CN202538993U - Single-flowmeter type digital spray system for robot - Google Patents
Single-flowmeter type digital spray system for robot Download PDFInfo
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- CN202538993U CN202538993U CN2012201406841U CN201220140684U CN202538993U CN 202538993 U CN202538993 U CN 202538993U CN 2012201406841 U CN2012201406841 U CN 2012201406841U CN 201220140684 U CN201220140684 U CN 201220140684U CN 202538993 U CN202538993 U CN 202538993U
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Abstract
A single-flowmeter type digital spray system for a robot consists of a feed pipeline, a return pipeline, an air pipeline and a control part, wherein the feed pipeline is used for conveying a coating from a coating container to a feed inlet of an automatic spray gun, and is in series connection with a digital flowmeter and a pneumatic proportional valve; the return pipeline is used for conveying the coating from a discharge port of the automatic spray gun to the coating container, and the cyclic feeding is realized; the air pipeline provides compressed air to each pneumatic device and is in series connection with an electric proportional valve; and the control part consists of an upper computer and a PLC (Programmable Logic Controller) and is respectively connected with the electric proportional valve and the flowmeter. The single-flowmeter type digital spray system for the robot can realize real-time flow detection and closed-loop control of the automatic spray gun under the cyclic supplying mode, has capabilities of remotely regulating a coating pump, a stirrer, an automatic spray gun switch, atomized air and blowing air, and is particularly applicable to the occasions of the situations that the supplying in the gun under the circulation mode is carried out and the manual detection of the flow is inconvenient or the flow is easily reduced.
Description
Technical field
The utility model relates to a kind of robot with single flowmeter formula digitlization paint finishing, belongs to the Control During Paint Spraying by Robot equipment technical field.
Background technology
At present; Industrial products are increasingly high to the coating surface quality requirement and the film thickness required precision of Control During Paint Spraying by Robot; Common constant pressure type feeding system is owing to lack the monitoring means to flow; Can not satisfy the requirement of spray robot to flow control accuracy; Therefore become the constraint bottleneck of further raising Control During Paint Spraying by Robot operation quality, press for a kind of feeding system that can detect in real time and regulate gun traffic, the technology of existing spray coating robot spray gun flow detection, adjusting has following three kinds basically.
First kind, manual method.Detection method is: the feeding system of opening spray robot; Regulate pressure regulator valve to certain specified pressure value; Close the atomizing air and fan width of cloth air of spray gun then, open spray gun, under spray gun, connect certain hour (as 1 minute) by the hand-held survey tool (like graduated cylinder) of staff; Read graduated cylinder numerical value then, the unit interval discharge-amount of conversion spray gun.Further, if need to regulate flow, way is: if current to record flow value higher, then reduce pressure regulator valve pressure; Otherwise, then improve pressure regulator valve pressure.Above-mentioned detection, adjustment process need be carried out repeatedly, till gun traffic reaches requirement, can begin spraying operation then.The shortcoming of this method is obvious: need a large amount of artificial participations, reduced the automaticity of spraying operation, be unfavorable for bringing into play that robot is efficient, the characteristics of automation.And for easy precipitated coating or long size feeding pipeline, coating deposits in pipeline easily, causes gun traffic decay or unstable, cause the staff must not be irregular, monitoring repeatedly regulates gun traffic, bother very much.
Second kind, control through the measurement gear pump.As shown in Figure 1, this method need adopt the cecum feeding style, and promptly spray gun only connects a feed pipe, then at measurement gear pump of feed pipe serial connection.The principle of gear pump is to rotate to drive through gear to be coated with flow, and the coating content that the moving fixed angle of revolution is seen off is equal to, and therefore can realize the Detection & Controling of spray gun ejection flow through the rotating speed of control gear pump.The shortcoming of this technology is to be only applicable to the coating induction system that spray gun is a cecum, if circuit design is the mode of feeding cycle, then can flow back to container for paint via return duct by some coating, causes the actual discharge flow of the output flow of gear pump greater than spray gun.In addition, the cost of measurement gear pumping system is high and easy to wear, needs periodic calibrating, and use cost is very high.
