Automatic blade coating system for coating

Abstract

The automatic blade coating system comprises an industrial robot, a force control device, a rotary table, a product quick-change device, a lifting transfer vehicle, an end effector and a pressing device, after being received, the product is directly loaded into the lifting transfer trolley, and the product to be scraped or polished is placed on the product quick-changing device through the lifting transfer trolley; the pressing device is used for pressing the product; the industrial robot is in linkage with the rotary table and holds the end effector to conduct blade coating or polishing operation on products, the operation control mode is force-position mixed control, blade coating and polishing downward pressure is automatically adjusted through feedback of a force control device, and constant-force construction in the whole process is kept. The method is applied to coating construction production, and the construction efficiency, the safety and the quality consistency of coating products are improved.

Description

Technical Field

[0001] The invention relates to an automatic coating scraping system and belongs to the technical field of surface engineering. Background Art

[0002] The traditional coating preparation process is mainly a spraying process, and solvents need to be added during the spraying process to adjust the optimal viscosity suitable for spraying. The addition of solvents requires anti-static and explosion-proof requirements for the construction environment, and the volatilization of solvents also poses a hidden danger to the health of operators. The paint scraping process does not add solvents during the raw material preparation and construction process, which can reduce the dependence on special production sites such as spray rooms. At the same time, scraping is also convenient for the rapid construction of thick coatings, which is conducive to improving product production efficiency. However, scraping is still performed manually. During the scraping process, the operator's scraper usage method, scraper angle, and force are different on different parts of the same product, and different operators have different scraping skills. This leads to differences in coatings at different locations on the same product and coatings in different batches; at the same time, the influence of air drawn into the scraping process will also cause uneven coating and poor product quality stability. Summary of the invention

[0003] The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art, to achieve uniformity and consistency of coating performance by automating the scraping and polishing process, to reduce defects after coating curing, and to reduce quality risks during product trial.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] An automatic coating scraping system includes an industrial robot, a force control device, a turntable, a product quick change device, a lifting transfer vehicle, an end effector and a clamping device;

[0006] After receiving the product, it is directly loaded into the lifting transfer vehicle, and the product to be scraped or polished is placed on the product quick change device through the lifting transfer vehicle; the pressing device is used to press the product;

[0007] The industrial robot is linked to the turntable and operates the end effector to scrape or polish the product. The operation control method is force-position mixed control. The scraping and polishing pressure is automatically adjusted through the feedback of the force control device to maintain constant force throughout the construction process.

[0008] A coating method based on the above-mentioned automatic coating system comprises:

[0009] Receive the product, install it on the sub-disc of the product quick-change device, use the lifting transfer vehicle to move the product to the top of the turntable, so that the product falls on the mother disc of the product quick-change device. After the product is placed, the rotating pressure plate of the clamping device falls on the top of the product to prevent the product from moving; install the grinding end effector at the end of the force control device; start the system, and perform constant force grinding on the product substrate through the force control device and the grinding end effector;

[0010] Install the scraping end effector at the end of the force control device; add paint to the pressure barrel of the scraping end effector, cover the barrel cover, turn on the air source, and start the system; the product rotates on the turntable, and the product substrate is scraped with constant force through the force control device and the scraping end effector; after the scraping is completed, raise the top clamping device, shake the hand wheel of the lifting transfer vehicle to lift the product, and transfer it to the air-drying area for curing;

[0011] Use a lifting transfer vehicle to move the product after coating solidification to the mother plate. After the product is placed, the clamping device on the top falls on the top of the product to prevent the product from moving. Install the polishing end effector at the end of the force control device. Start the system and perform constant force polishing on the product coating through the force control device and the polishing end effector.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] (1) The present invention is applied to coating construction production to improve the efficiency and safety of construction and the quality consistency of coating products.

[0014] (2) The present invention uses air pressure combined with a screw pump (33) to transport high-viscosity special functional coatings, can transport high-viscosity coatings, and can achieve output flow control by adjusting the rotation speed of the screw pump (33).

