CN104772250B - Automatic spraying electric control system and method for roller tractor chassis - Google Patents
Automatic spraying electric control system and method for roller tractor chassis Download PDFInfo
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- CN104772250B CN104772250B CN201510143129.2A CN201510143129A CN104772250B CN 104772250 B CN104772250 B CN 104772250B CN 201510143129 A CN201510143129 A CN 201510143129A CN 104772250 B CN104772250 B CN 104772250B
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Abstract
The invention discloses an automatic spraying electric control system and method for roller tractor chassis. The method comprises the steps of recording the complete machine number of each tractor chassis by using RFID (radio frequency identification devices) equipment, screening spraying track numbers of four major parts of the chassis by a database, combining respective spraying tracks into an automatic spraying track of the chassis according to the spraying track numbers, and controlling a robot to automatically spray in a partition manner, wherein the spraying track combined spraying manner is high in adaptivity, and meets the timeliness of producing thousands of machine models with the same line. In addition, interlock, monitoring and error-proof measures are arranged between the chassis spraying track automatic combined data and automatic partition spraying electric control of the robot, the problem of equipment damage caused by collision of a sprayer and a chassis workpiece due to wrong chassis spraying track automatic combined data is effectively solved, the work method is simple and feasible, the performance is safe and reliable, and a good use value is realized.
Description
【Technical field】
The present invention relates to technical field of industrial automatic control, more particularly to a kind of drag the spraying automatically on chassis automatically controlled for wheel
System and method, and in particular to a kind of wheel of track combination drags chassis to spray electric-control system and method automatically.
【Background technology】
Known, wheeled tractor, referred to as wheel are dragged, and in China, wheel drags chassis paint line to complete using first assembling mostly
Basic chasisis assembly carries out again overall antirust spraying, and the technological process mode of last installation chassis adnexa, wherein each chassis are total
Hanging 360 ° of hand sprays are carried out into according to technological requirement.
However, with the development and changes in demand and the development of science and technology in market of society, requirement of the people to environmental protection
Increasingly improve, in order to comply with increasingly strict environmental regulation and energy-saving and emission-reduction requirement, reduce the harm to operator's health, subtract
Few environmental pollution etc., needs for the automatic spraying technology of robot used in automobile industry to be incorporated into wheel and drags chassis spraying operation
In, by using the advantage of the automatic spraying technology of robot, greatly improve utilization efficiency of coatings, significantly reduce workman and suffer from occupation
The risk of disease, while robot can adapt to harmful paint spraying, can accomplish high intensity that human body is difficult in adapt to, fast
Beat is worked continuously, and spraying process can be made finer, realizes that more economical coating is consumed.But, by automobile industry machine
The automatic spraying technology of device people is incorporated into wheel and drags in the spraying operation of chassis, due to both sides' production model and production status difference it is excessive,
Realize that wheel drags chassis to spray presence automatically following difficult：
1st, automobile industry spraying production model is the technique that part spraying is assembled again, causes to spray workpiece and kind phase
To single etc., and take turns and drag chassis to spray to be produced due to combination order metaplasia now and cause wheel to drag the big part in chassis four " including chassis
Frame, change speed gear box, rear transmission case, power take-off module " is carried out according to the operating mode difference that user uses in hundreds of number of element types
Independent assortment, wheel drags the big part in chassis four to determine that wheel drags the change of the shape on chassis, every kind of number of element types that wheel will be caused to drag bottom
The change of disc assembly shape difference, can not meet wheel and drag bottom according to the automatic spraying profile teaching preparation method of automobile industry robot
The promptness of disk spraying production.
2nd, the automatic spraying technology of automobile industry robot is mainly used in automobile panel spraying operation, automobile panel
Shape is relatively regular, and spraying profile mostly is overall track linear reciprocation.And take turns and drag in the spraying operation of chassis, chassis assembly profile is convex
It is recessed random, if the overall spraying method automatically of the robot of existing automobile industry is applied to into wheel dragging in the spraying operation of chassis, will
Shower nozzle is caused to drag chassis workpiece collision, production development accident with wheel.
In order to overcome the problems referred to above, it is badly in need of providing automatic spraying electric-control system and method that a kind of suitable wheel drags chassis.
【The content of the invention】
It is not enough present in background technology in order to overcome, the invention provides a kind of drag the automatic spraying on chassis electric for wheel
Control system and method, the present invention records each wheel and drags the whole machine on chassis to number using RFID device, and by data base bottom is filtered out
Four big part spraying profile numberings of disk, each several part spraying profile is combined into the automatic spray on the chassis according to spraying profile numbering
Track is applied, control robot auto-partition spraying, spraying profile combination spraying method strong adaptability meets thousands of kinds of types conllinear
The promptness of production, method of work simple possible of the present invention, performance safety reliability, with good use value.
To realize goal of the invention as above, the present invention adopts technical scheme as described below：
It is a kind of to drag the automatic spraying electric-control system on chassis, including the automatically controlled list of PLC, RFID device for wheel
Unit, manually operation ECU, spraying profile establishment ECU, observing and controlling input block and state indication unit, the PLC can
The DP communication modules of programmable controller itself and RFID device ECU, guidance panel, the machine run manually in ECU
Fortune system control unit and robot control unit enter row information exchange, the PN communication modules of PLC itself with
Spraying profile establishment ECU enters row information exchange, and the On-off signal end reception observing and controlling of PLC itself is defeated
Enter joint control A photoswitch in unit, joint control B photoswitch, joint control C photoswitch, joint control D photoswitch, joint control E photoswitch
With the on-off model of system emergency stop switch in operation ECU manually, the output switch parameter of PLC itself
Hold to state indication unit transmission on-off model and form the described automatic spraying electric-control system for dragging chassis for wheel.
The described automatic spraying electric-control system for dragging chassis for wheel, the PLC is master controller, right
The enforcement of rfid interrogator equipment is automatically controlled in RFID device ECU, enter row information to robot control unit exchanges and RFID
Interlock protection between read write line equipment and robot control unit and machine fortune system control unit.