The third is controlled through flowmeter and choke valve.As shown in Figure 2, this method limits spray gun equally and only connects a feed pipe, serial connection choke valve and flowmeter on feed pipe then, and when flowmeter detected flow deviation is arranged, controller was regulated flow through the switching degree that changes choke valve.The shortcoming of these class methods is identical with second class methods; Promptly being only applicable to spray gun is the pipeline type of cecum; Because if pipeline is the feeding cycle type, then because a part of coating flows back to container for paint by return duct, the actual flow that the detected flow of flowmeter sprays greater than spray gun.In addition, this method need be arranged in flowmeter on the mechanical arm of as close as possible spray gun, has increased terminal size and the weight of mechanical arm, is not suitable for small-sized or the inner surface spray robot.
In sum, the automatic detection of gun traffic and regulating in the present paint finishing all to cecum feed mode, for non-cecum feed; Just the feeding cycle mode is then felt simply helpless; Reason is: under the feeding cycle mode, be connected to a return duct on the spray gun, part coating sprays from the spray gun spout during shooting; Some is back to container for paint from the feed back pipe; Therefore existing technological means can't detect and have how much coating to spray from spray gun on earth, also can't control, and can only be compelled to adopt the way of manual measurement.
Consider for a lot of high solids, big proportion, be prone to precipitated coating, often adopt the mode of feeding cycle in pipeline, to precipitate to prevent coating.Therefore, press for a kind of paint finishing that can carry out real-time, online detection and closed-loop control to the automatic spray gun flow under the feeding cycle mode of exploitation,, improve the operation quality of spray robot to improve the automaticity of flow detection and adjusting.
The utility model content
The utility model problem to be solved is to overcome the defective that the gun traffic detection method exists in the existing paint finishing; Spray robot paint finishing to the feeding cycle formula; Provide a kind of simple in structure, accurate, lower-cost robot of metering with single flowmeter formula digitlization paint finishing, make it to be applicable to be not easy to manual detection, to regulate flow and occasion that must use feeding cycle pattern.
The utility model solves the technical scheme that its technical problem adopted:
A kind of robot is with single flowmeter formula digitlization paint finishing, and it is characterized in that: this paint finishing contains feeding pipe 001, feed back pipeline 002, air pipe line 003 and control section;
Feed back pipeline 002 connects from the feedback outlet of automatic spray gun 109, is connected back to container for paint 101 through counterbalance valve 110;
Control section comprises the host computer 301 and PLC controller 302 that contains control program; Digital flowmeter 108 links to each other with the pulse signal acquisition module of PLC controller 302 through control circuit; Six electric Proportion valves link to each other with the D/A module of PLC controller 302 through control circuit respectively, and PLC controller 302 links to each other with host computer 301 through control circuit.
Described robot is characterized in that with single flowmeter formula digitlization paint finishing: host computer 301 adopts industrial computer or touch-screen.
Described robot is characterized in that with single flowmeter formula digitlization paint finishing: digital flowmeter 108 adopts intrinsic safety formula digital flowmeter.
Described robot is with single flowmeter formula digitlization paint finishing, and it is characterized in that: electric Proportion valve and PLC controller 302 all place in the explosion-proof switch board 005.
Described robot is characterized in that with single flowmeter formula digitlization paint finishing: said paint pump 103 adopts membrane pump, piston pump or gear pump.
Described robot is characterized in that with single flowmeter formula digitlization paint finishing: said automatic spray gun 109 adopts the automatic air spray gun.
Compared with present technology the utility model has the following advantages and the high-lighting effect:
For the automatic spray gun that is connected to charging and two coating pipes of feed back simultaneously, only, help reducing the development cost of paint finishing through can realize real-time, the online detection of spray gun discharge flow at flowmeter of feed pipe serial connection.Further, realize the closed-loop control of gun traffic, improved the flow control accuracy of paint finishing greatly, eliminated the flowed fluctuation in the spraying process, helped improving the coating quality of robot.In addition, native system has also been realized the remote monitoring and the adjusting of pump, agitator, switch rifle, atomization air pressure and fan width of cloth air pressure, has improved the automaticity of paint finishing.
