CN107744895B - Automatic paint-spraying machine and method - Google Patents
Automatic paint-spraying machine and method Download PDFInfo
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- CN107744895B CN107744895B CN201710819916.3A CN201710819916A CN107744895B CN 107744895 B CN107744895 B CN 107744895B CN 201710819916 A CN201710819916 A CN 201710819916A CN 107744895 B CN107744895 B CN 107744895B
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- controller
- automatic
- bracket
- spray gun
- strike board
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Classifications
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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
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
- B05B13/0228—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts the movement of the objects being rotative
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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
-
- 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
- B05B13/0405—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 reciprocating or oscillating spray heads
- B05B13/041—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 reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
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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
- B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
- B05B5/08—Plant for applying liquids or other fluent materials to objects
- B05B5/082—Plant for applying liquids or other fluent materials to objects characterised by means for supporting, holding or conveying the objects
Landscapes
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of automatic paint-spraying machine and methods, including rack, the guiding device being laterally extended, controller and alarm in rack, support rod on the left of rack, 180 degree rotary cylinder on the right side of bracket, two strike board clamps set on the connecting rod both ends of 180 degree rotary cylinder；Pressure sensor is equipped in each strike board clamp, guiding device is equipped with fixed block, and fixed block is equipped with automatic style electro static spray gun moving up and down；Support rod is equipped with two club ends location structure corresponding with two strike board clamps.The present invention has structure simple, occupies little space, easy to operate, high-efficient feature of painting.
Description
Technical field
The present invention relates to club lacquering technologies fields, occupy little space more particularly, to one kind, easy to operate, cost of equipment
Auto spray painting and method low, that paint high-efficient.
Background technique
Currently, most of is to be painted using pure manual mode to club, partially using large-scale automatic paint-spraying machine.
Existing club paint spraying machine major defect is: equipment volume is big, and manufacturing cost is high, and use cost is high, hall space
It is required that high.
Summary of the invention
Goal of the invention of the invention is that there are equipment volumes in order to overcome club paint spraying machine in the prior art big, production costs
With height, use cost is high, and the demanding deficiency of hall space provides one kind and occupies little space, easy to operate, cost of equipment
Automatic paint-spraying machine and method low, that paint high-efficient.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of automatic paint-spraying machine, including rack, the guiding device being laterally extended, controller and alarm in rack
Device, the support rod on the left of rack, the 180 degree rotary cylinder on the right side of bracket, set on the connecting rod of 180 degree rotary cylinder
Two strike board clamps at both ends；Pressure sensor is equipped in each strike board clamp, guiding device is equipped with fixed block, Gu
Block is determined equipped with automatic style electro static spray gun moving up and down；Support rod is equipped with and two strike board clamps corresponding two
A club end location structure；Pneumatic foot is stepped on switch and is electrically connected with 180 degree rotary cylinder, controller respectively with guiding device, 2
Pressure sensor, alarm, automatic style electro static spray gun and pneumatic foot step on switch electrical connection.
Guiding device is used to provide guiding to the reciprocating motion of automatic style electro static spray gun, and controller is for controlling automatic electrostatic
Spray gun for paint, guiding device, two strike gentle dynamic feet of board clamp step on the work of switch；180 degree rotary cylinder is used for two ice
The location swap of mallet changes ice stick and is not required to holding time to realize the function of painting when replacing ice stick, improves spray
The efficiency of paint.
Two strike board clamps are used to clamp the beater plate position of 2 ice sticks, two club end location structures respectively
It is respectively used to provide positioning function to two ice stick ends, thus by all stable fixation in ice stick both ends, to improve matter of painting
Amount provides guarantee.
Two ice stick 180 degree rotations, alternately paint and clamping ice stick, structure is simple, high-efficient.It is anti-by 180 degree
Turn, realizes the clamping in spray painting, greatly simplify device structure, while improving spray painting efficiency.
The configuration of the present invention is simple occupies little space, easy to operate, and equipment cost is low；Ice stick spray painting operation, can be from two people
Operation reduces to one man operation, reduces employment cost.
Preferably, further include two first motors on the support rod, the shaft of two first motors is respectively with two
The connection of a club end location structure, two first motors are electrically connected with the controller；Two strike board clamps respectively with connection
The rotation connection of bar both ends.
Two first motors can drive ice stick rotation, so that automatic style electro static spray gun be allow to be the periphery of ice stick
Face auto spray painting.
