Model placenta coating method

Abstract

The invention provides a model placenta coating method which comprises the following steps: a spraying mechanism starts spraying, and meanwhile, a posture monitoring subunit and a quality monitoring subunit respectively collect actual posture data and coating quality data of a model placenta at a preset frequency and feed back the actual posture data and the coating quality data to a control device; and the control device compares the actual posture data with the self-adaptive posture threshold value and compares the actual coating quality data with a preset quality threshold value, if any threshold value exceeds, posture adjustment and / or quality correction are / is executed, and spraying continues until the data return to the threshold value. According to the method, the surface profile is accurately obtained through visual scanning, and differentiated coating quality thresholds and self-adaptive attitude thresholds are preset for different types of special-shaped surfaces, so that the system can adjust the strategy according to surface conditions, the inherent defect that a coating is not uniform at the abrupt change position of the molded surface in a traditional pre-programming path is effectively overcome, and the accuracy of the pre-programming path is improved. And the coating consistency of the whole surface of the complex workpiece is obviously improved.

Description

Technical Field

[0001] This invention relates to the field of spraying methods, and more specifically to a method for coating a molded placenta. Background Technology

[0002] As a key tooling in industrial production, the uniformity and consistency of the surface coating of molded jigs directly affect the quality and lifespan of the final product. However, molded jigs typically have complex irregular surface structures, including continuous curved surfaces, deep holes, blind holes, and sharp edges; these irregular surfaces, due to abrupt changes in their geometric characteristics during the spraying process, affect the uniform coverage of the coating. Currently, automated spraying of complex workpieces mainly relies on pre-programmed robotic arm paths. Operators first perform a 3D scan of the workpiece, and then generate a spraying trajectory program offline based on point cloud data. While this method achieves automation, it has significant drawbacks: First, the system lacks real-time adaptability. During the spraying process, even minor clamping deviations of the workpiece, thermal deformation of the mechanical system, or motion errors can cause the pre-programmed path to deviate from the actual requirements, resulting in inaccurate spraying distances and angles. This is especially problematic in sensitive areas such as edges, corners, and the inner walls of holes, where defects such as excessively thick or thin coatings, or missed areas, are easily observed. Second, process monitoring and quality control are disconnected. Existing technologies typically use a single vision or thickness sensor for post-processing inspection, failing to link coating quality data with the precise posture data of the workpiece in real time during the spraying process. This prevents true closed-loop control and online correction from being achieved.

[0003] For example, Chinese patent (publication number CN112138852A) discloses a machine vision-based spraying system for irregularly shaped components, which identifies the outline of the component and plans the path through a camera, but does not involve the accurate monitoring and dynamic compensation of the component's real-time posture, which is still insufficient for high-precision coating requirements; Chinese patent (publication number CN115301527A) discloses an adaptive spraying device and method for curved workpieces, which introduces a distance sensor to adjust the height of the spray gun, but its adjustment dimension is single and does not consider the different requirements of different irregular surfaces (such as edges and holes) for coating quality, and lacks an intelligent decision-making system that integrates posture, outline and quality information. Therefore, this invention studies and designs a molded placenta coating method. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the existing mold plate coating method cannot meet the requirements of adaptive spraying of irregular surfaces, thereby providing a mold plate coating method.

[0005] To address the above problems, the present invention provides a method for coating a molded placenta, comprising the following steps: S1: The positioning mechanism is used to fix the mold placer to be sprayed above the mounting plate, and the control device initializes the basic parameters of the attitude monitoring subunit, the spraying mechanism and the quality monitoring subunit. S2: The attitude monitoring subunit collects the initial attitude data of the molded placenta, the vision scanning module obtains the surface contour data of the irregular surface of the molded placenta, and the quality monitoring subunit presets the coating quality threshold based on the irregular surface type. S3: The control device fuses and corrects the attitude data to obtain the initial attitude angle of the mold placenta, and trains the learning model based on the historical spraying dataset to generate an adaptive attitude threshold that fits various irregular surfaces. S4: The control device sends a command to the adjustment mechanism, which drives the adjustment mechanism to perform multi-directional attitude adjustment of the mold plate, so that the initial relative attitude between the first irregular surface of the mold plate to be sprayed and the spraying mechanism meets the preset requirements. S5: The spraying mechanism starts spraying. At the same time, the attitude monitoring subunit and the quality monitoring subunit collect the actual attitude data of the mold and the coating quality data at a preset frequency, and feed them back to the control device. S6: The control device compares the actual attitude data with the adaptive attitude threshold and the actual coating quality data with the preset quality threshold. If any threshold is exceeded, attitude adjustment and / or quality correction are performed until the data returns to within the threshold and then spraying continues. S7: After completing the spraying of the current irregular surface, the control device automatically switches to the next irregular surface based on the surface contour data, repeating steps S4 to S6 until all irregular surfaces are sprayed.

