CN106607223A - Glass fiber spray coating system - Google Patents
Glass fiber spray coating system Download PDFInfo
- Publication number
- CN106607223A CN106607223A CN201610880309.3A CN201610880309A CN106607223A CN 106607223 A CN106607223 A CN 106607223A CN 201610880309 A CN201610880309 A CN 201610880309A CN 106607223 A CN106607223 A CN 106607223A
- Authority
- CN
- China
- Prior art keywords
- glass
- velocity
- resin
- setting value
- flow
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
- B05B9/0406—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material with several pumps
Landscapes
- Spray Control Apparatus (AREA)
Abstract
Disclosed is a glass fiber and resin surface spray coating system. The glass fiber and resin surface spray coating system comprises a robot, a robot mounting base, a glass fiber support, a resin closed-loop control system, a glass fiber closed-loop control system, a glass fiber breakage detection system, a curing agent flow cutoff detection system, a glass fiber tensioning system and a system control cabinet. By the adoption of the glass fiber and resin surface spray coating system, after system parameter calibration and track programming in the previous period are accomplished, an operator inputs the model of a sprayed product into the spray coating system under the condition that a workpiece is located in place, and the spray coating system can conduct automatic spray coating by automatically calling system parameters and a preset spray coating track; and when the situation of glass fiber breakage or curing agent flow cutoff happens, an alarm is automatically given, and spray coating is continued along the original track after the alarm is manually processed.
Description
Technical field
Patent of the present invention is related to composite material surface spraying, and in particular to the surface spraying system of a kind of glass and resin.
Background technology
Glass spraying is widely used in the surface spraying of composite, especially acrylic product, its superior performance,
It is widely used.Glass and resin are coated in into product surface, by increasing capacitance it is possible to increase the intensity of product, the cementability of resin can
Glass is firmly bonded at product surface, after its solidification, bulk strength increases.Existing most of glass spraying, is artificial
Spraying, as the firming agent of resin is strong oxidizer, involves requirement of explosion proof, and the suction of glass fibre will also result in personnel's duty
The generation of industry disease.Based on above-mentioned situation, I is taken charge of according to customer demand and market demand, have developed this paint finishing, using machine
People is artificial to substitute, and with accurate measuring instrument and controller unit, adjusts material and is exported with stable flow, it is to avoid because of flow waves
It is dynamic, cause the coating quality of product to decline.
The content of the invention
Patent of the present invention provides a kind of surface spraying system for glass and resin, is sprayed using import robot
Operation, ensure that the concordance of spraying profile, reduce hand labor intensity, it is to avoid the generation of occupation disease；The tree of independent research
The closed loop flow control system of fat and glass, can be accurately controlled the output of material, and ensure flowed fluctuation one compared with
In little controlled range, coating quality is not interfered with；Firming agent cutout detecting system, glass fracture of wire detecting system, it is ensured that in spray
Seriality during painting, firming agent cutout or glass fracture of wire occur, and system can be reported to the police and be shut down, and wait artificial treatment, process
After the completion of, the spraying profile before continuity continues spraying, will not produce impact to product quality；Glass clamping system can be in spray
When painting stops rifle, glass is tensed, it is to avoid at the volley, that what is caused as glass is long scratching and breaking, it is ensured that spraying for robot
Seriality.
The technical scheme of patent of the present invention is：
A kind of composite material surface paint finishing, the system include robot and base, glass support, resin closed loop
Control system, glass closed loop control system, glass fracture of wire detecting system, firming agent cutout detecting system, glass tensioning dress
Put, system control cabinet, control compressed air line, cable etc..
