CN105562266A - Control method of spray coating robot - Google Patents
Control method of spray coating robot Download PDFInfo
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- CN105562266A CN105562266A CN201510937364.7A CN201510937364A CN105562266A CN 105562266 A CN105562266 A CN 105562266A CN 201510937364 A CN201510937364 A CN 201510937364A CN 105562266 A CN105562266 A CN 105562266A
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- nozzle
- spraying
- spray
- spray robot
- dynamic model
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a control method of a spray coating robot. According to the method, spray coating flow rate calculation is performed before fixed mold spray coating and movable mold spray coating, so that the spray coating flow rate can be regulated for meeting the mold temperature requirements. The method has the advantages that the automatic and manual switching operation can be performed, and the design is reasonable.
Description
Technical field
The present invention relates to spray robot, specifically disclose a kind of control method of spray robot.
Background technology
Spray robot is paint-spray robot again, is the industrial robot that can carry out auto spray painting or spray other coating.Spray robot mainly comprises manipulator and controller, and described manipulator is provided with for the chirokinesthetic power source of driving device, as oil pump, fuel tank and motor etc.The free end of manipulator is generally connected with the spraying frame for carrying out spraying operation and nozzle.
But, still there is following defect in existing spray robot: 1. nozzle and paint valve Integral design, volume is excessive, therefore nozzle can only carry out inclined-plane spraying, die cavity inner nozzle penetrates face can produce spraying blind area, because mould structure restriction can not make die cavity integral surface form equal film better, can cause that the demoulding is bad or die surface foot area temperature is higher thus, affect the demoulding.2. regulated by outside hexagon socket head cap screw because coating regulates, therefore the adjustment of nozzle flow is inconvenient.3. coating and compressed air are direct after mixing in nozzle chambers is injected into mould from nozzle, therefore effective negative pressure can not be formed at coating material passage, injection dynamics and nozzle atomization covering of the fan deficiency, ejection atomization of liquid particle is uneven, and structural design coating material passage little Yi causes spray nozzle clogging simultaneously.4. spray atomization of liquid particle uneven; 5. coating material passage little Yi blocks; 6. spray shelf structure unstable, collision resistance is poor; 7. can not carry out large discharge Serial regulation at random at mould high-temperature region coating flow; 8. nozzle direction can not regulate, and each part in mould can not be carried out even application.
Summary of the invention
The invention is intended to the control method that a kind of spray robot is provided, to solve the problem that existing spray robot nozzle flow regulates inconvenience.
The control method of the spray robot in this programme, comprises the following steps:
1) spray robot starts, and spray robot is positioned at origin position;
2) spray robot is in spraying and waits for position;
3) whether PLC control module sends to spray robot and allows to spray signal:
A. if so, then control spray robot and move to die casting machine cover half spraying point;
B. if not, then spray robot initial point is returned;
4) whether PLC control module sends to spray robot and allows cover half to spray signal:
If a., then carry out cover half spraying point flow rate calculation, and control the unlatching of cover half spraying magnetic valve, carry out cover half spraying, after active and inactive mold spraying, carry out purging from active and inactive mold, after active and inactive mold purges, enter into die casting machine dynamic model spraying point, PLC control module sends whether allow dynamic model spraying signal to spray robot:
A) if so, then carry out dynamic model spraying point flow rate calculation, open dynamic model spraying magnetic valve, carry out automatic dynamic model spraying, after dynamic model spraying, carry out automatic dynamic model purging, dynamic model returns spray robot initial point after purging;
B), if not, under automatic mode, spray robot initial point after robot waits 2-5S, is returned;
B. if not, automatic robot returns spray robot initial point after waiting for 2-5S, repeats above-mentioned steps a and b.
Operation principle and beneficial effect:
Before spraying, first select suitable spraying frame, nozzle travel direction is regulated, and then starts spray robot and carry out spraying operation.In spraying process, can select automatically or manually carry out spraying operation.By manipulator, spraying frame and the nozzle be arranged on spraying frame are moved to mould position to be sprayed to spray.During spraying, coating is ejected on die casting by the coating material passage of charging aperture on shower nozzle of ball cup from the discharging opening nozzle body, when needing the flow regulating nozzle, enter manual mode, because nozzle body is threaded with on ball cup, therefore the position of swivel nozzle body adjustable nozzles body on ball cup, during the change in location of nozzle body, drive shower nozzle is moved together, the change of nozzle position changes making the flexible member elastic force between shower nozzle coating material passage and unidirectional valve ball, the aperture made between unidirectional valve ball and charging aperture changes by the change of flexible member elastic force, thus achieve the control of nozzle flow.