The described automatic spraying electric-control system for dragging chassis for wheel, the RFID device ECU includes RFID read-write
Device equipment and RFID tag, RFID device ECU is protected to the automatic reading function of chassis workpiece information with machine fortune system interlock
Protective function and with robot control unit's timing communication function, established by cable by rfid interrogator equipment, RFID tag, joint control A light
Pass, joint control B photoswitch, joint control C photoswitch, joint control D photoswitch and the realization of joint control E photoswitch, the joint control A photoelectricity
It is reflective that switch, joint control B photoswitch, joint control C photoswitch, joint control D photoswitch and joint control E photoswitch are reflector
Photoswitch, and reflector is each configured with, the rfid interrogator equipment is arranged on rail assembly, the rail assembly peace
The side that machine transports system track is mounted in, rfid interrogator equipment is 3000~6000mm apart from paint spray booth doorway outer wall dimension,
RFID tag is arranged on machine fortune system hanger beam, keeps transporting the same side of system track in machine with rfid interrogator equipment,
Rfid interrogator equipment and RFID tag are collectively responsible for the automatic reading function of chassis workpiece information, joint control A photoswitch and connection
Control B photoswitches and its reflector, connect firmly machine fortune track both sides and joint control A photoswitch and connection on the outer wall of paint spray booth doorway
The light beam that sends of control B photoswitches is returned by reflector, and joint control A photoswitch is 40~100mm away from ground level, joint control A
Value of the photoswitch away from ground level is responsible for equipment peace less than all hanging workpiece minimum terrain clearance altitudes, joint control A photoswitch
Full interlock protection, joint control B photoswitch is 3000~3500mm away from ground level, joint control C photoswitch, joint control D photoswitch
It is separately mounted in transmitting terminal columns assemblies with joint control E photoswitch, joint control C photoswitch, joint control D photoswitch and joint control
The reflector of E photoswitches is separately mounted in reflector columns assemblies, transmitting terminal columns assemblies and reflector column
Component stands respectively and machine fortune track both sides, and the light that joint control C photoswitch, joint control D photoswitch and joint control E photoswitch send
Beam is returned by reflector, and away from ground level 3000~3500mm is, and joint control C photoswitch is apart from paint spray booth doorway outer wall
Size be 150~4000mm, joint control D photoswitch apart from paint spray booth doorway outer wall dimension be 150~4000mm, joint control E photoelectricity
Switch apart from paint spray booth doorway outer wall dimension be 150~4000mm, joint control B photoswitch, joint control C photoswitch, joint control D photoelectricity
Switch is responsible for and robot control unit's timing communication function.
The described automatic spraying electric-control system for dragging chassis for wheel, the spraying profile establishment ECU includes service
Device and switch, one end of switch and the network interface connection of server, the other end and the PLC itself of switch
The connection of PN communication modules, spraying profile establishment ECU RFID device ECU or runs manually automatically controlled list by receiving
The whole machine numbering data of unit, automatically generate chassis spraying profile combined information, and guidance machine people's control unit is sprayed automatically, described
Switch and server are placed on the inside of electrical control cubicles.
The described automatic spraying electric-control system for dragging chassis for wheel, the manual operation ECU includes system jerk
Switch and guidance panel, the guidance panel is arranged in the operating table surface of electrical control cubicles.
The described automatic spraying electric-control system for dragging chassis for wheel, the state indication unit is indicated including system operation
Lamp, system standby display lamp and system failure display lamp, system operation display lamp, system standby display lamp and the system failure are indicated
Lamp is arranged on the upper end of electrical control cubicles.
It is a kind of to drag the automatic painting method on chassis for wheel, specifically include following steps：
1）, switch on power：
Switch on power first, make to spray automatically that electric-control system is in running order, PLC sending signal makes
System standby display lamp Chang Liang；
2）, by before suspender row to rfid interrogator equipment：
Take the next step, before suspender row to rfid interrogator equipment, make to spray electric-control system startup workflow automatically；
3）, rfid interrogator equipment read RFID tag data：
Take the next step, the suspender of machine fortune system hangs chassis workpiece to be sprayed and completes the preparation before spraying according to operation,
Then go successively to rfid interrogator equipment, it is repeatedly and many by what is read that rfid interrogator equipment continuously reads RFID tag
Secondary whole machine numbering data input PLC；
4）, judge whether many secondary datas for being read consistent：
Take the next step, whether consistent the multiple whole machine numbering data for being read are contrasted by PLC, by with
Lower two kinds of situations are performed：
4-1）, such as whole machine numbering Data Comparison result it is consistent, PLC is by whole machine numbering data is activation to spray
Track establishment ECU is applied, sending signal makes the system operation display lamp in state indication unit flash once, subsequently into
Step 8；
4-2）, such as whole machine numbering Data Comparison result it is inconsistent, by wait PLC make sentencing for next step
It is disconnected to process；
5）, RFID tag whether leave rfid interrogator equipment read-write scope：
Connect step 4-2）, whether monitoring RFID tag leaves rfid interrogator equipment read-write scope, by following two situations
Perform：
5-1）, such as do not leave rfid interrogator equipment read-write scope, the course of work after repeat step 3；
5-2）, such as have been moved off rfid interrogator equipment read-write scope, by error signal input PLC sentence
After disconnected process, sending signal makes the system standby display lamp of state indication unit, the flicker of system failure display lamp, and wait PLC can
Programmable controller is made the judgement of next step and is processed；
6）, enter manual work pattern：
Step 5-2 is connect, the whole machine numbering steel of chassis workpiece that the operator by electrical control cubicles passes through hanging under read failure suspender
Print and the steel seal input operation panel for numbering in the whole machine of chassis workpiece；
7）, judge whether to complete at the appointed time the input of whole machine numbering, point following two situations：
7-1）, complete before suspender row to joint control E photoswitch the input of whole machine numbering, PLC will be whole
Machine numbering data is activation to spraying profile works out ECU, and sending signal makes the system standby display lamp of state indication unit normal
Bright, system failure display lamp extinguishes, system operation display lamp flashes once, subsequently into step 8；
7-2）, do not complete before suspender row to joint control E photoswitch the input of whole machine numbering or manually cannot be input into press
During system emergency stop switch, there will be corresponding signal to send to PLC judgement process, to machine system control unit is transported
Send corresponding information machine fortune system it is out of service, sending signal extinguishes the system standby display lamp of state indication unit, system
Flicker of fault indicating lamps；
8）, spraying profile establishment ECU work：
Spraying profile establishment ECU receives the whole machine numbering that PLC sends；
9）, determine whether corresponding four big part spraying profiles numberings：
Take the next step, it is conditional information retrieval data base that spraying profile works out ECU with whole machine numbering, in two kinds of situation：
9-1）, do not find corresponding four big part spraying profiles numberings, error signal input PLC is sentenced
It is disconnected process after, send that corresponding information machine fortune system is out of service to machine fortune system control unit, sending signal refers to system standby
Show that lamp extinguishes, system failure display lamp flashes；
9-2）, find corresponding four big part spraying profiles numberings, above- mentioned information is worked out into automatically controlled list by spraying profile
Metacomplie is sent to PLC into chassis spraying profile combined information, waits PLC to make next
The judgement of step is processed；
10）, suspender row is to joint control E photoswitch：
Connect step 9-2）, when suspender row is to joint control E photoswitch, blocks signal input PLC and start meter
When；
11）, suspender row is to joint control D photoswitch：
Take the next step, when suspender row is to joint control D photoswitch, blocks signal input PLC and complete timing, Jing
After PLC judgement is processed, to robot control unit chassis spraying profile combined information and workpiece operation are sent
Speed parameter；
12）, suspender row is to joint control C photoswitch：
Take the next step, when suspender row is to joint control C photoswitch, PLC sends to robot control unit please
The feedback data of feedforward information and the welding robot control unit of negating, will send chassis spraying profile combination to robot control unit
Information and workpiece speed of service parameter are contrasted with feedback data；
13）, judge whether send information consistent with feedback information：
Take the next step, PLC is judged when suspender passes through joint control D photoswitch to robot control unit bottom
Whether disk spraying profile combined information and workpiece speed of service parameter are consistent with the data that robot control unit feeds back, and press
Following two situations are performed：
13-1）, the data that send and feed back it is inconsistent, after error signal input PLC judgement is processed,
Corresponding information machine fortune system being sent to machine fortune system control unit and being automatically stopped operation, sending signal puts out system standby display lamp
Go out, system failure display lamp flashes；
13-2）If, send with feedback data it is consistent, wait PLC make next step judgement process；
14）, suspender row is to joint control B photoswitch：
Connect step 13-2）, when suspender row is to joint control B photoswitch, block signal input PLC, Jing PLC
After Programmable Logic Controller judgement is processed, send to robot control unit and start spraying instruction, robot control unit will be according to
Chassis spraying profile combined information and workpiece speed of service parameter implement subregion spraying.
