CN106607223B - Glass paint finishing - Google Patents
Glass paint finishing Download PDFInfo
- Publication number
- CN106607223B CN106607223B CN201610880309.3A CN201610880309A CN106607223B CN 106607223 B CN106607223 B CN 106607223B CN 201610880309 A CN201610880309 A CN 201610880309A CN 106607223 B CN106607223 B CN 106607223B
- Authority
- CN
- China
- Prior art keywords
- glass
- control
- resin
- supply system
- 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.)
- Active
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
The invention patent discloses the surface paint finishing of a kind of glass and resin, including robot, robot mounting seat, glass bracket, resin closed-loop control system, glass closed-loop control system, glass fracture of wire detection system, curing agent cutout detection system, glass clamping system, system control cabinet.Above-described paint finishing, by the system parameter calibration of early period and track programming after, workpiece in place in the case where, operator will be in the model input system of institute's sprayed product, the spraying profile that system can accomplish automatic calling system parameter and preset, is sprayed automatically；In the case where there is glass fracture of wire or curing agent cutout, automatic alarm continues original track spraying after artificial treatment.
Description
Technical field
The present invention relates to composite material surface sprayings, and in particular to the surface automatic spraying system of a kind of glass and resin.
Background technique
The surface that glass spraying is widely used in composite material sprays, especially acrylic product, superior performance,
It is widely used.Glass and resin are coated in product surface, the intensity of product can be increased, the cementability of resin can
Glass is firmly sticked to product surface, after its solidification, integral strength increases.Existing major part glass spraying, is artificial
Spraying involves requirement of explosion proof, the sucking of glass fibre will also result in personnel's duty since the curing agent of resin is strong oxidizer
The generation of industry disease.Based on the above situation, our company has developed this paint finishing, using machine according to customer demand and market needs
People is artificial to substitute, and with accurate measuring instrument and control instrument, adjusts material and is exported with stable flow, avoided because of flow waves
It is dynamic, cause the coating quality of product to decline.
Summary of the invention
The present invention provides a kind of for glass and the surface automatic spraying system of resin, is sprayed using import robot
Operation can guarantee the consistency of spraying profile, reduce labor intensity, avoid the generation of occupational disease；The tree of independent research
The closed loop flow control system of rouge and glass, can be accurately controlled the output quantity of material, and guarantee flowed fluctuation one compared with
In small controlled range, coating quality will not influence；Curing agent cutout detection system, glass fracture of wire detection system, guarantee spraying
Continuity during painting, curing agent cutout or glass fracture of wire occur, and system will call the police and shut down, and wait artificial treatment, processing
After the completion, the spraying profile before continuing continues to spray, and will not have an impact to product quality；Glass clamping system can spray
When painting stops rifle, tense glass, avoid robot during exercise, as glass it is too long caused by scratch and break, guarantee spraying
Continuity.
The technical solution of the present invention is as follows:
It is a kind of for glass and the surface automatic spraying system of resin, this system include robot and pedestal, glass bracket,
Pitch control closed-loop control system, glass control closed-loop system, glass fracture of wire detection system, curing agent cutout detection system, glass
Fine clamping system, system control cabinet, control compressed air line, cable etc.；Wherein, pitch control closed-loop control system by with
Under type is realized:
A several flow rate zone area) staking-out work constant: are divided according to resin supply system range of flowi, areaiIt represents
I-th of flow rate zone, the wherein n of i=0,1,2,3 ..., in two neighboring flow rate zone areai、areai+1Between set flow
Setting value parameteri, parameteriI-th of flow setting value is represented, wherein the n of i=0,1,2,3 ..., and makes areai<
parameteri≤areai+1；Start resin supply system, the resin quality flow of resin supply system interior conduit is made to reach stream
Measure setting value parameteri, and record the output valve value under the flowi；Repeatedly, resin supply system is owned
All calibration is completed in section；B) the output processing before the starting of resin supply system: it is assumed that resin supply system needs what is set to set
Constant current magnitude is set, if set meets parameteri< set≤parameteri+1；Then according to formulaOne and setting flow value is calculated
The corresponding current output value out of set；C it) carries out flow control: setting flow value set is input in resin supply system, when
