CN107812639A - One kind is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system - Google Patents
One kind is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system Download PDFInfo
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- CN107812639A CN107812639A CN201711208721.1A CN201711208721A CN107812639A CN 107812639 A CN107812639 A CN 107812639A CN 201711208721 A CN201711208721 A CN 201711208721A CN 107812639 A CN107812639 A CN 107812639A
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- Prior art keywords
- mechanical arm
- coating
- spraying
- spray
- control
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- 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.)
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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
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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
- 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
- B05B12/081—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 the weight of a reservoir or container for liquid or other fluent material; responsive to level or volume of liquid or other fluent material in a reservoir or container
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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
- 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
- B05B12/084—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 condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
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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
- 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
- B05B12/085—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 flow or pressure of liquid or other fluent material to be discharged
-
- 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
- B05B12/124—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 responsive to distance between spray apparatus and target
Abstract
One kind of the invention is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system, including mechanical arm body system, painting paint spraying system, process control system, air supply system, offline trajectory optimization system, vision detection system, workpiece displacing system；Tool arm body system includes six shaft mechanical arms and the mechanical arm switch board being electrically connected with six shaft mechanical arms；Painting paint spraying system includes transfer pipeline, automatic air spray gun, 1~2L pressurized tanks, coating voltage-stablizer；Air supply system provides source of the gas for painting paint spraying system；Offline trajectory optimization system is based on threedimensional model generation motion path, has path optimization's analytic function；Vision detection system is used to detect the apparent condition after coating spraying, if has drain spray, flaw phenomenon.Present system is flexible, saves paint, can monitor coating content in real time, carries out Off-line control to spray coating mechanical arm, and can detect the apparent condition after coating spraying, if having drain spray, flaw phenomenon.
Description
Technical field
The present invention relates to spacecraft manufacturing technology field, and in particular to one kind is applied to spacecraft small-lot components thermal control
Coating mechanical arm finishing system.
Background technology
Under the historical background that space flight is greatly developed in China, applicable industry mechanical arm carries out automated production, and enterprise is given birth to
The upgrading of production Model Transformation, equip advanced manufacturing capacity lifting tool and be of great significance and be worth.Compared with hand spray, machine
The spraying of tool arm has the advantage that：
1) quantified controlling of each item data and the enforceability to quantization parameter, it is possible to achieve Precise control, improve production
Quality；
2) for the spraying of similar sizes structural slab and bulk article, repeatable accuracy is high, and improves spray efficiency；
3) containing the organic solvent such as substantial amounts of dimethylbenzene, butyl acetate in thermal control coating, mechanical arm spraying can mitigate pair
Operating personnel's employment injuries, improve work situation, reduce labor intensity.
At present, the existing automation paint line of orthodox car, household electrical appliances manufacturing, but it is identical to be only a certain class formation
Parts high-volume painting provide technological service.Different from traditional industries, space product manufacture has complicated, small
In batches, multi items, performance indications require the features such as high, and thermal control coating price is expensive, so traditional mechanical arm application system
System is not applied for the spraying of spacecraft components surface small lot, more paint kind of site operation thermal control coatings.
The content of the invention
It is an object of the invention to provide one kind to be applied to spacecraft small-lot components thermal control coating mechanical arm application system
System, the system is flexible, saves paint, can monitor coating content in real time, carries out Off-line control to spray coating mechanical arm, and can detect painting
Apparent condition after layer spraying, if having drain spray, flaw phenomenon.
To achieve the above object, the present invention takes following technical scheme：One kind is applied to spacecraft small-lot components heat
Coating mechanical arm finishing system is controlled, the system includes mechanical arm body system, painting paint spraying system, process control system, supply
System, offline trajectory optimization system, vision detection system, workpiece displacing system；The tool arm body system includes six shaft mechanicals
Arm and the mechanical arm switch board being electrically connected with six shaft mechanical arms, are the carrier of spraying equipment, and can carry out six freely
The rotation of degree, improve spray painting flexibility；Six shaft mechanical arms use hollow arm and flexible hollow wrist so that paint supply tube, cable
It is built-in, so as to reduce pipe surface attachment coating cloud；The painting paint spraying system includes the automatic air connected by transfer pipeline
Spray gun and 1~2L pressurized tanks, and coating voltage-stablizer is installed between the transfer pipeline and automatic air spray gun, in technology controlling and process
Supply, the transmission of paint are realized under system；1~2L pressurized tanks are placed on mechanical arm body system lower end, shorten as far as possible
Painting pipeline, reach the purpose of province's paint.Pressurized tank can be changed flexibly, it is possible to achieve be changed rapidly between more paint kind of site operation, the work
Skill control system is used to carry out coordination control to air supply system and painting paint spraying system；The air supply system is painting paint spraying system
Source of the gas is provided；The offline trajectory optimization system is based on threedimensional model generation motion path, has path optimization's analytic function；Institute
State vision detection system to be used to detect the apparent condition after coating spraying, if having drain spray, flaw phenomenon；The workpiece displacement system
Conjunction mechanical arm body system under unified central planning, position and the posture of spraying workpiece are accurately controlled by spinfunction.
