CN105562266B - The control method of spray robot - Google Patents
The control method of spray robot Download PDFInfo
- Publication number
- CN105562266B CN105562266B CN201510937364.7A CN201510937364A CN105562266B CN 105562266 B CN105562266 B CN 105562266B CN 201510937364 A CN201510937364 A CN 201510937364A CN 105562266 B CN105562266 B CN 105562266B
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- China
- Prior art keywords
- spray
- spray robot
- spraying
- nozzle
- dynamic model
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Classifications
-
- 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
-
- 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
Abstract
This patent application discloses the control methods of spray robot, this method carries out spraying flow rate calculation before cover half spraying and dynamic model spraying, to adjust spraying flow to meet mold temperature requirement, and this method can carry out automatically and manually handover operation, and it is more reasonable to design.
Description
Technical field
The present invention relates to spray robots, specifically disclose a kind of control method of spray robot.
Background technique
Spray robot is called paint-spray robot, is that can carry out auto spray painting or spray the industrial robot of other coating.
Spray robot mainly includes manipulator and controller, and the manipulator is equipped with the power source for being used to driving manipulator movement,
Such as oil pump, fuel tank and motor.The spraying frame and nozzle for carrying out spraying operation are generally connected on the free end of manipulator.
However, there are still following defects for existing spray robot: 1. nozzles and paint valve are integrally designed, and volume is excessive,
Therefore nozzle can only carry out inclined-plane spraying, and die cavity inner nozzle, which penetrates face, can generate spraying blind area, since mould structure limitation cannot be more
So that die cavity overall surface is formed equal film well, thus will cause demould bad or die surface foot area temperature it is higher, influence
Demoulding.2. being adjusted since coating is adjusted by external hexagon socket head cap screw, the adjusting of nozzle flow is inconvenient.3. coating and compression
Air is directly sprayed from nozzle to mold after mixing in nozzle chambers, therefore cannot form effective negative pressure in coating material passage, injection
Dynamics and nozzle atomization covering of the fan are insufficient, and it is uneven to spray liquid atomization particle, while coating material passage is small easily causes spray for structure design
Mouth blocking.4. it is uneven to spray liquid atomization particle；5. coating material passage little Yi is blocked；6. spraying frame structural instability, impact resistant
Ability is poor；7. coating flow cannot carry out big flow Serial regulation at random in mold high-temperature region；8. nozzle direction is not adjustable, no
Each part in mold can be subjected to even application.
Summary of the invention
The invention is intended to provide a kind of control method of spray robot, to solve existing spray robot nozzle flow tune
Save inconvenient problem.
The control method of spray robot in this programme, comprising the following steps:
1) spray robot starts, and spray robot is located at origin position；
2) spray robot is in spraying and waits position；
3) whether PLC control module allows to spray signal to spray robot sending:
A. if so, control spray robot moves to die casting machine cover half spraying point；
B. if it is not, then returning to spray robot origin；
4) whether PLC control module allows cover half to spray signal to spray robot sending:
A. it if so, carrying out cover half spraying point flow rate calculation, and controls cover half spraying solenoid valve and opens, carry out cover half spray
It applies, after active and inactive mold spraying, purge from active and inactive mold, after active and inactive mold purging, enter the spray of die casting machine dynamic model
Whether paint point, PLC control module allow dynamic model to spray signal to spray robot sending:
A) it if so, carrying out dynamic model spraying point flow rate calculation, opens dynamic model and sprays solenoid valve, carry out automatic dynamic model spraying,
After dynamic model sprays, automatic dynamic model purging is carried out, after dynamic model purges, returns to spray robot origin；
B) if it is not, under automatic mode, robot returns to spray robot origin after waiting 2-5S；