Preceding output valve is out, and PID control is accessed resin supply system after waiting time t；Output valve is finely adjusted by PID again
Section makes real-time flow data PV and setting flow value set meet user demand；D control constant) is updated: by real-time flow data PV
It is compared with setting flow value set, when the two meets │ PV-set │ < 0.05, and set is in areai< set≤areai+1When,
Then by flow setting value parameteriAnd corresponding output valve valueiIt is updated to setting flow value set and current defeated
Value out out, for resin supply system operation use；
Wherein, glass control closed-loop system system is realized by following manner: the A) calibration of glass supply weight: starting glass
Supply system weighs the glass total weight weight sprayed in the time with a constant revolving speed runing time t, and glass supplies
System statistics are answered to go out the total amount amount of time inner motor rotation, by formula Calculate unit rotation amount
Average weight mean；B) the conversion of setting value: there are two types of types according to glass supply system actual needs for choosing for setting value
It selects, direct setting speed velocity or the ratio value ratio that is mixed with resin of setting；When setting value is ratio, it is assumed that
Glass supply system resin quality flow setting value flows, according to formulaCalculate required revolving speed
velocityr；C it) demarcates operation constant: glass supply system revolving speed is divided into several section velocityi, wherein i=0,1,
2,3……n；In two neighboring velocity amplitude velocityi、velocityi+1Between setting speed setting value seti, wherein i=0,
1,2,3……n；And make velocityi< seti≤velocityi+1；Start glass supply system, makes glass in glass supply system
Fine supply equipment revolving speed reaches speed setting value seti, and record the glass supply system output valve output under the revolving speedi；
By all sections of glass supply system, all calibration is completed repeatedly；D) the output processing before the starting of glass supply system: will
Glass supply system setting speed velocity or operation gained revolving speed velocityrIt is referred to as current set value set, if set
Meet seti< set≤seti+1；Then according to formula
An output valve output corresponding with current set value set is calculated；E revolving speed control) is carried out: by current set value set
It is input in glass supply system, output valve output, by PID control access glass supply system after waiting time t, then by
Output valve is adjusted in PID, makes present speed velocitypvMeet customer requirement with current set value set；F control) is updated
With constant, by real-time revolving speed velocitypvIt is compared with current set value set, when the two meets
│velocitypv- set │ < 0.05, and set is in velocityi< set≤velocityt+1When, then speed is set
Definite value setiAnd corresponding glass supply system output valve outputiIt is updated to current set value set and output valve
Output, for glass supply system operation use；The control of pitch control closed-loop control system and glass control closed-loop system
Short the time required to adjusting, materials control precisely, is suitable for glass spraying process.
Glass is connected to the glass of spray gun after collecting screen covering-yarn guiding ring-fracture of wire testing agency-glass strainer
It cuts on motor；Resin after resin transfer pump-resin heater-mass flowmenter, be connected to the material of spray gun into
On mouth；Curing agent is connected on spray gun after curing agent storage barrel-curing agent transfer pump-curing agent cutout detection system
Interface on；Other gas sources such as switch rifle of spray gun, by directly leading out in system control cabinet, and are connected on spray gun；The above institute
There is pipeline to arrange each along robot arm, passes through hollow wrist and reach spray gun, glass cuts motor, resin transfer pump, solidification
The equipment such as agent transfer pump, glass tensioning apparatus, are pneumatic control.
In spraying process, glass is uniformly cut into segment after cutting motor, is pushed away by what high speed rotation generated
Power ejects, and resin and curing agent also have the nozzle location of spray gun to spray, and realizes the material mixing outside spray gun, mixed
It is boring, it is edited by the track of robot, is uniformly coated in product surface；Glass cuts motor tail portion and high-speed counting list is housed
Member, reads motor rotations in real time, and resin supply pump discharge is equipped with the mass flowmenter for measuring the pump output flow, and the spraying
System realizes the automatic control to glaze flow by PID controller.
Detailed description of the invention
Fig. 1 is the process flow chart of the embodiment of the present invention；
Fig. 2 is the installation side view in the embodiment of the present invention.
Attached drawing mark:
1- material barrel, 2- curing agent bucket, 3- curing agent transfer pump, 4- resin transfer pump, 5- curing agent cutout detection device,
6- mass flowmenter, 7- collection screen covering, 8- circuit wire detecting device, 9- glass clamping system, 10- resin spray gun, 11- glass cut horse
It reaches, 12- spray robot, 13- robot mounting seat.