[0015] (3) The present invention can be equipped with a coating end effector (32) or a polishing end effector (3), and can achieve stable coating of a certain thickness of the coating through force-position control, and can also achieve automatic polishing of the substrate / coating surface.

[0016] (4) The present invention realizes rapid loading and unloading of workpieces through a product quick-change device (7). The products are installed on a sub-disk (71) of the product quick-change device (7) during the intermediate process from receiving to delivery, which facilitates the distinction, circulation and storage of work-in-progress.

[0017] (5) The present invention achieves uniformity of coating performance through automated improvement of the coating scraping process, reduces defects after coating curing, and reduces quality risks during product trial use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of coating scraping system.

[0019] Figure 2 Schematic diagram of the end effector.

[0020] Figure 3 It is a schematic diagram of the structure of the lifting and transferring vehicle.

[0021] Figure 4 This is a schematic diagram of the product quick-change device structure.

[0022] Figure 5 It is a schematic diagram of the structure of the clamping device. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0024] A coating automatic scraping system comprises: an industrial robot 1, a force control device 4, a turntable 6, a product quick change device 7, a lifting transfer vehicle 5, an end effector 3 and a clamping device 8, such as Figure 1 As shown. After receiving the product, it is directly loaded into the lifting transfer vehicle 5, and the product to be scraped or polished is placed on the product quick change device 7 through the lifting transfer vehicle 5. The industrial robot 1 is linked to the external axis turntable 6, and the end effector 3 is operated to scrape or polish the product. The robot scraping and polishing operation control mode is force-position mixed control, and the scraping and polishing pressure is automatically adjusted through the feedback of the force control device 4 to maintain constant force construction throughout the whole process.

[0025] The lifting transfer vehicle 5 includes a frame 51, a reducer 52, a lead screw 53, a tray 54, and a hand wheel 55. Figure 3 The reducer 52, the lead screw 53, the tray 54, and the hand wheel 55 are respectively installed on the frame 51. The hand wheel 55 is connected to the lead screw 53 through the reducer 52 to drive the tray 54 to move up and down. The tray 54 is provided with a positioning pin, which can locate the sub-tray 71 of the product quick change device 7 for placing and transferring products.

[0026] The product quick-change device 7 comprises a sub-disc 71 and a mother disc 72. A positioning pin hole structure 74 is installed on the mother disc 72. Figure 4 sub-disc 71 is provided with a positioning pin 73 on the bottom surface, the top surface can be installed with a lifting ear, the sub-disc 71 has positioning pin holes on both sides for positioning the tray 54 with the lifting transfer vehicle 5.

[0027] The end of the force control device 4 is equipped with an end effector 3, which is a coating end effector or a polishing end effector. The coating end effector is composed of a pressure barrel 35, a material delivery pipeline 34, a screw pump 33 and a scraper 32. Figure 2As shown, the viscosity of the paint is relatively high. The compressed air above the pressure barrel 35 delivers the paint to the inlet of the screw pump 33 through the feeding pipeline 34. The screw pump 33 controls the flow of the paint. The end is connected to the scraper 32 to scrape the paint onto the surface of the product. The polishing end effector consists of a pneumatic polishing head 31 and a solenoid valve. The solenoid valve receives the polishing signal and opens the polishing air path to realize automatic polishing.

[0028] The pressing device 8 comprises a rotating pressing plate 81 and a lifting device 82. Figure 5 When in use, by adjusting the lifting device 82 to make the rotating pressure plate 81 fall on the top of the workpiece, the movement of the workpiece can be reduced during the rotation of the workpiece.

[0029] The robot's scraping and polishing operation control method is a force-position hybrid control, and the position control adopts the robot's trajectory tracking control method; the force control relies on the force control device to detect the normal force of the action surface, and moves the scraping and polishing end effector through the degree of freedom in this direction to maintain a constant contact force with the product during operation. The robot motion control method adopts trajectory tracking control, so that the end effector 3 moves along a given trajectory in the base coordinate system. The trajectory followed by the robot is set as the position vector of the end effector 3 in the base coordinate system fixed in space, and PD feedback control is performed on the acceleration:

[0030]

[0031] Where: x is the current position of the robot, x d is the target position of the robot, K v is the speed feedback gain matrix, K p is the feedback gain matrix.

