WO1998017837A1 - Systeme de pulverisation automatique et procede de pulverisation dans lequel les conditions de pulverisation sont determinees par ordinateur - Google Patents
Systeme de pulverisation automatique et procede de pulverisation dans lequel les conditions de pulverisation sont determinees par ordinateur Download PDFInfo
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- WO1998017837A1 WO1998017837A1 PCT/JP1997/003796 JP9703796W WO9817837A1 WO 1998017837 A1 WO1998017837 A1 WO 1998017837A1 JP 9703796 W JP9703796 W JP 9703796W WO 9817837 A1 WO9817837 A1 WO 9817837A1
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- Prior art keywords
- spraying
- spray
- thermal
- trajectory
- sprayed
- Prior art date
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- 238000005507 spraying Methods 0.000 title claims abstract description 180
- 239000007921 spray Substances 0.000 title claims description 250
- 239000000463 material Substances 0.000 claims abstract description 31
- 238000007751 thermal spraying Methods 0.000 claims description 86
- 238000000034 method Methods 0.000 claims description 23
- 230000007704 transition Effects 0.000 claims description 17
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- 238000010248 power generation Methods 0.000 claims description 6
- 239000007789 gas Substances 0.000 description 19
- 239000011248 coating agent Substances 0.000 description 18
- 238000000576 coating method Methods 0.000 description 18
- 238000012546 transfer Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 239000011148 porous material Substances 0.000 description 5
- 239000012720 thermal barrier coating Substances 0.000 description 5
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- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
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Classifications
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C4/00—Coating by spraying the coating material in the molten state, e.g. by flame, plasma or electric discharge
- C23C4/12—Coating by spraying the coating material in the molten state, e.g. by flame, plasma or electric discharge characterised by the method of spraying
Definitions
- the present invention relates to a method for automatically determining a spraying condition by using a computer based on data of a sprayed material and a shape of an object to be sprayed to perform spraying, and a spraying robot system for executing the method. . Background of the invention
- TBC Thermal Barrier Coating
- TBC has so far not been able to
- ceramics having heat-shielding properties are significantly different from heat-resistant alloys in terms of their physical properties (eg, coefficient of thermal expansion) and force ⁇ , and the resulting peeling of the coating layer from the base material poses a problem.
- thermal spraying due to the shape restrictions, the distance between the spray gun and the object to be sprayed and the distance between the spray gun and the surface of the object to be sprayed. It is difficult to carry out thermal spraying at a constant angle.
- thermal spraying As described above, when spraying the combustor liner and the transition piece as described above, since the coating is performed on the inner surface of the member, interference between the spray gun and the member and the capability of the driving device of the spray gun are required. Due to the limitations of, there are various restrictions on thermal spraying. That is, the distance between the object to be sprayed and the spray gun, the angle between the object to be sprayed and the spray gun are not within the optimum range, and the mobility of the spray gun cannot be kept constant. Due to these restrictions, a thermal spray robot system that can automatically determine the thermal spray conditions according to the shape of the object to be sprayed has not been obtained at present.
- the present invention has been made in view of the above, and an object of the present invention is to provide a thermal spraying robot system capable of automatically determining thermal spraying conditions in accordance with the shape of an object to be sprayed. .
- DISCLOSURE OF THE INVENTION the present invention provides an input unit for inputting shape data of an object to be sprayed and thermal spray material data, and corresponding to each of a plurality of thermal spray parameters for determining thermal spray quality. The values are selected from the spraying condition database stored for each spraying material corresponding to the obtained spraying quality, and the values of each spraying parameter stored in the spraying condition database.
- a trajectory calculator for calculating the trajectory of the spray gun based on the shape of the object to be sprayed; and a trajectory of the spray gun calculated by the selected trajectory calculator and the value of each selected spray parameter.
- a thermal spraying robot system comprising: a thermal spraying device having the thermal spraying gun for performing thermal spraying on an object to be thermal sprayed.
- the plurality of spray parameters include a distance d between the object to be sprayed and the spray gun, an angle between the object to be sprayed and the spray gun, a moving speed V of the spray gun with respect to the object to be sprayed, and
- the trajectory calculation unit calculates the trajectory of the spray gun based on the selected value of the main parameter.
- the plurality of thermal spray nozzles stored in the thermal spray condition database;
- the value corresponding to each of the glittering conditions can provide an optimum value corresponding to the optimum spraying condition and an acceptable spraying quality which is inferior to the spraying quality obtained when performing the spraying under the optimum spraying condition but is acceptable.
- the trajectory calculation unit includes an allowable value corresponding to an allowable spraying condition and a force, and the trajectory calculation unit first selects an optimum value as a value of each selected spraying parameter.