The described automatic painting method for dragging chassis for wheel, rfid interrogator equipment reads RFID marks in the 3rd step
The number of times of label is three times.
Using technical scheme as above, the present invention has the advantages that：
1st, it is of the present invention a kind of for taking turns the automatic spraying electric-control system and method that drag chassis, by the electricity of the system
It is single with reference to observing and controlling input while control signal machine fortune equipment electric control part and robot control electric control part is an integrated entirety
The floor data of unit's collection gives the function of artificial intelligence of the present invention, novel, is methodically arranged, rationally distributed, function reliability；
2nd, the present invention records each wheel and drags the whole machine on chassis to number using RFID device, and by data base chassis is filtered out
Four big part spraying profile numberings, each several part spraying profile is combined into the automatic spraying rail on the chassis according to spraying profile numbering
Mark, control robot auto-partition spraying, spraying profile combination spraying method strong adaptability meets thousands of kinds of type mixed productions
Promptness；" the double mode heat of manual mode of operation can be automatically downgraded to when breaking down by system detectio and judgement
It is standby " function, impact of the system failure to producing is reduced as far as possible；
3rd, the present invention also set up data redundancy verification measure, can reliably solve be under the severe operating mode of painting workshop
System reliability of operation problem；
4th, simple possible of the present invention, performance safety, reliability, and high degree of automation and easy to maintenance, can efficiently solve
Different type of machines kind wheel drags chassis technical bottleneck problem existing when collinearly spraying, and is greatly improved production efficiency, has
Good use value etc..
【Description of the drawings】
Fig. 1 is the theory diagram of the electric-control system of spraying automatically of the invention；
Fig. 2 is the electrical schematic diagram of the electric-control system of spraying automatically of the invention；
Fig. 3 is the workflow diagram of the electric-control system of spraying automatically of the invention；
Fig. 4 is the automatic spray coating operations process schematic of the present invention；
In figure：1st, RFID device ECU；2nd, observing and controlling input block；3rd, PLC；4th, operation manually
ECU；5th, spraying profile establishment ECU；6th, state indication unit；7th, system emergency stop switch；8th, joint control A light is established by cable
Close；9th, joint control B photoswitch；10th, joint control C photoswitch；11st, joint control D photoswitch；12nd, joint control E photoswitch；13rd, operate
Panel；14th, machine fortune system control unit；15th, robot control unit；16th, system operation display lamp；17th, system standby is indicated
Lamp；18th, system failure display lamp, 19, RFID tag；20th, rfid interrogator equipment；21st, server；22nd, switch；23rd, hang
Tool；24th, chassis workpiece.
【Specific embodiment】
The present invention can be explained in more detail by the following examples, the following examples are the invention is not limited in；
A kind of with reference to described in accompanying drawing 1~4 drags the automatic spraying electric-control system on chassis for wheel, including RFID device is automatically controlled
Unit 1, observing and controlling input block 2, manually PLC 3, operation ECU 4, spraying profile establishment ECU 5
With state indication unit 6, the DP communication modules of the PLC 3 itself and RFID device ECU 1, manually
Guidance panel 13, machine fortune system control unit 14 and robot control unit 15 in operation ECU 4 enters row information exchange,
The PN communication modules of PLC 3 itself enter row information and exchange with spraying profile establishment ECU 5, and PLC may be programmed
The On-off signal end of controller 3 itself receives joint control A photoswitch 8 in observing and controlling input block 2, joint control B photoswitch 9, connection
System jerk is opened in control C photoswitches 10, joint control D photoswitch 11, joint control E photoswitch 12 and manual operation ECU 4
7 on-off model is closed, the output switch parameter end of PLC 3 itself sends switching value letter to state indication unit 6
Number form the described automatic spraying electric-control system for dragging chassis for wheel.