Preferably, the guiding device includes the second motor in rack and connect with the shaft of the second motor
Belt, the fixed block are fixedly connected with belt.
Second motor work when, belt clockwise or counterclockwise, so that fixed block be allow to drive automatic electrostatic
Paint rifle moves left and right.
Preferably, the strike board clamp includes fixed frame, two on fixed frame telescopic cylinder and set
Two clamping plates in fixed frame；The telescopic rod of two telescopic cylinders is connect with two clamping plates respectively.
Two telescopic cylinders are respectively used for driving two clamping plates movement, to change the spacing between two clamping plates, when two
When block clamping plate squeezes beater plate, two clamping plates clamp beater plate.
Preferably, the strike board clamp includes fixed frame, two on fixed frame telescopic cylinder and set
Two clamping plates in fixed frame；The telescopic rod of two telescopic cylinders is connect with two clamping plates respectively；The fixed frame packet
The rectangular slab with the rotation connection of connecting rod one end is included, respectively with rectangular slab two sides rectangular slab connected vertically and set on two long
Connecting plate on square plate；Two telescopic cylinders are located on the lateral surface of two rectangular slabs, and two telescopic cylinders are stretched
Contracting bar is respectively protruding into outside two rectangular slab medial surfaces, and two telescopic rod ends are connect with two clamping plates respectively.
Preferably, being equipped with the groove matched with the shape of ice hockey beater plate on the opposite surface of two clamping plates, often
A pressure sensor is respectively positioned in groove.The setting of groove can either be such that beater plate is jammed, and will not damage beater plate.
Preferably, the support rod is in zigzag shape, the boss of support rod is connect with bracket；Club end positioning knot
Structure includes the cross bar that cross section is in rectangle, and cross bar is equipped with plastic sheath, and plastic sheath is equipped with several elastic protrusions.
Preferably, the fixed block is equipped with cross connecting plate, cross connecting plate is equipped with vertical bar, and vertical bar lower end is set to
Fixed block, fixed block are connect with automatic style electro static spray gun, and vertical bar is equipped with several spaced elastic protrusions.Cross bar can be inserted
Enter in ice stick end, so that ice stick end be fixed.
A kind of method of automatic paint-spraying machine, includes the following steps:
(8-1) moves up automatic style electro static spray gun；
The cross bar of club end location structure on front side of bracket is inserted into the end of ice stick by (8-2), by ice stick
Beater plate is put into the strike board clamp on front side of bracket, controls beater plate clamp beater plate by controller；
(8-3) controller control 180 degree rotary cylinder work, make 180 degree rotary cylinder drive two strike board clamps and
Support rod rotates 180 degree；
The cross bar of club end location structure on front side of bracket is inserted into the end of ice stick by (8-4), by ice stick
Beater plate is put into the strike board clamp on front side of bracket, controls beater plate clamp beater plate by controller；
(8-5) moves down automatic style electro static spray gun, ice stick of the automatic style electro static spray gun on rear side of rack, controller control
First motor work on rear side of bracket processed, makes ice stick rotation on rear side of rack；
(8-6) controller controls the second motor and drives belt movement, and controls automatic style electro static spray gun and move left and right, and starts
Paint spraying；
After the completion of (8-7) spray painting, move up automatic style electro static spray gun；
(8-8) controller controls the work of 180 degree rotary cylinder, and the ice stick for completing spray painting is gone on front side of bracket, simultaneously
Automatic electrostatic painting is controlled to paint to the ice stick on rear side of bracket；
(8-9) disassembles the ice stick that spray painting is completed, and is transferred to step (8-2).