- the trajectory calculation unit changes at least one of the main parameters to an allowable value, and Recalculate the trajectory of the spray gun.
- the trajectory calculation unit may calculate at least one of the plurality of main parameters when it is impossible to calculate the trajectory of the spray gun based on the optimum value of the required parameter. While maintaining the optimum values, change the other key parameters to acceptable values and recalculate the spray gun trajectory.
- the input unit further has a function of designating a main parameter to keep the optimum value.
- the trajectory calculation unit changes the main parameter to a permissible value of ⁇ and sets the trajectory of the spray gun. Is calculated again.
- the present invention provides a thermal spraying method including a step of performing thermal spraying based on a value of each thermal spray parameter selected in a process and a trajectory of the thermal spray gun calculated in the calculation process.
- the plurality of spray parameters include a distance d between the object to be sprayed and the spray gun, an angle 0 between the object to be sprayed and the spray gun, a moving speed V of the spray gun relative to the object to be sprayed.
- At least the main parameter consisting of
- the plurality of thermal spray nozzles stored in the thermal spray condition database Each of the glitter nights Are the optimum values corresponding to the optimum spraying conditions, and the allowable spraying conditions that are inferior to the spraying quality obtained when spraying is performed under the above optimum spraying conditions but that can obtain an acceptable spraying quality.
- an optimal value is first selected as a value of each spraying parameter.
- the selecting step, the calculating step, and the determining step are each performed at least once, and each of the thermal spraying selected in the second and subsequent selecting steps is performed.
- the value of the ° parameter is a ⁇ , which is the preceding statement. At least one of the parameters was changed from an optimal value to an acceptable value.
- the present invention is a product in which a thermal spray coating is formed on an object to be sprayed, which is manufactured by a method in which a thermal spray condition is determined by a computer using a thermal spraying apparatus having a thermal spray gun and the thermal spraying is performed.
- the method comprises the steps of providing shape data of the object to be sprayed and sprayed material data, and values corresponding to a plurality of spraying parameters that determine the spray quality, for each sprayed material corresponding to the obtained spray quality.
- the object to be sprayed is a combustor liner or a transition piece constituting a part of a gas turbine power plant.
- spraying can be performed by selecting the spraying conditions and calculating the trajectory of the spray gun for the object to be sprayed of any shape regardless of the two-dimensional shape or the three-dimensional shape. Also, the time required to develop a thermal spray program can be reduced.
- FIG. 1 is a view showing one embodiment of the present invention, and is a view showing an entire configuration of a thermal spraying robot system
- FIG. 2 is a flowchart showing the operation of the thermal spray robot system.
- Figure 3 is a diagram showing the relationship between the quality level of distance and spray coating the spray gun and the object to be sprayed was 4 Figure shows the relationship between the angle and the quality level of the sprayed coating of the spray gun and the object to be sprayed product c Figure 5 shows the relationship between the moving speed of the spray gun relative to the object to be sprayed and the quality level of the sprayed coating.
- Figure 6 is a schematic diagram showing the quality level of the thermal spray coating
- FIG. 7 is a view showing a combustor liner which is the object to be sprayed in the first embodiment, where FIG. 7 (a) is a plan view, FIG. 7 (b) is a side view,
- FIG. 8 is a view showing a transition piece which is a sprayed object in the second embodiment, where FIG. 8 (a) is a perspective view, FIG. 8 (b) is a partially cutaway side view,
- FIG. 9 is a diagram showing a triangular prism-shaped object to be sprayed as the object to be sprayed in the third embodiment
- FIG. 10 is a diagram showing a frustum-shaped object to be sprayed as the object to be sprayed in the fourth example.
- FIG. 1 to 10 are diagrams showing an embodiment of the present invention.
- the thermal spray robot system includes an input unit 1 for inputting the shape data of the object to be sprayed 9 and thermal spray material data, and a plurality of thermal spray parameters corresponding to the type of thermal spray material. And a trajectory calculation unit 4 for calculating the trajectory of the spray gun 14 provided in the spraying device 10, a spraying device 10 for spraying the object to be sprayed 9, It has.
- the thermal spraying condition database 3 and the trajectory calculating unit 4 constitute a thermal spraying condition determining unit 5.
- the thermal spraying device 10 has a thermal spray gun 14 for performing thermal spraying on the object 9 to be thermally sprayed, and an arm portion 15 for holding and moving the thermal spray gun 14.
- the arm 15 is driven by a servomotor (not shown).
- the thermal spraying device 10 has a robot driving unit 13 including the driver of the servo motor.
- the thermal spray gun 14 can move up and down and left and right and rotate under the control of the robot drive unit 13.