B. if it is not, automatic robot returns to spray robot origin after waiting 2-5S, repeat the above steps a and b.
Working principle and beneficial effect:
Before being sprayed, the suitable spraying frame of first selection carries out direction adjusting to nozzle, then restarts spraying robot
People carries out spraying operation.In spraying process, it can choose and either automatically or manually carry out spraying operation.It will be sprayed by manipulator
Frame and the nozzle being arranged on spraying frame are moved to mold position to be sprayed and are sprayed.When spraying, coating by ball cup into
Material mouth is ejected on die casting through the coating material passage on spray head from the discharge port on nozzle body, when the stream for needing to adjust nozzle
When amount, into manual mode, due to being threadedly coupled on nozzle body and ball cup, swivel nozzle body adjustable nozzles body is in ball
Position on headstock will drive spray head to move together when the change in location of nozzle body, and the variation of nozzle position will make to be located at spray head
Elastic element elastic force between coating material passage and unidirectional valve ball changes, the variation of elastic element elastic force will make unidirectional valve ball with
Aperture between feed inlet changes, to realize the control of nozzle flow.
The spray robot that the present invention controls has automatically and manually two kinds of action modes, in automatic mode, robot
It is held according to the path circulation that spraying origin-spraying holding point-cover half spraying point-dynamic model spraying point-purging moves-returns to origin
Row；It is able to carry out detection and replacement operation in a manual mode.The present invention can quickly and easily adjust the flow of nozzle, make mould
Each position in tool can obtain even application.
Further, manual mode can also be switched in step b), spray robot can stop moving in a manual mode
Make, rest on spraying point position, completes replacement nozzle in spraying point position, nozzle angle and flow adjust work, and debugging is completed
It is sprayed again afterwards, and feedback dynamic model spraying is manually operated and completes signal, spray robot then auto-returned origin.In manual mould
Under formula, manipulator can rest on any position in above-mentioned path in the case where not using teaching machine, over these locations may be used
To complete such as spraying detection, the manual workings such as nozzle exchange, after the completion of manual working, manipulator returns to spraying by projected route
Origin.Due to not needing using teaching machine, so making to operate simpler, position is more accurate, and working efficiency is promoted.
Further, manual mode can also be switched in stepb, stopped in manual operation control spray robot dynamic
Make, and spray robot is debugged, sprayed again after the completion of debugging, and feedback dynamic model spraying is manually operated and completes letter
Number, enter back into die casting machine dynamic model spraying point position.Manual mode is conveniently switched to, in a manual mode, manipulator can be
Any position in above-mentioned path is rested in the case where without using teaching machine, can complete such as spraying inspection over these locations
It surveys, the manual workings such as nozzle exchange.
Further, the mounting means of nozzle is the ball cup of nozzle to be mounted in the mounting groove of substrate, and pass through cover board
Ball cup is limited in mounting groove；Ball cup is rotated, the lower part of ball cup can rotate in mounting groove.Facilitate adjusting screw
Head makes nozzle and substrate that certain differential seat angle be presented, and makes nozzle is adjustable to arrive any direction, can be by each portion in mold
Divide and all carries out even application.
Further, the aerial spraying mode of nozzle is to be passed through high-speed compressed air from the air intake of ball cup, the height
Fast compressed air, which enters vacuum chamber through the first groove and forms jet stream at vacuum chamber, generates Involving velocity, under Involving velocity,
Air in vacuum chamber is constantly siphoned away by volume, to make the pressure in vacuum chamber be down to atmospheric pressure or less and form certain vacuum
Degree, coating is adsorbed to the two sides of nozzle body diffusion chamber at this time.On the one hand coating can be made to form diffusion using this structure, be conducive to
Coating is sprayed out of nozzle body, the uniform misty covering of the fan on the other hand making coating form high speed sprays to mold, quickly takes away heat
Amount, to achieve the purpose that cooling and shape film.
Further, the flow regulative mode of nozzle is that swivel nozzle body adjusts position of the nozzle body on ball cup, nozzle
Body drives spray head to move together, and the variation of nozzle position makes the elastic element bullet between spray head coating material passage and unidirectional valve ball
Power changes, and the variation of elastic element elastic force makes the aperture between unidirectional valve ball and feed inlet change.By feeding
The unidirectional valve ball of setting at mouthful, and elastic element is set at unidirectional valve ball, while passing through the mobile drive elastic element of nozzle body
To the active force of unidirectional valve ball, the variation of feed inlet and unidirectional valve ball openings of sizes is realized eventually by moving nozzle body.It realizes
Flow control to nozzle, while being tested using the nozzle of this programme through actual production, the more common nozzle thickness of the thickness of nozzle
Half is reduced, therefore uses the nozzle one side of this programme nozzle that can protrude into die cavity and is sprayed, therefore will not in die cavity
It generates spraying blind area and die cavity overall surface is preferably made to form equal film, on the other hand the nozzle flow is easy to adjust, and
Structure is simple.
