorption component to start to make the adsorption piece and the back of the workpiece vacuum-adsorb.

Preferably, before said S1, the method further comprises

S0, a guide support is attached to the telescopic rods of the first and second clamping plate driving members.

Preferably, in the L1 and L5, the step of the hook following limiting device limiting the hook to follow comprises,

the T1 hook position detector detects whether the hook reaches the set position before the workpiece feeding station/before the workpiece discharging station, if yes, the information that the hook has reached is sent to the controller; if not, the T1 is re-entered;

after receiving the information that the hook arrives, the T2 controller controls the second walking mechanism to start to push the hook fixing piece to be in contact with the hook and controls the hook fixing piece to start to enable the hook fixing piece to be connected and fixed with the hook;

the T3 controller controls the first travelling mechanism to start so as to push the second travelling mechanism, the hook fixing piece and the hook to a workpiece feeding station/a workpiece discharging station together;

and after the T4 hook finishes the corresponding workpiece feeding and discharging operation, the controller controls the hook fixing piece to be separated from the hook, and controls the second travelling mechanism and the first travelling mechanism to reset in sequence.

Preferably, the step of connecting the hook fixing member with the hook in T2 includes that the controller controls the switch to be closed, the power supply supplies power to the coil, and the coil is electrified and then cooperates with the iron core to make the adsorption plate generate magnetic attraction force connected with the hook.

Preferably, in the L3, the step of the workpiece pose detection and correction means performing the pose detection and correction operation on the workpiece includes,

the K1 hook position detection mechanism detects whether the hook enters a workpiece pose correction station, if yes, a workpiece in-position signal is sent to the controller, and after the controller receives the workpiece in-position signal, the controller controls the hook to stop running and sends a workpiece to-be-corrected signal to the first workpiece pose correction mechanism; if not, re-enter L1;

the first workpiece pose correcting mechanism K2 performs hook pose correcting operation on the hook after receiving the signal to be corrected of the workpiece, the hook pose correcting operation is completed, the hook pose correcting operation is sent to the controller, and the controller receives the hook pose correcting operation completion signal and then sends a signal to be detected of the workpiece position to the workpiece position detecting mechanism;

the K3 workpiece position detection mechanism detects the position of the workpiece after receiving the workpiece position detection signal, judges whether the workpiece has left and right offset phenomena, if so, sends a workpiece offset signal to the controller, and the controller sends a workpiece to-be-adjusted signal to the second workpiece pose correction mechanism after receiving the workpiece offset signal; if not, go to L5;

the K4 second workpiece pose correction mechanism receives the signal to be adjusted of the workpiece and then carries out workpiece offset correction operation on the workpiece, and sends a signal for finishing the workpiece offset correction operation to the controller after the workpiece offset correction operation is finished;

the K5 controller controls the first workpiece pose correcting mechanism and the second workpiece pose correcting mechanism to reset, and the hook continues to operate.

Preferably, the step of detecting whether the hook enters the workpiece pose correction station or not by the hook position detection mechanism in the K1 includes the steps that an infrared emitter emits an infrared signal, an infrared receiver receives a corresponding infrared signal, and when the infrared receiver receives the infrared signal, it is determined that the hook does not enter the workpiece pose correction station; and when the infrared receiver does not receive the infrared signal, the hook is judged to enter the workpiece pose correction station.

Preferably, the operation of performing the hook pose correction on the hook by the first workpiece pose correction mechanism in the K2 specifically includes,

k21 the first cylinder is started to extend the output end, the support frame moves to the hook correcting clamp through the output end of the first cylinder to be butted with the hook;

the K22 first drive motor starts to make the hook correcting clamp rotate, and the hook correcting clamp introduces the hook into the limit space in the rotating process.

Preferably, the step of detecting whether the workpiece has a left-right deviation by the workpiece position detection mechanism in K3 specifically includes that the first infrared emitter and the second infrared emitter emit infrared signals, the first infrared receiver receives the infrared signals emitted by the first infrared emitter, the second infrared receiver receives the infrared signals emitted by the second infrared emitter, and when the first infrared receiver or the second infrared receiver does not receive the infrared signals, it is determined that the workpiece has a left-right deviation; otherwise, judging that the workpiece has no left-right deviation phenomenon.

Preferably, the performing, by the second workpiece pose correction mechanism in K4, the workpiece offset correction operation on the workpiece specifically includes,

k41 the second cylinder A is started to extend the correcting rod A to the first side of the workpiece hook body, and the second cylinder B is started to extend the correcting rod B to the second side of the workpiece hook body;

k42 starting a second driving motor A and a second driving motor B to rotate the screw rod;

the K43 transmission nut A and the transmission nut B move oppositely through the first thread section and the second thread section which are symmetrically arranged on the screw rod in the opposite direction until the correction rod A and the correction rod B clamp the workpiece hook body.

Advantageous effects

1. The method can improve the supporting stability and the anti-deformation performance of the workpiece by adopting the automatic workpiece taking and placing device in the workpiece taking and placing process, and the automatic workpiece taking and placing device has wide applicability; 2. according to the method, the hook needing to be taken and placed can be limited through the hook accompanying limiting device before the workpiece taking and placing process, the hook is prevented from shaking in the workpiece taking and placing process, and the workpiece taking and placing operation of the mechanical arm is enabled to be faster and more effective; 3. the method can detect and correct the pose of the workpiece to be painted through the workpiece pose detection and correction device before the workpiece is painted, so that the workpiece can be effectively painted at a painting station.