- thermal spraying device 10 is a thermal spray control unit that controls the operation state of the thermal spray gun 14 (that relates to thermal spraying conditions other than the main parameters described later, such as current, voltage, gas flow rate, etc.). Has 1 2
- the robot driving unit 13 and the thermal spray control unit 12 are connected to the robot control unit 11.
- the robot control unit 11 is connected to the thermal spray condition determining unit 5 via the data transfer unit 6.
- the robot controller 11 controls the spray gun 14 based on the spray condition data from the spray condition determiner 5.
- the thermal spraying device 10 is a robot having a feedback control system to which the thermal spraying condition data (trajectory of the thermal spraying gun and thermal spraying parameters described later) transferred from the thermal spraying condition determining unit 5 are input as target values. Is achieved.
- a display unit (for example, a CRT) 2 is connected to the spraying condition determining unit 5 and the input unit 1, and the display unit 2 includes information from the spraying condition determining unit 5 and data input from the input unit 1. Is displayed.
- a display unit for example, a CRT
- each spray material shown in Tables 1 and 2 (Table 1 Z r 0 2 - corresponding to 8 wt% Y 2 0, Table 2 corresponds to the W and M 0) is a table of Is stored.
- Each table contains a number of parameters that determine the spray conditions and determine the resulting spray quality.
- Numerical power has been recorded for the thermal spray parameters.
- Numerical values for the thermal spray parameters are the value corresponding to the optimal thermal spray condition A that gives the best thermal spray coating, that is, the “optimum value”, and the quality of the thermal spray coating obtained when thermal spraying is performed under the optimal thermal spray condition A is inferior
- the value corresponding to the allowable spraying condition under which a thermally acceptable sprayed coating can be obtained, that is, the “allowable value” is memorized.
- the permissible thermal spraying conditions are classified into two stages: the primary condition B, in which a thermal sprayed coating conforming to the optimal thermal spraying condition A is obtained, and the secondary condition C, in which a thermal sprayed coating inferior to the primary thermal spraying condition is obtained. .
- Thermal spray parameters Optimal conditions
- A Condition 1
- B Condition 2
- Auxiliary gas H2 (l / min) 6.5 ⁇ O.5 5 ⁇ 9 3 ⁇ 14
- Spraying distance 95-100 80-110 60-130 Moving speed (mm / s) 190-210 150-300 100-400 Angle (deg) 85-95 75-105 55-: L25 current (A) 580 to 620 520 to 700 400 to 800 Voltage (V) 58 to 62 55 to 70 50 to 80
- Plasma gas Ar (l / min) 48 to 52 40 to 60 30 to 70
- Auxiliary gas H2 (l / min) 18 ⁇ 22 15 ⁇ 25 10 ⁇ 30 6 (a) to 6 (c) are diagrams schematically showing the cross sections of the sprayed coating obtained corresponding to each spraying condition.
- reference numeral 21 denotes the object to be sprayed
- 22 denotes the object to be sprayed. Indicates pores, respectively.
- the spraying parameters include a distance d (hereinafter, simply referred to as “spraying distance d”) from the object 9 to the spray gun 14 and a value of the spray gun 14.
- the moving speed V (hereinafter simply referred to as “moving speed v”) with respect to the object 1 and the angle between the spraying direction of the spray gun 14 and the surface of the object 1 (hereinafter simply referred to as “spray angle 0”) )).
- These spraying distance d, moving speed V and spraying angle S are called “major parameters overnight”.
- the voltage applied between the positive and negative electrodes of the spray gun 14 to generate an arc hereinafter referred to as “applied voltage”)
- And current value (hereinafter referred to as “applied current”) and plasma gas
- the thermal spray condition determining unit 5 is implemented by a computer device. Will be revealed. Therefore, the trajectory calculation unit 4 can be realized as a program module that operates on a computer.
- a program including such a program module is stored in various storage media readable by a computer such as an internal storage device such as a memory or a hard disk on a computer and an external storage device such as a flexible disk or a CD-ROM.
- the functions described below are realized by being sequentially read and executed by a CPU (Central Processing Unit) on a computer.
- the input data of the sprayed object and the sprayed material data are temporarily stored, and the calculated data is temporarily stored.
- Internal memory described above 11 Memory is typically used on a computer.
- the thermal spray condition database 3 read by the locus calculation program is stored in an internal storage such as a hard disk or in an external storage device such as a flexible disk or a CD-ROM.
- the input unit 1 typically has an input device such as a keyboard and a mouse.
- the input unit 1 further includes a reading device for reading a recording medium on which shape data (for example, CAD data) of the object to be sprayed is recorded, for example, a recording medium such as a flexible disk, a CD-R ⁇ M, an MO disk, and a DVD. It may further include a device capable of directly receiving CAD data from the design computer.
- the display unit 2 is realized by a CRT, a liquid crystal display device, or the like.