The spray robot that the present invention controls has automatically and manual two kinds of patterns, and in automatic mode, robot to circulate execution according to spraying initial point-spraying holding point-cover half spraying point-dynamic model spraying point-purgings move-return path of initial point; Can carry out in a manual mode detecting and replacement operation.The present invention can regulate the flow of nozzle quickly and easily, makes each position in mould all can obtain even application.
Further, manual mode can also be switched in step b), spray robot can stop action in a manual mode, rest on spraying point position, complete replacing nozzle, nozzle angle and Flow-rate adjustment work in spraying point position, spray again after having debugged, and manual operation feedback dynamic model spraying settling signal, spray robot is auto-returned initial point then.In a manual mode, manipulator can rest on the optional position in above-mentioned path when not using teaching machine, can complete over these locations and such as spray detection, the manual workings such as nozzle exchange, after manual working completes, manipulator returns spraying initial point by projected route.Owing to not needing to use teaching machine, so make operation more simple, position is more accurate, and operating efficiency is promoted.
Further, can also manual mode be switched in stepb, control spray robot in manual operation and stop action, and spray robot is debugged, spray again after having debugged, and manual operation feedback dynamic model spraying settling signal, then enter into die casting machine dynamic model spraying point position.Conveniently switch to manual mode, in a manual mode, manipulator can rest on the optional position in above-mentioned path when not using teaching machine, can complete over these locations and such as spray detection, the manual workings such as nozzle exchange.
Further, the mounting means of nozzle is, is arranged in the mounting groove of substrate by the ball cup of nozzle, and is limited in mounting groove by cover plate by ball cup; Roating sphere headstock, the bottom of ball cup can be rotated in mounting groove.Conveniently regulate rotating ballhead, make nozzle and substrate present certain differential seat angle, make nozzle be adjusted to any direction, each part in mould can be carried out even application.
Further, the aerial spraying mode of nozzle is, high-speed compressed air is passed into from the air intake of ball cup, this high-speed compressed air enters vacuum chamber through the first groove and forms jet at vacuum chamber place and produces Involving velocity, under Involving velocity, air in vacuum chamber is constantly entrainmented, thus makes below the Pressure Drop in vacuum chamber to atmospheric pressure and form certain vacuum, and now coating adsorbs to the both sides of nozzle body diffusion chamber.Adopt this structure that coating can be made on the one hand to form diffusion, be conducive to coating to spray in nozzle body, make coating form even vaporific covering of the fan at a high speed on the other hand and spray to mould, take away heat fast, thus reach the object of cooling and shape film.
Further, the Flow-rate adjustment mode of nozzle is, swivel nozzle body regulates the position of nozzle body on ball cup, nozzle body drives shower nozzle to move together, the change of nozzle position makes the flexible member elastic force between shower nozzle coating material passage and unidirectional valve ball change, and the change of flexible member elastic force makes the aperture between unidirectional valve ball and charging aperture change.By arranging unidirectional valve ball at charging aperture place, and arrange flexible member at unidirectional valve ball place, the moving belt dynamic elasticity element simultaneously passing through nozzle body, to the active force of unidirectional valve ball, realizes the change of charging aperture and unidirectional valve ball openings of sizes eventually through moving nozzle body.Realize the flow-control to nozzle, adopt the nozzle of this programme to test through actual production simultaneously, the comparatively conventional nozzle thickness of thickness of nozzle reduces half, therefore adopt this nozzle of the nozzle of this programme one side to stretch in die cavity to spray, therefore can not produce spraying blind area in die cavity and make die cavity integral surface form equal film better, this nozzle flow is easy to adjust on the other hand, and structure is simple.