[0006] Preferably, the attitude monitoring subunit in step S2 includes an accelerometer, a magnetometer, and a gyroscope, and the visual scanning module is a 3D visual scanning module used to acquire the three-dimensional coordinates, radius of curvature of the irregular surface, and aperture-depth ratio information of the hole; In step S2, the coating quality threshold is set differently based on the irregular surface type, including a thickness threshold and a uniformity threshold, where continuous arc surfaces, holes and angular surfaces correspond to different threshold ranges.

[0007] Preferably, the data fusion correction in step S3 adopts a weighted fusion algorithm to dynamically allocate the weights of gyroscope data and acceleration-magnetic joint data in order to improve the accuracy of attitude angle calculation; In step S3, the learning model is a machine learning model, which is trained by associating posture deviations with coating quality defects in historical spraying data, so that the adaptive posture threshold is linked with the coating quality threshold.

[0008] Preferably, the multi-directional attitude adjustment in step S4 includes the adjustment of azimuth angle, pitch angle and roll angle, and the adjustment parameters are based on the differential control of irregular surface type, with the adjustment accuracy reaching within ±0.1°; Step S4 also includes generating the attitude baseline of the irregular surface, and controlling the angle between the baseline and the axis of the spray gun of the spraying mechanism through real-time feedback, so that the angle is ≤0.3°.

[0009] Preferably, the quality monitoring subunit in step S5 includes a thickness detection device and a surface uniformity detection device, and the detection point density is set based on the differential settings of the irregular surface type; The quality correction mentioned in step S6 includes adjusting the spray gun movement speed, spray flow rate, spray angle, atomization pressure, or touch-up spraying to optimize coating thickness and uniformity; Step S6 also includes an exception handling mechanism. If data deviations are detected multiple times in a row, process parameter diagnosis or fault investigation will be triggered. The spraying sequence of the irregular surface in step S7 is sorted based on the difficulty of posture adjustment and the coating quality requirements. The surface state of the next irregular surface is pre-collected before the surface is switched, and local preprocessing is performed if necessary.

[0010] The present invention also provides a molded placenta coating apparatus, comprising the molded placenta coating method described in any of the preceding claims, comprising: Frame; A mounting bracket is disposed on the top of the frame and movably connected to the frame, and a mounting plate is provided on the mounting bracket; A positioning mechanism is disposed on the mounting plate, and the positioning mechanism is rotatably connected to the mounting plate. The positioning mechanism is used to position the mold tray to be processed. An adjustment mechanism is provided for adjusting the multi-directional attitude of the mold plate on the positioning mechanism relative to the frame. The spraying mechanism is used to spray the molded placer and adaptively adjust the posture relative to the molded placer to spray different surfaces of the molded placer. A control device is connected to the adjustment mechanism and the spraying mechanism to control the multi-directional attitude of the mold platen relative to the frame and to adaptively adjust the attitude of the spraying mechanism relative to the mold platen. The control device is equipped with: The data acquisition unit includes an attitude monitoring subunit, a visual scanning subunit, and a quality monitoring subunit. The attitude monitoring subunit is used to acquire real-time attitude data of the molded placenta using an inertial sensor. The visual scanning subunit is used to acquire surface contour data of the irregular surface of the molded placenta using 3D vision. The quality monitoring subunit is used to acquire thickness and uniformity data of the coating using a thickness gauge and a camera. The data processing unit includes a data fusion and correction module, a learning model module, and a threshold management module. The data fusion and correction module is used to fuse multi-sensor data, compensate for drift, and output high-precision attitude angles. The learning model module is used to train a model based on historical data to generate adaptive attitude thresholds that are linked to different irregular surfaces. The threshold management module is used to store and manage the coating quality thresholds corresponding to each irregular surface. The control and execution unit is used to plan the spraying sequence of irregular surfaces and generate the attitude baseline of each surface; drive the adjustment mechanism to adjust the relative angle deviation between the mold platen attitude and the spray gun; and control the spraying parameters, and automatically adjust the parameters or perform re-spraying when the quality deviation is detected.