Preferably, further including following steps: further include the process fault detection for hitting board clamp:
The initial value that initial value in (9-1) controller equipped with j is 1, i is 1, is equipped with fault threshold E；
The local maximum of the detection signal u (t) of (9-2) controller calculation pressure sensor simultaneously passes through cubic spline interpolation
Obtain coenvelope line uup(t)；
(9-3) calculates the local minimum of signal u (t) and obtains lower envelope line u by cubic spline interpolationlow(t)；
(9-4) defines average envelope m1(t)=[uup(t)+ulow(t)]/2；
(9-5) utilizes formula hj(t)=u (t)-mj(t) calculating difference hj(t)；
(9-6) is if hj(t) it is unsatisfactory for IMF screening stop condition, makes u (t)=hj(t), j value increases by 1, return step (9-2)
To hj(t) continue to decompose；Work as hj(t) meet IMF screening stop condition, then obtain the 1st IMF component c of u (t) signal1
(t)=hj(t)；
(9-7) utilizes formula ri(t)=u (t)-ci(t) residual components r is calculatedi(t)；
(9-8) works as ri(t) when being unsatisfactory for decomposing stop condition, make u (t)=ri(t), i value is made to increase by 1, return step (9-
2) to ri(t) continue to decompose；When meeting screening stop condition, if n1=i, n1 IMF component c is obtainedi(t) divide with 1 residue
Measure rn(t), u (t) can be then expressed asExtract ci(t) N number of sample value ci(k), k=1,2 ...,
N；
(9-9) controller utilizes formulaThe each component energy for calculating u (t), compares each component of u (t)
ENERGY Emax, choose E1, E2..., EnMiddle maximum value Emax, work as EmaxWhen > E, controller makes the judgement of strike board clamp failure,
Controller control strike board clamp stops working, alarm alert；
Work as EmaxWhen≤E, it is transferred to step (8-1)；
Wherein, the imitative Cauchy's test for convergence of screening stop condition use of (9-6), (9-8),Work as SDIt sieves and stops when < ε, for ε generally between 0.2 and 0.3, T is to set
Fixed constant；Decomposition stop condition is residual signal ri(t) become monotonic function.
The setting of pressure sensor can detecte pressure signal, and by the processing to pressure signal, determine that beater plate presss from both sides
Whether tool breaks down, and beater plate is effectively prevent to be pressed from both sides the generation of bad situation.
Therefore, it is simple that the invention has the following beneficial effects: structures, occupies little space, easy to operate, and equipment cost is low,
Employment cost is reduced, is painted high-efficient, safety is good.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the invention；
Fig. 2 is a kind of structural schematic diagram of strike board clamp of the invention；
Fig. 3 is the partial enlarged view of Fig. 1 of the invention；
Fig. 4 is a kind of flow chart of the invention.
In figure: rack 1, controller 3, support rod 4,180 degree rotary cylinder 5, strike board clamp 6, is fixed guiding device 2
Block 7, automatic style electro static spray gun 8, pneumatic foot step on switch 9, first motor 10, bottom plate 11, riser 12, the second motor 21, belt 22,
Club end location structure 41, connecting rod 51, fixed frame 61, telescopic cylinder 62, clamping plate 63, cross connecting plate 71, vertical bar 72,
Fixed block 73, rectangular slab 611, rectangular slab 612, connecting plate 613, ice stick 1001.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and detailed description.
Embodiment as shown in Figure 1 is a kind of automatic paint-spraying machine, including rack 1, in rack be laterally extended lead
To device 2, controller 3 and alarm, support rod 4 on the left of rack, the 180 degree rotary cylinder 5 on the right side of bracket, if
Two strike board clamps 6 in 51 both ends of connecting rod of 180 degree rotary cylinder；Pressure sensing is equipped in each strike board clamp
Device, guiding device are equipped with fixed block 7, and fixed block is equipped with automatic style electro static spray gun 8 moving up and down；Support rod is equipped with
Two club ends location structure 41 corresponding with two strike board clamps；Pneumatic foot steps on switch 9 and 180 degree rotary cylinder
Electrical connection, controller step on switch with guiding device, 2 pressure sensors, alarm, automatic style electro static spray gun and pneumatic foot respectively
Electrical connection.
Further include two first motors 10 on the support rod, the shaft of two first motors respectively with two club ends
Location structure connection is held, two first motors are electrically connected with the controller；Two strike board clamps turn with connecting rod both ends respectively
Dynamic connection.
Guiding device includes the second motor 21 being set in rack and the belt 22 connecting with the shaft of the second motor, is fixed
Block is fixedly connected with belt.
As shown in Fig. 2, strike board clamp includes fixed frame 61, two telescopic cylinders 62 on fixed frame and set
Two clamping plates 63 in fixed frame；The telescopic rod of two telescopic cylinders is connect with two clamping plates respectively；Fixed frame includes
The rectangular slab 611 being rotatablely connected with connecting rod one end, respectively with rectangular slab two sides rectangular slab 612 connected vertically and set on two
Connecting plate 613 on a rectangular slab；Two telescopic cylinders are located on the lateral surface of two rectangular slabs, two flexible gas
The telescopic rod of cylinder is respectively protruding into outside two rectangular slab medial surfaces, and two telescopic rod ends are connect with two clamping plates respectively.