Wherein described PLC 3 is master controller, is arranged on inside electrical control cubicles, and model preferentially selects west gate
Subsidiary S7 315-2PN/DP, rfid interrogator equipment 20 in RFID device ECU is implemented it is automatically controlled, to robot control
Unit 15 enters row information and exchanges and rfid interrogator equipment 20 and robot control unit 15 and machine fortune system control unit 14
Between interlock protection；The RFID device ECU 1 includes rfid interrogator equipment 20 and RFID tag 19, RFID device
ECU 1 transports system interlock defencive function and and robot control unit to the automatic reading function of chassis workpiece information with machine
15 timing communication functions, by rfid interrogator equipment 20, RFID tag 19, joint control A photoswitch 8, joint control B photoswitch 9,
Joint control C photoswitch 10, joint control D photoswitch 11 and joint control E photoswitch 12 realize, the joint control A photoswitch 8, joint control B
Photoswitch 9, joint control C photoswitch 10, joint control D photoswitch 11 and joint control E photoswitch 12 are reflector reflecting light
Electric switch, and reflector is each configured with, the rfid interrogator equipment 20 is arranged on rail assembly, the rail assembly peace
The side that machine transports system track is mounted in, rfid interrogator equipment 20 is 800~2000mm apart from paint spray booth doorway outer wall distance,
RFID tag 19 is arranged on the crossbeam of machine fortune system suspender 23, keeps transporting the same of system track in machine with rfid interrogator equipment 20
Side, rfid interrogator equipment 20 and RFID tag 19 are collectively responsible for the automatic reading function of chassis workpiece information, joint control A photoelectricity
Switch 8 and joint control B photoswitch 9 and its reflector, connect firmly machine fortune track both sides and joint control A light on the outer wall of paint spray booth doorway
The light beam that electric switch 8 and joint control B photoswitch 9 send is returned by reflector, and joint control A photoswitch 8 is 40 away from ground level
~100mm, value of the joint control A photoswitch 8 away from ground level is less than all hanging workpiece minimum terrain clearance altitudes, joint control A photoelectricity
Switch 8 is responsible for equipment safety interlock protection, and joint control B photoswitch 9 is 3000~3500mm away from ground level, and joint control C light is established by cable
Close 10, joint control D photoswitch 11 and joint control E photoswitch 12 is separately mounted in transmitting terminal columns assemblies, joint control C light is established by cable
The reflector for closing 10, joint control D photoswitch 11 and joint control E photoswitch 12 is separately mounted in reflector columns assemblies, is sent out
Penetrate end columns assemblies and reflector columns assemblies are stood respectively and machine fortune track both sides, and joint control C photoswitch 10, joint control D
The light beam that photoswitch 11 and joint control E photoswitch 12 send is returned by reflector, 3000 are away from ground level~
3500mm, joint control C photoswitch 10 apart from paint spray booth doorway outer wall size be 150~4000mm, joint control D photoswitch 11 away from
It is 150~4000mm from paint spray booth doorway outer wall dimension, joint control E photoswitch 12 is 150 apart from paint spray booth doorway outer wall dimension
~4000mm, joint control B photoswitch 9, joint control C photoswitch 10, joint control D photoswitch 11 are responsible for and robot control unit 15
Timing communication function；Spraying profile establishment ECU 5 includes switch 22 and server 21, one end of switch 22 with
The network interface connection of server 21, the other end and PLC 3 of switch 22 PN communication modules of itself are connected, and spray
Track establishment ECU 5 is applied by receiving RFID device ECU 1 or the manually whole machine numbering number of operation ECU 4
According to, chassis spraying profile combined information is automatically generated, guidance machine people control unit 15 is sprayed automatically, the kimonos of the switch 22
Business device 21 is placed on the inside of electrical control cubicles, and the person that is not so convenient to operation safeguards, management whole system, and the model of the switch 22 is excellent
First select Siemens Company product SCALANCE X212-2；The manual operation ECU includes system emergency stop switch 7 and behaviour
Make panel 13, the guidance panel 13 preferentially selects Siemens Company's product, model 6AV66430DD011AX1, guidance panel
13 are arranged in the operating table surface of electrical control cubicles, and the person that is not so convenient to operation adjusts or typing " chassis " information data；The state
Indicating member includes system operation display lamp 16, system standby display lamp 17 and system failure display lamp 18, and system operation is indicated
Lamp 16, system standby display lamp 17 and system failure display lamp 18 are " trichroism " display lamp, are arranged on the upper end of electrical control cubicles
Show off place, to facilitate system operation, debugging and the transmission of fault-signal.
It is of the present invention a kind of for taking turns the automatic painting method for dragging chassis, specifically include following steps：
1st, switch on power：
Switch on power first, it is in running order to make to spray automatically electric-control system, the sending signal of PLC 3
Make the Chang Liang of system standby display lamp 17；
2nd, by before the row of suspender 23 to rfid interrogator equipment 20：
Take the next step, before the row of suspender 23 to rfid interrogator equipment 20, make to spray electric-control system startup workflow automatically；
3rd, rfid interrogator equipment 20 reads the data of RFID tag 19：
Take the next step, the suspender 23 of machine fortune system hangs chassis workpiece 24 to be sprayed and completes the beam worker before spraying according to operation
Make, then go successively to rfid interrogator equipment 20, the continuous reading RFID tag 19 3 times of rfid interrogator equipment 20 simultaneously will
The three whole machine numbering data input PLCs 3 for being read；
4th, judge whether three read secondary datas are consistent：
Take the next step, whether consistent read three whole machine numbering data are contrasted by PLC 3, are pressed
Following two situations are performed：
4-1, such as whole machine numbering Data Comparison result are consistent, and PLC 3 is by whole machine numbering data is activation to spray
Track establishment ECU is applied, sending signal makes the system operation display lamp 16 in state indication unit 6 flash once, Ran Houjin
Enter step 8）；
4-2, such as whole machine numbering Data Comparison result are inconsistent, and PLC 3 will be waited to make sentencing for next step
It is disconnected to process；
5th, whether RFID tag 19 leaves the read-write scope of rfid interrogator equipment 20：
Connect step 4-2）, whether monitoring RFID tag 19 leaves the read-write scope of rfid interrogator equipment 20, by following two
Situation is performed：
5-1, such as do not leave rfid interrogator equipment 20 read-write scope, the course of work after repeat step three；
5-2, such as have been moved off rfid interrogator equipment 20 read-write scope, by error signal be input into PLC 3
After judgement is processed, sending signal makes that the system standby display lamp 17 of state indication unit 6 extinguishes, system failure display lamp 18 dodges
It is bright, wait the judgement that PLC 3 makes next step to process；
6th, manual work pattern is entered：
Connect step 5-2, the operator by electrical control cubicles is by the whole machine numbering steel of chassis workpiece hung under read failure suspender
Print and the steel seal input operation panel 13 for numbering in the whole machine of chassis workpiece；
7th, the input for completing whole machine numbering at the appointed time, point following two situations are judged whether：
7-1, the input for completing before suspender row 23 to joint control E photoswitch 12 whole machine numbering, PLC 3
Whole machine numbering data is activation to spraying profile is worked out into ECU, sending signal indicates the system standby of state indication unit
The Chang Liang of lamp 17, system failure display lamp 18 extinguish, system operation display lamp 16 flashes once, subsequently into step 8）；
7-2, the input for not completing before suspender row to joint control E photoswitch 12 whole machine numbering or manually cannot be input into is pressed
During system emergency stop switch 7, there will be corresponding signal to send to the judgement of PLC 3 process, it is single to machine fortune system control