[0032] The robot is in the above formula When the acceleration is moving, the error equation is:

[0033]

[0034] Where: e = x d -x is the position error. Set K appropriately v , K p , stable control can be achieved.

[0035] The speed of each joint of the robot manipulator and the speed of the end effector The relationship can be written as Jacobi matrix:

[0036]

[0037] Integrating equation (3) with respect to time yields:

[0038]

[0039] Will Substitution The control law of the acceleration decomposition method is solved as follows:

[0040]

[0041] The acceleration decomposition method is used as a control method to perform dynamic control in the base coordinate system, and the end effector (3) of the robot operating arm is controlled to follow the target trajectory given in the base coordinate system to implement automatic scraping and grinding operations.

[0042] The invention discloses an automatic scraping method for a special functional coating, comprising: grinding a substrate with constant force (surface roughening treatment) before scraping, automatic scraping, and grinding the coating (surface polishing treatment) after curing.

[0043] Receive the product, install it on the sub-disc 71 of the product quick-changer 7, use the lifting transfer vehicle 5 to lift the product through the tray 54, and shake the hand wheel 55 to raise and move the product to the top of the external shaft turntable 6 equipped with the mother disc 72 of the product quick-changer 7. Shake the hand wheel 55 to drop the sub-disc 71 of the product quick-changer 7 onto the mother disc 72 of the product quick-changer 7 on the external shaft turntable 6. After the product is placed, the rotating pressure plate 81 of the clamping device 8 falls on the top of the product to prevent the product from moving. Install the grinding end effector at the end of the force control device 4. Start the system and start the automatic substrate grinding program. The product rotates on the turntable, and the robot operates the force control device 4 and the grinding end effector to perform constant force grinding on the product substrate.

[0044] Install the scraping end effector at the end of the force control device 4. Add paint to the pressure barrel 35, cover the barrel, turn on the air source, start the system, and start the automatic coating process. The product rotates on the turntable, and the robot operates the force control device 4 and the scraping end effector to scrape the product substrate with constant force. After the scraping is completed, raise the top clamping device, shake the hand wheel 55 of the lifting transfer vehicle 5 to lift the sub-disc 71 of the product quick-change device 7 from the mother disc 72 of the product quick-change device 7 on the external shaft turntable 6, and transfer the product to the air-drying area for curing.

[0045] After the coating is cured, the product is lifted up by the lifting transfer vehicle 5 through the tray 54, and the hand wheel 55 is shaken to raise and move the product to the top of the external shaft turntable 6 equipped with the product quick-change device 7 master disc 72. The hand wheel 55 is shaken to drop the product quick-change device 7 sub-disc 71 onto the product quick-change device 7 master disc 72 on the external shaft turntable 6. The product is placed, and the clamping device on the top falls on the top of the product to prevent the product from moving. The grinding end effector is installed at the end of the force control device 4. Start the system and start the automatic coating grinding program. The product rotates on the turntable, and the robot operates the force control device 4 and the grinding end effector to perform constant force grinding on the product coating.

[0046] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

[0047] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. An automatic coating scraping system, It is characterized in that It comprises an industrial robot (1), a force control device (4), a turntable (6), a product quick-change device (7), a lifting transfer vehicle (5), an end effector (3) and a clamping device (8); After the product is received, it is directly loaded into the lifting transfer vehicle (5), and the product to be scraped or polished is placed on the product quick change device (7) through the lifting transfer vehicle (5); the pressing device (8) is used to press the product; The industrial robot (1) is linked to a turntable (6) to operate an end effector (3) to perform scraping or grinding operations on the product. The operation control method is a force-position mixed control. The scraping and grinding pressure is automatically adjusted through the feedback of the force control device (4) to maintain constant force throughout the construction process.