- the data transmission unit 6 for transferring data from the thermal spray condition determining unit 5 to the thermal spraying device 10 is realized by an output device of a computer device and a cable connecting the output device and the robot control unit.
- the data transfer unit 6 is not limited to such online transfer means, but may be means for realizing offline transfer using a recording medium such as a flexible disk, a CD-ROM, an MO disk, and a DVD.
- a recording medium such as a flexible disk, a CD-ROM, an MO disk, and a DVD.
- the overnight apparatus and the thermal spraying apparatus are provided with a recording apparatus and a reproducing apparatus for the recording medium.
- thermal spray material data (data indicating the type of thermal spray material) is input from the input unit 1 (step 101), and then, shape data of the object to be sprayed is input (step 102).
- the data input method may be a keyboard input or an off-line input such as a floppy disk or an optical disk.
- the trajectory calculation unit 4 of the spray condition determination unit 5 fetches a value (optimum value) corresponding to the optimum spray condition A for each spray parameter from the spray condition database 3 (step 103).
- the part 4 selects a table corresponding to the thermal spray material data input from the input part 1 from each table stored in the thermal spray condition database 3.
- the spray material is Z R_ ⁇ 2 - 8
- For wt% Y Ri ⁇ 3 is Te one table force shown in Table 1 ⁇ Selection. Then, the trajectory calculation unit 4 selects a value (optimum value) corresponding to the optimal spraying condition A for each thermal spray parameter from the selected table.
- the trajectory calculation unit 4 calculates the trajectory of the spray gun 14 based on the optimum values of the main parameters, that is, the spray distance d, the moving speed v, and the spray angle among the selected spray parameters. Yes (step 104).
- the “trajectory” here is used to include not only the position information of the spray gun 14 but also the speed information of the spray gun 14.
- the form of the trajectory to be calculated is determined by the trajectory calculation program of the trajectory calculation unit 4 according to the shape of the object to be sprayed. For example, when spraying continuously on the inner surface of a cylindrical part, a conical part, a prismatic part, or the like shown in the embodiments described later, the calculation is performed so as to form a spiral trajectory.
- the trajectory calculation unit 4 calculates the spray distance d, the moving speed v, and the spray based on the determined trajectory form and the shape of the spray surface of the object 9 to be sprayed.
- the trajectory of the spray gun 4 that can keep the angle ⁇ at the optimum value is calculated.
- the optimum value of the lame has a predetermined width, and the trajectory of the spray gun 14 is calculated within the range of the predetermined width in each of the spraying distance d, the moving speed v, and the spraying angle S. Are appropriately combined. The same applies to the case where the trajectory of the spray gun 14 is calculated by using some of the main parameters as primary or secondary conditions. In addition, it is preferable to calculate the trajectory of the spray gun 14 with the optimum values of the main parameters such as the spraying distance d, the moving speed v, and the spraying angle 0 being constant, but the optimum values of the main parameters have a predetermined width. Therefore, the main parameters used as the basis for calculating the trajectory of the spray gun 14 do not necessarily have to be constant, but may be varied within the range of the optimum value.
- the trajectory calculation unit 4 calculates the trajectory of the spray gun 14 calculated in step 104, the shape of the spray gun 14 of the spraying device 10, the shape of the arm unit 15, and By comparing with the shape of the object 9 to be sprayed, it is determined whether or not it is possible to actually execute the spraying based on the calculated trajectory (step 105).
- Step 105 the drive trajectory of the spray gun 14 having the calculated driving capability of the arm 15 of the spraying device 10 is sufficient. It is also determined whether or not it is appropriate. It should be noted that a specific method and an example of this determination will be described in an embodiment to be described later.
- the spraying condition determining unit 5 transmits the spraying parameters corresponding to the optimum spraying condition via the data transfer unit 6 and the process in step 104.
- the calculated trajectory of the spray gun 14 and the It is sent to the robot controller 11. This data transfer may be performed not only by the communication cable but also off-line such as a floppy disk or optical disk.
- the robot control unit 11 sends the trajectory of the spray gun 14 to the robot drive unit 13 and sends the values of the spray parameters other than the main parameters to the spray control unit 12.
- the thermal spraying apparatus 10 performs thermal spraying on the object 9 to be sprayed according to the received value of the thermal spray parameter and the trajectory of the thermal spray gun 14 (step 106).
- step 105 if it is determined in step 105 that the spraying under the optimum spraying conditions is not possible, the spraying condition determining unit 5 displays the fact on the display unit 2 and displays the main parameters (spraying distance d, moving speed v). , Spraying angle 0) is the most important parameter
- key parameter (Hereinafter referred to as “key parameter”) to the operator (step 107).
- the number of input key parameters may be one or two.