The utility model is specially adapted to be not easy to the manual detection flow and must uses circulation pattern in the rifle to carry out the occasion of feed, and because of using high solid, big proportion, being prone to precipitated coating or the long occasion that occurs the flux depression phenomenon easily of coating transfer pipeline.
Description of drawings
Fig. 1 is the schematic diagram of measurement gear pump formula flow measuring and controlling system.
Fig. 2 is the schematic diagram of " flowmeter+choke valve " formula flow measuring and controlling system.
Fig. 3 is the system architecture sketch map of the utility model.
Among the figure:
001 feeding pipe; 002-feed back pipeline; The 003-air pipe line; The 004-control circuit; The explosion-proof cabinet of 005-; 006-deathtrap markings;
The 101-container for paint; The 102-agitator; The 103-paint pump; The 104-paint filter; The 105-voltage-stablizer; The 106-pressure regulator valve; The 107-pneumatic proportional valve; The digital flowmeter of 108-; The 109-automatic spray gun; The 110-counterbalance valve; The 111-gear pump; The 112-choke valve;
The 201-source of the gas; The 202-air cleaner; 203-first electric Proportion valve; 204-second electric Proportion valve; 205-the 3rd electric Proportion valve; 206-the 4th electric Proportion valve; 207-the 5th electric Proportion valve; 208; The 6th electric Proportion valve; The 209-oil sprayer;
The 301-host computer; The 302-PLC controller; The 303-controller.
The specific embodiment
Further specify below in conjunction with structure, principle and the course of work of accompanying drawing the utility model.
1. the concrete structure of paint finishing
The robot that Fig. 3 provides for the utility model is with single flowmeter formula digitlization paint finishing, and this paint finishing is made up of feeding pipe 001, feed back pipeline 002, air pipe line 003 and control section.
Feed back pipeline 002 connects from the feedback outlet of automatic spray gun 109, is connected back to container for paint 101 through counterbalance valve 110.
Control section comprises the host computer 301 and PLC controller 302 that contains control program; Digital flowmeter 108 links to each other with the pulse signal acquisition module of PLC controller 302 through control circuit; Six electric Proportion valves link to each other with the D/A module of PLC controller 302 through control circuit respectively, and PLC controller 302 links to each other with host computer 301 through control circuit.
Said host computer 301 can adopt the ROBOT CONTROL computer, also can adopt touch-screen separately, considers the requirement of explosion proof of spray painting operation, and host computer 301 must be placed in outside the deathtrap markings 006, isolates with the paint spray booth.
Said digital flowmeter 108 adopts intrinsic safety formula digital flowmeter; Like GRACO gear type flowmeter; It detects principle has a pair of intermeshed gear for flowmeter inside; Driven gear rotated when coating was flowed through flowmeter, and the moving certain angle of gear revolution is then exported a pulse signal, and the pulse signal of receiving in the signal picker statistics certain hour can calculate the coating flow of the flowmeter of flowing through.The accuracy of detection of this type flowmeter is high, and not receive dope viscosity, proportion, amount of solid content and Influence of Temperature, its resolution ratio be 0.012cc/pulse, promptly whenever flows through the coating of 0.012cc, then pulse signal of flowmeter output.
Said electric Proportion valve is selected the FESTO proportional pressure-reducing valve for use, and controller 302 is selected the PLC that has pulse signal acquisition module and D/A module for use, considers the requirement of explosion proof of spraying operation, and electric Proportion valve and PLC controller 302 all place in the explosion-proof switch board 005.
Said paint pump 103 can adopt the pneumatic diaphragm pump of GRACO company, have volume little, easy for installation, be applicable to good characteristics such as medium-high viscosity and larger particles liquid, also can adopt other pumps such as piston pump and gear pump according to actual needs.
Said automatic spray gun 109 adopts LVMP type automatic air spray guns, also can adopt the automatic air spray gun of other types such as HVLP.