Drawings

FIG. 1 is a schematic structural view of a workpiece feeding/discharging station according to the present invention;

FIG. 2 is a schematic structural view of a support assembly of the present invention;

FIG. 3 is a schematic view of a workpiece according to the present invention;

FIG. 4 is a schematic structural view of a clamping mechanism according to the present invention;

FIG. 5 is a schematic view of another aspect of the clamping mechanism of the present invention;

FIG. 6 is a schematic view of a guide support according to the present invention;

FIG. 7 is a schematic view of the height adjustment bracket of the present invention;

FIG. 8 is a schematic structural view of a first clamping plate according to the present invention;

FIG. 9 is a schematic structural view of the hook following position limiting device of the present invention;

FIG. 10 is a schematic structural diagram of a second traveling mechanism according to the present invention;

FIG. 11 is a schematic view of the hook fastener of the present invention;

FIG. 12 is a schematic structural view of the workpiece pose detection and correction apparatus of the present invention in an initial state;

FIG. 13 is a schematic structural view of the workpiece pose detection and correction apparatus of the present invention in a working state;

fig. 14 is a schematic structural view of a first workpiece pose correction mechanism of the present invention;

FIG. 15 is a schematic structural view of a second workpiece pose correction mechanism of the present invention;

fig. 16 is a side view of the workpiece pose detection and correction apparatus of the present invention.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

Example (b): a fitting in-out control method suitable for large-scale workpiece spraying comprises the following steps,

before L1 couple 5 advanced to work piece material loading station on the hoist and mount conveying line, couple retinue stop device carries on spacingly to couple 5 and moves to work piece material loading station along with couple 5. According to the hook, the hook to be placed on the workpiece is limited by the hook following limiting device before the workpiece is fed, so that the hook can be prevented from shaking in the workpiece placing process.

The L2 mechanical arm puts the workpiece 1 on the hook 5 of the hoisting and transporting line through the automatic workpiece taking and placing device at the workpiece feeding station. According to the invention, the workpiece automatic taking and placing device is adopted in the workpiece placing process to improve the supporting stability and the deformation resistance of the workpiece.

The L3 workpiece 1 advances to a workpiece pose detection and correction station along with the hook 5 on the hoisting conveying line, and the workpiece pose detection and correction device performs pose detection and correction operation on the workpiece 1. According to the invention, before the workpiece is subjected to paint spraying operation, the workpiece pose detection and correction device is used for detecting and correcting the pose of the workpiece to be painted, so that the workpiece can be effectively painted at a subsequent paint spraying station.

The L4 workpiece 1 advances to a workpiece painting station on a hoisting and conveying line along with the hook 5, and the painting equipment performs painting operation on the workpiece 1.

The L5 workpiece 1 advances to the workpiece blanking station along with the hook 5 on the hoisting and transporting line, and the hook following limiting device limits the hook 5 and moves to the workpiece blanking station along with the hook 5. According to the hook limiting device, the hook required to be taken down of the workpiece is limited by the hook following limiting device before the workpiece is fed, so that the hook can be prevented from shaking in the workpiece taking-down process.

The L6 mechanical arm takes the workpiece 1 off the hook 5 of the hoisting and transporting line through the automatic workpiece taking and placing device at the workpiece blanking station. According to the invention, the workpiece automatic taking and placing device is adopted in the workpiece taking and placing process to improve the supporting stability and the deformation resistance of the workpiece.

In L2 and L6, the step of connecting the robot arm to the workpiece 1 via the workpiece robot handler comprises,

s1 the controller controls the mechanical arm to move the automatic workpiece taking and placing device to the back of the workpiece 1 and make the first clamping plate 3-7 align with the first clamping surface 3-1a and the second clamping plate 3-8 align with the second clamping surface 3-1 b.

S2 the controller controls the first clamping plate driving part 3-5 to start to make the first clamping plate 3-7 push the first clamping surface 3-1a to adjust the position of the clamping seat 3-1 in the first direction and reset; the controller controls the second clamping plate driving part 3-6 to start to enable the second clamping plate 3-8 to push the second clamping surface 3-1b to adjust the position of the clamping seat 3-1 in the second direction and reset; wherein the first direction is a width direction of the workpiece 1, and the second direction is a length direction of the workpiece 1.

The S3 controller controls the first clamping plate driving part 3-5 to be activated again to clamp the two first clamping plates 3-7 with the first clamping surfaces 3-1a of the clamping seat 3-1, and controls the second clamping plate driving part 3-6 to be activated again to clamp the two second clamping plates 3-8 with the second clamping surfaces 3-1b of the clamping seat 3-1.

And S4 the controller controls the telescopic driving part 3-3 to start so that the mechanical arm and the supporting component approach the supporting plate two 3-4 along with the supporting plate one 3-2 until the absorbing part 2-1 on the supporting component contacts with the back of the workpiece 1.

The S5 controller controls the vacuum adsorption component to start to make the adsorption piece 2-1 and the back of the workpiece 1 vacuum-adsorb.