- the trajectory calculation unit 4 maintains the input key parameter value at the “optimal value” corresponding to the optimal spraying condition A, and outputs the main parameters other than the key parameter from the thermal spraying condition database 3. ,.
- the trajectory calculation unit 4 recalculates the trajectory of the spray gun 14 based on the maintained key parameter value and the value of the spray parameter as the first condition B (step 109).
- the trajectory calculation unit 4 determines whether or not spraying can be performed based on the trajectory of the spray gun recalculated based on the shape and performance of the thermal spraying device 10, the shape of the object 9 to be sprayed, and the like (step Step 110).
- the trajectory calculating unit 4 calculates the re-determined value of the spraying parameter and the calculated trajectory of the spray gun 14. Is sent to the robot controller 11 of the thermal spraying device 10.
- the thermal spraying apparatus 10 performs thermal spraying on the object 1 to be sprayed according to the received parameters—evening values and the trajectory of the thermal spray gun 14 (step 1 1 1).
- step 110 if it is determined in step 110 that spraying is not possible, the trajectory calculation unit 4 of the spray condition determination unit 5 displays the fact on the display unit 2 (step 1 12), and the key from the spray condition database 3 is displayed. The main parameters other than one parameter are taken as the second missing condition and the value of the spray parameter is extracted. The trajectory calculation unit 4 recalculates the trajectory of the spray gun 14 based on the maintained key parameter values and the values of the thermal spray parameters as the second condition C (step 113).
- the trajectory calculation unit 4 determines whether or not spraying is possible based on the recalculated trajectory of the spray gun, based on the shape and performance of the thermal spraying device 10, the shape of the object 9 to be sprayed, and the like (step). 1 1 4)
- the thermal spraying condition determining unit 5 sends the thermal spraying data that has been determined again via the data transfer unit 6.
- the lame and the calculated trajectory of the spray gun 14 are sent to the robot control unit 11 of the spray device 10.
- the thermal spraying device 10 performs thermal spraying on the object 9 to be sprayed according to the received parameters and the trajectory of the thermal spray gun 14 (step 1 15).
- the thermal spraying is performed.
- the condition determination unit 5 displays the fact on the display unit 2 (step 1 16), and inquires of the operator whether or not to change the key parameter (step 1 17).
- the spray condition determination unit 5 sends the redetermined value of the spraying parameter and the calculated trajectory of the spray gun 14 to the robot controller 11 of the welding device 10 via the data transfer unit 6.
- Spraying equipment 10 is the received spraying parameters Is sprayed on the object to be sprayed 9 in accordance with the value of and the trajectory of the spray gun 14.
- step 1 1 4 If it is determined that even if the key parameters are changed and the processing of steps 108 to 116 described above is performed and the changed key parameters are set to the optimum values, the spraying power is not possible (step 1 1 4)
- the trajectory calculation unit 4 recalculates the trajectory of the spray gun 14 with all the main parameters as those of the primary or secondary conditions that are the allowable spraying conditions (step 1 18).
- Step 118 is also performed in the case where it is determined in step 117 that the key parameters are not changed.
- the trajectory calculation unit 4 determines whether or not spraying is possible under the spraying conditions calculated in step 118 (step 119), and when it is determined that spraying is possible, the spraying condition determination unit 5
- the re-determined thermal spray angle, the value of the ° parameter, and the calculated trajectory of the thermal spray gun 14 are sent to the robot controller 11 of the welding device 10 via the data transfer unit 6.
- the thermal spraying apparatus 10 performs thermal spraying on the object 9 to be sprayed according to the received parameters and the trajectory of the thermal spray gun 14 (step 120).
- step 119 if it is determined in step 119 that the spraying is impossible, the trajectory calculation unit 4 displays the fact and calculates again the trajectory of the spray gun 14 capable of the spraying force (step 122). .
- step 121 even if the main parameters (spraying distance d, moving speed v, spraying angle 0) deviate from the secondary conditions, the calculation of the trajectory is performed ignoring that fact.
- the operator determines that the spraying can be performed based on the spraying parameters (steps 123)
- the operator inputs that fact through the input unit 1.
- the thermal spray condition determining unit 5 sends the values of the thermal spray parameters described above to the robot control unit 11, and the thermal spray parameters are determined.
- Thermal spraying is performed using the trajectory calculated based on the lame and its thermal spray parameters (step 124).
- the thermal spraying is not performed (steps 125)
- step 111, 115 the thermal spraying is performed immediately (steps 111, 115). , 120), but not limited to, between step 110 and step 111, between step 114 and step 115, and Z or step 1
- a step may be provided for inquiring of the operator whether or not to perform the thermal spraying.
- the spraying object 9 is set to have substantially constant spraying conditions over the entire area, but the present invention is not limited to this, and the spraying object 9 is divided into two or more regions.