Preferably, the process control system includes the monitoring in real time of laser ranging collision prevention device, coating content and early warning dress
Put, source of the gas monitors and prior-warning device, spray room and mechanical arm safety mutually-locking device, robotic arm path control device and spraying coating process
Parameter controller.
Preferably, the laser ranging collision prevention device is entered by laser to automatic air spray gun and piece surface to be sprayed
Row ranging, avoids the occurrence of collision phenomenon；Monitoring is monitored the coating content in real time with prior-warning device by electronic-weighing mode in real time
Pressurized tank inside courtyard content, and lower limit is set, when weight, which is shown, is less than lower limit, alarm can be sent, and carry out urgency simultaneously
Stop controlling；The source of the gas monitoring monitors bleed pressure in real time with prior-warning device by pressure, when pressure is less than 0.6Mpa, can send out
Go out alarm, and carry out jerk control simultaneously；The contact that the spray room passes through relay, contactor with mechanical arm safety mutually-locking device
Realize interlocking, it is ensured that personal security.
Preferably, the source of the gas that the air supply system is provided painting paint spraying system is the ordinary nitrogen of purity 99.99%,
Pressure is more than 0.6Mpa.
Preferably, the vision detection system, is made up of hardware system and software systems, and wherein hardware system includes illumination
Light source, cable, industrial camera, capture card, computer etc., light source and video camera are arranged on the end of mechanical arm, by machinery
The collection of diverse location image is completed in the motion of arm, is sent into industrial computer and is carried out subsequent treatment；Software systems are included at image
The programs such as reason, defects detection, for detecting the apparent condition after coating spraying, if having drain spray, flaw phenomenon.
Preferably, the workpiece displacing system sprays position and the appearance of workpiece by turntable and travelling bogie, accurate control
State, situation is sprayed according to product, by rotational workpieces, workpiece is carried out it is comprehensive, sprayed without dead angle, control the spraying control of coating
Precision processed, improve the coating quality of product coating.
Compared with prior art, have the advantages that：
The system is flexible, saves paint, carries out Off-line control to spray coating mechanical arm, can grasp spraying state in real time, and have
There is the apparent condition after detection coating spraying, if having drain spray, flaw phenomenon.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is that the embodiment of the present invention is a kind of suitable for spacecraft small-lot components thermal control coating mechanical arm finishing system
System block diagram.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.Following each embodiments are merely to illustrate the present invention, respectively
Structure, set location and the shape of part can be all varied from, and on the basis of technical solution of the present invention, should not
Exclude outside protection scope of the present invention.
As described in Figure 1, the embodiments of the invention provide one kind to be applied to spacecraft small-lot components thermal control coating machinery
Arm finishing system, the system include mechanical arm body system, painting paint spraying system, process control system, air supply system, offline rail
Mark optimization system, vision detection system, workpiece displacing system；The tool arm body system include six shaft mechanical arms and with six axles
The mechanical arm switch board that mechanical arm is electrically connected with, is the carrier of spraying equipment, and can carry out the rotation of six degree of freedom, improves
Spray painting flexibility；Six shaft mechanical arms use hollow arm and flexible hollow wrist so that built in paint supply tube, cable, so as to reduce
Pipe surface adheres to coating cloud；The painting paint spraying system includes the automatic air spray gun connected by transfer pipeline and 1~2L is pressed
Power tank, and coating voltage-stablizer is installed between the transfer pipeline and automatic air spray gun, oil is realized under process control system
Supply, the transmission of paint；1~2L pressurized tanks are placed on mechanical arm body system lower end, shorten painting pipeline as far as possible, reach
Save the purpose of paint.Pressurized tank can be changed flexibly, it is possible to achieve be changed rapidly between more paint kind of site operation, the process control system is used for
Coordination control is carried out to air supply system and painting paint spraying system；The air supply system provides source of the gas for painting paint spraying system, described
Source of the gas is the ordinary nitrogen of purity 99.99%, and pressure is more than 0.6Mpa.The offline trajectory optimization system is generated based on threedimensional model
Motion path, there is path optimization's analytic function；The vision detection system is used to detect the apparent condition after coating spraying, is
It is no to have drain spray, flaw phenomenon；The workpiece displacing system cooperative mechanical arm body system, spraying is accurately controlled by spinfunction
The position of workpiece and posture.The vision detection system, is made up of hardware system and software systems, and wherein hardware system includes shining
Mingguang City source, cable, industrial camera, capture card, computer etc., light source and video camera are arranged on the end of mechanical arm, by machine
The collection of diverse location image is completed in the motion of tool arm, is sent into industrial computer and is carried out subsequent treatment；Software systems include image
The programs such as processing, defects detection, for detecting the apparent condition after coating spraying, if having drain spray, flaw phenomenon.The workpiece
Displacing system sprays position and the posture of workpiece by turntable and travelling bogie, accurate control, sprays situation according to product, passes through
Rotational workpieces, workpiece is carried out it is comprehensive, sprayed without dead angle, control the spray painting control precision of coating, improve the spray of product coating
Apply quality.
The process control system includes the monitoring in real time of laser ranging collision prevention device, coating content and prior-warning device, source of the gas
Monitoring and prior-warning device, spray room and mechanical arm safety mutually-locking device, robotic arm path control device and spraying parameter control
Device processed.
The laser ranging collision prevention device carries out ranging by laser to automatic air spray gun and piece surface to be sprayed,
Avoid the occurrence of collision phenomenon；Monitoring passes through in electronic-weighing mode monitoring pressure in real time tank the coating content with prior-warning device in real time
Coating levels, and lower limit is set, when weight, which is shown, is less than lower limit, alarm can be sent, and carry out jerk control simultaneously；Institute
State source of the gas monitoring and bleed pressure is monitored by pressure in real time with prior-warning device, when pressure is less than 0.6Mpa, alarm can be sent, and
Carry out jerk control simultaneously；The spray room realizes interlocking with mechanical arm safety mutually-locking device by the contact of relay, contactor,
Ensure personal security.
In summary, in the use of the present invention, based on the actual application requirements, can effectively complete satellite structure plate and allusion quotation
The spraying profile of type unit is planned and carries out Off-line control, so as to realize the automatic spray of satellite structure plate and typical unit
Apply.
In the description of the invention, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " top ", " bottom ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position
Relation is put, it is of the invention necessary with simplified description, rather than the device or element of instruction or hint meaning to be for only for ease of description
With specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Claims (8)
1. one kind is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system, it is characterised in that：The system bag
Include mechanical arm body system, painting paint spraying system, process control system, air supply system, offline trajectory optimization system, vision-based detection
System, workpiece displacing system；The tool arm body system includes six shaft mechanical arms and the machine being electrically connected with six shaft mechanical arms
Tool arm switch board；The painting paint spraying system includes the automatic air spray gun and 1~2L pressurized tanks connected by transfer pipeline, and
Coating voltage-stablizer is installed between transfer pipeline and the automatic air spray gun；The process control system is used for air supply system
Coordination control is carried out with painting paint spraying system；The air supply system provides source of the gas for painting paint spraying system；The offline track is excellent
Change system is based on threedimensional model generation motion path, has path optimization's analytic function；The vision detection system is used to detect
Apparent condition after coating spraying, if having drain spray, flaw phenomenon；The workpiece displacing system cooperative mechanical arm body system,
Position and the posture of spraying workpiece are accurately controlled by spinfunction.
2. one kind according to claim 1 is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system,
Characterized in that, the process control system includes the monitoring in real time of laser ranging collision prevention device, coating content and prior-warning device, gas
Source monitors and prior-warning device, spray room and mechanical arm safety mutually-locking device, robotic arm path control device and spraying parameter
Control device.
3. one kind according to claim 2 is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system,
Characterized in that, the laser ranging collision prevention device is surveyed by laser to automatic air spray gun and piece surface to be sprayed
Away from avoiding the occurrence of collision phenomenon；Monitoring passes through electronic-weighing mode monitoring pressure in real time to the coating content with prior-warning device in real time
Tank inside courtyard content, and lower limit is set, when weight, which is shown, is less than lower limit, alarm can be sent, and carry out jerk control simultaneously
System；The source of the gas monitoring monitors bleed pressure in real time with prior-warning device by pressure, when pressure is less than 0.6Mpa, can send police
Report, and jerk control is carried out simultaneously；The spray room is realized with mechanical arm safety mutually-locking device by the contact of relay, contactor
Interlocking, it is ensured that personal security.
4. one kind according to claim 1 is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system,
Characterized in that, the source of the gas that the air supply system is provided painting paint spraying system is the ordinary nitrogen of purity 99.99%, pressure
More than 0.6Mpa.
5. one kind according to claim 1 is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system,
Characterized in that, the vision detection system, is made up of hardware system and software systems, wherein hardware system includes illumination light
Source, cable, industrial camera, capture card, computer, light source and video camera are arranged on the end of mechanical arm, by mechanical arm
The collection of diverse location image is completed in motion, is sent into industrial computer and is carried out subsequent treatment；Software systems include image procossing, lacked
Detection program is fallen into, for detecting the apparent condition after coating spraying, if having drain spray, flaw phenomenon.
6. one kind according to claim 1 is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system,
Characterized in that, the workpiece displacing system sprays position and the posture of workpiece, root by turntable and travelling bogie, accurate control
Spray situation according to product, by rotational workpieces, workpiece is carried out it is comprehensive, sprayed without dead angle, control the spray painting control essence of coating
Degree, improve the coating quality of product coating.
7. one kind according to claim 1 is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system,
Characterized in that, the six shaft mechanicals arm uses hollow arm and flexible hollow wrist so that built in paint supply tube, cable, so as to
Reduce pipe surface attachment coating cloud.
8. one kind according to claim 1 is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system,
Characterized in that, 1~2L pressurized tanks are placed on mechanical arm body system lower end, shorten painting pipeline as far as possible.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711208721.1A CN107812639A (en) | 2017-11-27 | 2017-11-27 | One kind is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711208721.1A CN107812639A (en) | 2017-11-27 | 2017-11-27 | One kind is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107812639A true CN107812639A (en) | 2018-03-20 |
Family
ID=61610479
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711208721.1A Pending CN107812639A (en) | 2017-11-27 | 2017-11-27 | One kind is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system |
Country Status (1)
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|---|---|---|---|---|
| CN109590139A (en) * | 2018-12-19 | 2019-04-09 | 航天材料及工艺研究所 | The multi-shaft interlocked spray equipment of special-shaped structure piece surface heat barrier coating and spraying method |
| CN110732437A (en) * | 2019-12-04 | 2020-01-31 | 中国航空工业集团公司沈阳空气动力研究所 | pressure-sensitive paint intelligent automatic spraying system and spraying method |
| CN111729775A (en) * | 2020-05-13 | 2020-10-02 | 苏州明池纺织科技有限公司 | Fabric coating multilayer structure manufacturing regulation and control system |
| CN112892969A (en) * | 2021-01-18 | 2021-06-04 | 日照中意华坤金属制造有限公司 | Paint spraying device and process for iron art product processing |
| CN114472022A (en) * | 2021-12-24 | 2022-05-13 | 包伟 | Multifunctional intelligent coating production line |
| CN114592163A (en) * | 2022-03-03 | 2022-06-07 | 北京华德星科技有限责任公司 | Integrated electric arc spraying system |
| CN115382685A (en) * | 2022-08-16 | 2022-11-25 | 苏州智涂工业科技有限公司 | Control technology of automatic robot spraying production line |
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| CN109590139A (en) * | 2018-12-19 | 2019-04-09 | 航天材料及工艺研究所 | The multi-shaft interlocked spray equipment of special-shaped structure piece surface heat barrier coating and spraying method |
| CN110732437A (en) * | 2019-12-04 | 2020-01-31 | 中国航空工业集团公司沈阳空气动力研究所 | pressure-sensitive paint intelligent automatic spraying system and spraying method |
| CN111729775A (en) * | 2020-05-13 | 2020-10-02 | 苏州明池纺织科技有限公司 | Fabric coating multilayer structure manufacturing regulation and control system |
| CN112892969A (en) * | 2021-01-18 | 2021-06-04 | 日照中意华坤金属制造有限公司 | Paint spraying device and process for iron art product processing |
| CN114472022A (en) * | 2021-12-24 | 2022-05-13 | 包伟 | Multifunctional intelligent coating production line |
| CN114472022B (en) * | 2021-12-24 | 2022-11-25 | 包伟 | Multifunctional intelligent coating production line |
| CN114592163A (en) * | 2022-03-03 | 2022-06-07 | 北京华德星科技有限责任公司 | Integrated electric arc spraying system |
| CN115382685A (en) * | 2022-08-16 | 2022-11-25 | 苏州智涂工业科技有限公司 | Control technology of automatic robot spraying production line |
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Application publication date: 20180320 |