In this embodiment, the automatic workpiece taking and placing device includes a supporting component, a vacuum adsorption component and a clamping mechanism. As shown in fig. 1 to 3, the support assembly includes a first support rod 1-1, a second support rod 1-2 vertically connected to the first support rod 1-1 for mounting the vacuum adsorption assembly, and a third support rod 1-3 vertically connected to the first support rod 1-1 for mounting a robot arm connecting base 1-4. The vacuum adsorption component comprises an adsorption part 2-1, an adsorption part mounting frame 2-2 used for connecting the adsorption part 2-1 and the second supporting rod 2-2, a vacuum generator 2-3 arranged on the second supporting rod 2-2, and an air pipe used for connecting the vacuum generator 2-3 and the adsorption part 2-1. The length of each air tube is equal, so that the adsorption force generated by each adsorption member 2-1 is approximately the same. As shown in fig. 4 and 5, the clamping mechanism includes a clamping seat 3-1 connected with the workpiece 1, and a clamping assembly connected with the first support rod 1-1. The clamping seat 3-1 is provided with a first clamping surface 3-1a and a second clamping surface 3-1b which are perpendicular to each other, the clamping seat 4-1 is fixedly connected with a back rib of the workpiece 1 through a connecting hole and an expansion bolt, and the number of the first clamping surface 3-1a and the number of the second clamping surface 3-1b are two. The clamping assembly comprises a first supporting plate 3-2 connected with the first supporting rod 1-1, a telescopic driving part 3-3 connected with the first supporting plate 3-2, a second supporting plate 3-4 connected with the movable end of the telescopic driving part 3-3, a first clamping plate driving part 3-5 and a second clamping plate driving part 3-6 connected with the second supporting plate 3-4, a first clamping plate 3-7 connected with the movable end of the first clamping plate driving part 3-5 and used for being connected with the first clamping surface 3-1a in a matched mode, and a second clamping plate 3-8 connected with the movable end of the second clamping plate driving part 3-6 and used for being connected with the second clamping surface 3-1b in a matched mode.

When the automatic workpiece taking and placing device is connected with the workpiece 1, a supporting force is mainly provided by the clamping mechanism, and the clamping mechanism acts on a back rib of the workpiece 1 instead of directly acting on the surface of the workpiece 1, so that the automatic workpiece taking and placing device not only has the function of effectively connecting the mechanical arm with the workpiece 1, but also can prevent the workpiece 1 from deforming; in addition, the automatic workpiece taking and placing device is in auxiliary connection with the workpiece 1 through the vacuum adsorption assembly, the vacuum adsorption force provided by the vacuum adsorption assembly can be slightly small, and the mechanical arm is better in connection stability with the workpiece 1 on the premise that the workpiece 1 can be prevented from deforming. Secondly, after the first clamping plate 3-7 and the second clamping plate 3-8 are fixedly connected with the clamping seat 3-1, the position of the workpiece 1 relative to the mechanical arm is accurate and not inclined (because the position of the clamping seat 3-1 relative to the workpiece 1 is fixed and the clamping seat 3-1 is not inclined after being connected with the clamping plates). Moreover, when the adsorption part 2-1 of the vacuum adsorption component is separated from the workpiece 1, the clamping mechanism is connected and fixed with the clamping seat 3-1, so that the acting force for preventing the workpiece 1 from moving along with the adsorption part 2-1 of the vacuum adsorption component can be improved, and the workpiece 1 can be prevented from greatly shaking on a hoisting and conveying line due to the residual adsorption force of the adsorption part 2-1 when the automatic workpiece taking and placing device is separated from the workpiece 1. Finally, the automatic workpiece taking and placing device can be suitable for workpieces 3 with different sizes, and is high in applicability.

In addition, before the step S1, the method further includes a step S0 of installing a guide supporter to the telescopic rods of the first clamping plate driving member 5-4 and the second clamping plate driving member 5-5. The clamping seat 3-1 on the workpiece 1 is clamped and fixed through the clamping plate, the clamping plate provides supporting force through the telescopic rod, and when the workpiece 1 is large and heavy, the supporting force provided by the telescopic rod by light may not be enough, so that the guide supporting piece is arranged on the supporting plate 3-4 to support the telescopic rod in an auxiliary mode.

As shown in fig. 6 and 7, the guide support includes a guide support sleeve 3-9, a guide support frame 3-10 connected to the support plate two 3-4, and a height adjustment bracket 3-11 connecting the guide support sleeve 3-9 and the guide support frame 3-10. The height adjusting frame 3-11 comprises two height adjusting plates 3-11a arranged in parallel, bearing plates 3-11b connecting the first length direction ends of the two height adjusting plates 3-11a, connecting rods 3-11c connecting the second length direction ends of the two height adjusting plates 3-11a, and clamping sleeves 3-11d connected with the connecting rods 3-11 c. The guide support frame 3-10 comprises two support plate bodies 3-10a arranged in parallel, a connecting plate 3-10b connecting the first length direction ends of the two support plate bodies 3-10a, and a support frame connecting seat 3-10c arranged at the second length direction end of the support plate bodies 3-10a and used for being connected with the second support plate 3-4. The supporting plate body 3-10a is provided with a height adjusting cavity allowing the height adjusting plate 3-11a to move back and forth along the length direction of the supporting plate body 3-10a, and the supporting plate body is further provided with a height adjusting hole 3-10d allowing the connecting rod 3-11c to move along with the height adjusting plate 3-11 a. The guide support sleeve 3-9 comprises two support half sleeves arranged in a half-omega shape and a hinge piece for connecting the two support half sleeves. The supporting half sleeve comprises an arc-shaped clamping part and a horizontal connecting part, the horizontal connecting part is used for being connected with the bearing plates 3-11b, and arc-shaped notches 3-11e butted with omega-shaped openings of the guiding supporting sleeves 3-9 are further formed in the bearing plates 3-11 b.