Further, the mounting means of spray head and nozzle body is to install the disk that the disk on spray head is placed on nozzle body
At hole, and spray head snap ring is installed at the second card slot, disk mounting holes and spray head snap ring carry out position to disk from two sides respectively
Limitation, while by least two air ducts circumferentially uniformly distributed on disk, the high-speed compressed air being passed through from air intake passes through
Air duct on disk enters in vacuum chamber.Realize that spray head with the movement of nozzle body, while facilitating the stream of high-speed compressed air
Enter.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the spray robot of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of nozzle in Fig. 1 embodiment；
Fig. 3 is the structural schematic diagram of ball cup in Fig. 2 embodiment；
Fig. 4 is the structural schematic diagram of nozzle body in Fig. 2 embodiment；
Fig. 5 is the structural schematic diagram of spray head in Fig. 2 embodiment；
Fig. 6 is the structural schematic diagram as sprayed frame in 1 embodiment；
Fig. 7 is the flow chart of the embodiment of the present invention.
Specific embodiment
Below by specific embodiment, the present invention is described in further detail:
Appended drawing reference in Figure of description include: ball cup 1, the first groove 11, the first protrusion 12, first through hole 13,
First card slot 14, lower seal groove cavity 15, air intake 16, feed inlet 17, nozzle body 2, discharge port 21, diffusion chamber 22, vacuum chamber 23,
Disk mounting holes 24, the second groove 25, the second card slot 26, spray head 3, disk 31, air duct 32, the first coating material passage 33,
Two coating material passages 34, third card slot 35, nozzle body snap ring 4, nozzle body sealing ring 5, spray head snap ring 6, unidirectional valve ball 7, pressure spring 8,
Injector seals circle 9, pedestal 18, first mechanical arm 19, second mechanical arm 20, third mechanical arm 27, linking arm 28, connecting plate 29,
Connection strap 30, piping connection plate 36, upper spray coating plate 37, lower spray coating plate 38, left spray coating plate 39, right spray coating plate 40, preceding spray coating plate 41.
As shown in Figure 1, spray robot, the manipulator including being freely rotatable movement, are connected to painting on a robotic arm
Material conveying tube and air delivery pipe.Manipulator includes pedestal 18 and pedestal 18 passes through first motor is rotatablely connected vertically first
Mechanical arm 19, first motor drive first mechanical arm 19 to turn left and right.The upper end of first mechanical arm 19 is U-shaped structure, U-shaped knot
Second mechanical arm 20 is connected between structure, horizontally disposed second motor connects through the both ends of U-shaped structure and second mechanical arm 20
It connects, the second motor drives the forward and backward swing of second mechanical arm 20.The top of second mechanical arm 20 is also U-shaped structure, U-shaped structure
Third mechanical arm 27 is connected between open end, horizontally disposed third motor drives third mechanical arm 27 to turn on perpendicular
It is dynamic.Cylinder is installed, cylinder pushes third mechanical arm 27 flexible on third mechanical arm 27.
The free end of third mechanical arm 27 is connected with spraying frame, sprays the nozzle that frame includes substrate and is installed on substrate；
Multiple mounting grooves for being used to install nozzle are provided on substrate, the top of mounting groove is equipped with the cover board for being used to be clamped nozzle.Pass through lid
Nozzle is connected firmly in mounting groove by plate.The length direction of substrate is equipped with multiple blacking holes and airport parallel to each other,
Blacking hole and airport are blind hole and connect respectively with paint delivery tube and air delivery pipe.Facilitate paint delivery tube and air
Delivery pipe will be on coating and air delivery to substrate.