Unit 14 send corresponding information machine fortune system it is out of service, sending signal puts out the system standby display lamp 17 of state indication unit
Go out, system failure display lamp 18 flashes；
8th, spraying profile establishment ECU 5 works：
Spraying profile establishment ECU 5 receives the whole machine numbering that PLC 3 sends；
9th, corresponding four big part spraying profile numberings are determined whether：
Take the next step, it is conditional information retrieval data base that spraying profile works out ECU 5 with whole machine numbering, in two kinds of situation：
9-1, corresponding four big part spraying profiles numberings are not found, error signal input PLC 3 is sentenced
It is disconnected process after, send that corresponding information machine fortune system is out of service to machine fortune system control unit 14, sending signal makes system standby
Display lamp 17 extinguishes, system failure display lamp 18 flashes；
9-2, corresponding four big part spraying profiles numberings are found, above- mentioned information is worked out into ECU by spraying profile
5 are compiled into chassis spraying profile combined information sends to PLC 3, waits PLC 3 to make down
The judgement of one step is processed；
10th, the row of suspender 23 is to joint control E photoswitch 12：
Connect step 9-2, when the row of suspender 23 is to joint control E photoswitch 12, blocks signal input PLC 3 and open
Beginning timing；
11st, the row of suspender 23 is to joint control D photoswitch 11：
Take the next step, when the row of suspender 23 is to joint control D photoswitch 11, blocks signal input PLC 3 and complete meter
When, Jing the judgement of PLC 3 process after, to robot control unit 15 send chassis spraying profile combined information and
Workpiece speed of service parameter；
12nd, the row of suspender 23 is to joint control C photoswitch 10：
Take the next step, when the row of suspender 23 is to joint control C photoswitch 10, PLC 3 is to robot control unit 15
The feedback data of request feedback information and welding robot control unit 15 is sent, chassis spray will be sent to robot control unit 15
Apply track combination information and workpiece speed of service parameter to contrast with feedback data；
13rd, judge whether send information consistent with feedback information：
Take the next step, PLC 3 is judged when suspender 23 passes through joint control D photoswitch 11 to robot control
The data that the chassis spraying profile combined information of unit 15 and workpiece speed of service parameter feed back with robot control unit 15
It is whether consistent, perform by following two situations：
13-1, the data for sending and feeding back are inconsistent, after error signal input PLC 3 judgement is processed,
Corresponding information machine fortune system being sent to machine fortune system control unit 14 and being automatically stopped operation, sending signal makes system standby display lamp
17 extinguish, system failure display lamp 18 flashes；
If 13-2, send with feedback data it is consistent, wait PLC 3 make next step judgement process；
14th, the row of suspender 23 is to joint control B photoswitch 9：
Connect step 13-2, when the row of suspender 23 is to joint control B photoswitch 9, block signal input PLC 3,
Jing after the judgement of PLC 3 is processed, send to robot control unit 15 and start spraying instruction, robot control is single
Unit 15 will implement subregion spraying according to chassis spraying profile combined information and workpiece speed of service parameter.
Be provided with the control software of PLC 3 in the present invention to paint spray booth attendant and machine fortune system it
Between interlock protection program, i.e.,：When joint control A photoswitch 8（Also joint control photoswitch A8 is can be described as, other are in the same manner）Send
One light beam is blocked thing（Such as human body a part）Block, block signal input PLC 3, Jing its judgement is processed
Afterwards, instruction is sent, machine fortune system is automatically stopped operation, to pass through reflector normal when the light beam that joint control A photoswitch 8 sends
When return, path signal input PLC 3 Jing after its judgement is processed, sends instruction, and machine fortune system can be certainly
It is dynamic to resume operation.
The chassis workpiece to being hung in machine fortune system is provided with the present invention in the control software of PLC 3
24 whole machine numbers automatic reading program, i.e.,：When the row of machine fortune system suspender 23 for carrying RFID tag 19 sets to rfid interrogator
When in the range of standby 20 read-write, rfid interrogator equipment 20 continuous will read RFID tag 19 3 times and by three secondary datas for being read
Input PLC 3 judges to compare, if consistent PLC 3 sends data to spraying profile establishment electricity
Control unit, otherwise repeats above-mentioned work until the machine fortune system suspender 23 for carrying RFID tag 19 leaves rfid interrogator equipment 20
After read-write scope, after error signal input PLC 1 judgement is processed, instruction, state instruction ECU are sent
System failure display lamp 18 flash.
The chassis workpiece to being hung in machine fortune system is provided with the present invention in the control software of PLC 3
24 whole machine numbering is manually entered program, i.e.,：When the whole automatic reading program error signal of machine numbering is received, guidance panel 13
Upper LED screen ejects failure suspender number, whole machine numbering input frame and input countdown and shows t1, and t1 spans are in 30~120s
Between；Operator ejects the whole machine in chassis hung under failure suspender read failure suspender according to LED screen on guidance panel 13
Numbering steel seal and input operation panel 13, guidance panel 13 enters data into the judgement of PLC 3 process, if operation
Person can not complete again the input service of whole machine numbering in the t1 times, and error signal is input into PLC programmable controls by manual operation program
After the judgement of device processed 3 is processed, instruction is sent, machine fortune system is automatically stopped operation.
It is provided with the control software of PLC 3 in the present invention and Control During Paint Spraying by Robot track is programmed, i.e.,：
After the whole machine numbering data of the transmission of PLC 3 are received, define data as condition and obtain into data base's examination
Corresponding sole, change speed gear box, rear transmission case, power take-off module spraying profile numbering are obtained, by four one group is organized into
The array input PLC 3 that robot control system is capable of identify that etc. is pending；If the condition of defining data as is entered
Enter data base's examination and do not obtain corresponding data, after error signal input PLC 3 judgement is processed, send finger
Order, machine fortune system is automatically stopped operation；
Being provided with wheel in the present invention in the control software of PLC 3 drags chassis to spray electric-control system and machine automatically
Timing communication program between device people's control system, i.e.,：When the light beam that joint control E photoswitch 12 sends is blocked thing（Such as
Hanger beam）When blocking, block signal input PLC 3 and start timing, when joint control D photoswitch 11 sends
One light beam is blocked thing（Such as hanger beam）When blocking, block signal input PLC 3 and complete timing, Jing PLC
After the judgement of Programmable Logic Controller 3 is processed, spraying profile array and machine fortune speed of service parameter are sent to robot control system, when
The light beam that joint control C photoswitch 10 sends is blocked thing（Such as hanger beam）When blocking, block signal input PLC and may be programmed
Controller 3, Jing after the judgement of PLC 3 is processed, to robot control system request feedback information, receiver is sent
The feedback data of device people's control system, PLC 3 will send spraying profile array and machine to robot control system
Fortune speed of service parameter is contrasted with feedback data, if inconsistent process error signal input PLC 3 judgement
Afterwards, instruction is sent, machine fortune system is automatically stopped operation, waits PLC 3 to make next step if contrast is consistent
Judgement is processed, when the light beam that joint control B photoswitch 9 sends is blocked thing（Such as hanger beam）When blocking, signal is blocked defeated
Enter PLC 3, Jing after the judgement of PLC 3 is processed, send to robot control system and start spraying
Instruction, robot control system will implement auto-partition spray according to the spraying profile array and machine fortune speed of service parameter for receiving
Apply.