2. the operation principle of paint finishing
Utilize single flowmeter to be: at first to the concrete principle that the gun traffic under the feeding cycle mode carries out real-time Detection & Controling; Gather the real-time traffic information of feed pipe and pass to PLC controller 302 in the digital flowmeter 108 of spray gun feeding pipe 001 through going here and there, controller is scaled the real-time discharge flow of spray gun through the reduction formula of storage in advance with feed rate immediately; Then; Spray gun real-time traffic and preset flow are compared; The output control signal regulates its valve port opening for the 3rd electric Proportion valve 205; The air pressure of the 3rd electric Proportion valve 205 outputs is gone here and there the valve port opening of the pneumatic proportional valve 107 in feeding pipe 001 as control signal control again, regulates the pressure and the flow of feeding pipe 001, and then reaches the purpose of control gun traffic.
(1) single flowmeter formula flow detection principle
Because adopt the feeding cycle pattern to carry out feed, the actual ejection flow of flow signal that digital flowmeter 108 collects and automatic spray gun 109 is inequality, but according to whether spraying the two kinds of relations that exist:
When 1) not spraying, promptly spray gun is not shot, and the signal that this moment, digital flowmeter 108 collected is the pipeline circular flow, and gun traffic is 0, promptly has:
Wherein, Q
SurveyBe the flow that digital flowmeter 108 measures, Q
RifleBe spray gun discharge flow, Q
AdvanceBe feed pipe flow, Q
ReturnBe feed back pipe flow.
When 2) spraying, i.e. spray gun shooting, the signal that this moment, flowmeter collected is the pipeline circular flow, gun traffic is the poor of feed pipe flow and feed back pipe flow, promptly has:
Can know by hydrodynamics; The pipeline feed rate is all relevant with loine pressure with the spray gun discharge flow; Therefore when loine pressure is constant; Proportionate relationship between pipeline feed rate and the spray gun discharge flow also is certain, just can extrapolate the spray gun discharge flow by the pipeline feed rate if know the proportionate relationship between the two so.Must be noted that the feed rate under different coating, the different viscosities is different with the proportionate relationship of gun traffic, therefore need spray experiment in advance, set up reduction formula, be stored in the controller through curve-fitting method.
An experimentation of typically setting up reduction formula is:
1) experiment is prepared: like spray gun the needle-valve position adjustment function is arranged, in full accord when then guaranteeing spray gun needle-valve position at this moment and daily spraying operation, the needle-valve position is a standard-sized sheet in the utility model.To experiment coating, regulate dope viscosity then, open the coating induction system, coating is squeezed into system to designated value.
2) data acquisition: the atomizing and the fan width of cloth air of closing spray gun; And, set manifold pressure to certain numerical value through pressure regulator valve then at spray gun underlying one graduated cylinder, opened spray gun 1 minute; Write down the coating volume that adds up in the graduated cylinder in 1 minute; And the reading of observational record flowmeter, change manifold pressure through pressure regulator valve then and repeat aforesaid operations, get 5 groups of numerical value at least.Be to improve certainty of measurement, can be in spraying wirking pressure adjustable range be the interval with the Pressure gauge minimum range, as much as possible experimentizing.
3) data fitting:, obtain " the Q under the different pressures through the curve fit method
Rifle/ Q
Survey" ratio, the utility model carries out match with quadratic polynomial, obtains suc as formula the equation shown in (3), and this equation is stored in the data processing module of controller.
Q
Rifle=a (Q
Survey)
2+ bQ
Survey+ c (3)
A wherein, b, c are fitting coefficient.
(2) operation principle of flow-control
For satisfying requirement of explosion proof; Adopt electric Proportion valve to add two stage control methods of pneumatic proportioning valve to the control of gun traffic in the utility model; Promptly with the 3rd electric Proportion valve 205 control pneumatic proportional valve 107; Through the pressure and the flow of pneumatic proportional valve 107 control coating pipelines, control algolithm adopts the PID method again, and control principle is:
3. the typical operation of paint finishing
1) carrying out spraying prepares; The control system powers on; According to the input of coating and viscosity information or revise the fitting coefficient of reduction formula, and pipeline circular flow, pid control parameter etc. when preset gun traffic, preset pass rifle can send instruction unpack first electric Proportion valve 203, second electric Proportion valve 204 to the staff then in the human-computer interaction interface of host computer 301; Paint pump and agitator are driven entry into service; Paint finishing is started working, and coating circulates in pipeline, and this moment, spray gun was a closed condition.