[0011] Preferably, the spraying mechanism includes: a base, a moving mechanism at the bottom of the base to move the spraying mechanism relative to the frame, a fixed plate on the base along the height direction, a pair of slide rails and an L-shaped plate along the height direction of the fixed plate, sliders on the slide rails, the sliders connected to the vertical edges of the L-shaped plates, a screw parallel to the pair of slide rails, the two ends of the screw rotatably connected to a support seat on the fixed plate, a sliding block on the screw, the sliding block screwed to the screw, the sliding block connected to the vertical edge of the L-shaped plate, and a first motor on one end of the screw, the first motor connected to one end of the screw. A robotic arm is provided on the horizontal side of the L-shaped plate, and a spray gun is provided at the moving end of the robotic arm. The spray gun, the first motor, the robotic arm, the moving mechanism, and the control device are connected.

[0012] Preferably, the adjustment mechanism includes an XY adjustment mechanism and an XZ adjustment mechanism. The XZ adjustment mechanism includes a pair of rotating seats and a mounting seat. The rotating seats are respectively disposed on the two sides of the top of the frame. The mounting seat is disposed on the mounting plate. The pair of rotating seats and the mounting seat are on the same axis and a rotating shaft is disposed between them. The rotating shaft is rotatably connected to the mounting seat and the rotating seats and its two ends pass through the rotating seats. The mounting bracket and the top of the frame are separated by a gap. A first linkage rod and a second linkage rod are provided between the rotating shaft and the bottom of the frame at the end away from the rotating shaft. One end of the first linkage rod is rotatably connected to the bottom of the frame, and the other end of the first linkage rod is rotatably connected to one end of the second linkage rod. The other end of the second linkage rod is connected to the rotating shaft. A second motor is provided near one end of the rotating shaft. The output shaft of the second motor is connected to the rotating shaft, and the second motor is connected to the control device.

[0013] Preferably, the XY adjustment mechanism includes: a positioning plate and a first rotating rod, one end of the first rotating rod being connected to the bottom center of the positioning plate, and the other end of the first rotating rod rotatably passing through to the bottom of the first mounting plate and rotatably connected to the bottom of the mounting frame. A first pulley is provided below the mounting plate on the first rotating rod, and a second pulley is provided near the first pulley on the bottom of the mounting plate. A belt ring is provided between the first pulley and the second pulley. One end of a second rotating rod at the center of the second pulley is rotatably connected to the bottom of the mounting plate, and the other end of the second rotating rod is connected to the output shaft of a third motor located at the bottom of the mounting frame.

[0014] Preferably, the positioning mechanism includes: a positioning element, wherein at least three positioning elements are evenly arranged along the center of the positioning disk, and one end of the positioning element near the center of the positioning disk is provided with an inclined abutment surface to abut against the receiving mold tray; The positioning disk has a positioning groove at its center and a sliding groove along its radial direction; the positioning element and the sliding groove are slidably connected. A connecting ring is provided below the positioning disk, and the positioning disk is provided with a connecting groove that is adapted to the connecting ring. The connecting groove communicates with the sliding groove, and the connecting ring and the connecting groove are detachably connected.

[0015] The method for coating a molded placenta provided by this invention has the following beneficial effects: 1. This invention accurately acquires surface contours through visual scanning and presets differentiated coating quality thresholds and adaptive attitude thresholds for different types of irregular surfaces. This allows the system to adjust its strategy according to the surface, effectively overcoming the inherent defect of uneven coating at abrupt changes in the traditional pre-programmed path, and significantly improving the coating consistency across the entire surface of complex workpieces. By compensating for gyroscope drift with acceleration and magnetic data and dynamically weighting and fusing them, ultra-high precision real-time attitude angles are obtained. Combined with a multi-directional adjustment mechanism, the relative attitude angle deviation between the spray gun and the workpiece surface can be stably controlled within the threshold, fundamentally ensuring the optimality and stability of the spraying distance and angle, laying a solid foundation for obtaining a uniform coating. 2. This invention also achieves a millisecond-level feedback closed loop from monitoring to decision-making to execution by simultaneously collecting posture and coating quality data during the spraying process and comparing two-dimensional thresholds; once an anomaly is detected, the workpiece posture and spraying parameters are adjusted in a coordinated manner to achieve online real-time correction, eliminating quality defects in their infancy and significantly reducing the defect rate and rework costs. 3. This invention also uses a learning model trained on historical data, which not only relies on preset parameters but can also self-optimize through experience to generate more realistic adaptive thresholds. At the same time, the intelligent spraying sequence based on the dual-dimensional planning of posture adjustment difficulty and quality requirements, as well as the state pre-inspection and pre-processing before surface switching, optimizes the overall process flow and improves spraying efficiency while ensuring the highest quality requirements. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the overall assembly of the present invention; Figure 2 This is a schematic diagram of the L-shaped plate structure installation of the present invention; Figure 3 This is a schematic diagram of the installation of the rotating shaft structure of the present invention; Figure 4 This is a schematic diagram of the installation of the first rotating rod structure of the present invention; Figure 5 This is a schematic diagram of the installation of the positioning component structure of the present invention; Figure 6 This is a schematic diagram of the installation of the annular slot structure of the present invention.