The specific embodiment of the present invention is as follows：
The suspender 23 of machine fortune system hangs chassis workpiece 24 to be sprayed and completes the preparation before spraying according to operation, and row is extremely
Automatically in spraying electric-control system before rfid interrogator equipment 20, rfid interrogator equipment 20 has monitored that suspender 23 is entered into
The read range of rfid interrogator equipment 20, starts continuous reading RFID tag 19 3 times and numbers in read three whole machines
Data input PLC 3, server 21 receives the whole machine numbering that PLC 3 sends, with whole machine volume
Number it is conditional information retrieval data base, finds corresponding four big part spraying profiles numberings, by four one group of robot is organized into
The array input PLC 3 that control system is capable of identify that；
When the suspender 23 of machine fortune system hangs the row of chassis workpiece 24 to be sprayed to joint control E photoswitch 12, this is arranged on
The joint control E photoswitch 12 that place's machine is transported in a transmitting terminal columns assemblies of track both sides, reflector columns assemblies is sent out
The light beam for going out, the crossbeam of suspender 23 that chassis workpiece to be sprayed is hung is blocked, i.e. light beam is blocked that to block signal defeated
Enter PLC 3 and start timing；
When the suspender 23 of machine fortune system hangs the row of chassis workpiece 24 to be sprayed to joint control D photoswitch 11, this is arranged on
The joint control D photoswitch 11 that place's machine is transported in a transmitting terminal columns assemblies of track both sides, reflector columns assemblies is sent out
The light beam for going out, is blocked by the hanger beam for hanging chassis workpiece to be sprayed, blocks signal input PLC PLC technology
Device 3 completes timing, Jing after the judgement of PLC 3 is processed, to robot control system spraying profile array and machine is sent
Fortune speed of service parameter；
When the suspender 23 of machine fortune system hangs the row of chassis workpiece 24 to be sprayed to joint control C photoswitch 10, this is arranged on
The joint control C photoswitch 10 that place's machine is transported in a transmitting terminal columns assemblies of track both sides, reflector columns assemblies is sent out
The light beam for going out, the crossbeam of suspender 23 that chassis workpiece 24 to be sprayed is hung is blocked, and is blocked signal input PLC and be may be programmed
Controller 3, sends request feedback information and receives the feedback data of robot control system to robot control system, will be to machine
Device people control unit 15 sends spraying profile array and machine fortune speed of service parameter is contrasted with feedback data；
When the suspender 23 of machine fortune system hangs the row of chassis workpiece 24 to be sprayed to joint control B photoswitch 9, arrange in this place
The joint control B photoswitch 9 in a transmitting terminal columns assemblies, reflector columns assemblies on the outer wall both sides of paint spray booth doorway
The light beam for being sent, the crossbeam of suspender 23 that chassis workpiece 24 to be sprayed is hung is blocked, and blocking signal input PLC can
Programmable controller 3, Jing after the judgement of PLC 3 is processed, sends to robot control unit 15 and starts spraying instruction,
Robot control unit 15 will implement auto-partition spraying according to the spraying profile array and machine fortune speed of service parameter for receiving,
Then send to robot control unit 15 and start spraying instruction, robot control unit 15 is by according to the spraying profile number for receiving
Group and machine fortune speed of service parameter implement auto-partition spraying, are that automatically spraying is got ready into next round chassis workpiece.
The invention has the advantages that：
Machine is organically transported equipment by the 1st, judgement and signal output by the PLC Programmable Logic Controllers 3 of the system of the invention
While an electric control part and robot control electric control part integrated entirety, with reference to the floor data of observing and controlling input block collection
The function of artificial intelligence of the present invention is given, it is novel, it is methodically arranged, rationally distributed, function reliability；
2nd, the present invention does not realize " reading automatically " function to chassis workpiece information, leads to merely with RFID device ECU
The judgement and signal output and joint control A photoelectric switching signal 8 for crossing PLC Programmable Logic Controllers 3 realizes " connection with machine fortune system
Lock protection " function, while the chassis workpiece to be painted of complex configuration is carried out into decomposition module according to construction featuress, with reference to data base's inspection
Rope functional realiey " automatically generating chassis spraying profile combination " function, meets multi items wheel and drags the automatic spraying of mixed production to want
Ask, " the double mode heat of manual mode of operation can be automatically downgraded to when breaking down by adding operation ECU 4 manually
It is standby " function, impact of the system failure to producing is reduced as far as possible；
3rd, the present invention also sets up data redundancy verification in the digital independent of RFID tag 19 and during sending spraying data
Measure, can reliably solve the integrity problem of the system operation under the severe operating mode of painting workshop；
4th, simple possible of the present invention, performance safety, reliability, and high degree of automation and easy to maintenance, can efficiently solve
Different type of machines kind wheel drags chassis technical bottleneck problem existing when collinearly spraying, and is greatly improved production efficiency, has
Good use value etc..
Part not in the detailed description of the invention is prior art.
The embodiment selected herein for the open purpose of the present invention, is presently considered to be suitable, but, Ying Liao
Solution, it is contemplated that belonging to this design and all changes and the improvement of the embodiment in invention scope including all.
Claims (8)
1. it is a kind of to drag the automatic spraying electric-control system on chassis, including PLC for wheel（3）, RFID device it is automatically controlled
Unit（1）, manually run ECU（4）, spraying profile establishment ECU（5）, observing and controlling input block（2）And state instruction
Unit（6）, it is characterized in that：The PLC（3）The DP communication modules of itself and RFID device ECU（1）、
ECU is run manually（4）In guidance panel（13）, machine fortune system control unit（14）And robot control unit（15）
Enter row information exchange, PLC（3）The PN communication modules of itself work out ECU with spraying profile（5）Carry out
Information is exchanged, PLC（3）The On-off signal end of itself receives observing and controlling input block（2）Middle joint control A light is established by cable
Close（8）, joint control B photoswitch（9）, joint control C photoswitch（10）, joint control D photoswitch（11）, joint control E photoswitch（12）
With operation ECU manually（4）Middle system emergency stop switch（7）On-off model, PLC（3）Itself open
Outfan is measured to state indication unit in pass（6）Send on-off model and formed and described drag the spraying automatically on chassis automatically controlled for wheel
System.