The bottom end vertical connection blacking hole of mounting groove, the side of mounting groove is communicated at least two airports.Conveniently pass through
Blacking hole and airport on substrate will be on coating and air delivery to nozzle.
The connector of airport and blacking hole and mounting groove is greater than the air intake on nozzle, and rotating ballhead can be along installation
Slot rotates in substrate.Facilitate adjusting rotating ballhead, makes nozzle and substrate that certain differential seat angle be presented, make nozzle is adjustable to arrive
Each part in mold can be carried out even application by any direction.
As shown in fig. 6, substrate includes upper spray coating plate 37, lower spray coating plate 38, left spray coating plate 39, right spray coating plate 40, preceding spraying
Plate 41 and rear spray coating plate；Spraying frame includes the linking arm 28 connecting with manipulator, and the downward vertical of linking arm 28 is connected with connection
Plate 29, the lower section of connecting plate 29 and preceding spray coating plate 41 and rear spray coating plate is vertical connect, preceding spray coating plate 41 and rear spray coating plate is opposite sets
It sets, and is connected with multiple connection straps 30 parallel to each other between preceding spray coating plate 41 and rear spray coating plate；Before connection strap 30 is located at
Left side, right side, the upper side and lower side of spray coating plate 41；On the connection strap 30 of corresponding position respectively with left spray coating plate 39, right spray coating plate
40, upper spray coating plate 37 and the connection of lower spray coating plate 38.It is convenient that from up, down, left, right, before and after all directions, spray coating plate is all set, make
Can each of spraying mold position, keep spraying uniform.It is convenient that spray robot is made by the spray coating plate on different directions
Any position of the mold and mold on any direction can be sprayed.
It has been bolted piping connection plate 36 on the top surface of connecting plate 29, has been provided on piping connection plate 36 for paint delivery tube
The circular hole in road and airflow pipe access.It is convenient to be connected to paint delivery tube and air delivery pipe by piping connection plate 36
Spraying frame comes up, then will be delivered on each spray coating plate.
The top plate of linking arm 28 and bottom end are connected separately with the first terminal pad and the second terminal pad, the first terminal pad and second
Multiple equally distributed bolts hole are provided in terminal pad, the first terminal pad is bolted with manipulator.Linking arm 28 and first
Stiffening plate is equipped between terminal pad.It is convenient to be connect the first terminal pad with manipulator by bolt, facilitate spraying frame and manipulator
Connection and disassembly.So that the first terminal pad and linking arm 28 is connected even closer, increases the stress intensity of the first terminal pad.
The bottom end of preceding spray coating plate 41 and rear spray coating plate is designed with the foot pad extended downwardly, and the bottom position of foot pad is lower than lower spray
The bottom position of coated plate 38.Facilitate will spraying frame when be put on the ground, foot pad stress supports entire spraying frame, avoids lower spray
Coated plate 38 is scraped off.
Selecting the manual operation mode includes that can manually select cover half to complete signal, manually select dynamic model completion signal
And stop that debugging manually is waited to complete Three models manually.All substrates on spraying frame can define according to specific needs
For dynamic model or cover half, and paint delivery tube and air delivery pipe are connected to by piping connection plate the blacking hole of each substrate
On airport.
As shown in Fig. 2, nozzle, including ball cup 1, the material of ball cup 1 is unlimited, and ball cup 1 uses aluminium in the present embodiment
Magnesium alloy, the essential element of almag are aluminium, and are the aluminium alloys using magnesium as main adding elements, and this almag is not only
Heating conduction and intensity are good, and its corrosion resistance is also fine, it is contemplated that the use environment of nozzle is more severe, with this magnalium
Ball cup 1 made of alloy is well positioned to meet requirement, and ball cup 1 is the sphere that a size is greater than half, in ball
The middle part of headstock 1 offers the first groove 11, feed inlet 17 is offered in the downside of ball cup 1, in the first groove of ball cup 1
The first protrusion 12 is equipped in 11,12 middle part of the first protrusion offers first through hole 13, and first through hole 13 includes round nose and taper
End, wherein the upside of first through hole 13 is round nose, and the downside of first through hole 13 is tapered end, the taper of 13 downside of first through hole
Feed inlet 17 on end and ball cup 1 communicates, and is additionally provided with lower seal groove cavity 15 in the outer profile of ball cup 1, pacifies at lower seal groove cavity 15
Equipped with lower seal, circumferential at lower seal groove cavity 15 to be evenly distributed at least two air intakes 16, air intake 16 is in the present embodiment
Circumferentially uniformly distributed four, air intake 16 passes through lower seal groove cavity 15 and communicates with the first groove 11 of ball cup 1, in ball cup 1
Upside be additionally provided with the first card slot 14, be also machined with positioned at the downside of the first card slot 14 for installing nozzle body 2 on ball cup 1
Screw thread.