Further, the mounting means of shower nozzle and nozzle body is, disk on shower nozzle is placed on the disk mounting holes place of nozzle body, and at the second draw-in groove place mounting spray head snap ring, disk mounting holes and shower nozzle snap ring carry out position limitation from both sides to disk respectively, simultaneously by least two air ducts that circumference on disk is uniform, the air duct of high-speed compressed air through disk passed into from air intake enters in vacuum chamber.Realize the movement of shower nozzle with nozzle body, facilitate the inflow of high-speed compressed air simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of the spray robot of the embodiment of the present invention;
Fig. 2 is the structural representation of nozzle in Fig. 1 embodiment;
Fig. 3 is the structural representation of ball cup in Fig. 2 embodiment;
Fig. 4 is the structural representation of nozzle body in Fig. 2 embodiment;
Fig. 5 is the structural representation of shower nozzle in Fig. 2 embodiment;
Fig. 6 is the structural representation as sprayed frame in 1 embodiment;
Fig. 7 is the flow chart of the embodiment of the present invention.
Detailed description of the invention
Below by detailed description of the invention, the present invention is further detailed explanation:
Reference numeral in Figure of description comprises: ball cup 1, first groove 11, first projection 12, first through hole 13, first draw-in groove 14, lower seal groove cavity 15, air intake 16, charging aperture 17, nozzle body 2, discharging opening 21, diffusion chamber 22, vacuum chamber 23, disk mounting holes 24, second groove 25, second draw-in groove 26, shower nozzle 3, disk 31, air duct 32, first coating material passage 33, second coating material passage 34, 3rd draw-in groove 35, nozzle body snap ring 4, nozzle body sealing ring 5, shower nozzle snap ring 6, unidirectional valve ball 7, stage clip 8, injector seals circle 9, base 18, first mechanical arm 19, second mechanical arm 20, three-mechanical arm 27, linking arm 28, connecting plate 29, connection strap 30, pipeline connecting plate 36, upper spray coating plate 37, lower spray coating plate 38, left spray coating plate 39, right spray coating plate 40, front spray coating plate 41.
As shown in Figure 1, spray robot, comprises the manipulator that can rotate freely motion, is connected to paint delivery tube on a robotic arm and air delivery pipe.The first mechanical arm 19, first driven by motor first mechanical arm 19 that manipulator comprises base 18, be vertically rotationally connected by the first motor with base 18 turns left and right.The upper end of the first mechanical arm 19 is U-shaped structure, is connected with the second mechanical arm 20 between U-shaped structure, and the two ends that horizontally disposed second motor runs through U-shaped structure are connected with the second mechanical arm 20, the forward and backward swing of the second driven by motor second mechanical arm 20.The top of the second mechanical arm 20 is also U-shaped structure, is connected with three-mechanical arm 27 between the openend of U-shaped structure, and horizontally disposed 3rd driven by motor three-mechanical arm 27 rotates on perpendicular.Three-mechanical arm 27 is provided with cylinder, cylinder promotes three-mechanical arm 27 and stretches.
The free end of three-mechanical arm 27 is connected with spraying frame, and spraying frame comprises substrate and is arranged on the nozzle on substrate; Substrate has multiple mounting groove being used for installing nozzle, the top of mounting groove is provided with the cover plate for clamping nozzle.By cover plate, nozzle is firmly connected in mounting groove.The length direction of substrate is provided with multiple blacking hole parallel to each other and airport, and blacking hole is blind hole with airport and is connected with paint delivery tube and air delivery pipe respectively.Paint delivery tube and air delivery pipe is facilitated coating and air to be transported on substrate.
The bottom vertical connection blacking hole of mounting groove, the side of mounting groove is communicated with at least two airports.Conveniently by the blacking hole on substrate and airport, coating and air are transported on nozzle.
The connector of airport and blacking hole and mounting groove is greater than the air intake on nozzle, and rotating ballhead can rotate in substrate along mounting groove.Conveniently regulate rotating ballhead, make nozzle and substrate present certain differential seat angle, make nozzle be adjusted to any direction, each part in mould can be carried out even application.