- the spraying conditions may be determined by using different main parameter values for each region (for example, the first region as the optimum value and the second region as the secondary condition) (second to fourth embodiments) See).
- the spraying condition can be automatically determined according to the shape of the object to be sprayed. Also, the time required to develop a thermal spray program can be significantly reduced.
- FIG. 7 shows a combustor liner 31 which is a part of a gas turbine power plant as a material to be sprayed.
- the combustor liner 31 has a cylindrical shape as a whole. At one end, an opening 3 1a smaller than the inner diameter of this combustor liner 31 is formed, and at the other end, the opening 3 1 is completely open and has the same diameter as the inner diameter of this combustor liner 31. has b.
- the inner diameter of this combustor liner 31 depends on its power generation capacity. The larger the output power, the larger the inner diameter, and the smaller the output, the smaller the size.
- the inner surface is subjected to blast treatment, then the inner surface is coated with a metal layer, and then the inner surface is coated with a ceramic layer.
- the spraying gun is inserted into the center of the inside through the opening 31b and the coating force is achieved by rotating the spraying gun 14 or the combustor liner 31.
- the trajectory calculation unit 4 determines in step 104 the spray gun 14 The trajectory of the spray gun 14 was calculated so that the trajectory drawn a spiral trajectory on the inner peripheral surface of the combustor liner 31.
- step 105 it was determined that spraying was not possible under the condition that the distance d between the spray gun 14 and the object to be sprayed was set to the optimum value.
- the reason is that in a 1500 KW-class gas turbine, the internal diameter of the combustor liner 31 is about 200 mm, so the actual dimensions of the spray gun 14 and the shape of the arm 15 are taken into account.
- the optimum distance between the spray gun 14 and the object to be sprayed that is, 95 to 100 mm could not be obtained.
- the operator is required to set a distance other than the distance d between the spray gun 14 and the object to be sprayed, that is, The angle 0 and the moving speed V of the spray gun 14 were selected as key parameters and input from the input device 1 (step 108). Then, the trajectory of the spray gun 14 is automatically recalculated (step 109), the angle S and the moving speed V of the spray gun are optimized, and the spray distance d is the primary condition. It was found that thermal spraying was possible under the conditions shown in Table 3 in mm (step 110).
- the combustor liner 31 which is the object to be sprayed has a rotationally symmetric shape about a predetermined axis and the shape is constant in the axial direction. It was possible to carry out thermal spraying under the same thermal spraying conditions over the entire inner peripheral surface.
- FIG. 8 shows a transition piece 32 which is a part of a gas evening bin power generation plant as an object to be sprayed.
- the transition piece 32 has openings 32a and 32b (entrances) at both ends.
- the inner surface of the transition piece 32 is formed by a curved surface whose curvature changes as shown in FIG. 8 (b), and the inner cross-sectional shape is constant. Absent.
- the spraying condition determination processing up to step 105 was performed according to the flowchart shown in FIG. 2, and when the center of the inner surface of the transition piece 32 was coated. It was determined that it was impossible to perform spraying under the optimum spraying conditions for all of, spraying distance d, angle, and moving speed V. The main reason is that the arm 15 holding the spray gun 14 collides with the periphery of the opening regardless of whether the spray gun 14 is inserted into the transition piece 3 2 from the opening 3 2a or 3 2b. It was to do. In the vicinity of the opening 32a and 32b, it was confirmed that the spraying was performed under the optimum spraying conditions in all of the spraying distance d, angle and moving speed V.
- FIG. 9 shows a triangular prism-shaped object to be sprayed 34 whose both ends are open as the object to be sprayed.
- the thermal spraying conditions are different between the end portion and the central portion. That is, at the end, the spraying conditions are determined with the spraying distance d being the optimum value, the moving speed V being within the range of the second condition, and the angle »being within the range of the first condition. That is, the spraying conditions are determined at the stage of step 114 in the flowchart of FIG.
- the spraying conditions were determined with the spraying distance d within the range of the second condition, the moving speed V within the range of the second condition, and the angle 0 outside the range of the second condition. Have been. That is, the spray conditions are determined at the stage of step 123 in the flowchart of FIG.
- FIG. 10 shows a hollow frustum-shaped sprayed object 35 as a sprayed object, and the dimensions shown in the figure are the dimensions of the inner surface of the frustum-shaped sprayed object 35.
- the sprayed object 35 has a rotationally symmetric shape around a predetermined axis, so that the trajectory calculation unit 4 determines the spray gun 14 in step 104.
- the gauge of the spray gun 14 was calculated so that a spiral trajectory was drawn on the inner peripheral surface of the frustum-shaped spray target 35.