The ball cup of nozzle is mounted in the mounting groove of substrate, and ball cup is limited in mounting groove by cover board；
Ball cup is rotated, ball cup can be rotated along mounting groove.
As shown in Figure 2 and Figure 4, nozzle body 2 is also unlimited using material, and nozzle body 2 uses and ball cup 1 in the present embodiment
Identical material is threaded at the outer profile on the lower side of 2 middle part of nozzle body, and nozzle body 2 passes through screw thread and bulb herein
Seat 1 is attached, and in the upside of 2 screw thread of nozzle body, the outer contour of nozzle body 2 is the three-level Step-edge Junction that size is gradually increased
Structure has arc-shaped chamfering in step joints at different levels, the ball cup 1 above nozzle body 2 and ball cup 1 are threadedly coupled
Nozzle body snap ring 4 is installed at first card slot 14, is additionally provided with the second groove in the downside that nozzle body 2 and ball cup 1 are threadedly coupled
25, being equipped at the second groove 25 prevents from the air that air intake 16 is passed through by the spray that leaks between ball cup 1 and nozzle body 2
Mouth body sealing ring 5 is equipped with the second card slot 26, in the second card slot 26 at 2 inner outline of nozzle body opposite with the second groove 25
Top be equipped with disk mounting holes 24, be additionally provided with vacuum chamber 23 in the top of disk mounting holes 24, vacuum chamber 23 is up big and down small
Structure with taper is diffusion chamber 22 on the top of vacuum chamber 23, and diffusion chamber 22 is a circular configuration, in the upper of diffusion chamber 22
Portion is discharge port 21, and discharge port 21 is also the up big and down small structure with taper.
The aerial spraying mode of nozzle is to be passed through high-speed compressed air from the air intake of ball cup, the high speed compression
Air, which enters vacuum chamber through the first groove and forms jet stream at vacuum chamber, generates Involving velocity, under Involving velocity, vacuum chamber
Interior air is constantly siphoned away by volume, thus so that the pressure in vacuum chamber is down to atmospheric pressure or less and form certain vacuum degree, this
When coating to the two sides of nozzle body diffusion chamber adsorb.
As shown in Figure 2 and Figure 5, coating material passage is offered in the middle part of spray head 3, coating material passage includes the first coating material passage 33 and the
Two coating material passages 34, wherein the first coating material passage 33 the top of the second coating material passage 34 and the width of the first coating material passage 33 it is small
In the width of the second coating material passage 34, disk 31 is additionally provided at the outer profile of spray head 3, disk 31 is mounted on the circle of nozzle body 2
At disk mounting hole 24, and the position of disk 31 is defined by the spray head snap ring 6 at 2 second card slot 26 of nozzle body, in circle
The circumferential direction of disk 31 is at least uniformly distributed there are two air duct 32, in order to be distributed air uniformly in the present embodiment, the week of disk 31
To eight air ducts 32 are evenly equipped with, being equipped at the contour line of two sides up and down of disk 31 is prevented in stress collection and burr falls
Angle, the spray head 3 above disk 31 has up-small and down-big taper and the structure top side extend into the vacuum chamber on nozzle body 2
In 23, the spray head 3 below disk 31 protrudes into the round nose of 1 first through hole 13 of ball cup, in the circle of spray head 3 and first through hole 13
It is additionally provided with third card slot 35 at the cooperation of shape end, injector seals circle 9 is installed at third card slot 35, in 1 first through hole of ball cup
13 tapered end is provided with unidirectional valve ball 7, is additionally provided with elastic element at unidirectional valve ball 7, the elastic element in the present embodiment is adopted
With the pressure spring 8 of reliable performance, the upper end of pressure spring 8 offsets with the second coating material passage, and the lower end of pressure spring 8 offsets with unidirectional valve ball 7.