[0017] The reference numerals in the attached figures are as follows: 1. Frame; 2. Mounting bracket; 3. Mounting plate; 4. Mold plate; 5. Base; 6. Fixing plate; 7. Slide rail; 8. L-shaped plate; 9. Slider; 10. Robotic arm; 11. Spray gun; 12. Rotating seat; 13. Mounting seat; 14. Rotating shaft; 15. First linkage rod; 16. Second linkage rod; 17. Second motor; 18. Positioning plate; 19. First rotating rod; 20. First pulley; 21. Second pulley; 22. Belt ring; 23. Third motor; 24. Positioning component; 25. Inclined contact surface; 26. Sliding groove; 27. Limiting groove; 28. Limiting block; 29. ​​Connecting ring; 31. Annular groove; 32. Arc-shaped protrusion. Detailed Implementation

[0018] like Figure 1-6 As shown, the present invention provides a method for coating a molded placenta, which includes the following steps: S1: The positioning mechanism is used to fix the mold placer to be sprayed above the mounting plate, and the control device initializes the basic parameters of the attitude monitoring subunit, the spraying mechanism and the quality monitoring subunit. S2: The attitude monitoring subunit collects the initial attitude data of the molded placenta, the vision scanning module obtains the surface contour data of the irregular surface of the molded placenta, and the quality monitoring subunit presets the coating quality threshold based on the irregular surface type. S3: The control device fuses and corrects the attitude data to obtain the initial attitude angle of the mold placenta, and trains the learning model based on the historical spraying dataset to generate an adaptive attitude threshold that fits various irregular surfaces. S4: The control device sends a command to the adjustment mechanism, which drives the adjustment mechanism to perform multi-directional attitude adjustment of the mold plate, so that the initial relative attitude between the first irregular surface of the mold plate to be sprayed and the spraying mechanism meets the preset requirements. S5: The spraying mechanism starts spraying. At the same time, the attitude monitoring subunit and the quality monitoring subunit collect the actual attitude data of the mold and the coating quality data at a preset frequency, and feed them back to the control device. S6: The control device compares the actual attitude data with the adaptive attitude threshold and the actual coating quality data with the preset quality threshold. If any threshold is exceeded, attitude adjustment and / or quality correction are performed until the data returns to within the threshold and then spraying continues. S7: After completing the spraying of the current irregular surface, the control device automatically switches to the next irregular surface based on the surface contour data, repeating steps S4 to S6 until all irregular surfaces are sprayed.

[0019] Specifically, the mold platen to be coated is fixed above the mounting plate by a positioning mechanism. The control device initializes the basic parameters of the attitude monitoring subunit, the coating mechanism, and the quality monitoring subunit. The attitude monitoring subunit collects the initial attitude data of the mold platen, which includes acceleration data, magnetic force data, and gyroscope data. The visual scanning module acquires the surface contour data of the irregular surfaces (continuous curved surfaces, holes, and angular surfaces) of the mold platen. At the same time, the quality monitoring subunit presets the coating quality thresholds for each irregular surface, including thickness thresholds and uniformity thresholds. The control device then processes the attitude data... According to the fusion correction, the deviation value is first calculated by using the gravity vector of acceleration data and the geomagnetic vector of magnetic data. This deviation value is used to compensate for the drift data of the gyroscope. Then, the compensated gyroscope data and the acceleration-magnetic joint data are weighted and fused. The weighted fusion dynamically allocates the weight ratio of the two types of data according to the gyroscope unit time error, sampling interval and step size to obtain the initial attitude angle of the mold placenta. Based on the historical spraying dataset, the learning model is trained to generate adaptive attitude thresholds for various irregular surfaces. Among them, the threshold accuracy of the angular surface is higher than that of the curved surface, and the hole threshold is associated with the depth parameter.