The groove matched with the shape of ice hockey beater plate, each pressure sensing are equipped on the opposite surface of two clamping plates
Device is respectively positioned in 2 grooves.
Support rod is in zigzag shape, and the boss of support rod is connect with bracket；Club end location structure includes cross section
In the cross bar of rectangle, cross bar is equipped with plastic sheath, and plastic sheath is equipped with 5 elastic protrusions.
As shown in figure 3, fixed block is equipped with cross connecting plate 71, cross connecting plate is equipped with vertical bar 72, and vertical bar lower end is set
In fixed block 73, fixed block is connect with automatic style electro static spray gun, and vertical bar is equipped with several spaced elastic protrusions.
As shown in figure 4, a kind of method of automatic paint-spraying machine, includes the following steps:
Step 100, automatic style electro static spray gun is moved up；
Step 200, in the club end location structure by ice stick clamping on front side of bracket and strike board clamp
The cross bar of club end location structure on front side of bracket is inserted into the end of ice stick, by the beater plate of ice stick
It is put into the strike board clamp on front side of bracket, beater plate clamp beater plate is controlled by controller；
Step 300,180 degree rotation support rod and 2 strike board clamps
Controller controls the work of 180 degree rotary cylinder, and 180 degree rotary cylinder is made to drive two strike board clamps and support rod
Rotate 180 degree；
Step 400, another ice stick of clamping
The cross bar of club end location structure on front side of bracket is inserted into the end of ice stick, by the beater plate of ice stick
It is put into the strike board clamp on front side of bracket, beater plate clamp beater plate is controlled by controller；
Step 500, make the ice stick rotation for needing to paint
Automatic style electro static spray gun is moved down, ice stick of the automatic style electro static spray gun on rear side of rack, controller control branch
First motor work on rear side of frame, makes ice stick rotation on rear side of rack；
Step 600, automatic style electro static spray gun is moved left and right and is painted
Controller controls the second motor and drives belt movement, and controls automatic style electro static spray gun and move left and right, and starts to paint
Operation；
Step 700, after the completion of spray painting, move up automatic style electro static spray gun；
Step 800, two ice sticks exchange position, continue to paint
Controller controls 180 degree rotary cylinder and works, and the ice stick for completing spray painting is gone on front side of bracket, while controlling certainly
Dynamic electrostatic painting paints to the ice stick on rear side of bracket；
Step 900, ice stick is dismantled
The ice stick that spray painting is completed is disassembled, step 200 is transferred to.
Further include the process fault detection for hitting board clamp:
The initial value that initial value in (9-1) controller equipped with j is 1, i is 1, is equipped with fault threshold E；
The local maximum of the detection signal u (t) of (9-2) controller calculation pressure sensor simultaneously passes through cubic spline interpolation
Obtain coenvelope line uup(t)；
(9-3) calculates the local minimum of signal u (t) and obtains lower envelope line u by cubic spline interpolationlow(t)；
(9-4) defines average envelope m1(t)=[uup(t)+ulow(t)]/2；
(9-5) utilizes formula hj(t)=u (t)-mj(t) calculating difference hj(t)；
(9-6) is if hj(t) it is unsatisfactory for IMF screening stop condition, makes u (t)=hj(t), j value increases by 1, return step (9-2)
To hj(t) continue to decompose；Work as hj(t) meet IMF screening stop condition, then obtain the 1st IMF component c of u (t) signal1
(t)=hj(t)；
(9-7) utilizes formula ri(t)=u (t)-ci(t) residual components r is calculatedi(t)；
(9-8) works as ri(t) when being unsatisfactory for decomposing stop condition, make u (t)=ri(t), i value is made to increase by 1, return step (9-
2) to ri(t) continue to decompose；When meeting screening stop condition, if n1=i, n1 IMF component c is obtainedi(t) divide with 1 residue
Measure rn(t), u (t) can be then expressed asExtract ci(t) N number of sample value ci(k), k=1,2 ...,
N；
(9-9) controller utilizes formulaThe each component energy for calculating u (t), compares each component of u (t)
ENERGY Emax, choose E1, E2..., EnMiddle maximum value Emax, work as EmaxWhen > E, controller makes the judgement of strike board clamp failure,
Controller control strike board clamp stops working, alarm alert；
Work as EmaxWhen≤E, it is transferred to step (8-1)；
Wherein, the imitative Cauchy's test for convergence of screening stop condition use of (9-6), (9-8),Work as SDIt sieves and stops when < ε, for ε generally between 0.2 and 0.3, T is to set
Fixed constant；Decomposition stop condition is residual signal ri(t) become monotonic function.