In this embodiment, the specific application method of the guiding support member is that the support frame connecting seat 3-10c of the guiding support frame 3-10 is connected and fixed with the support plate 3-4, then the clamping sleeve 3-11d is moved to make the axial end of the clamping sleeve 3-11d not contact with the side surface of the support plate body, then the height adjusting frame 3-11 is moved along the length direction of the support plate body until the telescopic rod is just positioned in the arc-shaped notch 3-11e of the bearing plate 3-11b, then the guiding support sleeve 3-9 is installed on the telescopic rod and the horizontal connecting part of the guiding support sleeve 3-9 is connected and fixed with the bearing plate 3-11b, finally the clamping sleeve 3-11d is moved to make the axial end of the clamping sleeve 3-11d contact with the side surface of the support plate body, and the clamping sleeve 3-11d will generate large friction force after contacting with the side surface of the support plate body, so that the clamping bushes 3-11d and the supporting plate body cannot move relative to each other, thereby serving to fix the height-adjusting brackets 3-11.

The inner arc wall of the arc-shaped clamping part can be further provided with a ball containing groove, and balls are arranged in the ball containing groove. The sliding friction force between the telescopic rod and the guide support sleeves 3-9 can be reduced through the arrangement of the balls, so that the influence of the guide support piece on the normal telescopic activity of the telescopic rod is avoided.

The clamping sleeve 3-9 comprises a sleeve body in threaded connection with the connecting rod 3-11c and a friction disc arranged at one axial end of the sleeve body, and the contact side of the support plate body and the friction disc is roughened. The clamping sleeve 3-9 is screwed to adjust its position on the connecting rod 3-11c, so that the friction disk is in contact with or not in contact with the support plate. The diameter of the friction disc is larger than that of the sleeve body, so that strong relative friction force can be generated after the friction disc is contacted with the supporting plate body arranged in the frosting mode, and the height adjusting frame 3-11 can be supported to be not moved.

As shown in fig. 8, the first clamping plate 3-7 includes a first clamping plate 3-7a and a second clamping plate 3-7b, which are overlapped. The first side face of the first clamping plate body 3-7a is connected with the movable end of the first clamping plate driving part 3-5, the second side face is provided with a pressure detector accommodating groove 3-7c, and a pressure detector connected with the first clamping plate driving part 3-5 is arranged in the pressure detector accommodating groove 3-7 c. And friction increasing grains are arranged on the contact side of the second clamping plate body 3-7b and the first clamping surface 3-1 a.

In this embodiment, the first side surface and the second side surface of the first clamping plate 3-7a are disposed opposite to each other, and the first clamping plate 3-7a has two pressure detector accommodating grooves 3-7c along the length direction thereof. The pressure detector is used for detecting the contact pressure of the first clamping plate 3-7 and the clamping seat 3-1, on one hand, the pressure detector can be used for judging whether the position of the workpiece 1 is correct (when the difference value of the pressure values detected by the two pressure detectors on the same first clamping plate 3-7 is smaller than an allowable range, the workpiece 1 is adjusted to be not deflected, and when the detection pressures of the two first clamping plates 3-7 are the same, the workpiece 1 is in the correct position), and on the other hand, the pressure detector can be used for judging whether the clamping operation is finished (when the detection pressures of the two first clamping plates 3-7 are the same as the required clamping pressure, the clamping operation of the first clamping plate 3-7 and the workpiece 1 is finished).

The structure of the second clamping plate 3-8 is the same as that of the first clamping plate 3-7, and the working principle is the same.

In the L1 and L5, the step of limiting the hook 5 by the hook following limiting device comprises,

the T1 hook position detector 3 detects whether the hook 5 reaches the set position before the workpiece feeding station/before the workpiece blanking station, if yes, the information that the hook has reached is sent to the controller; otherwise, T1 is re-entered.

And after receiving the information that the hook arrives, the T2 controller controls the second walking mechanism to start to push the hook fixing piece to be in contact with the hook 5 and controls the hook fixing piece to start to connect and fix the hook fixing piece with the hook 5.

The T3 controller controls the first travelling mechanism to start so as to push the second travelling mechanism, the hook fixing piece and the hook 5 to a workpiece feeding station/a workpiece blanking station together.

And T4, after the hook 5 finishes the corresponding workpiece feeding and discharging operation, the controller controls the hook fixing piece to be separated from the hook 5 and controls the second travelling mechanism and the first travelling mechanism to reset in sequence.

In this embodiment, the specific structure of the hook following limiting device is as shown in fig. 9, and the hook following limiting device includes a base, a first traveling mechanism arranged on the base, a second traveling mechanism connected to the first traveling mechanism, a hook fixing member connected to the second traveling mechanism, and a hook position detector 3 arranged on the base.

As shown in fig. 9 and 10, the first traveling mechanism includes a traveling driving motor 4-1, a lead screw 4-2 connected to an output end of the traveling driving motor 4-1, a transmission nut 4-3 connected to the lead screw 4-2, a guide rail 4-4 disposed on the base and having a same direction as the lead screw 4-2, a guide block 4-5 connected to the guide rail 4-4, and a support body 4-6 connecting the transmission nut 4-3 and the guide block 4-5. The screw 4-2 is a ball screw for converting a rotary motion into a linear motion. When the walking driving motor 4-1 is started, the screw rod 4-2 can be driven to rotate, when the screw rod 4-2 rotates, the transmission nut 4-3 can move linearly on the screw rod 4-2, and the support body 4-6 and the guide block 4-5 can be driven to move in the process of the linear movement of the transmission nut 4-3. The number of the guide rails 4-4 is two, and the guide rails are symmetrically arranged on two sides of the screw rod 4-2. The arrangement of the guide rails 4-4 and the guide blocks 4-5 ensures that the support body 4-6 has better stability in the process of linear reciprocating operation.