As shown in Figure 6, substrate comprises spray coating plate 37, lower spray coating plate 38, left spray coating plate 39, right spray coating plate 40, front spray coating plate 41 and rear spray coating plate; Spraying frame comprises the linking arm 28 be connected with manipulator, the downward vertical of linking arm 28 is connected with connecting plate 29, the below of connecting plate 29 is connected with front spray coating plate 41 is vertical with rear spray coating plate, front spray coating plate 41 and rear spray coating plate are oppositely arranged, and are connected with multiple connection strap 30 parallel to each other between front spray coating plate 41 and rear spray coating plate; Connection strap 30 lays respectively at the left side of front spray coating plate 41, right side, the upper side and lower side; On the connection strap 30 of correspondence position respectively with left spray coating plate 39, right spray coating plate 40, upper spray coating plate 37 are connected with lower spray coating plate 38.Conveniently from up, down, left, right, before and after all directions, all spray coating plate is set, allows to each position in spraying mold, make spraying even.Convenient spray robot is enable to spray any position of mould on any direction and mould by the spray coating plate on different directions.
On the end face of connecting plate 29, bolt is connected with pipeline connecting plate 36, pipeline connecting plate 36 has the circular hole for paint delivery tube road and airflow pipe access.Conveniently by pipeline connecting plate 36, paint delivery tube and air delivery pipe are connected to spraying frame to come up, then will be transported on each spray coating plate.
The top board of linking arm 28 and bottom are connected to the first terminal pad and the second terminal pad, and the first terminal pad and the second terminal pad all have multiple equally distributed bolt hole, and the first terminal pad is connected with manipulator bolt.Stiffener is provided with between linking arm 28 and the first terminal pad.Conveniently by bolt, the first terminal pad is connected with manipulator, the connection of convenient spraying frame and manipulator and dismounting.Make the first terminal pad be connected tightr with linking arm 28, make increasing by force intensity of the first terminal pad.
The bottom of front spray coating plate 41 and rear spray coating plate is all provided with the foot pad stretched out downwards, and the bottom position of foot pad is lower than the bottom position of lower spray coating plate 38.Convenient by time on the ground for spraying frame, foot pad is stressed supports whole spraying frame, avoids lower spray coating plate 38 to be scraped off.
Select described manual operation mode to comprise and manually can select cover half settling signal, manually select dynamic model settling signal and manual stopping wait manually to debug Three models.All substrates on spraying frame can be defined as dynamic model or cover half according to specific needs, and on blacking hole paint delivery tube and air delivery pipe being connected to each substrate by pipeline connecting plate and airport.
As shown in Figure 2, nozzle, comprise ball cup 1, the material of ball cup 1 is not limit, in the present embodiment, ball cup 1 adopts almag, the essential element of almag is aluminium, and be take magnesium as the aluminium alloy of main adding elements, this almag not only heat conductivility and intensity good, and its corrosion resistance is also fine, consider that the environment for use of nozzle is more severe, the ball cup 1 made with this almag is well positioned to meet requirement, ball cup 1 be the spheroid that a size is greater than 1/2nd, the first groove 11 is offered at the middle part of ball cup 1, charging aperture 17 is offered in the downside of ball cup 1, the first projection 12 is provided with in the first groove 11 of ball cup 1, the first through hole 13 is offered in the middle part of first projection 12, first through hole 13 comprises round nose and tapering point, wherein the upside of the first through hole 13 is round nose, the downside of the first through hole 13 is tapering point, tapering point on the downside of first through hole 13 and the charging aperture 17 on ball cup 1 communicate, lower seal groove cavity 15 is also provided with at the outline of ball cup 1, lower seal groove cavity 15 place is provided with lower seal, at uniform at least two air intakes 16 of lower seal groove cavity 15 place circumference, in the present embodiment, air intake 16 is circumferential uniform four, air intake 16 passes lower seal groove cavity 15 and communicates with the first groove 11 of ball cup 1, the first draw-in groove 14 is also provided with in the upside of ball cup 1, the downside that ball cup 1 is positioned at the first draw-in groove 14 is also processed with the screw thread for installing nozzle body 2.
The ball cup of nozzle is arranged in the mounting groove of substrate, and by cover plate, ball cup is limited in mounting groove; Roating sphere headstock, ball cup can rotate along mounting groove.