It should be understood that this embodiment is only used to illustrate the invention but not to limit the scope of the invention.In addition, it should also be understood that,
After having read the content of the invention lectured, those skilled in the art can make various modifications or changes to the present invention, these etc.
Valence form is also fallen within the scope of the appended claims of the present application.
Claims (8)
1. a kind of automatic paint-spraying machine, characterized in that including rack (1), the guiding device (2) being laterally extended in rack,
Controller (3) and alarm, the support rod (4) on the left of rack, the 180 degree rotary cylinder (5) on the right side of bracket are set to
Two strike board clamps (6) at connecting rod (51) both ends of 180 degree rotary cylinder；Pressure biography is equipped in each strike board clamp
Sensor, guiding device are equipped with fixed block (7), and fixed block is equipped with automatic style electro static spray gun (8) moving up and down；Support rod
It is equipped with two club ends location structure (41) corresponding with two strike board clamps；Pneumatic foot steps on switch (9) and 180
Rotary cylinder electrical connection is spent, controller is gentle with guiding device, 2 pressure sensors, alarm, automatic style electro static spray gun respectively
Dynamic foot steps on switch electrical connection；The strike board clamp includes fixed frame (61), two telescopic cylinders on fixed frame
(62) two clamping plates (63) and in fixed frame；The telescopic rod of two telescopic cylinders is connect with two clamping plates respectively；Institute
State fixed frame include with connecting rod one end rotation connection rectangular slab (611), respectively with rectangular slab two sides length connected vertically
Square plate (612) and the connecting plate (613) on two rectangular slabs；Two telescopic cylinders are located at two rectangular slabs
Lateral surface on, the telescopic rod of two telescopic cylinders is respectively protruding into outside two rectangular slab medial surfaces, two telescopic rod ends point
It is not connect with two clamping plates.
2. automatic paint-spraying machine according to claim 1, characterized in that further include two first motors on support rod
(10), the shaft of two first motors is connect with two club end location structures respectively, and two first motors are and controller
Electrical connection；Two strike board clamps are rotatablely connected with connecting rod both ends respectively.
3. automatic paint-spraying machine according to claim 1, characterized in that the guiding device includes second in rack
Motor (21) and the belt (22) connecting with the shaft of the second motor, the fixed block are fixedly connected with belt.
4. automatic paint-spraying machine according to claim 3, characterized in that be equipped on the opposite surface of two clamping plates and ice hockey
The groove that the shape of beater plate matches, each pressure sensor are respectively positioned in groove.
5. automatic paint-spraying machine according to claim 1, characterized in that the support rod is in zigzag shape, the protrusion of support rod
Position is connect with bracket；Club end location structure includes the cross bar that cross section is in rectangle, and cross bar is equipped with plastic sheath, plastic sheath
It is equipped with several elastic protrusions.
6. automatic paint-spraying machine according to claim 1, characterized in that the fixed block is equipped with cross connecting plate (71),
Cross connecting plate is equipped with vertical bar (72), and vertical bar lower end is set to fixed block (73), and fixed block is connect with automatic style electro static spray gun, erects
Bar is equipped with several spaced elastic protrusions.
7. a kind of method of the automatic paint-spraying machine based on claim 2, characterized in that include the following steps:
(7-1) moves up automatic style electro static spray gun；
The cross bar of club end location structure on front side of bracket is inserted into the end of ice stick by (7-2), by the strike of ice stick
Plate is put into the strike board clamp on front side of bracket, controls beater plate clamp beater plate by controller；
(7-3) controller controls the work of 180 degree rotary cylinder, and 180 degree rotary cylinder is made to drive two strike board clamps and support
Bar rotates 180 degree；
The cross bar of club end location structure on front side of bracket is inserted into the end of ice stick by (7-4), by the strike of ice stick
Plate is put into the strike board clamp on front side of bracket, controls beater plate clamp beater plate by controller；
(7-5) moves down automatic style electro static spray gun, ice stick of the automatic style electro static spray gun on rear side of rack, controller control branch
First motor work on rear side of frame, makes ice stick rotation on rear side of rack；
(7-6) controller controls the second motor and drives belt movement, and controls automatic style electro static spray gun and move left and right, and starts to paint
Operation；
After the completion of (7-7) spray painting, move up automatic style electro static spray gun；
(7-8) controller controls the work of 180 degree rotary cylinder, and the ice stick for completing spray painting goes on front side of bracket, controls simultaneously
Automatic electrostatic painting paints to the ice stick on rear side of bracket；
(7-9) disassembles the ice stick that spray painting is completed, and is transferred to step (7-2).