2. The automatic coating scraping system according to claim 1, It is characterized in that The lifting and transferring vehicle (5) comprises a vehicle frame (51), a reducer (52), a lead screw (53), a tray (54), and a hand wheel (55); the reducer (52), the lead screw (53), the tray (54), and the hand wheel (55) are respectively mounted on the vehicle frame (51); the hand wheel (55) is connected to the lead screw (53) via the reducer (52) to drive the tray (54) to move up and down.

3. The automatic coating scraping system according to claim 1, It is characterized in that The tray (54) is provided with positioning pins for positioning the sub-tray (71) of the product quick-change device (7) for placing and transferring products.

4. The automatic coating scraping system according to claim 1, It is characterized in that The product quick-change device (7) comprises a sub-disc (71) and a mother disk (72); a positioning pin hole structure (74) is installed on the mother disk (72); a positioning pin (73) is installed on the bottom surface of the sub-disc (71), and positioning pin holes are opened on both sides of the sub-disc (71) for positioning with the tray (54) of the lifting transfer vehicle (5).

5. The automatic coating scraping system according to claim 1, It is characterized in that The end effector (3) is a coated end effector or a polished end effector.

6. The automatic coating scraping system according to claim 5, It is characterized in that The grinding end effector is composed of a pneumatic grinding head (31) and a solenoid valve. The solenoid valve receives a grinding signal and opens a grinding air path to realize automatic grinding.

7. The automatic coating scraping system according to claim 5, It is characterized in that The coating end effector comprises a pressure barrel (35), a material delivery pipeline (34), a screw pump (33) and a scraper (32). The compressed air above the pressure barrel (35) delivers the coating to the inlet of the screw pump (33) via the material delivery pipeline (34). The screw pump (33) controls the flow of the coating. The end is connected to the scraper (32) to scrape the coating onto the surface of the product.

8. The automatic coating scraping system according to claim 1, It is characterized in that The clamping device (8) comprises a rotating pressure plate (81) and a lifting device (82); when in use, the lifting device (82) is adjusted to make the rotating pressure plate (81) fall on the top of the product, thereby reducing the movement of the workpiece during the rotation of the product.

9. The automatic coating scraping system according to claim 1, It is characterized in that The control mode of the scraping and grinding operation is a force-position hybrid control, and the position control adopts the robot's trajectory tracking control mode; the force control relies on the force control device to detect the normal force of the action surface, and moves the scraping and grinding end effector through the degree of freedom in this direction to maintain a constant contact force with the product during operation; the motion control mode adopts trajectory tracking control, so that the end effector (3) moves along a given trajectory in a base coordinate system, and the track being followed is set as the position vector of the end effector (3) in the base coordinate system fixed in space, and PD feedback control is performed on the acceleration.

10. A coating method based on the automatic coating system according to claim 1, It is characterized in that include: Receive the product, install the product on the sub-disc (71) of the product quick-change device (7), use the lifting transfer vehicle (5) to move the product to the top of the turntable (6), so that the product falls on the mother disc (72) of the product quick-change device (7), and the product is placed. The rotating pressure plate (81) of the clamping device (8) falls on the top of the product to prevent the product from moving; install the grinding end effector at the end of the force control device (4); start the system, and perform constant force grinding on the product substrate through the force control device (4) and the grinding end effector; The scraping end effector is installed at the end of the force control device (4); paint is added to the pressure barrel (35) of the scraping end effector, the barrel cover is closed, the air source is turned on, and the system is started; the product rotates on the turntable, and the product substrate is scraped with constant force through the force control device (4) and the scraping end effector; after the scraping is completed, the top pressing device (8) is raised, and the hand wheel (55) of the lifting transfer vehicle (5) is shaken to lift the product and transfer it to the air-drying area for curing; The product after coating solidification is moved onto the mother plate (72) using a lifting transfer vehicle (5). After the product is placed, the clamping device (8) at the top falls on the top of the product to prevent the product from moving. The polishing end effector is installed at the end of the force control device (4). The system is started, and the product coating is polished with constant force through the force control device (4) and the polishing end effector.

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