As shown in fig. 10, the second traveling mechanism includes a supporting substrate 5-1 connected to the supporting body 4-6, and a traveling driving cylinder 5-2 disposed on the supporting substrate 5-1, and an output end of the traveling driving cylinder 5-2 is connected to the hook fixing member. In this embodiment, the support base plate 5-1 is connected to the support body 4-6 so as to be linearly reciprocated together with the support body 4-6. The supporting body 4-6 is a right-angle trapezoid body, the top surface of the supporting body 4-6 is in contact connection with the supporting plate 5-1, the bottom surface of the supporting body 4-6 is fixedly connected with the guide block 4-5, and the right-angle side surface of the supporting body 4-6 is fixedly connected with the transmission nut 4-3. The bottom of the supporting base plate 5-1 is provided with a connecting plate pair 5-4 in contact connection with two opposite vertical side surfaces of the supporting body 4-6, the connecting plate of the connecting plate pair 5-4 is provided with a connecting hole, and the supporting body 4-6 is provided with a butt-joint through hole in fit connection with the connecting hole through a connecting piece. The coupling member may be a bolt and a nut. When the second travelling mechanism is assembled with the first travelling mechanism, the supporting substrate 5-1 is only required to be placed at the top of the supporting body 4-6, and then the connecting holes of the connecting plate pairs 5-4 are fixedly connected with the butt joint through holes of the supporting body 4-6 through bolts and nuts, so that the assembling operation is very simple and convenient.

As shown in fig. 11, the hook fixing member includes a housing 6-1, an absorption plate 6-2 embedded in the housing 6-1 at a side facing the hook 5, an iron core 6-3 disposed inside the housing 6-1 and connected to the absorption plate 6-2, a coil 6-4 wound around the iron core 6-3, a switch 6-5 connected to the coil 6-4, and a power supply 6-6 connected to the switch 6-5.

In the embodiment, when the hook fixing piece needs to be connected with the hook 5, the controller controls the switch 6-5 to be closed, the power supply 6-6 supplies power to the coil 6-4, and the coil 6-4 is electrified and then matched with the iron core 6-3 to enable the adsorption plate 6-2 to generate magnetic attraction, so that the adsorption plate 6-2 can be connected and fixed with the metal hook 5. When the hook fixing piece needs to be separated from the hook 5, the controller controls the switch 6-5 to be switched off, the power supply 6-6 stops supplying power to the coil 6-4, and the adsorption plate 6-2 loses magnetic attraction after the coil 6-4 is powered off, so that the adsorption plate 6-2 can be separated from the metal hook 5.

According to the method, the hook 5 on the hoisting transportation line can be limited and fixed through the hook following limiting device, so that the phenomenon of shaking is avoided, and the workpiece taking and placing operation of the mechanical arm is quicker and more effective.

In addition, the supporting substrate 5-1 is also provided with a second guide rail 5-3 which has the same moving direction as the hook fixing part, and the bottom of the shell 6-1 is provided with a guide groove which is in matched connection with the second guide rail 5-3. Through the arrangement of the second guide rail 5-3 and the guide groove, the stability of the hook fixing piece in the linear reciprocating operation process is better.

In L3, the step of the workpiece pose detection and correction means performing the pose detection and correction operation on the workpiece 1 includes,

the K1 hook position detection mechanism 7 detects whether the hook 5 enters the workpiece pose correction station, if yes, a workpiece in-position signal is sent to the controller, and after the controller receives the workpiece in-position signal, the controller controls the hook 5 to stop running and sends a workpiece to-be-corrected signal to the first workpiece pose correction mechanism 8; otherwise, L1 is re-entered.

The K2 first workpiece pose correction mechanism 8, after receiving the signal for workpiece correction, performs the hook pose correction operation on the hook 5, and the hook pose correction operation completes the hook pose correction operation and sends a hook pose correction operation completion signal to the controller, and the controller, after receiving the hook pose correction operation completion signal, sends a signal for workpiece position detection to the workpiece position detection mechanism 9.

The K3 workpiece position detection mechanism 9 receives the workpiece position signal to be detected, detects the position of the workpiece, and judges whether the workpiece has left-right deviation, if yes, the workpiece position detection mechanism sends a workpiece deviation signal to the controller, and the controller receives the workpiece deviation signal and sends a workpiece signal to be adjusted to the second workpiece pose correction mechanism 10; otherwise, L5 is entered.

The K4 second workpiece pose correction mechanism 10 performs workpiece offset correction operation on the workpiece after receiving the workpiece to-be-adjusted signal, and sends a workpiece offset correction operation completion signal to the controller after the workpiece offset correction operation is completed.

The K5 controller controls the first workpiece pose correction mechanism 8 and the second workpiece pose correction mechanism 10 to reset, and the hook 5 continues to operate.

In the present embodiment, the concrete structure of the workpiece attitude detection and correction apparatus is as shown in fig. 12 and 13, and includes a hook position detection mechanism 7, a first workpiece attitude correction mechanism 8, a workpiece position detection mechanism 9, and a second workpiece attitude correction mechanism 10.

As shown in fig. 16, the hook position detecting mechanism 7 includes a first hanging bracket 7-1 disposed on a first side of the hanging transportation line, a second hanging bracket 7-2 disposed on a second side of the hanging transportation line, an infrared emitter 7-3 disposed on the first hanging bracket 7-1, and an infrared receiver 7-4 disposed on the second hanging bracket 7-2 and in butt joint with the infrared emitter 7-3.