Glass after collecting screen covering-yarn guiding ring-fracture of wire testing agency-glass strainer, cut by the glass for being connected to spray gun
Cut on motor；Resin is connected on the material inlet of spray gun after resin transfer pump-resin heater-mass flowmenter；
Firming agent stops through firming agent storage barrel-firming agent transfer pump-firming agent after detecting system, the interface being connected on spray gun
On；Other sources of the gas such as switch rifle of spray gun, by directly leading out in system control cabinet, and are connected on spray gun；All of above pipeline
Arrange each along robot arm, spray gun, glass cutting motor, resin transfer pump, firming agent supply are reached through hollow wrist
The equipment such as pump, glass tensioner, are pneumatic control.
In spraying process, glass is uniformly cut into segment after cutting motor, by pushing away that high speed rotation is produced
Power, ejects, and the nozzle location that resin and firming agent also have spray gun sprays, and realizes the material mixing outside spray gun, mixed
It is boring, edited by the track of robot, be uniformly coated in product surface；Glass cutting motor afterbody is equipped with high-speed counting list
Unit, reads motor rotations in real time, and resin supply pump discharge is provided with the mass flowmenter for measuring the POF, and the spraying
System is realized automatically controlling glaze flow by PID controller, and the method is comprised the following steps：
1st, resin closed loop control：
A) staking-out work constant：Some flow rate zone area are divided according to resin supply system range of flowi(i=0,
1、2、3……n)；In two neighboring flow rate zone areai, areai+1Between set flow setting value parameteri(i=0,
1st, 2,3 ... n), and makes areai＜ parameteri≤areai+1；Start resin supply system, make the resin of system interior conduit
Mass flow reaches flow setting value parameteri, and record the output value of the system under the flowi；So repeatedly, will
All interval all demarcation of system complete.
B) the output before system start-up is processed：It is assumed that system needs the flow setting value for setting as set, if set meets
parameteri＜ set≤parameteri+1；Then according to formula
Calculate approximate output valve out corresponding with setting value set；
C) carry out flow control：Flow value set is input into into resin supply system, system call interception is output as out, is waited
By PID control access system after time t；Output valve is fine-tuned by PID again, present flow rate PV is made with setting flow value
Set meets user's request.
D) update control constant：Real-time flow data PV is contrasted with setting flow value set, when both meet | PV-
Set | ＜ 0.05, and set is in areai＜ set≤areai+1When, then by setting value parameteriAnd corresponding output
Value valueiCurrent set value set and current output valve out are updated to, so that system operations are used.
2nd, glass closed loop control
A) glass supplies the demarcation of weight：Start glass system with constant rotating speed run time t, weigh the time
Interior sprayed glass gross weight weight, system statisticses go out total amount amount of the time inner motor rotation, by formulaCalculate average weight mean of unit rotation amount.
B) the conversion of setting value：Available, direct setting speed that setting value has been actually needed two types according to system
The ratio value ratio of velocity or setting and mixed with resin；When setting value is ratio, it is assumed that system resin quality stream
Amount setting value flows, according to formulaCalculate required rotating speed velocityr。
C) demarcate computing constant：Glass supply system rotating speed is divided into some interval velocityi(i=0,1,2,
3 ... n), in two neighboring velocity amplitude velocityi、velocityi+1Between setting speed setting value seti(i=0,1,2,
3 ... n), and makes velocityi＜ seti≤velocityi+1；Start glass supply system, make glass supply equipment in system
Rotating speed reaches setting value seti, and record the system output value output under the rotating speedi；So repeatedly by system all intervals
All demarcate and complete.
D) the output before system start-up is processed：By rotating speed obtained by default rotating speed velocity or computing
velocityrDefault set is referred to as, if set meets seti＜ set≤seti+1；Then according to formulaCalculate one it is corresponding with setting value set approximate defeated
Go out value output.
E) carry out rotating speed control：Speed setting value set is input into into glass supply system, system call interception is output as
Output, by PID control access system after waiting time t, then is adjusted to output valve by PID, makes present speed
velocitypvCustomer requirement is met with default set.
F) update control constant：By real-time rotating speed velocitypvContrasted with setting value set, when both meet |
velocitypv- set | ＜ 0.05, and set is in velocityi＜ set≤velocityi+1When, then by setting value setiAnd with
Its corresponding output valve outputiCurrent set value set and current output valve output are updated to, so that system operations are used.