[0020] Specifically, the control device sends commands to the adjustment mechanism, driving the positioning mechanism to perform multi-directional adjustments of the mold platen in terms of azimuth, pitch, and roll angles. This ensures that the initial relative attitude between the first irregular surface of the mold platen to be sprayed and the spraying mechanism meets preset requirements, with a relative angle deviation ≤0.3°. Afterward, the spraying mechanism starts spraying, while the attitude monitoring subunit collects actual attitude data of the mold platen and relative attitude data of the spraying mechanism at a frequency of 10-50Hz. The quality monitoring subunit simultaneously collects coating thickness data and surface uniformity data, both of which are fed back to the control device. The control device then compares the actual attitude data with the adaptive... If any of the attitude threshold, actual coating quality data, and preset quality threshold is exceeded, attitude adjustment and quality correction are performed. In attitude adjustment, the mold platen attitude is finely adjusted by the adjustment mechanism, and the spraying mechanism simultaneously adjusts the spray gun pitch angle, spray angle, and distance from the irregular surface. In quality correction, if the coating thickness exceeds the tolerance, the spray gun moving speed is adjusted, and if the uniformity is not up to standard, the spray fan angle is optimized. Spraying continues until both types of data return to within the threshold. After the first irregular surface is sprayed, the control device switches to the next irregular surface based on the surface contour data, repeating S4-S6 until all irregular surfaces are sprayed.

[0021] In some embodiments, the attitude monitoring subunit in step S2 includes an accelerometer, a magnetometer, and a gyroscope; the visual scanning module is a 3D visual scanning module used to acquire the three-dimensional coordinates, radius of curvature, and aperture-depth ratio information of the irregular surface; the coating quality threshold in step S2 is set differently based on the irregular surface type, including a thickness threshold and a uniformity threshold, wherein continuous arc surfaces, holes, and angular surfaces correspond to different threshold ranges.

[0022] Specifically, the preset coating quality thresholds are differentiated as follows: the thickness threshold for continuous arc surfaces is 40-60μm, and the uniformity threshold is ≤5μm; the inner wall thickness threshold for holes is 35-50μm, and the uniformity threshold is ≤8μm; the edge thickness threshold for angular surfaces is 45-55μm, and the uniformity threshold is ≤3μm.

[0023] In some implementations, the data fusion correction in step S3 employs a weighted fusion algorithm to dynamically allocate the weights of gyroscope data and acceleration-magnetic joint data in order to improve the accuracy of attitude angle calculation. In step S3, the learning model is a machine learning model, which is trained by associating posture deviations with coating quality defects in historical spraying data, so that the adaptive posture threshold is linked with the coating quality threshold.

[0024] Specifically, the weighted fusion logic is as follows: the weight of gyroscope data decreases as the error per unit time increases. For example, when the error increases from 0.05° / h to 0.1° / h, the weight decreases from 60% to 40%. The weight of acceleration-magnetic joint data increases with the step size. When the step size increases from 0.1s to 0.5s, the weight increases from 40% to 60%. The final output accuracy of the real-time attitude angle calculation of the model placenta is ≤0.05°. The step learning model is a support vector machine (SVM) or random forest model. During the training process, coating quality feedback is introduced: the correlation data of attitude deviation and coating quality defects in historical spraying is input into the model, so that the adaptive attitude threshold and the coating quality threshold are linked. For example, when the coating thickness threshold of the edge surface is 45-55μm, the corresponding attitude threshold accuracy is improved to ±0.2°.

[0025] In some implementations, the multi-directional attitude adjustment in step S4 includes the adjustment of azimuth, pitch and roll angles, with the adjustment parameters based on the differential control of the irregular surface type, and the adjustment accuracy reaching within ±0.1°. Step S4 also includes generating the attitude baseline of the irregular surface, and controlling the angle between the baseline and the axis of the spray gun of the spraying mechanism through real-time feedback, so that the angle is ≤0.3°.

[0026] Specifically, the differentiated control of the adjustment parameters for multi-directional adjustment is as follows: Azimuth angle: adjustment range 0-360°, adjustment accuracy ±0.1°, the speed is 5° / s when adjusting the arc surface, and the speed is reduced to 3° / s when adjusting the angular surface; Pitch angle: adjustment range -15° to +15°, adjustment accuracy ±0.05°, the pitch angle needs to be calibrated to be parallel to the hole axis before hole spraying; Roll angle: adjustment range -10° to +10°, adjustment accuracy ±0.05°, adjustment is only started when the irregular surface switches between regions; Among them, "attitude pre-alignment" also includes: the control device generates the attitude reference line of the irregular surface based on the surface contour data, where the arc surface takes the tangent at the midpoint of the arc, the angular surface takes the perpendicular line of the edge, and the hole takes the axis. The attitude monitoring subunit provides real-time feedback on the angle between the reference line and the spray gun axis of the spraying mechanism until the angle is ≤0.3° and then the adjustment stops.