Specific embodiment
1, before spraying, first the pitch control closed-loop control system according to foregoing invention content and glass control closed loop
System demarcates the flow of resin and glass according to client's actual demand.2, client will need the product sprayed to be placed on
In fixed spray station, and in system input workpiece model.
3, system transfers spraying profile automatically and calibration numerical value is sprayed according to the model inputted.
4, in spraying process, in the position for needing to stop rifle, while sending stops rifle signal, glass strainer is opened, it will
Glass tenses, it is ensured that robot during the motion, will not be generated and be scratched.
5, after the completion of spraying, robot, which provides, completes signal, and system enters standby mode, and product is by artificial or delivery system
System, is delivered to outside spraying area.
6, new product is waited to place, and activation system is sprayed, and so on.
Note: in spraying process, stopping if there is glass fracture of wire or curing agent, and fracture of wire or cutout detection system will call the police,
And shut down and (treat as emergency stop), it after the completion of artificial treatment, clicks and continues, robot is stopping the original track spraying of rifle point continuation.
Claims (3)
1. the surface automatic spraying system of a kind of glass and resin, include following equipment: explosion-proof spray robot, pitch control close
Ring control system, glass control closed-loop system, curing agent cutout detection system, glass fracture of wire detection system, glass clamping system；
Wherein, pitch control closed-loop control system is realized by following manner: A) staking-out work constant: according to resin supply system flow model
It encloses and divides several flow rate zone areai, areaiI-th of flow rate zone is represented, wherein the n of i=0,1,2,3 ..., two neighboring
Flow rate zone areai、areai+1Between set flow setting value parameteri, parameteriRepresent i-th of flow set
It is worth, wherein the n of i=0,1,2,3 ..., and makes areai< parameteri≤areai+1；Start resin supply system, supplies resin
The resin quality flow of system interior conduit is answered to reach flow setting value parameteri, and record the output valve under the flow
valuei；Repeatedly, by all sections of resin supply system, all calibration is completed；B) the output before the starting of resin supply system
Processing: it is assumed that resin supply system needs what is set to set flow value as set, if set meets parameteri< set≤
parameteri+1；Then according to formulaMeter
Calculation obtains a current output value out corresponding with setting flow value set；C flow control) is carried out: setting flow value set is defeated
Enter into resin supply system, current output value out, PID control is accessed into resin supply system after waiting time t；Again by
PID fine-tunes output valve, and real-time flow data PV and setting flow value set is made to meet user demand；D control) is updated
With constant: real-time flow data PV and setting flow value set being compared, when the two meets │ PV-set │ < 0.05, and set exists
areai< set≤areai+1When, then by flow setting value parameteriAnd corresponding output valve valueiIt is updated to
Flow value set and current output value out is set, for resin supply system operation use；Wherein, glass control closed-loop system by
Following manner is realized: the A) calibration of glass supply weight: starting glass supply system with a constant revolving speed runing time t,
The glass total weight weight sprayed in the time is weighed, glass supply system counts the total amount of time inner motor rotation
Amount, by formula Calculate the average weight mean of unit rotation amount；B) the conversion of setting value: setting
Value according to glass supply system actual needs there are two types of type it is available, direct setting speed velocity or setting and tree
The ratio value ratio of rouge mixing；When setting value is ratio, it is assumed that glass supply system resin quality flow setting value
flows, according to formulaCalculate required revolving speed velocityr；C operation constant) is demarcated: will
Glass supply system revolving speed divides several section velocityi, the wherein n of i=0,1,2,3 ...；In two neighboring velocity amplitude
velocityi、velocityi+1Between setting speed setting value seti, the wherein n of i=0,1,2,3 ...；And make velocityi<
seti≤velocityi+1；Start glass supply system, so that glass supply equipment revolving speed is reached speed and set
Definite value seti, and record the system output value output under the revolving speedi；It is repeatedly that all sections of glass supply system are complete
Portion's calibration is completed；D) the output processing before the starting of glass supply system: by glass supply system setting speed velocity or fortune
Calculate gained revolving speed velocityrIt is referred to as current set value set, if set meets seti< set≤seti+1；Then according to formula One and set couples of current set value is calculated
The output valve output answered；E it) carries out revolving speed control: current set value set being input in glass supply system, output valve is
PID control is accessed into glass supply system after output, waiting time t, then output valve is adjusted by PID, makes current speed
Spend velocitypvMeet customer requirement with current set value set；F control constant) is updated, by real-time revolving speed velocitypv
It is compared with current set value set, when the two meets │ velocitypv- set │ < 0.05, and set is in velocityi< set
≤velocityi+1When, then by speed setting value setiAnd corresponding glass supply system output valve outputiIt is updated to
Current set value set and output valve output, for glass supply system operation use；Pitch control closed-loop control system and glass
Short the time required to the control and regulation of fibre control closed-loop system, materials control precisely, is suitable for glass spraying process.