Description of the drawings
Process charts of the Fig. 1 for the embodiment of the present invention；
Fig. 2 is the installation side view in the embodiment of the present invention.
Accompanying drawing mark
1- material barrels, 2- firming agent buckets, 3- firming agent transfer pumps, 4- resin transfer pumps, 5- firming agent cutout detection means,
6- mass flowmenters, 7- collection screen coverings, 8- circuit wire detecting devices, 9- glass tensioners, 10- resin spray guns, 11- glasses cutting horse
Reach, 12- spray robots, 13- robots mounting seat
Specific embodiment
1st, before spraying, first according to the resin closed loop control and glass closed loop control described in foregoing invention content, to resin
And the flow of glass, demarcated according to client's actual demand.
2nd, client is placed on the product for needing spraying in fixed spray station, and the type of workpiece is input in system
Number.
3rd, system is transferred automatically spraying profile and demarcation numerical value is sprayed according to the model being input into.
4th, in spraying process, needing to stop the position of rifle, send while stop rifle signal, open glass strainer, will
Glass is tensed, it is ensured that robot in motor process will not be produced and be scratched.
5th, after the completion of spraying, robot is given and completes signal, and system enters holding state, and product is by artificial or delivery system
System, is delivered to outside spraying area.
6th, wait new product to place, and activation system is sprayed, and so on.
Note：In spraying process, can report to the police if there is glass fracture of wire or firming agent cutout, fracture of wire or cutout detecting system,
And shut down (treat as jerk), after the completion of artificial treatment, clicking on and continue, robot is stopping the original track spraying of rifle point continuation.
Claims (5)
1. the surface automatic spraying system of a kind of glass and resin, mainly comprising following equipment：Explosion-proof spray robot, resin control
Closed-loop control system processed, glass control closed loop system, firming agent cutout detecting system, glass fracture of wire detecting system, glass tensioning
System.
2., in system above, all devices control is pneumatic control, and closed-loop control system is using electric Proportion valve come smart
Really control.
3. system according to claim 1, in spraying process, using closed-loop control system, resin transfer pump discharge dress
There is the mass flowmenter for measuring the POF, equipped with the high-speed detection device for calculating revolution on glass cutting motor,
And the closed-loop control system is realized automatically controlling resin and glass consumption by PID controller, its feature includes following step
Suddenly：
4. resin closed loop control：
A) staking-out work constant：Some flow rate zone area are divided according to resin supply system range of flowi(i=0,1,2,
3......n)；In two neighboring flow rate zone areai, areai+1Between set flow setting value parameteri(i=0,1,
2nd, 3......n), and make areai＜ parameteri≤areai+1；Start resin supply system, make the resin of system interior conduit
Mass flow reaches flow setting value parameteri, and record the output value of the system under the flowi；So repeatedly, will
All interval all demarcation of system complete.
B) the output before system start-up is processed：It is assumed that system needs the flow setting value for setting as set, if set meets parameteri
＜ set≤parameteri+1；Then according to formulaCalculate
Go out approximate output valve out corresponding with setting value set；
C) carry out flow control：Flow value set is input into into resin supply system, system call interception is output as out, waiting time
By PID control access system after t；Output valve is fine-tuned by PID again, present flow rate PV is made with setting flow value set
Meet user's request.
D) update control constant：Real-time flow data PV is contrasted with setting flow value set, when both meet | PV-set |
＜ 0.05, and set is in areai＜ set≤areai+1When, then by setting value parameteriAnd corresponding output valve
valueiCurrent set value set and current output valve out are updated to, so that system operations are used.
5. glass closed loop control
A) glass supplies the demarcation of weight：Start glass system with constant rotating speed run time t, weigh institute in the time
Glass gross weight weight of ejection, system statisticses go out total amount amount of the time inner motor rotation, by formulaCalculate average weight mean of unit rotation amount.