- the moving speed v, the distance d, and the spray angle 0 of the spray gun 14 are allowed. Even if the drive trajectory of the spray gun 14 was recalculated as the value (secondary condition), the system determined that the coating could not be performed even under the second condition (step 1 19 in the flowchart of FIG. 2). Equivalent).
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- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Materials Engineering (AREA)
- Mechanical Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Coating By Spraying Or Casting (AREA)
- Spray Control Apparatus (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP97944191A EP0952237A4 (en) | 1996-10-21 | 1997-10-21 | SPRAYING SYSTEM AND SPRAYING PROCEDURE IN THE SPRAY CONDITIONS TO BE DETERMINED BY USING THE COMPUTER |
US09/284,474 US6348232B1 (en) | 1996-10-21 | 1997-10-21 | Spraying robot system and spraying method wherein spray conditions are determined by using computer |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8/278434 | 1996-10-21 | ||
JP27843496 | 1996-10-21 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998017837A1 true WO1998017837A1 (fr) | 1998-04-30 |
Family
ID=17597296
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1997/003796 WO1998017837A1 (fr) | 1996-10-21 | 1997-10-21 | Systeme de pulverisation automatique et procede de pulverisation dans lequel les conditions de pulverisation sont determinees par ordinateur |
Country Status (3)
Country | Link |
---|---|
US (1) | US6348232B1 (ja) |
EP (1) | EP0952237A4 (ja) |
WO (1) | WO1998017837A1 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GR1003298B (el) * | 1999-01-08 | 2000-01-18 | Interceramic S.E. �.�. | Μεθοδος επιλεκτικης επιγομωσης ελασματων με κεραμομεταλλικα υλικα και κατασκευη εξαρτηματων εξ'αυτων με ειδικα χαρακτηριστικα, σε μια φαση παραγωγης |
WO2000029635A2 (en) * | 1998-11-13 | 2000-05-25 | Thermoceramix, L.L.C. | System and method for applying a metal layer to a substrate |
JP2002080956A (ja) * | 2000-09-07 | 2002-03-22 | Daihen Corp | 急激変化溶射面を有する傾斜溶射面の溶射加工方法 |
JP2012149342A (ja) * | 2010-12-21 | 2012-08-09 | Siemens Ag | コーティング経路生成の方法および装置 |
KR20200097893A (ko) * | 2019-02-11 | 2020-08-20 | 정찬옥 | 다수의 용사로봇을 이용한 용사코팅장치 |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10041433C2 (de) * | 2000-08-23 | 2002-06-13 | Flumesys Gmbh Fluidmes Und Sys | Vorrichtung zur Messung eines Masse-Stromes |
GB0026868D0 (en) | 2000-11-03 | 2000-12-20 | Isis Innovation | Control of deposition and other processes |
JP4520626B2 (ja) * | 2000-11-27 | 2010-08-11 | 池袋琺瑯工業株式会社 | グラスライニングの施工方法 |
DE10154284A1 (de) * | 2001-11-05 | 2003-05-15 | Rolls Royce Deutschland | Verfahren zum automatischen Auftragen einer Oberflächenschicht |
DE10203884A1 (de) * | 2002-01-31 | 2003-08-14 | Flumesys Gmbh Fluidmes Und Sys | Vorrichtung und Verfahren zum thermischen Spritzen |
US20050236266A1 (en) * | 2002-06-19 | 2005-10-27 | Poole John E | Sputter target monitoring system |
DE102007026041A1 (de) * | 2006-11-28 | 2008-06-12 | Abb Ag | Verfahren zur Ermittlung von Sprühparametern zur Steuerung eines Sprühmittels einsetzenden Lackiergerätes |
DE102009023605A1 (de) * | 2009-06-02 | 2010-12-09 | Daimler Ag | Vorrichtung und Verfahren zum thermischen Beschichten |
CN113755783A (zh) * | 2020-07-28 | 2021-12-07 | 英迪那米(徐州)半导体科技有限公司 | 一种钢材表面电弧喷涂处理方法 |
Citations (7)
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JPH0280546A (ja) * | 1988-09-14 | 1990-03-20 | Onoda Cement Co Ltd | 膜厚の調整装置 |