[0027] In some embodiments, the quality monitoring subunit in step S5 includes a thickness detection device and a surface uniformity detection device, and the detection point density is set based on the differential settings of the irregular surface type; The quality correction mentioned in step S6 includes adjusting the spray gun movement speed, spray flow rate, spray angle, atomization pressure, or touch-up spraying to optimize coating thickness and uniformity; Step S6 also includes an exception handling mechanism. If data deviations are detected multiple times in a row, process parameter diagnosis or fault investigation will be triggered. The spraying sequence of the irregular surface in step S7 is sorted based on the difficulty of posture adjustment and the coating quality requirements. The surface state of the next irregular surface is pre-collected before the surface is switched, and local preprocessing is performed if necessary.

[0028] Specifically, the quality monitoring unit includes a linear infrared thickness gauge and a high-speed industrial camera. The infrared thickness gauge has a differentiated detection point density setting, for example, per mm on corner surfaces. 2 Set one detection point, with each arc surface measuring 2mm. 2 Set up one detection point, with each hole's inner wall measured every 3mm. 2 One detection point is set up. The specific logic of quality correction is as follows: If the infrared thickness gauge detects that the coating thickness exceeds the threshold, such as the thickness of the curved surface > 60μm, the control device automatically increases the spray gun movement speed by 10%-20%; if the thickness is below the threshold, such as the thickness of the inner wall of a hole < 35μm, the spray flow rate is increased by 5%-15%; if the industrial camera identifies a missed coating area through grayscale value analysis, the spraying mechanism is driven to perform re-spraying, with the re-spraying range being 1.5 times the missed coating area, and the spraying pressure is reduced to avoid excessive coating overlap; the dynamic optimization of coating uniformity targets sharp edges and holes. If a sharp edge is detected... If the thickness difference between the edge and the adjacent plane is >3μm, adjust the spray angle of the secondary spray gun (spraying the adjacent plane) to increase the angle between the secondary spray gun and the edge, and delay the spraying time of the secondary spray gun; if the thickness difference between the top and bottom of the inner wall is >8μm, increase the depth of the spray gun insertion by 5-10mm, and reduce the atomization pressure by 0.05-0.1MPa; if the posture data meets the standard but the quality data exceeds the tolerance for 3 consecutive tests, the control device triggers process parameter diagnosis: if the coating thickness exceeds the tolerance, check the coating viscosity and adjust the viscosity through the spray gun heating / cooling module; if the uniformity is not up to standard, check the spray fan angle and fine-tune it.

[0029] Specifically, in handling severe anomalies, if the posture and quality data are detected to be out of tolerance for 5 consecutive times, the control device will suspend spraying and initiate troubleshooting: the sensor self-test function of the posture monitoring subunit will be used to determine whether the sensor is faulty; the positioning mechanism will be photographed by an industrial camera to determine whether the mold plate is loose. If it is loose, the positioning mechanism will be repositioned and re-clamped, and S2-S4 will be executed again. The spraying sequence of irregular surfaces is based on a two-dimensional sorting of posture adjustment difficulty and quality requirements. First, the continuous arc surfaces with low adjustment difficulty and medium quality requirements are sprayed, then the holes with medium adjustment difficulty and high quality requirements are sprayed, and finally the angular surfaces with high adjustment difficulty and the highest quality requirements are sprayed. When switching between adjacent irregular surfaces, the quality monitoring subunit will pre-collect the initial surface state of the next irregular surface 1 second in advance (such as whether there is oil or oxide layer). If defects are found, local pre-processing will be initiated first.

[0030] This invention accurately acquires surface contours through visual scanning and presets differentiated coating quality thresholds and adaptive attitude thresholds for different types of irregular surfaces (arc surfaces, holes, and angular surfaces). This allows the system to adjust its strategy according to the surface, effectively overcoming the inherent defect of uneven coating at abrupt changes in the traditional pre-programmed path, and significantly improving the coating consistency across the entire surface of complex workpieces. By compensating for gyroscope drift with acceleration and magnetic data and dynamically weighting and fusing them, ultra-high precision real-time attitude angles are obtained. Combined with a multi-directional adjustment mechanism, the relative attitude angle deviation between the spray gun and the workpiece surface can be stably controlled within the threshold, fundamentally ensuring the optimality and stability of the spraying distance and angle, laying a solid foundation for obtaining a uniform coating.

[0031] This invention achieves a millisecond-level feedback loop from monitoring to decision-making to execution by simultaneously collecting posture and coating quality data during the spraying process and comparing two-dimensional thresholds. Once an anomaly is detected, the workpiece posture and spraying parameters are adjusted collaboratively, enabling online real-time correction and eliminating quality defects in their infancy, thus significantly reducing the defect rate and rework costs.