2. according to claim 1 for taking turns the automatic spraying electric-control system for dragging chassis, it is characterized in that：The PLC can be compiled
Range controller（3）For master controller, to RFID device ECU（1）Middle rfid interrogator equipment（20）Implement it is automatically controlled, to machine
Device people's control unit（15）Enter row information and exchange and realize rfid interrogator equipment（20）And robot control unit（15）With
Machine transports system control unit（14）Between interlock protection.
3. according to claim 1 for taking turns the automatic spraying electric-control system for dragging chassis, it is characterized in that：The RFID device
ECU（1）Including rfid interrogator equipment（20）And RFID tag（19）, RFID device ECU（1）To chassis workpiece
The automatic reading function of information and machine fortune system interlock defencive function and and robot control unit（15）Timing communication function,
By rfid interrogator equipment（20）, RFID tag（19）, joint control A photoswitch（8）, joint control B photoswitch（9）, joint control C light
Electric switch（10）, joint control D photoswitch（11）With joint control E photoswitch（12）Realize, the joint control A photoswitch（8）, joint control
B photoswitches（9）, joint control C photoswitch（10）, joint control D photoswitch（11）With joint control E photoswitch（12）It is reflector
Reflective photoelectric switch, and reflector is each configured with, the rfid interrogator equipment（20）It is described on rail assembly
Rail assembly is arranged on the side that machine transports system track, rfid interrogator equipment（20）Apart from paint spray booth doorway, outer wall dimension is
3000~6000mm, RFID tag（19）System suspender is transported installed in machine（23）On crossbeam, keep and rfid interrogator equipment
（20）The same side of system track, rfid interrogator equipment are transported in machine（20）And RFID tag（19）It is collectively responsible for chassis workpiece
（24）The automatic reading function of information, joint control A photoswitch（8）With joint control B photoswitch（9）And its reflector, connect firmly
Machine fortune system track both sides and joint control A photoswitch on the outer wall of paint spray booth doorway（8）With joint control B photoswitch（9）The light for sending
Beam is returned by reflector, joint control A photoswitch（8）Away from ground level be 40~100mm, joint control A photoswitch（8）Away from ground
The value of height is less than all hanging workpiece minimum terrain clearance altitudes, joint control A photoswitch（8）Responsible equipment safety interlock protection,
Joint control B photoswitch（9）Away from ground level be 3000~3500mm, joint control C photoswitch（10）, joint control D photoswitch（11）
With joint control E photoswitch（12）It is separately mounted in transmitting terminal columns assemblies, joint control C photoswitch（10）, joint control D light establishes by cable
Close（11）With joint control E photoswitch（12）Reflector be separately mounted in reflector columns assemblies, transmitting terminal column group
Part and reflector columns assemblies stand on respectively machine fortune system track both sides, and joint control C photoswitch（10）, joint control D light establishes by cable
Close（11）With joint control E photoswitch（12）The light beam for sending is returned by reflector, joint control C photoswitch（10）, joint control D photoelectricity
Switch（11）With joint control E photoswitch（12）3000~3500mm, joint control C photoswitch are away from ground level（10）Distance spray
Paint room doorway outer wall size be 150~4000mm, joint control D photoswitch（11）It is 150 apart from paint spray booth doorway outer wall dimension
~4000mm, joint control E photoswitch（12）Apart from paint spray booth doorway outer wall dimension be 150~4000mm, joint control B photoswitch
（9）, joint control C photoswitch（10）, joint control D photoswitch（11）It is responsible for and robot control unit（15）Timing communication function.
4. according to claim 1 for taking turns the automatic spraying electric-control system for dragging chassis, it is characterized in that：The spraying profile
Establishment ECU（5）Including server（21）And switch（22）, switch（22）One end and server（21）Network interface
Connection, switch（22）The other end and PLC（3）The PN communication modules connection of itself, spraying profile establishment
ECU（5）By receiving RFID device ECU（1）Or run ECU manually（4）Whole machine numbering data, from
It is dynamic to generate chassis spraying profile combined information, guidance machine people's control unit（15）Automatically spraying, the switch（22）Kimonos
Business device（21）It is placed on the inside of electrical control cubicles.
5. according to claim 1 for taking turns the automatic spraying electric-control system for dragging chassis, it is characterized in that：The manual operation
ECU（4）Including system emergency stop switch（7）And guidance panel（13）, the guidance panel（13）It is arranged on the behaviour of electrical control cubicles
Make on table top.
6. according to claim 1 for taking turns the automatic spraying electric-control system for dragging chassis, it is characterized in that：The state instruction
Unit（6）Including system operation display lamp（16）, system standby display lamp（17）With system failure display lamp（18）, system operation
Display lamp（16）, system standby display lamp（17）With system failure display lamp（18）Installed in the upper end of electrical control cubicles.
7. a kind of according to claim 1~6 any claim drags the automatic spraying electric-control system on chassis for wheel
It is a kind of to drag the automatic painting method on chassis for wheel, it is characterized in that：Specifically include following steps：
1）, switch on power：
Switch on power first, it is in running order to make to spray automatically electric-control system, PLC（3）Sending signal makes
System standby display lamp（17）Chang Liang；
2）, by suspender（23）Row is to rfid interrogator equipment（20）Before：
Take the next step, suspender（23）Row is to rfid interrogator equipment（20）Before, make to spray electric-control system startup workflow automatically；
3）, rfid interrogator equipment（20）Read RFID tag（19）Data：
Take the next step, machine transports the suspender of system（23）Hang chassis workpiece to be sprayed（24）The beam worker before spraying is completed according to operation
Make, then go to rfid interrogator equipment successively（20）Before, rfid interrogator equipment（20）It is continuous to read RFID tag（19）It is many
It is secondary and by the multiple whole machine numbering data input PLC for being read（3）；
4）, judge whether many secondary datas for being read consistent：
Take the next step, PLC（3）Whether consistent the multiple whole machine numbering data for being read are contrasted into, by with
Lower two kinds of situations are performed：
4-1）, such as whole machine numbering Data Comparison result it is consistent, PLC（3）By whole machine numbering data is activation to spray
Apply track establishment ECU（5）, sending signal makes state indication unit（6）In system operation display lamp（16）Flicker one
It is secondary, subsequently into step 8；
4-2）, such as whole machine numbering Data Comparison result it is inconsistent, PLC will be waited（3）Make sentencing for next step
It is disconnected to process；
5）, RFID tag（19）Whether rfid interrogator equipment is left（20）Read-write scope：
Step 4-2 is connect, RFID tag is monitored（19）Whether rfid interrogator equipment is left（20）Read-write scope, by following two feelings