As shown in Figure 2 and Figure 4, nozzle body 2 uses material also not limit, nozzle body 2 adopts the material identical with ball cup 1 in the present embodiment, outline place on the lower side in the middle part of nozzle body 2 is processed with screw thread, nozzle body 2 is connected with ball cup 1 by screw thread herein, in the upside of nozzle body 2 screw thread, the outer contour of nozzle body 2 is three grades of ledge structures that size increases gradually, the chamfering of circular arc is all had in step joint at different levels, at be threaded the first draw-in groove 14 place of upper ball headstock 1 of nozzle body 2 and ball cup 1, nozzle body snap ring 4 is installed, the second groove 25 is also provided with in the downside that nozzle body 2 and ball cup 1 are threaded, second groove 25 place is provided with the air that prevents from passing into from air intake 16 by the nozzle body sealing ring 5 leaked between ball cup 1 and nozzle body 2, the second draw-in groove 26 is provided with at the nozzle body 2 inner outline place relative with the second groove 25, disk mounting holes 24 is provided with on the top of the second draw-in groove 26, vacuum chamber 23 is also provided with above disk mounting holes 24, vacuum chamber 23 is the up big and down small structure with tapering, be diffusion chamber 22 on the top of vacuum chamber 23, diffusion chamber 22 is a circular configuration, discharging opening 21 is on the top of diffusion chamber 22, discharging opening 21 is also the up big and down small structure with tapering.
The aerial spraying mode of nozzle is, high-speed compressed air is passed into from the air intake of ball cup, this high-speed compressed air enters vacuum chamber through the first groove and forms jet at vacuum chamber place and produces Involving velocity, under Involving velocity, air in vacuum chamber is constantly entrainmented, thus make below the Pressure Drop in vacuum chamber to atmospheric pressure and form certain vacuum, now coating adsorbs to the both sides of nozzle body diffusion chamber.
As shown in Figure 2 and Figure 5, coating material passage is offered in the middle part of shower nozzle 3, coating material passage comprises the first coating material passage 33 and the second coating material passage 34, wherein the first coating material passage 33 is on the top of the second coating material passage 34 and the width of the first coating material passage 33 is less than the width of the second coating material passage 34, disk 31 is also provided with at the outline place of shower nozzle 3, disk 31 is arranged on disk mounting holes 24 place of nozzle body 2, and limited by the position of shower nozzle snap ring 6 pairs of disks 31 at nozzle body 2 second draw-in groove 26 place, two air ducts 32 are at least evenly equipped with in the circumference of disk 31, in order to make air distribute uniformly in the present embodiment, the circumference of disk 31 is evenly equipped with eight air ducts 32, being equipped with at the outline line place, both sides up and down of disk 31 prevents stress from concentrating the chamfering with burr, shower nozzle 3 above disk 31 has up-small and down-big tapering and this structure top side extend in the vacuum chamber 23 on nozzle body 2, shower nozzle 3 below disk 31 stretches into the round nose of ball cup 1 first through hole 13, the 3rd draw-in groove 35 is also provided with in the round nose cooperation place of shower nozzle 3 and the first through hole 13, at the 3rd draw-in groove 35 place, injector seals circle 9 is installed, the tapering point of ball cup 1 first through hole 13 is provided with unidirectional valve ball 7, also flexible member is provided with at unidirectional valve ball 7 place, flexible member in the present embodiment adopts the stage clip 8 of dependable performance, upper end and second coating material passage of stage clip 8 offset, lower end and the unidirectional valve ball 7 of stage clip 8 offset.
The Flow-rate adjustment mode of nozzle is: swivel nozzle body regulates the position of nozzle body on ball cup, nozzle body drives shower nozzle to move together, the change of nozzle position makes the flexible member elastic force between shower nozzle coating material passage and unidirectional valve ball change, and the change of flexible member elastic force makes the aperture between unidirectional valve ball and charging aperture change.
The mounting means of shower nozzle and nozzle body is, disk on shower nozzle is placed on the disk mounting holes place of nozzle body, and at the second draw-in groove place mounting spray head snap ring, disk mounting holes and shower nozzle snap ring carry out position limitation from both sides to disk respectively, simultaneously by least two air ducts that circumference on disk is uniform, the air duct of high-speed compressed air through disk passed into from air intake enters in vacuum chamber.