The workpiece 1 is hooked with the hook 5 on the hoisting transportation line through the hook body of the workpiece, and the hook position detection mechanism 7 is used for determining the position of the hook 5 on the hoisting transportation line. The hook position detection mechanism 1 in the K1 is used for detecting whether the hook 5 enters a workpiece pose correction station or not, and specifically comprises an infrared emitter 7-3 for emitting infrared signals, an infrared receiver 7-4 for receiving corresponding infrared signals, and when the infrared receiver 7-4 receives the infrared signals, the hook 5 is judged not to enter the workpiece pose correction station; and when the infrared receiver 7-4 does not receive the infrared signal, judging that the hook 5 enters a workpiece pose correction station.

As shown in fig. 14, the first workpiece pose correction mechanism 8 includes a base plate 8-1, a first cylinder 8-2 provided on the base plate 8-1, a sliding support frame 8-3 connected to an output end of the first cylinder 8-2, a first drive motor 8-4 mounted on the sliding support frame 8-3, and a hook correction clamp 8-5 connected to an output end of the first drive motor 8-4. The hook correcting clamp 8-5 comprises a straight clamping plate and a guide plate connected with a first length direction end of the straight clamping plate in a bending mode, a second length direction end of the straight clamping plate is connected with an output end of the first driving motor 8-4, a limiting space used for correcting the hook 5 is formed between the two straight clamping plates, and a guide space used for leading the hook 5 into the limiting space is formed between the two guide plates.

When the hook position detection mechanism 7 detects that the hook 5 just passes through the position between the first hanging bracket 7-1 and the second hanging bracket 7-2, the controller immediately controls the hoisting transport line to stop running, and then the position of the hook 5 is determined. There are two main cases of workpiece deflection: first, the hook 5 rotates relative to the hoisting line, and the workpiece 1 and the hook 5 are located on the same plane, which causes the workpiece 1 to also rotate and deflect. Second, the workpiece 1 is deflected to the left and right with respect to the hook 5. The first workpiece pose correction mechanism 8 of the present invention is mainly used for correcting the first deflection condition of the workpiece 1. The hook pose correction operation of the hook 5 by the first workpiece pose correction mechanism 2 in the K2 specifically comprises the steps that the first air cylinder 8-2 of the K21 is started to enable the output end of the first air cylinder to extend, and the support frame 8-3 moves to the hook correction clamp 8-5 through the output end of the first air cylinder 8-2 to be in butt joint with the hook 5. The K22 first drive motor 8-4 is activated to rotate the hook correction clamp 8-5, the hook correction clamp 8-5 introducing the hook 5 into the spacing space during rotation. When the hook 5 enters the limit space, the rotational deflection of the hook 5 is corrected, and the rotational deflection of the workpiece 1 is corrected. When the hook correcting clamp 8-5 needs to be separated from the hook 5, only the first driving motor 8-4 needs to be rotated reversely. In addition, the sliding support frame 8-3 is guided to move through the vertical plate and the guide sliding groove 8-6 in the moving process, so that the moving effect of the sliding support frame 8-3 is better.

As shown in fig. 16, the workpiece position detection mechanism 9 includes a first main frame body 9-1 and a second main frame body which are arranged on a first side of the hoisting transport line, a second main frame body 9-2 and a second main frame body which are arranged on a second side of the hoisting transport line, a first infrared emitter 9-3 which is arranged on the first main frame body 9-1, a second infrared emitter which is arranged on the second main frame body, a first infrared receiver 9-4 which is arranged on the first secondary frame body 9-2 and is in butt joint with the first infrared emitter 9-3, and a second infrared receiver which is arranged on the second secondary frame body and is in butt joint with the second infrared emitter.

The workpiece position detection mechanism 9 is mainly used for detecting whether the workpiece 1 deflects left and right relative to the hook 5. When the deflection correction operation of the hook 5 by the first workpiece pose correction mechanism 8 is completed, the controller controls the workpiece position detection mechanism 9 to start. The detection of whether the workpiece is deviated left and right by the workpiece position detection mechanism 9 in the K3 specifically comprises the steps that the first infrared emitter 9-3 and the second infrared emitter emit infrared signals, the first infrared receiver 9-4 receives the infrared signals emitted by the first infrared emitter 9-3, the second infrared receiver receives the infrared signals emitted by the second infrared emitter, and when the first infrared receiver 9-4 or the second infrared receiver does not receive the infrared signals, the workpiece is judged to be deviated left and right; otherwise, judging that the workpiece has no left-right deviation phenomenon.

As shown in fig. 15, the second workpiece pose correction mechanism 10 includes a base plate 10-1, a second driving motor a10-2a and a second driving motor B10-2B provided on the base plate 10-1, a driving screw 10-3 connected to output ends of the second driving motor a10-2a and the second driving motor B10-2B, a driving nut a10-4a connected to a first thread section on the driving screw 10-3, a driving nut B10-4B connected to a second thread section on the driving screw 10-3, a second cylinder a10-5a connected to the driving nut a10-4a, a second cylinder B10-5B connected to the driving nut B10-4B, a correction rod a10-6a connected to an output end of the second cylinder a10-5a, and a correction rod a connected to an output end of the second cylinder B10-5B A positive rod B10-6B, the first thread section and the second thread section being oppositely symmetrically arranged.