JPH04120259A (ja) * | 1990-09-10 | 1992-04-21 | Agency Of Ind Science & Technol | レーザ溶射法による機器・部材の製造方法および装置 |
JPH0615448A (ja) * | 1992-06-29 | 1994-01-25 | Nittetsu Hard Kk | 不均一凹凸面全自動肉盛溶接方法およびその装置 |
JPH0693403A (ja) * | 1992-09-11 | 1994-04-05 | Nippon Steel Corp | 被膜形成のための条件決定方法 |
JPH07218148A (ja) * | 1994-02-01 | 1995-08-18 | Nippon Steel Corp | 耐火物の溶射補修方法と装置 |
JPH0874443A (ja) * | 1994-09-02 | 1996-03-19 | Tomoe Corp | 現場溶接後の後処理方法および後処理システム装置 |
JPH08120436A (ja) * | 1994-10-17 | 1996-05-14 | Suzuki Motor Corp | 溶射条件決定方法 |
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US4334495A (en) * | 1978-07-11 | 1982-06-15 | Trw Inc. | Method and apparatus for use in making an object |
JPH02250783A (ja) * | 1989-03-20 | 1990-10-08 | Fanuc Ltd | 溶射ロボットの溶射方式 |
US5600759A (en) * | 1989-03-20 | 1997-02-04 | Fanuc Ltd. | Robot capable of generating patterns of movement path |
-
1997
- 1997-10-21 US US09/284,474 patent/US6348232B1/en not_active Expired - Fee Related
- 1997-10-21 EP EP97944191A patent/EP0952237A4/en not_active Withdrawn
- 1997-10-21 WO PCT/JP1997/003796 patent/WO1998017837A1/ja not_active Application Discontinuation
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0280546A (ja) * | 1988-09-14 | 1990-03-20 | Onoda Cement Co Ltd | 膜厚の調整装置 |
JPH04120259A (ja) * | 1990-09-10 | 1992-04-21 | Agency Of Ind Science & Technol | レーザ溶射法による機器・部材の製造方法および装置 |
JPH0615448A (ja) * | 1992-06-29 | 1994-01-25 | Nittetsu Hard Kk | 不均一凹凸面全自動肉盛溶接方法およびその装置 |
JPH0693403A (ja) * | 1992-09-11 | 1994-04-05 | Nippon Steel Corp | 被膜形成のための条件決定方法 |
JPH07218148A (ja) * | 1994-02-01 | 1995-08-18 | Nippon Steel Corp | 耐火物の溶射補修方法と装置 |
JPH0874443A (ja) * | 1994-09-02 | 1996-03-19 | Tomoe Corp | 現場溶接後の後処理方法および後処理システム装置 |
JPH08120436A (ja) * | 1994-10-17 | 1996-05-14 | Suzuki Motor Corp | 溶射条件決定方法 |
Non-Patent Citations (4)
Title |
---|
MITSUBISHI HEAVY INDUSTRIES REVIEW, MITSUBISHI HEAVY INDUSTRIES, LTD., Tokyo, 30 November 1985, Vol. 22, No. 6, MICHITSUNE SHIMA et al., "System Technology and Control Technology of Mitsubishi Heavy Industries, Ltd. (in Japanese)", pages 4-35. * |
MITSUBISHI HEAVY INDUSTRIES REVIEW, MITSUBISHI HEAVY INDUSTRIES, LTD., Tokyo, 30 November 1985, Vol. 22, No. 6, NOBUYUKI MASUDA et al., "Development of Turbin Blade FMS (in Japanese)", pages 105-112. * |
R&D KOBE STEEL ENGINEERING REPORTS, KOBE STEEL, LTD., Kobe, 1 July 1990, Vol. 40, No. 3, MASAMI KONISHI, "Expert System and Its Practical Application (in Japanese)", pages 5-8. * |
See also references of EP0952237A4 * |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000029635A2 (en) * | 1998-11-13 | 2000-05-25 | Thermoceramix, L.L.C. | System and method for applying a metal layer to a substrate |
WO2000029635A3 (en) * | 1998-11-13 | 2000-09-08 | Thermoceramix L L C | System and method for applying a metal layer to a substrate |
GR1003298B (el) * | 1999-01-08 | 2000-01-18 | Interceramic S.E. �.�. | Μεθοδος επιλεκτικης επιγομωσης ελασματων με κεραμομεταλλικα υλικα και κατασκευη εξαρτηματων εξ'αυτων με ειδικα χαρακτηριστικα, σε μια φαση παραγωγης |
JP2002080956A (ja) * | 2000-09-07 | 2002-03-22 | Daihen Corp | 急激変化溶射面を有する傾斜溶射面の溶射加工方法 |
JP2012149342A (ja) * | 2010-12-21 | 2012-08-09 | Siemens Ag | コーティング経路生成の方法および装置 |
KR20200097893A (ko) * | 2019-02-11 | 2020-08-20 | 정찬옥 | 다수의 용사로봇을 이용한 용사코팅장치 |
KR102205436B1 (ko) * | 2019-02-11 | 2021-01-19 | 정찬옥 | 다수의 용사로봇을 이용한 용사코팅장치 |
Also Published As
Publication number | Publication date |
---|---|
EP0952237A1 (en) | 1999-10-27 |
US6348232B1 (en) | 2002-02-19 |
EP0952237A4 (en) | 2006-12-06 |
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