The flow regulative mode of nozzle is: swivel nozzle body adjusts position of the nozzle body on ball cup, and nozzle body drives
Spray head moves together, and the elastic element elastic force between spray head coating material passage and unidirectional valve ball occurs for the variation of nozzle position
Variation, the variation of elastic element elastic force make the aperture between unidirectional valve ball and feed inlet change.
The mounting means of spray head and nozzle body be the disk on spray head is placed at the disk mounting holes of nozzle body, and
Spray head snap ring is installed at the second card slot, disk mounting holes and spray head snap ring carry out position limitation to disk from two sides respectively, together
When by least two air ducts circumferentially uniformly distributed on disk, the high-speed compressed air being passed through from air intake is through on disk
Air duct enters in vacuum chamber.
As shown in fig. 7, the control method of the spray robot in this programme, comprising the following steps:
1) spray robot starts, and spray robot is located at origin position；
2) spray robot is in spraying and waits position；
3) whether PLC control module allows to spray signal to spray robot sending:
A. if so, control spray robot moves to die casting machine cover half spraying point；
B. if it is not, then returning to spray robot origin；
4) whether PLC control module allows cover half to spray signal to spray robot sending:
A. it if so, carrying out cover half spraying point flow rate calculation, and controls cover half spraying solenoid valve and opens, carry out cover half spray
It applies, after active and inactive mold spraying, purge from active and inactive mold, after active and inactive mold purging, enter the spray of die casting machine dynamic model
Whether paint point, PLC control module allow dynamic model to spray signal to spray robot sending:
A) it if so, carrying out dynamic model spraying point flow rate calculation, opens dynamic model and sprays solenoid valve, carry out automatic dynamic model spraying,
After dynamic model sprays, automatic dynamic model purging is carried out, after dynamic model purges, returns to spray robot origin；
B) it if it is not, under automatic mode, returns after robot waiting 2-5S and is sprayed under spray robot origin or manual mode
Robot can stop acting, and rest on spraying point position, complete replacement nozzle in spraying point position, nozzle angle and flow are adjusted
Work is sprayed again after the completion of debugging, and feedback dynamic model spraying is manually operated and completes signal, spray robot then auto-returned
Origin；
B. if it is not, automatic robot returns to spray robot origin or manual operation control spray robot after waiting 2-5S
Stopping movement, and spray robot is debugged, it is sprayed again after the completion of debugging, and feedback dynamic model is manually operated and has sprayed
At signal, die casting machine dynamic model spraying point position is entered back into, repeat the above steps a and b.
What has been described above is only an embodiment of the present invention, and the common sense such as well known specific structure and characteristic are not made herein in scheme
Excessive description, technical field that the present invention belongs to is all before one skilled in the art know the applying date or priority date
Ordinary technical knowledge can know the prior art all in the field, and have using routine experiment hand before the date
The ability of section, one skilled in the art can improve and be implemented in conjunction with self-ability under the enlightenment that the application provides
This programme, some typical known features or known method should not become one skilled in the art and implement the application
Obstacle.It should be pointed out that for those skilled in the art, without departing from the structure of the invention, can also make
Several modifications and improvements out, these also should be considered as protection scope of the present invention, these all will not influence the effect that the present invention is implemented
Fruit and patent practicability.The scope of protection required by this application should be based on the content of the claims, the tool in specification
The records such as body embodiment can be used for explaining the content of claim.