If the workpiece position detection mechanism 9 detects that the workpiece 1 deviates left and right relative to the hook 5, the controller controls the second workpiece pose correction mechanism 10 to be started to correct the second deviation of the workpiece 1. The operation of correcting the workpiece offset of the workpiece by the second workpiece pose correcting mechanism 10 in the K4 specifically comprises the steps that a K41 second air cylinder a10-5a is started to enable a correcting rod a10-6a to extend to be located on the first side of the workpiece hook body, and meanwhile, a second air cylinder B10-5B is started to enable a correcting rod B10-6B to extend to be located on the second side of the workpiece hook body. K42A second drive motor A10-2a and B10-2B are activated to rotate the lead screw 10-3. The K43 transmission nut A10-4a and the transmission nut B10-4B move oppositely through the first thread section and the second thread section which are symmetrically arranged on the screw rod 10-3 in the opposite direction until the correction rod A10-6a and the correction rod B10-6B clamp the hook body of the workpiece, and at the moment, the left and right deflection of the workpiece is corrected.

The workpiece pose detection and correction method can determine whether the workpiece 1 enters a workpiece pose correction station through the hook position detection mechanism 7, can correct the rotation deflection of the workpiece 1 through the first workpiece pose correction mechanism 8, can determine whether the workpiece 1 deflects left and right through the workpiece position detection mechanism 9, and can correct the left and right deflection of the workpiece 1 through the second workpiece pose correction mechanism 10, thereby achieving the purpose of automatically and efficiently detecting and correcting the pose of the workpiece to be sprayed.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention. Various modifications and improvements of the technical solutions of the present invention may be made by those skilled in the art without departing from the design concept of the present invention, and the technical contents of the present invention are all described in the claims.

Claims

1. A fitting in-and-out control method suitable for large workpiece spraying is characterized in that: comprises the following steps of (a) carrying out,

the L1 hook (5) moves to the front of a workpiece feeding station on the hoisting and transporting line, and the hook following limiting device limits the hook (5) and moves to the workpiece feeding station along with the hook (5);

the L2 mechanical arm puts the workpiece (1) on a hook (5) of a hoisting and transporting line through an automatic workpiece taking and placing device at a workpiece feeding station;

the L3 workpiece (1) advances to a workpiece pose detection and correction station on the hoisting and conveying line along with the hook (5), and the workpiece pose detection and correction device performs pose detection and correction operation on the workpiece (1);

the L4 workpiece (1) moves forward to a workpiece paint spraying station on a hoisting and transporting line along with the hook (5), and paint spraying equipment performs paint spraying operation on the workpiece (1);

the L5 workpiece (1) moves forward to the front of a workpiece blanking station on a hoisting and transporting line along with the hook (5), and the hook following limiting device limits the hook (5) and moves to the workpiece blanking station along with the hook (5);

the L6 mechanical arm takes down the workpiece (1) from the hook (5) of the hoisting and transporting line through the automatic workpiece taking and placing device at the workpiece blanking station.

2. The method for controlling the entry and exit of the accessory suitable for spraying the large workpiece as claimed in claim 1, wherein: in the cases of L2 and L6, the step of connecting the robot arm to the workpiece (1) via the workpiece robot handler includes,

s1, the controller controls the mechanical arm to move the automatic workpiece taking and placing device to the back of the workpiece (1) and enables the first clamping plate (3-7) to be aligned to the first clamping surface (3-1 a) and the second clamping plate (3-8) to be aligned to the second clamping surface (3-1 b);

the S2 controller controls the first clamping plate driving part (3-5) to start to enable the first clamping plate (3-7) to push the first clamping surface (3-1 a) to adjust the position of the clamping seat (3-1) in the first direction and reset; the controller controls the second clamping plate driving part (3-6) to start to enable the second clamping plate (3-8) to push the second clamping surface (3-1 b) to adjust the position of the clamping seat (3-1) in the second direction and reset; wherein the first direction is the width direction of the workpiece (1), and the second direction is the length direction of the workpiece (1);

the S3 controller controls the first clamping plate driving part (3-5) to be started again to enable the two first clamping plates (3-7) to be clamped with the first clamping surfaces (3-1 a) of the clamping seats (3-1), and controls the second clamping plate driving part (3-6) to be started again to enable the two second clamping plates (3-8) to be clamped with the second clamping surfaces (3-1 b) of the clamping seats (3-1);

s4 the controller controls the telescopic driving part (3-3) to start so that the mechanical arm and the supporting component approach to the second supporting plate (3-4) along with the first supporting plate (3-2) until the adsorption part (2-1) on the supporting component contacts with the back of the workpiece (1);

and S5 the controller controls the vacuum adsorption component to start so that the adsorption piece (2-1) and the back of the workpiece (1) are adsorbed in vacuum.

3. The method for controlling the entry and exit of the accessory suitable for spraying the large workpiece as claimed in claim 2, wherein: before the step S1, the method further comprises

S0, a guide support is installed on the telescopic rods of the first clamping plate driving part (5-4) and the second clamping plate driving part (5-5).

4. The method for controlling the entry and exit of the accessory suitable for spraying the large workpiece as claimed in claim 1, wherein: in the L1 and the L5, the step that the hook following limiting device limits and follows the hook (5) comprises the following steps,

the T1 hook position detector (3) detects whether the hook (5) reaches a set position before a workpiece feeding station/before a workpiece discharging station, if so, the information that the hook has reached is sent to the controller; if not, the T1 is re-entered;

after receiving the information that the hook arrives, the T2 controller controls the second walking mechanism to start to push the hook fixing piece to be in contact with the hook (5), and controls the hook fixing piece to start to enable the hook fixing piece to be connected and fixed with the hook (5);

the T3 controller controls the first travelling mechanism to start so as to push the second travelling mechanism, the hook fixing piece and the hook (5) to a workpiece feeding station/a workpiece discharging station together;

and after the T4 operation of loading and unloading of the corresponding workpiece is completed by the hook (5), the controller controls the hook fixing piece to be separated from the hook (5), and controls the second travelling mechanism and the first travelling mechanism to reset in sequence.

5. The method for controlling the entry and exit of the accessory suitable for spraying the large workpiece as claimed in claim 4, wherein: the step that the hook fixing piece in the T2 is connected with the hook (5) comprises the steps that the controller controls the switch (6-5) to be closed, the power supply (6-6) supplies power to the coil (6-4), and the coil (6-4) is electrified and then is matched with the iron core (6-3) to enable the adsorption plate (6-2) to generate magnetic attraction force connected with the hook (5).

6. The method for controlling the entry and exit of the accessory suitable for spraying the large workpiece as claimed in claim 1, wherein: in the L3, the step of the workpiece pose detection and correction means performing the pose detection and correction operation on the workpiece (1) includes,

the K1 hook position detection mechanism (7) detects whether the hook (5) enters a workpiece pose correction station, if yes, a workpiece in-position signal is sent to the controller, and after the controller receives the workpiece in-position signal, the controller controls the hook (5) to stop running and sends a workpiece to-be-corrected signal to the first workpiece pose correction mechanism (8); if not, re-enter L1;

the first workpiece pose correcting mechanism (8) of the K2 carries out hook pose correcting operation on the hook (5) after receiving a signal to be corrected of a workpiece, the hook pose correcting operation is completed, a hook pose correcting operation completion signal is sent to the controller, and the controller sends a signal to be detected of the workpiece position to the workpiece position detecting mechanism (9) after receiving the hook pose correcting operation completion signal;

the K3 workpiece position detection mechanism (9) detects the position of the workpiece after receiving the workpiece position to-be-detected signal, judges whether the workpiece has left and right deviation, if so, sends a workpiece deviation signal to the controller, and the controller sends a workpiece to-be-adjusted signal to the second workpiece pose correction mechanism (10) after receiving the workpiece deviation signal; if not, go to L5;

the K4 second workpiece pose correction mechanism (10) receives the signal to be adjusted of the workpiece and then carries out workpiece offset correction operation on the workpiece, and sends a signal for finishing the workpiece offset correction operation to the controller after the workpiece offset correction operation is finished;

the K5 controller controls the first workpiece pose correcting mechanism (8) and the second workpiece pose correcting mechanism (10) to reset, and the hook (5) continues to operate.

7. The method for controlling the entry and exit of the accessory suitable for spraying the large workpiece as claimed in claim 6, wherein: the hook position detection mechanism (7) in the K1 is used for detecting whether the hook (5) enters the workpiece pose correction station or not, and specifically comprises an infrared emitter (7-3) for emitting infrared signals, an infrared receiver (7-4) for receiving corresponding infrared signals, and when the infrared receiver (7-4) receives the infrared signals, the hook (5) is judged not to enter the workpiece pose correction station; when the infrared receiver (7-4) does not receive the infrared signal, the hook (5) is judged to enter the workpiece pose correction station.

8. The method for controlling the entry and exit of the accessory suitable for spraying the large workpiece as claimed in claim 6, wherein: the hook posture correction operation of the hook (5) by the first workpiece posture correction mechanism (8) in the K2 specifically comprises the following steps,

k21 the first cylinder (8-2) is started to extend the output end of the first cylinder, the support frame (8-3) moves to the hook correcting clamp (8-5) through the output end of the first cylinder (8-2) to be butted with the hook (5);

k22 the first drive motor (8-4) starts to rotate the hook correction clamp (8-5), the hook correction clamp (8-5) guides the hook (5) into the limit space during the rotation.

9. The method for controlling the entry and exit of the accessory suitable for spraying the large workpiece as claimed in claim 6, wherein: the detecting method comprises the steps that the workpiece position detecting mechanism (9) in the K3 detects whether the workpiece has a left-right deviation phenomenon, the detecting method specifically comprises the steps that the first infrared transmitter (9-3) and the second infrared transmitter transmit infrared signals, the first infrared receiver (9-4) receives the infrared signals transmitted by the first infrared transmitter (9-3), the second infrared receiver receives the infrared signals transmitted by the second infrared transmitter, and when the first infrared receiver (9-4) or the second infrared receiver does not receive the infrared signals, the workpiece is judged to have the left-right deviation phenomenon; otherwise, judging that the workpiece has no left-right deviation phenomenon.

10. The method for controlling the entry and exit of the accessory suitable for spraying the large workpiece as claimed in claim 6, wherein: the second workpiece pose correction mechanism (10) in the K4 specifically comprises a workpiece offset correction operation on the workpiece,

k41 the second cylinder A (10-5 a) is activated to extend the correcting rod A (10-6 a) to the first side of the workpiece hook, and the second cylinder B (10-5B) is activated to extend the correcting rod B (10-6B) to the second side of the workpiece hook;

k42 starting a second driving motor A (10-2 a) and a second driving motor B (10-2B) to rotate a screw rod (10-3);

the K43 transmission nut A (10-4 a) and the transmission nut B (10-4B) move oppositely through the first thread section and the second thread section which are symmetrically arranged on the screw rod (10-3) in the opposite direction until the correction rod A (10-6 a) and the correction rod B (10-6B) clamp the workpiece hook body.