The flow detection control procedure of 2) closing under the rifle state is: digital flowmeter 108 sends to PLC controller 302 with detected flow information with the pulse signal form; PLC controller 302 is converted into flow information through the pulse signal acquisition module with pulse signal; To on the one hand present flow rate information be sent to host computer 301 then, on human-computer interaction interface, show; On the one hand with this flow during with preset pass rifle the pipeline circular flow compare; And export control signal according to comparative result and give the 3rd electric Proportion valve 205; The valve port opening of control corresponding pneumatic proportional valve 107 realizes the adjusting of pipeline circular flow, makes it to level off to preset pipeline circular flow.
When 3) needing the shooting spraying; The staff sends the shooting instruction on the human-computer interaction interface of host computer 301; PLC controller 302 at first is converted into analog signal with the atomization air pressure value of appointment with fan width of cloth air pressure value; And sending to the 4th electric Proportion valve 206 and the 5th electric Proportion valve 207, the atomizing air of spray gun is opened with fan width of cloth air, and reaches preset pressure value rapidly; Then, PLC controller 302 is converted into analog signal with the shooting air pressure value of appointment again, and the air pressure that sends to the 6th electric Proportion valve 208, the six electric Proportion valves 208 outputs reaches preset value rapidly, and the spray gun needle-valve is backed down, the spray gun shooting.
4) the flow detection control procedure under the shooting state is: digital flowmeter 108 sends to PLC controller 302 with detected flow information with the pulse signal form; PLC controller 302 is converted into the feed pipe flow information through the pulse signal acquisition module with pulse signal; And according in advance the storage reduction formula this result is scaled gun traffic; On the one hand gun traffic information is sent to host computer 301 then, on human-computer interaction interface, show; On the one hand this flow and preset gun traffic are compared; And export control signal according to comparative result and give the 3rd electric Proportion valve 205; The valve port opening of control corresponding pneumatic proportional valve 107 realizes the adjusting of gun traffic, makes it to level off to preset gun traffic.
When 5) needing to regulate flow in the system work process; Pipeline circular flow when in the human-computer interaction interface of host computer 301, revising preset gun traffic or preset pass rifle by the staff; Send to PLC controller 302 then, PLC controller 302 compares with present flow rate with what be about to, and gives the 3rd electric Proportion valve 205 according to comparative result output control signal; The valve port opening of control corresponding pneumatic proportional valve 107 realizes long-range, the online adjusting of gun traffic.
When 6) spraying finished, host computer 301 sent and closes the rifle instruction, and controller 302 at first cuts out the 6th electric Proportion valve 208, and the air pressure of the 6th electric Proportion valve 208 outputs reduces to 0 rapidly, spray gun needle-valve return, and spray gun closes rifle; Then, PLC controller 302 cuts out the 4th electric Proportion valve 206 and the 5th electric Proportion valve 207, and the atomizing air of spray gun is also closed with fan width of cloth air thereupon.
7) after spraying operation finishes, carry out work such as emptying, cleaning, close paint pump 103 and agitator 102, the control system cut-off.