8. the method for automatic paint-spraying machine according to claim 7, characterized in that further include following steps: further including beater plate folder
The process fault detection of tool:
The initial value that initial value in (8-1) controller equipped with j is 1, i is 1, is equipped with fault threshold E；
The local maximum of the detection signal u (t) of (8-2) controller calculation pressure sensor is simultaneously obtained by cubic spline interpolation
Coenvelope line uup(t)；
(8-3) calculates the local minimum of signal u (t) and obtains lower envelope line u by cubic spline interpolationlow(t)；
(8-4) defines average envelope m1(t)=[uup(t)+ulow(t)]/2；
(8-5) utilizes formula hj(t)=u (t)-mj(t) calculating difference hj(t)；
(8-6) is if hj(t) it is unsatisfactory for I MF screening stop condition, makes u (t)=hj(t), j value increases by 1, and return step (8-2) is right
hj(t) continue to decompose；Work as hj(t) meet IMF screening stop condition, then obtain the 1st IMF component c of u (t) signal1(t)
=hj(t)；
(8-7) utilizes fraction ri(t)=u (t)-ci(t) residual components r is calculatedi(t)；
(8-8) works as ri(t) when being unsatisfactory for decomposing stop condition, make u (t)=ri(t), i value is made to increase by 1, return step (8-2) is right
ri(t) continue to decompose；When meeting screening stop condition, if n1=i, n1 IMF component c is obtainedi(t) and 1 residual components rn
(t), u (t) can be then expressed asExtract ci(t) N number of sample value ci(k), k=1,2 ..., N；
(8-9) controller utilizes formulaThe each component energy for calculating u (t), compares each component energy of u (t)
Emax, choose E1, E2..., EnMiddle maximum value Emax, work as EmaxWhen > E, controller makes the judgement of strike board clamp failure, control
Device control strike board clamp stops working, alarm alert；
Work as EmaxWhen≤E, it is transferred to step (7-1)；
Wherein, the imitative Cauchy's test for convergence of screening stop condition use of (8-6), (8-8),Work as SDIt sieves and stops when < ε, for ε generally between 0.2 and 0.3, T is to set
Fixed constant；Decomposition stop condition is residual signal ri(t) become monotonic function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819916.3A CN107744895B (en) | 2017-09-12 | 2017-09-12 | Automatic paint-spraying machine and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819916.3A CN107744895B (en) | 2017-09-12 | 2017-09-12 | Automatic paint-spraying machine and method |
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| Publication Number | Publication Date |
|---|---|
| CN107744895A CN107744895A (en) | 2018-03-02 |
| CN107744895B true CN107744895B (en) | 2019-05-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111715438B (en) * | 2020-06-17 | 2021-11-02 | 威海楚创电子科技有限公司 | Automatic change body of rod auxiliary device that sprays paint |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5851158A (en) * | 1997-04-03 | 1998-12-22 | Winrow; Thomas L. | Coating for sports implements |
| CN201632386U (en) * | 2009-12-25 | 2010-11-17 | 何炳涛 | Clamp applied to feed mechanism of paint spraying machine |
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| CN106493019B (en) * | 2016-11-14 | 2022-02-11 | 联德(广州)机械有限公司 | Five-axis linkage plate spraying machine |
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| US5851158A (en) * | 1997-04-03 | 1998-12-22 | Winrow; Thomas L. | Coating for sports implements |
| CN201632386U (en) * | 2009-12-25 | 2010-11-17 | 何炳涛 | Clamp applied to feed mechanism of paint spraying machine |
| CN203635403U (en) * | 2013-12-20 | 2014-06-11 | 桐乡波力科技复材用品有限公司 | Automatic paint spraying bench of hockey stick |
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| CN107744895A (en) | 2018-03-02 |
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