B) the conversion of setting value：Available, direct setting speed that setting value has been actually needed two types according to system
The ratio value ratio of velocity or setting and mixed with resin；When setting value is ratio, it is assumed that system resin quality stream
Amount setting value flows, according to formulaCalculate required rotating speed velocityr。
C) demarcate computing constant：Glass supply system rotating speed is divided into some interval velocityi(i=0,1,2,
3......n), in two neighboring velocity amplitude velocityi、velocityi+1Between setting speed setting value seti(i=0,1,2,
3......n), and make velocityi＜ seti≤velocityi+1；Start glass supply system, set glass supply in system
Standby rotating speed reaches setting value seti, and record the system output value ourput under the rotating speedi；So repeatedly by system all areas
Between all demarcate complete.
D) the output before system start-up is processed：By rotating speed velocity obtained by default rotating speed velocity or computingrThe system of being referred to as sets
Determine set, if set meets seti＜ set≤seti+1；Then according to formula
Calculate approximate output valve output corresponding with setting value set.
E) carry out rotating speed control：Speed setting value set is input into into glass supply system, system call interception is output as output,
By PID control access system after waiting time t, then output valve is adjusted by PID, makes present speed velocitypvBe
System setting set meets customer requirement.
F) update control constant：By real-time rotating speed velocitypvContrasted with setting value set, when both meet
|velocitypv- set | ＜ 0.05, and set is in velocityi＜ set≤velocityi+1When, then by setting value setiWith
And corresponding output valve outputiCurrent set value set and current output valve output are updated to, so that system operations make
With.
The above control mode it is characterized by, short the time required to control and regulation, materials control is accurate, it is adaptable to which glass sprays work
Skill.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610880309.3A CN106607223B (en) | 2016-09-29 | 2016-09-29 | Glass paint finishing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610880309.3A CN106607223B (en) | 2016-09-29 | 2016-09-29 | Glass paint finishing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106607223A true CN106607223A (en) | 2017-05-03 |
| CN106607223B CN106607223B (en) | 2019-06-11 |
Family
ID=58614920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610880309.3A Active CN106607223B (en) | 2016-09-29 | 2016-09-29 | Glass paint finishing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106607223B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110548621A (en) * | 2019-08-29 | 2019-12-10 | 佛山市锦泽致盛智能科技有限公司 | Intelligent fiber spraying assembly line based on robot |
| CN112742639A (en) * | 2020-12-17 | 2021-05-04 | 希美埃（芜湖）机器人技术有限公司 | Wire feeding mechanism of automatic glass fiber shredder and solution for wire breakage detection of wire feeding mechanism |
| CN114735160A (en) * | 2022-04-14 | 2022-07-12 | 青岛杰瑞工控技术有限公司 | Glass fiber reinforced plastic boat pasting device and boat pasting process |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2654326Y (en) * | 2003-11-21 | 2004-11-10 | 李西隽 | Glass fibre reinforced plastic short cutting spray shaping machine |
| CN1871106A (en) * | 2003-09-26 | 2006-11-29 | 布伦斯维克公司 | Apparatus and method for making preforms in mold |
| US20070262174A1 (en) * | 2006-05-10 | 2007-11-15 | Impact Composite Technology, Ltd. | Particulate injector system for spray layup |
| CN104097326A (en) * | 2014-07-09 | 2014-10-15 | 西安交通大学 | Multi-degree-of-freedom 3D printer of fiber reinforced composite material and printing method thereof |
| CN104234426A (en) * | 2014-09-05 | 2014-12-24 | 苏运升 | 3D (Three-Dimensional) printing-based house manufacturing system and method |