As shown in Figure 7, the control method of the spray robot in this programme, comprises the following steps:
1) spray robot starts, and spray robot is positioned at origin position;
2) spray robot is in spraying and waits for position;
3) whether PLC control module sends to spray robot and allows to spray signal:
A. if so, then control spray robot and move to die casting machine cover half spraying point;
B. if not, then spray robot initial point is returned;
4) whether PLC control module sends to spray robot and allows cover half to spray signal:
If a., then carry out cover half spraying point flow rate calculation, and control the unlatching of cover half spraying magnetic valve, carry out cover half spraying, after active and inactive mold spraying, carry out purging from active and inactive mold, after active and inactive mold purges, enter into die casting machine dynamic model spraying point, PLC control module sends whether allow dynamic model spraying signal to spray robot:
A) if so, then carry out dynamic model spraying point flow rate calculation, open dynamic model spraying magnetic valve, carry out automatic dynamic model spraying, after dynamic model spraying, carry out automatic dynamic model purging, dynamic model returns spray robot initial point after purging;
B) if not, under automatic mode, under returning spray robot initial point or manual mode after robot waits 2-5S, spray robot can stop action, rest on spraying point position, complete replacing nozzle, nozzle angle and Flow-rate adjustment work in spraying point position, spray again after having debugged, and manual operation feedback dynamic model spraying settling signal, spray robot is auto-returned initial point then;
B. if not, automatic robot returns spray robot initial point after waiting for 2-5S or manual operation controls spray robot stopping action, and spray robot is debugged, spray again after having debugged, and manual operation feedback dynamic model spraying settling signal, enter into die casting machine dynamic model spraying point position again, repeat above-mentioned steps a and b.
Above-described is only embodiments of the invention, in scheme, the general knowledge such as known concrete structure and characteristic does not do too much description at this, one skilled in the art know the applying date or priority date before all ordinary technical knowledge of technical field that the present invention belongs to, prior aries all in this field can be known, and the ability of normal experiment means before there is this date of application, under the enlightenment that one skilled in the art can provide in the application, improve in conjunction with self-ability and implement this programme, some typical known features or known method should not become the obstacle that one skilled in the art implement the application.Should be understood that; for a person skilled in the art, under the prerequisite not departing from structure of the present invention, some distortion and improvement can also be made; these also should be considered as protection scope of the present invention, and these all can not affect effect of the invention process and practical applicability.The protection domain that this application claims should be as the criterion with the content of its claim, and the detailed description of the invention in description etc. record the content that may be used for explaining claim.
Claims (7)
1. the control method of spray robot, is characterized in that, comprises the following steps:
1) spray robot starts, and spray robot is positioned at origin position;
2) spray robot is in spraying and waits for position;
3) whether PLC control module sends to spray robot and allows to spray signal:
A. if so, then control spray robot and move to die casting machine cover half spraying point;
B. if not, then spray robot initial point is returned;
4) whether PLC control module sends to spray robot and allows cover half to spray signal:
If a., then carry out cover half spraying point flow rate calculation, and control the unlatching of cover half spraying magnetic valve, carry out cover half spraying, after active and inactive mold spraying, carry out purging from active and inactive mold, after active and inactive mold purges, enter into die casting machine dynamic model spraying point, PLC control module sends whether allow dynamic model spraying signal to spray robot:
A) if so, then carry out dynamic model spraying point flow rate calculation, open dynamic model spraying magnetic valve, carry out automatic dynamic model spraying, after dynamic model spraying, carry out automatic dynamic model purging, dynamic model returns spray robot initial point after purging;
B), if not, under automatic mode, spray robot initial point after robot waits 2-5S, is returned;
B. if not, automatic robot returns spray robot initial point after waiting for 2-5S, repeats above-mentioned steps a and b.
2. the control method of spray robot according to claim 1, it is characterized in that, manual mode can also be switched in step b), spray robot can stop action in a manual mode, rests on spraying point position, completes replacing nozzle in spraying point position, nozzle angle and Flow-rate adjustment work, spray again after having debugged, and manual operation feedback dynamic model spraying settling signal, spray robot is auto-returned initial point then.