[0032] This invention utilizes a learning model trained on historical data, enabling it to not only rely on preset parameters but also self-optimize through experience, generating more realistic adaptive thresholds. Simultaneously, the intelligent spraying sequence, based on a dual-dimensional planning of posture adjustment difficulty and quality requirements, along with state pre-inspection and pre-processing before surface switching, optimizes the overall process flow, improving spraying efficiency while ensuring the highest quality requirements.

[0033] The present invention also provides a molded placenta coating apparatus, comprising the molded placenta coating method described in any of the preceding claims, comprising: Frame 1, such as Figure 1-6 As shown, the frame 1 provides support and mounting; the mounting frame 2 is located on top of the frame 1 and movably connected to it, with a mounting plate 3 mounted on it; a positioning mechanism is mounted on the mounting plate 3, rotatably connected to it, and used to position the mold tray 4 to be processed; an adjustment mechanism is used to adjust the multi-directional posture of the mold tray 4 relative to the frame 1; and a spraying mechanism is used to spray the mold tray 4 and adaptively adjust its posture relative to the mold tray 4 to spray different surfaces of the mold tray 4. A control device is provided, which is connected to the adjustment mechanism and the spraying mechanism, to control the multi-directional attitude of the mold platen 4 relative to the frame 1 and to adaptively adjust the attitude of the spraying mechanism relative to the mold platen 4. The control device is equipped with: The data acquisition unit includes an attitude monitoring subunit, a visual scanning subunit, and a quality monitoring subunit. The attitude monitoring subunit is used to acquire real-time attitude data of the molded placenta 4 through an inertial sensor. The visual scanning subunit is used to acquire surface contour data of the irregular surface of the molded placenta 4 through 3D vision. The quality monitoring subunit is used to acquire thickness and uniformity data of the coating through a thickness gauge and a camera. The data processing unit includes a data fusion and correction module, a learning model module, and a threshold management module. The data fusion and correction module is used to fuse multi-sensor data, compensate for drift, and output high-precision attitude angles. The learning model module is used to train a model based on historical data to generate adaptive attitude thresholds that are linked to different irregular surfaces. The threshold management module is used to store and manage the coating quality thresholds corresponding to each irregular surface. The control execution unit is used to plan the spraying sequence of irregular surfaces and generate the attitude reference lines of each surface; drive the adjustment mechanism to adjust the relative angle deviation between the mold plate 4 and the spray gun 11; and control the spraying parameters, and automatically adjust the parameters or perform re-spraying when the quality deviation is detected.

[0034] In some embodiments, the spraying mechanism includes: a base 5, the bottom of which is provided with a moving mechanism to realize the movement of the spraying mechanism relative to the frame 1. The moving mechanism is existing technology to realize the movement of the base 5 and cooperates with the spray gun 11 for spraying. A fixed plate 6 is provided on the base 5 along the height direction. A pair of slide rails 7 and an L-shaped plate 8 are provided along the height direction of the fixed plate 6. Slider blocks 9 are respectively provided on the slide rails 7. The sliders 9 are connected to the vertical edges of the L-shaped plates 8. A screw is arranged parallel between the pair of slide rails 7. The two ends of the screw are rotatably connected to the support seats provided on the fixed plate 6. A sliding block is provided on the screw. The sliding block is screwed to the screw. A sliding block connects to the vertical edge of the L-shaped plate 8. A first motor is installed at one end of the screw, and the first motor is connected to one end of the screw. The connection can be a coupling. The motor is driven by a control device to move the L-shaped plate 8 in the height direction relative to the fixed plate 6, so as to cooperate with the spray gun 11 for spraying. A robotic arm 10 is installed on the horizontal edge of the L-shaped plate 8. The robotic arm 10 is commercially available and can realize multi-directional adjustment of the spray gun 11 relative to the frame 1. The moving end of the robotic arm 10 is equipped with the spray gun 11. The spray gun 11 is commercially available and is used to spray the coating. The control of the spray gun 11 is existing technology. The spray gun 11, the first motor, the robotic arm 10, the moving mechanism, and the control device are connected.