2. the surface automatic spraying system of a kind of glass according to claim 1 and resin, it is characterised in that: explosion-proof spraying
Robot, curing agent cutout detection system, glass fracture of wire detection system and glass clamping system are pneumatic control, pitch control
Closed-loop control system and glass control closed-loop system use electric Proportion valve for accurate control.
3. the surface automatic spraying system of a kind of glass according to claim 1 and resin, it is characterised in that: spray coated
Cheng Zhong controls closed-loop system using pitch control closed-loop control system and glass, and resin transfer pump discharge is defeated equipped with measurement resin
The mass flowmenter of pump output flow is sent, glass cuts the high-speed detection device being equipped on motor for calculating revolution, and resin
Control the automatic control of closed-loop control system and glass control closed-loop system by PID controller realization to resin and glass dosage
System.
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 CN106607223A (en) | 2017-05-03 |
| CN106607223B true 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) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN114735160B (en) * | 2022-04-14 | 2023-06-20 | 青岛杰瑞工控技术有限公司 | Glass fiber reinforced plastic boat pasting device and boat pasting process |
Citations (5)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070262174A1 (en) * | 2006-05-10 | 2007-11-15 | Impact Composite Technology, Ltd. | Particulate injector system for spray layup |
-
2016
- 2016-09-29 CN CN201610880309.3A patent/CN106607223B/en active Active
Patent Citations (5)
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106607223A (en) | 2017-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106607223B (en) | Glass paint finishing | |
| WO1997002895A3 (en) | Powder coating system incorporating improved method and apparatus for monitoring flow rate of entrained particulate flow | |
| JP6629868B2 (en) | Spray tool system | |
| US5081799A (en) | Blasting apparatus | |
| EP0773834B1 (en) | System for coating a substrate with a reinforced resin matrix | |
| CN208679635U (en) | A kind of screw pump quantifies robot glue stations | |
| ATE253411T1 (en) | POWDER SPRAY COATING APPARATUS | |
| CN107338731A (en) | A kind of auto spraying bridge maintenance equipment | |
| CN208526534U (en) | A kind of coloring material for mixing system | |
| CN110976207A (en) | Glue coating motion platform capable of horizontally rotating and coating method thereof | |
| CN208245098U (en) | It is precisely controlled the feeding device of flow and assembles the coating apparatus of the device | |
| CN206716279U (en) | A kind of painting spraying device | |
| CN210181433U (en) | Automatic closed-loop control system for thickness of enameled wire paint film | |
| CN103616188B (en) | A kind of testing apparatus for tobacco leaf production equipment | |
| CN207385770U (en) | A kind of automatic spraying equipment | |
| US4042175A (en) | Apparatus and method for dispensing and reinforcing cementitious materials | |
| CN216573702U (en) | Paint spraying room paint spraying equipment for processing sound insulation barrier with uniform paint spraying | |
| CN113893966B (en) | Paint spraying clamping system for aramid helmet | |
| CN210545826U (en) | Quantitative spraying device | |
| US20030157262A1 (en) | Method for production and spray-application of a multicomponent paint | |
| CN221017080U (en) | Glue weighing monitoring system used in preparation process of steel wire pipe | |
| CN201774939U (en) | Equipment for adding liquid to feed | |
| CN102861689B (en) | Injection pressure control method, device and system of injection machine and injection machine | |
| CN206915374U (en) | A kind of continuous batching device of bulk cargo rice | |
| CN215088286U (en) | Coloring machine mechanism for office furniture |
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 |