Claims (7)
1. the control method of spray robot, which comprises the following steps:
1) spray robot starts, and spray robot is located at origin position；
2) spray robot is in spraying and waits position；
3) whether PLC control module allows to spray signal to spray robot sending:
A. if so, control spray robot moves to die casting machine cover half spraying point；
B. if it is not, then returning to spray robot origin；
4) whether PLC control module allows cover half to spray signal to spray robot sending:
A. it if so, carrying out cover half spraying point flow rate calculation, and controls cover half spraying solenoid valve and opens, carry out cover half spraying, from
After active and inactive mold sprays, purge from active and inactive mold, after active and inactive mold purging, enter die casting machine dynamic model spraying point,
Whether PLC control module allows dynamic model to spray signal to spray robot sending:
A) it if so, carrying out dynamic model spraying point flow rate calculation, opens dynamic model and sprays solenoid valve, carry out automatic dynamic model spraying, dynamic model
After spraying, automatic dynamic model purging is carried out, after dynamic model purges, returns to spray robot origin；
B) if it is not, under automatic mode, robot returns to spray robot origin after waiting 2-5S；
B. if it is not, automatic robot returns to spray robot origin after waiting 2-5S, repeat the above steps a and b.
2. the control method of spray robot according to claim 1, which is characterized in that can also switch in step b)
At manual mode, spray robot can stop acting in a manual mode, rest on spraying point position, complete in spraying point position
Nozzle is replaced, nozzle angle and flow adjust work, sprayed again after the completion of debugging, and feedback dynamic model is manually operated and has sprayed
At signal, spray robot then auto-returned origin.
3. the control method of spray robot according to claim 1, which is characterized in that in the step b of step 4) also
Manual mode can be switched to, in manual operation control spray robot stopping movement, and spray robot is debugged, is adjusted
It is sprayed again after the completion of examination, and feedback dynamic model spraying is manually operated and completes signal, enter back into die casting machine dynamic model spraying point
It sets.
4. the control method of spray robot according to claim 1, which is characterized in that the mounting means of nozzle is to incite somebody to action
The ball cup of nozzle is mounted in the mounting groove of substrate, and ball cup is limited in mounting groove by cover board；Ball cup is rotated,
The lower part of ball cup can rotate in mounting groove.
5. the control method of spray robot according to claim 1, which is characterized in that the aerial spraying mode of nozzle
It is to be passed through high-speed compressed air from the air intake of ball cup, which enters vacuum chamber simultaneously through the first groove
Jet stream is formed at vacuum chamber and generates Involving velocity, and under Involving velocity, the air in vacuum chamber is constantly siphoned away by volume, to make
Pressure in vacuum chamber is down to atmospheric pressure or less and forms certain vacuum degree, and coating is inhaled to the two sides of nozzle body diffusion chamber at this time
It is attached.
6. the control method of spray robot according to claim 1, which is characterized in that the flow regulative mode of nozzle
It is that swivel nozzle body adjusts position of the nozzle body on ball cup, nozzle body drives spray head to move together, the variation of nozzle position
The elastic element elastic force between spray head coating material passage and unidirectional valve ball is set to change, the variation of elastic element elastic force makes list
It changes to the aperture between valve ball and feed inlet.
7. the control method of spray robot according to claim 4, which is characterized in that the installation side of spray head and nozzle body
Formula is the disk on spray head to be placed at the disk mounting holes of nozzle body, and spray head snap ring, disk are installed at the second card slot
Mounting hole and spray head snap ring carry out position limitation to disk from two sides respectively, while passing through on disk circumferentially uniformly distributed at least two
Air duct, the high-speed compressed air being passed through from air intake enter in vacuum chamber through the air duct on disk.
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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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| CN105562266B true CN105562266B (en) | 2019-08-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106513229A (en) * | 2016-11-01 | 2017-03-22 | 河池学院 | Control method of car spraying 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 |
| CN111151394B (en) * | 2020-01-02 | 2021-04-09 | 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 |
| 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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| US9808820B2 (en) * | 2013-05-03 | 2017-11-07 | Abb Schweiz Ag | Automatic painting and maintaining wet-surface of artifacts |
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|---|---|---|---|---|
| CN101903112A (en) * | 2007-12-21 | 2010-12-01 | 杜尔系统有限责任公司 | Be used to check the method for testing and the testing arrangement of spraying equipment function |
| CN102641803A (en) * | 2012-04-05 | 2012-08-22 | 清华大学 | Single flowmeter type digital spraying system for robot |
| 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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