Condition is performed：
5-1）, such as do not leave rfid interrogator equipment（20）Read-write scope, the course of work after repeat step 3；
5-2）, such as have been moved off rfid interrogator equipment（20）Read-write scope, by error signal PLC is input into
（3）After judgement is processed, sending signal makes state indication unit（6）System standby display lamp（17）, system failure display lamp
（18）Flicker, waits PLC（3）The judgement for making next step is processed；
6）, enter manual work pattern：
Step 5-2 is connect, the operator by electrical control cubicles passes through read failure suspender（23）The chassis workpiece of lower hanging（24）Whole machine is compiled
Number steel seal and by chassis workpiece（24）The steel seal input operation panel of whole machine numbering（13）；
7）, judge whether to complete at the appointed time the input of whole machine numbering, point following two situations：
7-1）, in suspender（23）Row is to joint control E photoswitch（12）Before complete the input of whole machine numbering, PLC
（3）Whole machine numbering data is activation to spraying profile is worked out into ECU（5）, sending signal makes state indication unit（6）Be
System standby indicating lamp（17）Chang Liang, system failure display lamp（18）Extinguishing, system operation display lamp（16）Flash once, Ran Houjin
Enter step 8；
7-2）, not in suspender（23）Row is to joint control E photoswitch（12）Before complete the input of whole machine numbering or manually cannot be input into
Press system emergency stop switch（7）When, there will be corresponding signal to send to PLC（3）After judgement is processed, it is to machine fortune
System control unit（14）Send corresponding information machine fortune system it is out of service, sending signal makes state indication unit（6）System treat
Machine display lamp（17）Extinguishing, system failure display lamp（18）Flicker；
8）, spraying profile establishment ECU work：
Spraying profile works out ECU（5）Receive PLC（3）The whole machine numbering for sending；
9）, determine whether corresponding four big part spraying profiles numberings：
Take the next step, spraying profile establishment ECU（5）It is conditional information retrieval data base with whole machine numbering, in two kinds of situation：
9-1）, do not find corresponding four big part spraying profiles numberings, error signal is input into into PLC（3）Sentence
After disconnected process, to machine system control unit is transported（14）Send corresponding information machine fortune system it is out of service, sending signal treats system
Machine display lamp（17）Extinguishing, system failure display lamp（18）Flicker；
9-2）, corresponding four big part spraying profiles numberings are found, by four big part spraying profile number informations by spraying rail
Mark works out ECU（5）It is compiled into chassis spraying profile combined information to send to PLC（3）, wait PLC can
Programmable controller（3）The judgement for making next step is processed；
10）, suspender（23）Row is to joint control E photoswitch（12）：
Connect step 9-2）, suspender（23）Row is to joint control E photoswitch（12）When, block signal input PLC（3）
Start timing；
11）, suspender（23）Row is to joint control D photoswitch（11）：
Take the next step, suspender（23）Row is to joint control D photoswitch（11）When, block signal input PLC（3）Complete
Timing, Jing PLCs（3）After judgement is processed, to robot control unit（15）Send chassis spraying profile combination
Information and workpiece speed of service parameter；
12）, suspender（23）Row is to joint control C photoswitch（10）：
Take the next step, suspender（23）Row is to joint control C photoswitch（10）When, PLC（3）To robot control unit
（15）Send request feedback information and welding robot control unit（15）Feedback data, will be to robot control unit（15）Send out
The chassis spraying profile combined information for going out and workpiece speed of service parameter are contrasted with feedback data；
13）, judge whether send information consistent with feedback information：
Take the next step, PLC（3）Judge in suspender（23）By joint control D photoswitch（11）When to robot control
Unit processed（15）The chassis spraying profile combined information for sending and workpiece speed of service parameter and robot control unit（15）Instead
Whether the data for being fed back to come are consistent, perform by following two situations：
13-1）, the data that send and feed back it is inconsistent, error signal is input into into PLC（3）After judgement is processed,
System control unit is transported to machine（14）Send corresponding information machine fortune system and be automatically stopped operation, sending signal indicates system standby
Lamp（17）Extinguishing, system failure display lamp（18）Flicker；
13-2）If, send with feedback data it is consistent, wait PLC（3）The judgement for making next step is processed；
14）, suspender（23）Row is to joint control B photoswitch（9）：
Connect step 13-2）, suspender（23）Row is to joint control B photoswitch（9）When, block signal input PLC
（3）, Jing PLCs（3）After judgement is processed, to robot control unit（15）Transmission starts spraying instruction, machine
People's control unit（15）Subregion spraying will be implemented according to chassis spraying profile combined information and workpiece speed of service parameter.
8. according to claim 7 for taking turns the automatic painting method for dragging chassis, it is characterized in that：RFID in 3rd step
Read write line equipment（20）Read RFID tag（19）Number of times be three times.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510143129.2A CN104772250B (en) | 2015-03-30 | 2015-03-30 | Automatic spraying electric control system and method for roller tractor chassis |
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|---|---|---|---|
| CN201510143129.2A CN104772250B (en) | 2015-03-30 | 2015-03-30 | Automatic spraying electric control system and method for roller tractor chassis |
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| CN104772250B true CN104772250B (en) | 2017-05-17 |
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| CN106502223B (en) * | 2016-10-13 | 2021-06-25 | 湖南工业大学 | Hotel guest room monitoring management system |
| CN107442318A (en) * | 2017-07-30 | 2017-12-08 | 深圳市华成工业控制有限公司 | A kind of automatic spraying system and its spraying method based on RFID |
| CN109609961B (en) * | 2018-12-20 | 2019-12-13 | 广州从化精密钣金制造有限公司 | automatic pretreatment system and method for metal plate |
| CN110216672A (en) * | 2019-05-17 | 2019-09-10 | 广东博智林机器人有限公司 | Information interacting method, server and construction robot |
| CN112275483A (en) * | 2020-09-07 | 2021-01-29 | 惠州市德赛西威汽车电子股份有限公司 | Multifunctional three-proofing paint coating equipment and control method thereof |
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| DE4209279C3 (en) * | 1992-03-21 | 2000-09-14 | Cegelec Aeg Anlagen Und Automa | Method and device for automatically coating objects |
| CN102017938A (en) * | 2010-10-19 | 2011-04-20 | 中国农业大学 | Greenhouse suspended self-propelled target-oriented sprayer system and operation method thereof |
| CN102371220B (en) * | 2011-10-12 | 2014-08-13 | 第一拖拉机股份有限公司 | Flexible high-efficiency automatic spray-coating system and spray-coating process of big wheel tractor chassis |
| CN103691606B (en) * | 2013-12-06 | 2016-01-06 | 中山市君禾机电设备有限公司 | A kind of tracking paint finishing for complex part |
| CN204544560U (en) * | 2015-03-30 | 2015-08-12 | 第一拖拉机股份有限公司 | A kind of for taking turns the automatic coating electric-control system dragging chassis |
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