Claims (6)
1. a robot is with single flowmeter formula digitlization paint finishing, and it is characterized in that: this paint finishing contains feeding pipe (001), feed back pipeline (002), air pipe line (003) and control section;
Said feeding pipe (001) connects from container for paint (101); Connect paint pump (103), filter (104), voltage-stablizer (105), pressure regulator valve (106), pneumatic proportional valve (107) and digital flowmeter (108) successively, finally be connected to the charging aperture of automatic spray gun (109);
Said feed back pipeline (002) connects from the feedback outlet of automatic spray gun (109), is connected back to container for paint (101) through counterbalance valve (110);
Said air pipe line (003) connects from source of the gas (201); Behind air cleaner (202), be divided into six the tunnel; The first via is connected to agitator (102) through first electric Proportion valve (203) and oil sprayer (209); The second the tunnel is connected respectively to paint pump (103) and voltage-stablizer (105) behind second electric Proportion valve (204); Third Road is connected to pneumatic proportional valve (107) through the 3rd electric Proportion valve (205); The four road warp the 4th electric Proportion valve (206) is connected to the atomizing air inlet of automatic spray gun (109), and the five road warp the 5th electric Proportion valve (207) is connected to the fan width of cloth air intake of automatic spray gun (109), and the six road warp the 6th electric Proportion valve (208) is connected to the switch rifle air intake of automatic spray gun (109);
Said control section comprises host computer (301) and the PLC controller (302) that contains control program; Digital flowmeter (108) links to each other with the pulse signal acquisition module of PLC controller (302) through control circuit; Six electric Proportion valves link to each other with the D/A module of PLC controller (302) through control circuit respectively, and PLC controller (302) links to each other with host computer (301) through control circuit.
2. robot according to claim 1 is characterized in that with single flowmeter formula digitlization paint finishing: said host computer (301) adopts industrial computer or touch-screen.
3. robot according to claim 1 is characterized in that with single flowmeter formula digitlization paint finishing: said digital flowmeter (108) adopts intrinsic safety formula digital flowmeter.
4. robot according to claim 1 is characterized in that with single flowmeter formula digitlization paint finishing: first electric Proportion valve, second electric Proportion valve, the 3rd electric Proportion valve, the 4th electric Proportion valve, the 5th electric Proportion valve and the 6th electric Proportion valve and PLC controller (302) all place in the explosion-proof switch board (005).
5. robot according to claim 1 is characterized in that with single flowmeter formula digitlization paint finishing: said paint pump (103) adopts membrane pump, piston pump or gear pump.
6. robot according to claim 1 is characterized in that with single flowmeter formula digitlization paint finishing: said automatic spray gun (109) adopts the automatic air spray gun.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201406841U CN202538993U (en) | 2012-04-05 | 2012-04-05 | Single-flowmeter type digital spray system for robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201406841U CN202538993U (en) | 2012-04-05 | 2012-04-05 | Single-flowmeter type digital spray system for robot |
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| Publication Number | Publication Date |
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| CN202538993U true CN202538993U (en) | 2012-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012201406841U Expired - Lifetime CN202538993U (en) | 2012-04-05 | 2012-04-05 | Single-flowmeter type digital spray system for robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102641803A (en) * | 2012-04-05 | 2012-08-22 | 清华大学 | Single flowmeter type digital spraying system for robot |
| CN111013852A (en) * | 2019-12-23 | 2020-04-17 | 广东创智智能装备有限公司 | Non-contact fluid conveying and flow monitoring closed-loop control device |
| CN117900057A (en) * | 2024-03-20 | 2024-04-19 | 中国农业机械化科学研究院集团有限公司 | Flowmeter online calibration system and calibration method |
-
2012
- 2012-04-05 CN CN2012201406841U patent/CN202538993U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102641803A (en) * | 2012-04-05 | 2012-08-22 | 清华大学 | Single flowmeter type digital spraying system for robot |
| CN111013852A (en) * | 2019-12-23 | 2020-04-17 | 广东创智智能装备有限公司 | Non-contact fluid conveying and flow monitoring closed-loop control device |
| CN111013852B (en) * | 2019-12-23 | 2023-11-14 | 广东创智智能装备有限公司 | Non-contact fluid conveying and flow monitoring closed-loop control device |
| CN117900057A (en) * | 2024-03-20 | 2024-04-19 | 中国农业机械化科学研究院集团有限公司 | Flowmeter online calibration system and calibration method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180212 Address after: 300300 Tianjin Huaming street Dongli Huaming Road No. 36 Building No. 2 Patentee after: Qingyan co creation robot (Tianjin) Co., Ltd. Address before: 100084 Haidian District, Beijing,,, Tsinghua University, the 100084 letter box office Patentee before: Tsinghua University |
|
| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121121 |
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| CX01 | Expiry of patent term |