3. the control method of spray robot according to claim 1, it is characterized in that, manual mode can also be switched in stepb, control spray robot in manual operation and stop action, and spray robot is debugged, spray again after having debugged, and manual operation feedback dynamic model spraying settling signal, then enter into die casting machine dynamic model spraying point position.
4. the control method of spray robot according to claim 1, is characterized in that, the mounting means of nozzle is, is arranged in the mounting groove of substrate by the ball cup of nozzle, and is limited in mounting groove by cover plate by ball cup; Roating sphere headstock, the bottom of ball cup can be rotated in mounting groove.
5. the control method of spray robot according to claim 1, it is characterized in that, the aerial spraying mode of nozzle is, high-speed compressed air is passed into from the air intake of ball cup, this high-speed compressed air enters vacuum chamber through the first groove and forms jet at vacuum chamber place and produces Involving velocity, under Involving velocity, air in vacuum chamber is constantly entrainmented, thus make below the Pressure Drop in vacuum chamber to atmospheric pressure and form certain vacuum, now coating adsorbs to the both sides of nozzle body diffusion chamber.
6. the control method of spray robot according to claim 1, it is characterized in that, the Flow-rate adjustment mode of nozzle is, swivel nozzle body regulates the position of nozzle body on ball cup, nozzle body drives shower nozzle to move together, the change of nozzle position makes the flexible member elastic force between shower nozzle coating material passage and unidirectional valve ball change, and the change of flexible member elastic force makes the aperture between unidirectional valve ball and charging aperture change.
7. the control method of spray robot according to claim 4, it is characterized in that, the mounting means of shower nozzle and nozzle body is, disk on shower nozzle is placed on the disk mounting holes place of nozzle body, and at the second draw-in groove place mounting spray head snap ring, disk mounting holes and shower nozzle snap ring carry out position limitation from both sides to disk respectively, and simultaneously by least two air ducts that circumference on disk is uniform, the air duct of high-speed compressed air through disk passed into from air intake enters in vacuum chamber.
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| CN201510937364.7A CN105562266B (en) | 2015-12-15 | 2015-12-15 | The control method of spray robot |
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| CN201510937364.7A CN105562266B (en) | 2015-12-15 | 2015-12-15 | The control method of spray robot |
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| CN106513229A (en) * | 2016-11-01 | 2017-03-22 | 河池学院 | Control method of car spraying robot |
| CN108115696A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of spray robot |
| CN108906404A (en) * | 2018-08-03 | 2018-11-30 | 米亚索乐装备集成（福建）有限公司 | A kind of spray painting control method and device |
| CN111151394A (en) * | 2020-01-02 | 2020-05-15 | 金陵科技学院 | Spraying equipment and spraying method for lamp nano coating |
| CN112761337A (en) * | 2020-12-28 | 2021-05-07 | 保定意通机械制造有限公司 | Manual-automatic integrated control method for mortar spraying and scraping device |
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| CN102641803A (en) * | 2012-04-05 | 2012-08-22 | 清华大学 | Single flowmeter type digital spraying system for robot |
| US20140329001A1 (en) * | 2013-05-03 | 2014-11-06 | Abb Technology Ag | Automatic painting and maintaining wet-surface of artifacts |
| CN104324861A (en) * | 2014-08-12 | 2015-02-04 | 清华大学 | Multi-parameter time-varying robot spraying method |
| DE102014019314A1 (en) * | 2014-12-20 | 2015-06-18 | Daimler Ag | Method and device for applying a lacquer layer to a surface |
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| CN108115696A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of spray robot |
| CN108115696B (en) * | 2016-11-28 | 2021-06-22 | 沈阳新松机器人自动化股份有限公司 | Spraying robot |
| CN108906404A (en) * | 2018-08-03 | 2018-11-30 | 米亚索乐装备集成（福建）有限公司 | A kind of spray painting control method and device |
| CN111151394A (en) * | 2020-01-02 | 2020-05-15 | 金陵科技学院 | Spraying equipment and spraying method for lamp nano coating |
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