| CN105944865A (en) * | 2016-07-15 | 2016-09-21 | 上海发那科机器人有限公司 | Closed-loop control device for flow of resin |
-
2016
- 2016-09-29 CN CN201610880309.3A patent/CN106607223B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1871106A (en) * | 2003-09-26 | 2006-11-29 | 布伦斯维克公司 | Apparatus and method for making preforms in mold |
| CN2654326Y (en) * | 2003-11-21 | 2004-11-10 | 李西隽 | Glass fibre reinforced plastic short cutting spray shaping machine |
| US20070262174A1 (en) * | 2006-05-10 | 2007-11-15 | Impact Composite Technology, Ltd. | Particulate injector system for spray layup |
| CN104097326A (en) * | 2014-07-09 | 2014-10-15 | 西安交通大学 | Multi-degree-of-freedom 3D printer of fiber reinforced composite material and printing method thereof |
| CN104234426A (en) * | 2014-09-05 | 2014-12-24 | 苏运升 | 3D (Three-Dimensional) printing-based house manufacturing system and method |
| CN105944865A (en) * | 2016-07-15 | 2016-09-21 | 上海发那科机器人有限公司 | Closed-loop control device for flow of resin |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110548621A (en) * | 2019-08-29 | 2019-12-10 | 佛山市锦泽致盛智能科技有限公司 | Intelligent fiber spraying assembly line based on robot |
| CN110548621B (en) * | 2019-08-29 | 2024-05-24 | 佛山市锦泽致盛智能科技有限公司 | Intelligent fiber spraying assembly line based on robot |
| CN112742639A (en) * | 2020-12-17 | 2021-05-04 | 希美埃（芜湖）机器人技术有限公司 | Wire feeding mechanism of automatic glass fiber shredder and solution for wire breakage detection of wire feeding mechanism |
| CN114735160A (en) * | 2022-04-14 | 2022-07-12 | 青岛杰瑞工控技术有限公司 | Glass fiber reinforced plastic boat pasting device and boat pasting process |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106607223B (en) | 2019-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106607223A (en) | Glass fiber spray coating system | |
| CN101934257B (en) | Automatic leather coating machine and automatic coating method | |
| CN208679635U (en) | A kind of screw pump quantifies robot glue stations | |
| US7537796B2 (en) | Method for simultaneously coating and measuring parts | |
| US20060090698A1 (en) | Apparatus for simultaneously coating and measuring parts | |
| CN209222462U (en) | Robot is equipped in full-automatic outfititem airless spraying | |
| CN107338731A (en) | A kind of auto spraying bridge maintenance equipment | |
| KR20160033972A (en) | Paint spraying appratus to form a uniform film thickness | |
| CN114618720A (en) | Local coating repairing equipment and repairing method for airplane parts | |
| JPH10513403A (en) | Equipment for coating the inner surface of pipes | |
| CN210181433U (en) | Automatic closed-loop control system for thickness of enameled wire paint film | |
| KR101820780B1 (en) | Method for calculating painting construction standard and painting unit using it | |
| CN207385770U (en) | A kind of automatic spraying equipment | |
| CN207259914U (en) | A kind of spray equipment and bridge floor spraying equipment | |
| CN104275284A (en) | Coating-film-thickness-adjustable curtain coating machine capable of preventing flow cutoff | |
| CN216573702U (en) | Paint spraying room paint spraying equipment for processing sound insulation barrier with uniform paint spraying | |
| CN108837964A (en) | A kind of novel automatic feed flush coater | |
| CN221017080U (en) | Glue weighing monitoring system used in preparation process of steel wire pipe | |
| CN111804456B (en) | Control system for glue sprayer and glue sprayer using control system | |
| CN220738044U (en) | Intelligent airless spraying equipment | |
| CN109574760A (en) | Fertilizer coating device and method | |
| CN221472287U (en) | Spraying device for aluminum gasket section | |
| CN206701578U (en) | A kind of Intelligent mobile paint sprayer hand | |
| CN212072349U (en) | Device is paintd to sleeper mould release agent | |
| CN218360178U (en) | Local coating repair equipment for aircraft parts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |