CN115350849A - Forging spraying system and spraying method - Google Patents
Forging spraying system and spraying method Download PDFInfo
- Publication number
- CN115350849A CN115350849A CN202211277256.8A CN202211277256A CN115350849A CN 115350849 A CN115350849 A CN 115350849A CN 202211277256 A CN202211277256 A CN 202211277256A CN 115350849 A CN115350849 A CN 115350849A
- Authority
- CN
- China
- Prior art keywords
- spraying
- telescopic rod
- forging
- unit
- adjusting mechanism
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- 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
-
- 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
- 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
-
- 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
- B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area 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
- B05B13/0221—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
-
- 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
- B05B13/0442—Installation or apparatus for applying liquid or other fluent material to separate articles rotated during spraying operation
-
- 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
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Forging (AREA)
Abstract
The invention belongs to the technical field of forging spraying control, and discloses a forging spraying system and a spraying method. This forging spraying system, including spraying unit, adjustment unit, feed unit, base and the control unit, the spraying unit sets up on the base through the adjustment unit, the spraying unit is connected with the feed unit through the pipeline, the adjustment unit includes position adjustment mechanism and angle adjustment mechanism, the spraying unit passes through angle adjustment mechanism and connects on position adjustment mechanism, position adjustment mechanism includes horizontal vertical guiding mechanism, horizontal guiding mechanism of level and vertical guiding mechanism, horizontal guiding mechanism of level, vertical guiding mechanism, angle adjustment mechanism and spraying unit all are connected with the control unit. According to the forging spraying system, the position of the spraying unit is adjusted through the position adjusting mechanism, the angle of the spraying unit is adjusted through the angle adjusting mechanism, and the spraying quality is guaranteed while automatic spraying is achieved.
Description
Technical Field
The invention belongs to the technical field of automatic spraying control of forging, and particularly relates to a forging spraying system and a spraying method.
Background
Before a large forging piece enters a furnace and is heated every time, especially a typical special-shaped complex high-end product, in order to effectively improve performance parameters of the forging piece, coating treatment of paint is carried out on the surface of the forging piece, the effects of lubrication, heat preservation and high-temperature oxidation resistance are achieved, so that large deformation is obtained under a good temperature condition, the effect of recrystallizing and refining crystal grains is achieved, the product performance is effectively ensured, the forging heat number is reduced, the forging efficiency is improved, and the forging cost is reduced.
At present, the surface coating of large forging coating is finished by a simple tool, especially large special-shaped complex forgings, the spraying operation of different sizes and shapes needs different methods, the operation mode has low efficiency, the labor intensity of workers is high, the safety is low, the operation process is very complicated and time-consuming, the accuracy and the uniformity and stability are not high, especially large forgings forged every time, the temperature is high, the workers cannot approach the large forgings, the coating operation of the coating is difficult to develop, the spraying control automation and the intelligence degree are relatively low, the spraying quality is difficult to control, and certain potential safety hazards exist.
Disclosure of Invention
The invention aims to provide a forging spraying system and a spraying method, which can reduce the labor intensity of workers and improve the working efficiency.
The invention discloses a forging spraying system which comprises a spraying unit, an adjusting unit, a feeding unit, a base and a control unit, wherein the spraying unit is arranged on the base through the adjusting unit, the spraying unit is connected with the feeding unit through a pipeline, the adjusting unit comprises a position adjusting mechanism and an angle adjusting mechanism, the spraying unit is connected to the position adjusting mechanism through the angle adjusting mechanism, the position adjusting mechanism comprises a horizontal longitudinal adjusting mechanism, a horizontal transverse adjusting mechanism and a vertical adjusting mechanism, and the horizontal longitudinal adjusting mechanism, the horizontal transverse adjusting mechanism, the vertical adjusting mechanism, the angle adjusting mechanism and the spraying unit are all connected with the control unit.
Preferably, the base is unable adjustment base, horizontal guiding mechanism is along the horizontal first telescopic link of arranging, vertical guiding mechanism is along vertical arrangement's second telescopic link, horizontal vertical guiding mechanism is along the horizontal longitudinal arrangement's third telescopic link, first telescopic link is connected on unable adjustment base, the second telescopic link is connected on first telescopic link, the third telescopic link is connected on the second telescopic link.
Preferably, the base is a movable base, a track is vertically arranged below the movable base along the horizontal direction, the movable base is arranged on the track through a walking driving machine frame to form a horizontal longitudinal adjusting mechanism, the horizontal transverse adjusting mechanism comprises a fourth telescopic rod and a sixth telescopic rod, the fourth telescopic rod and the sixth telescopic rod are horizontally arranged along the horizontal direction, the vertical adjusting mechanism is a fifth telescopic rod vertically arranged, the fourth telescopic rod is connected onto the movable base, the fifth telescopic rod is connected onto the fourth telescopic rod, the sixth telescopic rod is connected onto the fifth telescopic rod, and the spraying unit is connected onto the sixth telescopic rod through an angle adjusting mechanism.
Preferably, the spraying unit comprises an arc-shaped header and nozzles, and the nozzles are uniformly arranged on the arc-shaped header.
Preferably, the track is a rack, and the traveling driving mechanism is connected with a gear which is meshed with the rack.
Preferably, a rotating mechanism is arranged between the base and the horizontal transverse adjusting mechanism.
Preferably, the spraying unit is provided with a laser detector in parallel with the nozzle, and the laser detector is connected with the control unit.
The spraying method adopting the forging spraying system comprises the following steps:
the control unit controls the spraying unit to control the starting and stopping of spraying;
the control unit controls the position of the sprayed forge piece by controlling the horizontal longitudinal adjusting mechanism, the horizontal transverse adjusting mechanism and the vertical adjusting mechanism;
the control unit controls the spraying angle of the nozzle by controlling the angle adjusting mechanism.
Preferably, the base is a fixed base, the horizontal and horizontal adjusting mechanism is a first telescopic rod arranged horizontally and horizontally, the vertical adjusting mechanism is a second telescopic rod arranged vertically, the horizontal and vertical adjusting mechanism is a third telescopic rod arranged horizontally and longitudinally, the first telescopic rod is connected to the fixed base, the second telescopic rod is connected to the first telescopic rod, and the third telescopic rod is connected to the second telescopic rod;
the control unit adjusts the spraying unit to the edge of the forging piece by controlling the first telescopic rod, adjusts the spraying unit to the longitudinal spraying starting line of the forging piece by controlling the third telescopic rod, and adjusts the spraying unit to a proper height by controlling the second telescopic rod;
the control unit controls the first telescopic rod to extend forwards continuously, and controls the spraying unit to start spraying after the first telescopic rod reaches the forged piece until the spraying unit runs to the edge of the forged piece, so that first-time spraying is completed;
controlling the third telescopic rod to extend out of the width of spraying in one pass, and operating the first telescopic rod again to spray in a second pass;
and repeating the spraying for multiple times until the current forge piece is sprayed.
Preferably, the base is a movable base, a track is arranged below the movable base along the horizontal longitudinal direction, the movable base is arranged on the track through a walking driving machine framework to form a horizontal longitudinal adjusting mechanism, the horizontal transverse adjusting mechanism comprises a fourth telescopic rod and a sixth telescopic rod which are horizontally and transversely arranged, the vertical adjusting mechanism is a fifth telescopic rod which is vertically arranged, the fourth telescopic rod is connected to the movable base, the fifth telescopic rod is connected to the fourth telescopic rod, and the sixth telescopic rod is connected to the fifth telescopic rod;
the control unit controls the movable base to move to a spraying starting point, controls the fifth telescopic rod to adjust the spraying unit to be parallel to the center line of the forging, and controls the fourth telescopic rod and the sixth telescopic rod to adjust the spraying unit to be at a proper distance from the forging;
the control unit controls the spraying unit to start spraying, and simultaneously controls the movable base to move along the track until the spraying unit runs to the edge of the end part of the forge piece, and the current-pass spraying is finished;
clamping and rotating the forge piece through a jaw of a forged manipulator, wherein the rotation angle is less than or equal to the circle center angle of the single-pass spraying width, and carrying out next-pass spraying;
and repeatedly rotating and spraying the forge piece until the product of the spraying pass and the single rotation angle is more than or equal to 360 degrees, and finishing the spraying of the current forge piece.
Preferably, when the spraying unit runs to the special-shaped area, the orientation of the spraying unit is adjusted through the angle adjusting mechanism, and the nozzle of the spraying unit is perpendicular to the surface of the forging.
The beneficial effects of the invention are: compared with the prior art, the forging spraying system has the advantages that the design is reasonable, the process is excellent, the intelligent degree and the self-adaptive degree are high, the spraying production efficiency of a large die forging press and the spraying performance quality of a workpiece product are improved, and the labor cost and the production cost are greatly reduced.
Drawings
FIG. 1 is a schematic illustration of the present application as applied to die forging;
FIG. 2 is a schematic view of the forging spray system of FIG. 1;
FIG. 3 is a schematic view of the spray unit of FIG. 2;
FIG. 4 is a schematic view of the feed unit of FIG. 2;
FIG. 5 is a schematic illustration of the present application as applied to free forging;
FIG. 6 is a schematic view of the forging spray system of FIG. 5;
FIG. 7 is a schematic view of the forging spray system of FIG. 5 retracted.
Reference numerals: the device comprises a spraying unit 1, a straight collecting pipe 101, a nozzle 102, an arc collecting pipe 103, an adjusting unit 2, a first telescopic rod 201, a second telescopic rod 202, a third telescopic rod 203, an angle adjusting mechanism 204, a rotating mechanism 205, a fourth telescopic rod 206, a fifth telescopic rod 207, a sixth telescopic rod 208, a feeding unit 3, an air compressor 301, a control valve group 302, a powder feeder 303, a high-temperature protective cover 304, a coating storage tank 305, a base 4, a fixed base 401, a movable base 402, a rail 403, a control unit 5, a man-machine interface 501, a forging press 6, a forging 7, an operating machine 8, a rotating jaw 801, an infrared imager 9, a first laser detector 1001 and a second laser detector 1002.
Detailed Description
The present invention is further described below.
The invention discloses a forging spraying system which comprises a spraying unit 1, an adjusting unit 2, a feeding unit 3, a base 4 and a control unit 5, wherein the spraying unit 1 is arranged on the base 4 through the adjusting unit 2, the spraying unit 1 is connected with the feeding unit 3 through a pipeline, the adjusting unit 2 comprises a position adjusting mechanism and an angle adjusting mechanism 204, the spraying unit 1 is connected onto the position adjusting mechanism through the angle adjusting mechanism 204, the position adjusting mechanism comprises a horizontal longitudinal adjusting mechanism, a horizontal transverse adjusting mechanism and a vertical adjusting mechanism, and the horizontal longitudinal adjusting mechanism, the horizontal transverse adjusting mechanism, the vertical adjusting mechanism, the angle adjusting mechanism 204 and the spraying unit 1 are all connected with the control unit 5.
The spraying unit 1 is used for spraying a coating onto the forging 7, and generally includes a nozzle 102, if a plurality of nozzles 102 are included, a manifold is provided, the manifold and the nozzle 102 are fixed by a connector, the connector may be a bolt handle or a threaded connector, the nozzles 102 may be integrally replaced according to the workpiece condition, or the nozzles 102 may be replaced individually, N (N is greater than or equal to 1) nozzles 102 are provided on the manifold, and the supply unit 3 is used for providing a coating to be sprayed, and may specifically include a coating storage tank 305, an air compressor 301, a control valve group 302, a powder supply machine 303, a high-temperature protection cover 304, and the like. The control unit 5 is used for controlling the adjusting unit 2 and the feeding unit 3, and further controlling the whole spraying, and specifically, a computer, a PLC, a single chip microcomputer and the like can be adopted, generally, the control unit 5 is further provided with a human-computer interface 501, a thermal imaging display and the like so as to facilitate human-computer interaction, and a communication protocol can be a common TCP/IP communication protocol.
When the forging spraying system is used for spraying, the control unit 5 controls the spraying unit 1 to control the starting and stopping of the spraying, and can also control the flow rate and the width of the spraying; the control unit 5 adjusts the position of the spraying unit 1 by controlling the position adjusting mechanism, and the position adjusting mechanism comprises a horizontal longitudinal adjusting mechanism, a horizontal transverse adjusting mechanism and a vertical adjusting mechanism, so that the spraying unit 1 can be moved to any spatial position within a limited range, and the spraying comprehensiveness is ensured. The control unit 5 controls the spraying angle of the nozzle 102 by controlling the angle adjusting mechanism 204, so that the nozzle 102 of the spraying unit 1 is perpendicular to the surface of the forging 7, the spraying quality is ensured, and the spraying device is suitable for the forging 7 with a special-shaped area. The angle adjusting mechanism 204 may adopt a rotating structure of a single rotating shaft, or may adopt a universal adjusting structure of a plurality of rotating shafts, and the power may adopt existing power elements such as a stepping motor and a servo motor that can realize accurate control. The control unit 5 can also control the flow rate of the spraying through the control valve group 302, and further can realize the control of the spraying thickness.
The forging spraying system can be used in die forging and free forging, but the specific structures of die forging and free forging can be adjusted.
In the embodiment shown in fig. 1-4, when the forging spray system is applied to forging, the base 4 is a fixed base 401, the horizontal and transverse adjusting mechanism is a first telescopic rod 201 arranged in a horizontal and transverse direction, the vertical adjusting mechanism is a second telescopic rod 202 arranged in a vertical direction, the horizontal and longitudinal adjusting mechanism is a third telescopic rod 203 arranged in a horizontal and longitudinal direction, the first telescopic rod 201 is connected to the fixed base 401, the second telescopic rod 202 is connected to the first telescopic rod 201, and the third telescopic rod 203 is connected to the second telescopic rod 202.
The forging 7 is positioned on the forging press 6, when the forging press is used, the control unit 5 controls the first telescopic rod 201 to adjust the spraying unit 1 to the edge of the forging 7, controls the third telescopic rod 203 to adjust the spraying unit 1 to the longitudinal starting line of spraying of the forging 7, generally the edge line of the forging 7, and adjusts the spraying unit 1 to a proper height through the second telescopic rod 202;
the control unit 5 controls the first telescopic rod 201 to extend forwards continuously, and after the first telescopic rod reaches the forged piece 7, the spraying unit 1 is controlled to start spraying until the spraying unit 1 runs to the edge of the forged piece 7, so that first-time spraying is completed;
controlling the third telescopic rod 203 to extend out of the width of spraying for one pass, and operating the first telescopic rod 201 again to spray for a second pass;
and repeating the spraying for multiple times until the current forge piece 7 is sprayed.
In the embodiment shown in fig. 5-7, when the forging spraying system is applied to free forging, the base 4 is a movable base 402, a rail 403 is disposed below the movable base 402 along a horizontal longitudinal direction, the movable base 402 is disposed on the rail 403 through a walking driving machine frame to form a horizontal longitudinal adjustment mechanism, the horizontal transverse adjustment mechanism includes a fourth telescopic rod 206 and a sixth telescopic rod 208 disposed along a horizontal transverse direction, the vertical adjustment mechanism is a fifth telescopic rod 207 disposed along a vertical direction, the fourth telescopic rod 206 is connected to the movable base 402, the fifth telescopic rod 207 is connected to the fourth telescopic rod 206, the sixth telescopic rod 208 is connected to the fifth telescopic rod 207, and the spraying unit 1 is connected to the sixth telescopic rod 208 through an angle adjustment mechanism 204.
The forging 7 is positioned on the forging press 6 and the manipulator 8, when the device is used, the control unit 5 controls the movable base 402 to move to a spraying starting point, controls the fifth telescopic rod 207 to adjust the spraying unit 1 to be flush with the center line of the forging 7, and controls the fourth telescopic rod 206 and the sixth telescopic rod 208 to adjust the spraying unit 1 to be at a proper distance from the forging 7;
the control unit 5 controls the spraying unit 1 to start spraying, and simultaneously controls the movable base 402 to move along the track 403 until the spraying unit 1 runs to the edge of the end part of the forge piece 7, and the current-pass spraying is finished;
clamping and rotating the forge piece 7 through a jaw of a forging manipulator 8, wherein the rotating angle is smaller than or equal to the circle center angle of the single-pass spraying width, and carrying out next-pass spraying;
and repeatedly rotating and spraying the forging 7 until the product of the spraying pass and the single rotation angle is greater than or equal to 360 degrees, and finishing the spraying of the current forging 7.
The manipulator 8 is free forging self-contained equipment and is used for adjusting the forge piece 7 in the forging process, the manipulator 8 comprises a rotary jaw 801, a rotary encoder, a hydraulic motor and a walking detector, the rotary jaw 801 clamps the forge piece 7, the rotary encoder is located on the rotary jaw 801 and used for recording the rotating angle of the current jaw in real time, the hydraulic motor pushes the linear motion of the operation wheel through the inlet and outlet of hydraulic oil, the walking detector is a displacement sensor or a rotary encoder, the displacement sensor is arranged on the body of the manipulator 8, and the rotary encoder is arranged on the wheel of the manipulator 8 and used for recording the current position of the operation vehicle in real time. The rotary encoder and the walking detector are both connected with the control unit 5 through electric signals.
As mentioned above, the spray unit 1 may be composed of a header and the nozzles 102, the shape of the header may be adjusted according to the forged part 7, the straight header 101 may be used for die forging, the arc-shaped header 103 may be used for free forging, and the nozzles 102 are uniformly arranged on the straight header 101 or the arc-shaped header 103, so that the spray width of a single pass may be increased and the uniformity of the spray may be ensured.
The first telescopic rod 201, the second telescopic rod 202, the third telescopic rod 203, the fourth telescopic rod 206, the fifth telescopic rod 207 and the sixth telescopic rod 208 can be electric push rods, pneumatic push rods, hydraulic push rods, rack telescopic rods and the like, and the electric push rods and the rack telescopic rods can be driven by stepping motors. The telescopic link can also be configured with an encoder for detecting the telescopic amount, so that the accuracy is ensured, and if the electric push rod is adopted, the stepping motor can be configured to ensure the adjustment precision. In the above embodiment equipped with the track 403, in order to ensure the accuracy of the track 403, the track 403 is a rack, and a gear is connected to the travel driving mechanism and is meshed with the rack. The rack is arranged on the common rail 403, the walking driving mechanism can adopt a gear motor and other devices, and the gear is meshed with the rack, so that slipping can be prevented, and the adjustment precision is ensured. In addition, a walking detector can be arranged to ensure the running precision of the movable base 402, the walking detector can be a displacement sensor or a rotary encoder, the displacement sensor is arranged on the movable base 402, and the rotary encoder is arranged on a speed reduction motor for walking.
In order to prevent the forging spraying system from influencing the forging process, a rotating mechanism 205 is arranged between the base 4 and the horizontal transverse adjusting mechanism. During forging, the adjusting unit 2 and the spraying unit 1 on the base 4 are moved out of the forging area by the rotating mechanism 205, as shown in fig. 7, which is a schematic view of the spraying system retracted by the rotating mechanism 205. While spraying, it is then moved back by the rotating mechanism 205. The rotating mechanism 205 can be provided with a thrust bearing and other structures to reduce abrasion, and meanwhile, the stepping motor can be used for driving to ensure the rotating precision.
To realize automatic spraying, the boundary determination of the forging 7 is essential, and a corresponding visual coordination unit can be specifically set, and the boundary of the forging 7, even the shape of the forging 7, is obtained through automatic visual measurement. The laser detector adopts the principle of laser ranging, can detect whether the nozzle 102 runs to the range of the forge piece 7 or exceeds the range of the forge piece 7, can automatically start spraying when the laser detector detects that the nozzle 102 reaches the range of the forge piece 7, and can automatically stop spraying when the nozzle 102 exceeds the range of the forge piece 7.
The automatic spraying of the forging 7 is realized, the manual spraying is replaced, the actual spraying is not complicated, but the difficulty exists in ensuring the spraying quality and ensuring that the spraying meets the standard requirements. Therefore, the application also provides a forging visual collaborative spraying method, which comprises the following steps:
establishing an operation coordinate system of a forging spraying system;
inputting relevant information and a three-dimensional model of a current spraying forged piece in a forging spraying system, determining a spraying scheme according to the relevant information and the three-dimensional model, dividing the spraying forged piece into a plurality of sub-areas according to the appearance characteristics of the forged piece when determining the spraying scheme, wherein the sub-areas comprise a conventional area and a special-shaped area, determining a spraying route of the conventional area according to the spraying route of the special-shaped area after determining the spraying route of the special-shaped area;
arranging a visual imaging instrument on the forging spraying system, detecting the forge piece through the visual imaging instrument, determining the position of the forge piece in the operation coordinate system of the forging spraying system, and matching the three-dimensional model into the operation coordinate system of the forging spraying system according to the position of the forge piece in the operation coordinate system of the forging spraying system;
and spraying the forging piece according to the spraying scheme determined on the three-dimensional model.
The forging 7 is usually subjected to three-dimensional modeling before forging, so that the three-dimensional model can be directly input into a forging spraying system for determining a spraying scheme, the model arrangement needs to be consistent with the actual arrangement mode of the forging 7, and the spraying scheme can comprise the steps of determining a spraying material, a spraying flow rate, a spraying speed, a coating thickness, a spraying route and the like. The spray route is determined to be particularly important, when the spray route is planned, the spray forging is divided into a plurality of sub-areas according to the appearance characteristics of the forging, the sub-areas are determined according to the shape of the forging, and the core of the design is that the spray scheme is convenient to plan. For example, a forged piece including a main rod and branches may divide the main rod and each branch into sub-regions, and for example, a forged piece having a middle groove structure and a peripheral flat plate structure may divide the middle groove structure and the peripheral flat plate structure into sub-regions. The sub-areas comprise a conventional area and a special-shaped area, the conventional area refers to a simple surface such as a smooth plane or an arc surface, the spraying quality problem is not easy to occur in the areas as long as the areas are sprayed in place, and the special-shaped area refers to an area with a protruding structure, a recessed structure or a more complex structure, and the quality problem is easy to occur in the areas. Firstly, determining a spraying route of the special-shaped area, and then determining a spraying route of the conventional area according to the spraying route of the special-shaped area. Because the spraying quality and the spraying efficiency are considered and the actions of the adjusting unit 2 are reduced, the optimal spraying route of the special-shaped area is only a small amount of one or two, and the spraying of the conventional area can be completed more accurately and efficiently no matter which position the special-shaped area enters. Therefore, the spraying route of the special-shaped area is preferentially determined, the spraying efficiency and the spraying quality of the special-shaped area can be better improved, the spraying influence on the conventional area is not large, and the spraying quality and the spraying efficiency can be greatly improved in general. Note that, the first planning of the spraying route of the special-shaped area and the second determination of the spraying route of the conventional area does not mean that the spraying routes of the special-shaped area and the conventional area are independent, and when the finally determined spraying route is determined, the best connection mode of the spraying routes of the sub-areas is also taken into consideration, so that the special-shaped area and the conventional area can be sprayed simultaneously.
A typical forging spray system is equipped with only one spray material, but in the preferred embodiment of the present application, the forging spray system is equipped with at least two spray materials, and when determining the spray pattern, the selected spray material is determined. In many cases, the types of the coating materials are not less than 3, and the coating materials are stored in different coating material tanks 305, and the forging coating system automatically selects an appropriate coating material type based on information such as the temperature and material of the forging 7. The visual imaging instrument can adopt various existing optical measurement instruments, such as a measurement camera, an infrared imager and the like, can measure the position of the forge piece 7 in the operation coordinate system of the forging spraying system through the visual imaging instrument, and matches the three-dimensional modeling to the operation coordinate system of the forging spraying system, so that the measurement result of the visual imaging instrument is not used for direct modeling, and the three-dimensional modeling is put into the operation coordinate system. After the three-dimensional model is matched with the operation coordinate system of the forging spraying system, the forging 7 can be sprayed according to a predetermined spraying scheme.
The spraying route of the special-shaped area needs to be determined according to the specific special-shaped area. In forging, the most common special-shaped areas are long groove structures and protruding structures, such as long grooves and stiffening ribs, for the special-shaped areas with long shafts, the long shaft trend of the special-shaped areas is taken as the trend of the spraying route of the special-shaped areas when the route is planned, the trend of the spraying route of the conventional area is consistent with the trend of the spraying route of the special-shaped areas, the special-shaped areas and the route of the conventional area are taken as the trend, the connection of the special-shaped areas and the route of the conventional area is facilitated, and meanwhile, the spraying efficiency and the spraying uniformity of the special-shaped areas can be improved. For the protruded cylindrical structure, the circumferential direction thereof can be used as the spraying route, and the spraying quality can be further effectively ensured by taking care of the angle control of the spraying unit 1 by the angle adjusting mechanism 204 as described above.
In a spraying scheme, generally, a spraying material, a nozzle 102 and the like are easy to select, but how to determine the thickness of a coating is important to be consistent with a spraying scheme plan, the coating thickness is a factor which is relatively difficult to control and has a large influence on the coating, and for this reason, in a preferred embodiment of the application, a first laser detector 1001 and a second laser detector 1002 are arranged on the forging spraying system in parallel with the nozzle 102, the first laser detector 1001 is located in front of the movement direction of the nozzle 102, and the second laser detector 1002 is located behind the movement direction of the nozzle 102; when the forging spraying system sprays the forging 7, the thickness of the sprayed coating is calculated through the distance measurement difference value of the first laser detector 1001 and the second laser detector 1002 at the same position of the forging 7, and the thickness of the coating is adjusted in real time by adjusting the discharging speed of the nozzle 102 or the moving speed of the nozzle 102. The first laser detector 1001 is located in front of the movement direction of the nozzle 102 and can measure the distance between the spraying unit 1 and the forge piece 7 which is not sprayed with the coating, the second laser detector 1002 is located behind the movement direction of the nozzle 102 and can measure the distance between the spraying unit 1 and the forge piece 7 which is sprayed with the coating, the difference between the two is the thickness of the coating, after the thickness of the coating is obtained, whether the requirement is met can be determined, and if the requirement is not met, the thickness of the coating can be adjusted in real time by adjusting the discharging speed of the nozzle 102 or the moving speed of the nozzle 102. The first laser detector 1001 and the second laser detector 1002 can take the aforementioned functions into consideration at the same time, and detect whether the spraying unit 1 is still in the range of the forging 7, so as to control the start and stop of spraying more accurately.
In the preferred embodiment of the present application, at least 3 feature points that are not on a straight line are selected from the three-dimensional model, the forged piece 7 is detected by the visual imaging instrument, the corresponding feature point position is determined on the forged piece 7, and the three-dimensional model is matched to the operating coordinate system of the forging spraying system by matching the feature points on the forged piece 7 with the feature points on the three-dimensional model, so as to determine the relative position of the forging spraying system and the forged piece 7. The spatial position of the object can be determined by 3 points which are not on the same straight line, therefore, more than 3 feature points are selected, the feature points are obviously selected on the forged piece 7 and the three-dimensional model and are easy to detect by a visual imaging instrument, and the matching accuracy of the three-dimensional model can be ensured as long as the accuracy of the feature points is ensured, so that the accuracy of spraying positioning is improved.
When the spraying scheme is determined, planning can be performed on site according to the condition of the forging 7, but the time is relatively consumed, so that in the preferred embodiment of the application, an information base is created, and the three-dimensional model and the corresponding spraying scheme are recorded; when the spraying scheme is determined according to the three-dimensional model, the three-dimensional model of the current spraying forging 7 is compared with the three-dimensional models recorded in the information base, the same or similar three-dimensional models in the information base are searched, and the corresponding spraying scheme in the information base is directly adopted or modified on the basis of the corresponding spraying scheme. Therefore, the learning capacity of the system is increased, the more forgings 7 are automatically sprayed, the more spraying schemes are recorded, and the spraying schemes can be directly used or referred to in a greater degree subsequently.
The spraying scheme of the overall record forging 7 can only be used when similar products are forged under most actual conditions, but when the spraying scheme is planned, the spraying scheme is planned by taking a subarea as a unit, and the spraying of the special-shaped area is planned by a repeat point, and the spraying of the special-shaped area is the difficulty of the whole spraying, so that the difficulty is simplified to the greatest extent, as the preferred embodiment of the application, the spraying scheme of the subarea is recorded in the information base, and comprises the spraying scheme of the special-shaped area, the spraying scheme of the jointing of the special-shaped area and the conventional area and the spraying scheme of the jointing of the special-shaped area and the abnormal area; after the spray forging is divided into sub-regions according to the appearance characteristics of the forging, the currently divided sub-regions are compared with the sub-region spray schemes recorded in the information base, the same or similar sub-regions in the information base are searched, and the corresponding spray schemes in the information base are directly adopted or modified on the basis of the corresponding spray schemes. In addition to special shaped areas, it is not uncommon for a substantial majority of shaped areas to be present, such as protruding ribs, channel-like structures, etc. Therefore, once the spraying scheme of the special-shaped area is stored, the subsequent reference providing opportunity is much greater than that of the integral forging, and besides the spraying scheme of the special-shaped area, the spraying scheme of the special-shaped area jointed with the conventional area and the spraying scheme of the special-shaped area jointed with the abnormal area are stored for subsequent use. After the sub-regions are divided subsequently, the same or similar sub-regions in the information base can be searched, the corresponding spraying scheme in the information base is directly adopted or modified on the basis of the corresponding spraying scheme, and the planning time of the spraying scheme can be greatly saved.
The spraying process control is improved to the maximum extent, automatic detection can be carried out on the spraying to ensure the spraying quality, and areas which are unqualified in detection are sprayed again, so that the spraying quality is ensured. Because the spraying of the forging 7 has a remarkable heat insulation effect, by utilizing the characteristic, the forging spraying method comprises the following steps:
detecting the forging 7 through an infrared imager 9 to generate an initial thermal image of the forging 7;
after the forging 7 is sprayed by the forging spraying system, detecting the forging 7 under the condition that the arrangement of the infrared imager 9 is kept unchanged, and generating a thermal image of the forging 7 after spraying;
comparing the initial thermal image with the sprayed thermal image to obtain a temperature difference value;
setting a qualified temperature difference value, and determining a forging part area with the temperature difference value smaller than the qualified temperature difference value as a coating substandard area;
and spraying the substandard area of the coating again by using a forging spraying system.
The method is mainly suitable for the forge piece 7 in a high-temperature state, before the forge piece 7 is sprayed with paint, the thermal image of the forge piece 7 can be detected through the infrared imager 9, the specific arrangement position of the infrared imager 9 can be arranged according to the actual situation of the forge piece, for example, in the embodiment shown in fig. 5-7, the infrared imager 9 is respectively arranged on the spraying equipment, the operating machine 8 and the forging press 6. After the coating is sprayed, due to the good heat preservation effect of the forging spraying material, heat can be isolated, and obvious temperature difference can be seen by comparing the initial thermal image with the thermal image after spraying. On the same forging 7, the area with the larger front and rear temperature difference value proves that the thicker the coating spraying is, the better the heat preservation effect is, while the area with the smaller front and rear temperature difference value is, the thinner the coating spraying is, the worse the heat preservation effect is, the qualified temperature difference value is set, and the forging area with the temperature difference value smaller than the qualified temperature difference value can be determined as the area with the coating not reaching the standard. This application has adopted the mode of contrast calculation temperature difference around, but not each region of forging after adopting the direct detection spraying, this is because each region of forging after the direct detection spraying is because infrared imager 9 arranges the position, factors such as the appearance angle of forging 7, the direct contrast of temperature value that each region in the thermal image presented actually has certain error, and it is comparatively difficult with the correction to arrange through all-round multi-angle, therefore, this application has adopted the mode of contrast calculation temperature difference around, generate the forging thermal image before and after the spraying under the unchangeable circumstances of keeping infrared imager 9 to arrange, the heat preservation that can be comparatively accurate reaction coating is to the influence of forging 7, and then whether the detection coating is up to standard.
In order to enable the forging spraying system to accurately identify the region of the coating which does not reach the standard, secondary spraying is carried out, and under the condition that the running coordinate system of the forging spraying system is established, the position of the region of the coating which does not reach the standard in the running coordinate system can be determined according to the detection of the infrared imager 9; and spraying the area of the coating in the running coordinate system which does not reach the standard again by using the forging spraying system.
According to the records, before spraying, the relevant information and the three-dimensional model of the current spraying forged piece 7 are input into a spraying control system, and a spraying scheme is determined according to the relevant information and the three-dimensional model; arranging an infrared imager 9 on the forging spraying system, detecting the forging 7 through the infrared imager 9, determining the relative position of the forging spraying system and the forging 7, and matching the three-dimensional model into the operating coordinate system of the forging spraying system according to the position of the forging 7 in the operating coordinate system of the forging spraying system; and spraying the forging 7 according to the spraying scheme determined on the three-dimensional model. Considering that the unreasonable spraying scheme is likely to cause the unqualified coating in a part of areas, matching the unqualified coating area into the three-dimensional model after determining the position of the unqualified coating area in the operating coordinate system, and planning the spraying scheme again for the unqualified coating area; and re-spraying the area of which the coating does not reach the standard according to the re-planned spraying scheme, so that the coating can better meet the standard after secondary spraying. In multiple times of forging, determining areas where the accidental coating does not reach the standard and areas where the multiple coatings does not reach the standard; recording the region of the multi-coating layer which does not reach the standard, and when the spraying scheme is determined according to the three-dimensional model, the spraying scheme is planned in a targeted manner for the region of the multi-coating layer which does not reach the standard and an effective spraying scheme is recorded. The failure of the accidental coating to reach the standard is mostly caused by accidental reasons such as operation faults, the failure of the multiple coating to reach the standard is mostly caused by unreasonable planning of a spraying scheme, the former is difficult to avoid, and the latter can be avoided by the targeted planning of the spraying scheme. The effective spraying schemes are schemes which can achieve the standard of the coating after being adopted, and the effective spraying schemes can be recorded in the information base, so that the condition that the same coating does not reach the standard in the follow-up process is avoided.
Only after the forge piece 7 is sprayed, the detection is carried out, and the supplementary spraying is carried out on the area where the coating does not reach the standard, which is obviously relatively complicated, and the best mode still ensures the spraying quality to the maximum extent in the spraying process, therefore, in the embodiment, in combination with the scheme described above, a first laser detector 1001 and a second laser detector 1002 are arranged on the forging spraying system in parallel with the nozzle 102, the first laser detector 1001 is located in front of the movement direction of the nozzle 102, and the second laser detector 1002 is located behind the movement direction of the nozzle 102; when the forging spraying system sprays the forging 7, the thickness of the sprayed coating is calculated through the distance measurement difference value of the first laser detector 1001 and the second laser detector 1002 at the same position of the forging 7, and the thickness of the coating is adjusted in real time by adjusting the discharging speed of the nozzle 102 or the moving speed of the nozzle 102. Therefore, the possibility that the coating does not reach the standard can be reduced, the probability of secondary spraying is reduced, and the spraying efficiency is improved.
Claims (11)
1. Forge paint finishing, its characterized in that: including spraying unit (1), adjusting unit (2), feed unit (3), base (4) and the control unit (5), spraying unit (1) sets up on base (4) through adjusting unit (2), spraying unit (1) is connected with feed unit (3) through the pipeline, adjusting unit (2) are including position adjustment mechanism and angle adjustment mechanism (204), spraying unit (1) is connected on position adjustment mechanism through angle adjustment mechanism (204), position adjustment mechanism includes horizontal vertical guiding mechanism, horizontal guiding mechanism and vertical guiding mechanism, horizontal guiding mechanism, vertical guiding mechanism, angle adjustment mechanism (204) and spraying unit (1) all are connected with the control unit (5).
2. The forging spray system of claim 1, wherein: the base (4) is unable adjustment base (401), horizontal transverse adjustment mechanism is along horizontal transverse arrangement's first telescopic link (201), vertical adjustment mechanism is along vertical arrangement's second telescopic link (202), horizontal longitudinal adjustment mechanism is along horizontal longitudinal arrangement's third telescopic link (203), first telescopic link (201) are connected on unable adjustment base (401), second telescopic link (202) are connected on first telescopic link (201), third telescopic link (203) are connected on second telescopic link (202).
3. The forging spray system of claim 1, wherein: the spraying device is characterized in that the base (4) is a movable base (402), a track (403) is longitudinally arranged below the movable base (402) along the horizontal direction, the movable base (402) is arranged on the track (403) through a walking driving machine frame to form a horizontal longitudinal adjusting mechanism, the horizontal transverse adjusting mechanism comprises a fourth telescopic rod (206) and a sixth telescopic rod (208) which are transversely arranged along the horizontal direction, the vertical adjusting mechanism is a fifth telescopic rod (207) which is vertically arranged, the fourth telescopic rod (206) is connected onto the movable base (402), the fifth telescopic rod (207) is connected onto the fourth telescopic rod (206), the sixth telescopic rod (208) is connected onto the fifth telescopic rod (207), and the spraying unit (1) is connected onto the sixth telescopic rod (208) through an angle adjusting mechanism (204).
4. The forging spray system of claim 3, wherein: the spraying unit (1) comprises arc-shaped collecting pipes (103) and nozzles (102), and the nozzles (102) are uniformly arranged on the arc-shaped collecting pipes (103).
5. The forging spray system of claim 3, wherein: the track (403) is a rack, a gear is connected to the walking driving mechanism, and the gear is meshed with the rack.
6. A forging spray system as set forth in claim 1, 2 or 3, wherein: a rotating mechanism (205) is arranged between the base (4) and the horizontal adjusting mechanism.
7. The forging spray system of claim 1, wherein: and the spraying unit (1) is provided with a laser detector in parallel with the nozzle (102), and the laser detector is connected with the control unit (5).
8. A spray method using the forging spray system of claim 1, comprising the steps of:
the control unit (5) controls the spraying unit (1) to start and stop spraying;
the control unit (5) controls the position of the sprayed forge piece by controlling the horizontal longitudinal adjusting mechanism, the horizontal transverse adjusting mechanism and the vertical adjusting mechanism;
the control unit (5) controls the spraying angle of the nozzle (102) by controlling the angle adjusting mechanism (204).
9. The spraying method according to claim 8, characterized in that the base (4) is a fixed base (401), the horizontal transverse adjusting mechanism is a first telescopic rod (201) arranged horizontally and transversely, the vertical adjusting mechanism is a second telescopic rod (202) arranged vertically, the horizontal longitudinal adjusting mechanism is a third telescopic rod (203) arranged horizontally and longitudinally, the first telescopic rod (201) is connected to the fixed base (401), the second telescopic rod (202) is connected to the first telescopic rod (201), and the third telescopic rod (203) is connected to the second telescopic rod (202);
the control unit (5) adjusts the spraying unit (1) to the edge of the forged piece by controlling the first telescopic rod (201), adjusts the spraying unit (1) to the longitudinal spraying starting line of the forged piece by controlling the third telescopic rod (203), and adjusts the spraying unit (1) to a proper height by controlling the second telescopic rod (202);
the control unit (5) controls the first telescopic rod (201) to continue to extend forwards, and after the forge piece is reached, the spraying unit (1) is controlled to start spraying until the spraying unit (1) runs to the edge of the forge piece, so that the first spraying is finished;
controlling the third telescopic rod (203) to extend out of the width of one-time spraying, and operating the first telescopic rod (201) again to perform second-time spraying;
and repeating the spraying for multiple times until the current forging spraying is finished.
10. The spraying method according to claim 8, characterized in that the base (4) is a movable base (402), a rail (403) is arranged below the movable base (402) along the horizontal longitudinal direction, the movable base (402) is arranged on the rail (403) through a walking driving machine frame to form a horizontal longitudinal adjusting mechanism, the horizontal transverse adjusting mechanism comprises a fourth telescopic rod (206) and a sixth telescopic rod (208) which are arranged along the horizontal transverse direction, the vertical adjusting mechanism is a fifth telescopic rod (207) which is arranged along the vertical direction, the fourth telescopic rod (206) is connected to the movable base (402), the fifth telescopic rod (207) is connected to the fourth telescopic rod (206), the sixth telescopic rod (208) is connected to the fifth telescopic rod (207), and the spraying unit (1) is connected to the sixth telescopic rod (208) through an angle adjusting mechanism (204);
the control unit (5) controls the movable base (402) to move to a spraying starting point, controls the fifth telescopic rod (207) to adjust the spraying unit (1) to be parallel to the center line of the forging, and controls the fourth telescopic rod (206) and the sixth telescopic rod (208) to adjust the spraying unit (1) to be at a proper distance from the forging;
the control unit (5) controls the spraying unit (1) to start spraying, and simultaneously controls the movable base (402) to move along the track (403) until the spraying unit (1) runs to the end edge of the forge piece, and the current-pass spraying is finished;
clamping and rotating the forge piece through a jaw of a forging manipulator (8), wherein the rotation angle is smaller than or equal to the circle center angle of the single-pass spraying width, and carrying out next-pass spraying;
and repeatedly rotating and spraying the forged piece until the product of the spraying pass and the single rotation angle is greater than or equal to 360 degrees, and finishing the spraying of the current forged piece.
11. The spraying method according to claim 8, 9 or 10, characterized in that when the spraying unit (1) is run to the special-shaped area, the orientation of the spraying unit (1) is adjusted by the angle adjusting mechanism (204) so that the nozzle (102) of the spraying unit (1) is perpendicular to the surface of the forging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211277256.8A CN115350849B (en) | 2022-10-19 | 2022-10-19 | Forging spraying system and spraying method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211277256.8A CN115350849B (en) | 2022-10-19 | 2022-10-19 | Forging spraying system and spraying method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115350849A true CN115350849A (en) | 2022-11-18 |
| CN115350849B CN115350849B (en) | 2023-02-03 |
Family
ID=84008786
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211277256.8A Active CN115350849B (en) | 2022-10-19 | 2022-10-19 | Forging spraying system and spraying method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115350849B (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0195510A2 (en) * | 1985-03-09 | 1986-09-24 | Spraymatic Company Limited | Spraying machine with a rotating worksupport table |
| JPH0975803A (en) * | 1995-09-20 | 1997-03-25 | Chiyuuyuu Shoji Kk | Method and device for coating lower part of automobile |
| KR101281222B1 (en) * | 2011-12-28 | 2013-07-02 | 주식회사 포스코 | Polymer coating apparatus for casting roll |
| KR101474985B1 (en) * | 2013-08-23 | 2014-12-22 | 삼성중공업 주식회사 | Painting control method |
| CN105597981A (en) * | 2016-03-08 | 2016-05-25 | 佳马机械涂覆科技（苏州）有限公司 | Movable spray coating device with five degrees of freedom |
| CN206215834U (en) * | 2016-12-06 | 2017-06-06 | 重庆集信机械有限公司 | For the automatic part picking inkjet mechanism of forging machine |
| CN107127094A (en) * | 2017-07-04 | 2017-09-05 | 李良 | A kind of municipal works guardrail spray-painting plant |
| US20170341098A1 (en) * | 2014-12-01 | 2017-11-30 | Dürr Systems Ag | Coating method and corresponding coating installation |
| EP3269456A1 (en) * | 2016-07-12 | 2018-01-17 | Doosan Heavy Industries & Construction Co., Ltd. | System for coating heat transfer tube for condenser |
| CN108406806A (en) * | 2018-05-09 | 2018-08-17 | 清研同创机器人（天津）有限公司 | A kind of spray robot for spraying large-size workpiece |
| CN109225728A (en) * | 2018-05-21 | 2019-01-18 | 广州泽亨实业有限公司 | A kind of spray painting control method and apparatus that laser detection dynamic outline spray gun is adaptive |
| CN211360599U (en) * | 2019-12-24 | 2020-08-28 | 杭州富阳陶门开门机有限公司 | Automatic spraying mechanism for horizontal cold pressing chamber die casting mold |
| CN112024191A (en) * | 2020-09-07 | 2020-12-04 | 陈克建 | Synchronous pretreatment type environment-friendly paint spraying device |
| KR102191328B1 (en) * | 2020-03-10 | 2020-12-15 | 김형일 | automatic painting system multiaxial joint robot type using AI |
| CN112588504A (en) * | 2020-12-09 | 2021-04-02 | 张家港台达机械制造有限公司 | Surface paint spraying device for part processing |
| CN113547058A (en) * | 2021-07-30 | 2021-10-26 | 山东劳动职业技术学院（山东劳动技师学院） | Automatic forging system and forging process based on friction press |
-
2022
- 2022-10-19 CN CN202211277256.8A patent/CN115350849B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0195510A2 (en) * | 1985-03-09 | 1986-09-24 | Spraymatic Company Limited | Spraying machine with a rotating worksupport table |
| JPH0975803A (en) * | 1995-09-20 | 1997-03-25 | Chiyuuyuu Shoji Kk | Method and device for coating lower part of automobile |
| KR101281222B1 (en) * | 2011-12-28 | 2013-07-02 | 주식회사 포스코 | Polymer coating apparatus for casting roll |
| KR101474985B1 (en) * | 2013-08-23 | 2014-12-22 | 삼성중공업 주식회사 | Painting control method |
| US20170341098A1 (en) * | 2014-12-01 | 2017-11-30 | Dürr Systems Ag | Coating method and corresponding coating installation |
| CN105597981A (en) * | 2016-03-08 | 2016-05-25 | 佳马机械涂覆科技（苏州）有限公司 | Movable spray coating device with five degrees of freedom |
| EP3269456A1 (en) * | 2016-07-12 | 2018-01-17 | Doosan Heavy Industries & Construction Co., Ltd. | System for coating heat transfer tube for condenser |
| CN206215834U (en) * | 2016-12-06 | 2017-06-06 | 重庆集信机械有限公司 | For the automatic part picking inkjet mechanism of forging machine |
| CN107127094A (en) * | 2017-07-04 | 2017-09-05 | 李良 | A kind of municipal works guardrail spray-painting plant |
| CN108406806A (en) * | 2018-05-09 | 2018-08-17 | 清研同创机器人（天津）有限公司 | A kind of spray robot for spraying large-size workpiece |
| CN109225728A (en) * | 2018-05-21 | 2019-01-18 | 广州泽亨实业有限公司 | A kind of spray painting control method and apparatus that laser detection dynamic outline spray gun is adaptive |
| CN211360599U (en) * | 2019-12-24 | 2020-08-28 | 杭州富阳陶门开门机有限公司 | Automatic spraying mechanism for horizontal cold pressing chamber die casting mold |
| KR102191328B1 (en) * | 2020-03-10 | 2020-12-15 | 김형일 | automatic painting system multiaxial joint robot type using AI |
| CN112024191A (en) * | 2020-09-07 | 2020-12-04 | 陈克建 | Synchronous pretreatment type environment-friendly paint spraying device |
| CN112588504A (en) * | 2020-12-09 | 2021-04-02 | 张家港台达机械制造有限公司 | Surface paint spraying device for part processing |
| CN113547058A (en) * | 2021-07-30 | 2021-10-26 | 山东劳动职业技术学院（山东劳动技师学院） | Automatic forging system and forging process based on friction press |
Non-Patent Citations (1)
| Title |
|---|
| 陈伟著: "《喷涂机器人轨迹优化技术研究》", 31 October 2016, 中山大学出版社 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115350849B (en) | 2023-02-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8367962B2 (en) | Automated welding of moulds and stamping tools | |
| US20200180160A1 (en) | Automated wire drawing system for side wall of railway vehicle, and wire drawing process | |
| CN102371420B (en) | Standard knot one-stop full automatic welding system | |
| KR19990074014A (en) | Surface processing automation device of hull shell | |
| CN102019495B (en) | Multifunction high-precision numerical control plasma machining device | |
| CN111702416A (en) | Automatic welding method for high-speed rail sleeper beam fabrication hole | |
| CN103074625A (en) | Movable laser cladding and repairing system | |
| CN105983802B (en) | A kind of welding robot control system and method | |
| CN115350834B (en) | Forging visual collaborative spraying method | |
| Kwak et al. | Geometry regulation of material deposition in near-net shape manufacturing by thermally scanned welding | |
| CN110743976B (en) | Ship body outer plate curved surface forming equipment based on double mechanical arms and implementation method thereof | |
| CN111702417A (en) | Moving type double-robot arc 3D printing workstation for high-speed rail sleeper beam process hole and working method thereof | |
| CN111702293A (en) | Automatic welding gun track avoiding method for high-speed rail sleeper beam process hole | |
| CN115350849B (en) | Forging spraying system and spraying method | |
| CN115302053A (en) | Intelligent submerged-arc welding method for stainless steel composite plate | |
| CN115350833B (en) | Forging spraying detection method and spraying method | |
| CN109894782A (en) | A kind of spiral plate end face welder | |
| CN105425721A (en) | Intelligent teaching method of closed-loop control and device thereof | |
| Lei et al. | The development of tube-to-tubesheet welding from automation to digitization | |
| CN110238846B (en) | Machining track planning method and system of curved surface adsorption robot based on CAD model | |
| CN208945432U (en) | A kind of welding gun tracking system based on weld seam recognition data lag | |
| Horváth et al. | Robotized multi-pass Tungsten Inner Gas welding of Francis hydro power turbines | |
| JP2021023977A (en) | Method for controlling welding of portable welding robot, weld control device, portable welding robot and welding system | |
| CN114309930B (en) | Symmetrical double-station spray pipe laser welding equipment | |
| CN205989140U (en) | A kind of Novel welding gun position adjusting mechanism |
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 |