[0035] In some embodiments, the adjustment mechanism includes an XY adjustment mechanism and an XZ adjustment mechanism to achieve multi-directional attitude adjustment of the molded placenta 4 relative to the frame 1. The XZ adjustment mechanism includes a pair of rotating seats 12 and mounting seats 13. The rotating seats 12 are respectively disposed on the top two edges of the frame 1, and the mounting seats 13 are disposed on the mounting plate 3. The pair of rotating seats 12 and mounting seats 13 are on the same axis and a rotating shaft 14 is disposed between them. The rotating shaft 14 is rotatably connected to the mounting seats 13 and the rotating seats 12, and both ends pass through the rotating seats 12. A gap is provided between the mounting frame 2 and the top of the frame 1, and between the rotating shaft 14 and the bottom of the frame 1 at the end away from the rotating shaft 14. A first linkage rod 15 and a second linkage rod 16 are provided. One end of the first linkage rod 15 is rotatably connected to the bottom of the frame 1, and the other end of the first linkage rod 15 is rotatably connected to one end of the second linkage rod 16. The other end of the second linkage rod 16 is connected to the rotating shaft 14. A second motor 17 is provided near one end of the rotating shaft 14. The output shaft of the second motor 17 is connected to the rotating shaft 14. The second motor 17 is connected to the control device. The control device controls the second motor 17 to drive the rotating shaft 14 to rotate relative to it. The first linkage rod 15 and the second linkage rod 16 connected to the rotating shaft 14 cooperate with the mounting frame 2 to adjust its attitude relative to the frame 1, thereby realizing its XY direction adjustment.

[0036] In some embodiments, the XY adjustment mechanism includes: a positioning disk 18 and a first rotating rod 19. One end of the first rotating rod 19 is connected to the bottom center of the positioning disk 18, and the other end of the first rotating rod 19 rotatably passes through to the bottom of the first mounting plate 3 and is rotatably connected to the bottom of the mounting frame 2. A first pulley 20 is provided below the mounting plate 3 on the first rotating rod 19. A second pulley 21 is provided near the first pulley 20 at the bottom of the mounting plate 3. A belt ring 22 is provided between the first pulley 20 and the second pulley 21. One end of a second rotating rod at the center of the second pulley 21 is rotatably connected to the bottom of the mounting plate 3, and the other end of the second rotating rod is connected to the output shaft of a third motor 23 located at the bottom of the mounting frame 2. The control device is connected to the third motor 23 to control the state of the third motor 23, so that the third motor 23 transmits power to the second rotating rod, which drives the second pulley 21 to transmit power to the first pulley 20, so that the positioning disk 18 connected to the first rotating rod 19 rotates relative to the mounting frame 2 to achieve XY adjustment. The two work together to achieve multi-directional adjustment of the mold plate 4.

[0037] In some embodiments, the positioning mechanism includes: positioning elements 24, at least three of which are evenly arranged along the center of the positioning disk 18; one end of each positioning element 24 near the center of the positioning disk 18 has an inclined abutment surface 25 to abut against the mold tray 4 to be processed; the inclined surface is inclined downward so that it can abut against the edge of the mold tray 4; for mold trays 4 of different specifications, the position of the positioning elements 24 can be adjusted to clamp and position them; the positioning disk 18 has a positioning groove at its center, the mold tray 4 is placed in the positioning groove; a sliding groove 26 is provided along the radial direction of the positioning disk 18; the positioning elements 24 and the sliding groove 26 are slidably connected, and the two slide to adjust the position of the positioning elements 24; limit grooves 27 are respectively provided on both sides of the positioning elements 24; limit blocks 28 adapted to the limit grooves 27 are provided on both sides of the sliding grooves 26; the limit blocks 28 and the limit grooves 27 are slidably connected, and the sliding connection between the limit grooves 27 and the limit blocks 28 further increases the sliding and connection of the positioning elements 24. Effects: A connecting ring 29 is provided below the positioning disk 18. The positioning disk 18 is provided with a connecting groove that matches the connecting ring 29. The connecting groove communicates with the sliding groove 26. The connecting ring 29 and the connecting groove are detachably connected, which can be a threaded connection. Multiple annular grooves 31 are evenly arranged radially on the side of the limiting ring near the positioning disk 18. The bottom of the positioning component 24 is provided with an arc-shaped protrusion 32 that matches the annular groove 31. The center of the arc-shaped protrusion 32 and the arc-shaped groove are the same. This allows the two parts to fit together. When the connecting ring 29 is rotated, the arc-shaped protrusion 32 and the arc-shaped groove rotate and rub against each other. When it is necessary to adjust the position of the positioning part 24, the connecting ring 29 is removed. After the positioning part 24 is brought into contact, the annular groove 31 of the connecting ring 29 and the arc-shaped protrusion 32 are aligned. Then, the connecting ring 29 and the connecting groove are screwed together to fix the position of the positioning part 24 and achieve the positioning and clamping of the mold plate 4. The positioning part 24 and the limiting ring are engaged by the arc-shaped protrusion 32 and the annular groove 31.

[0038] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention. The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the protection scope of the present invention.

Claims

1. A method for coating a molded placenta, characterized in that, Includes the following steps: S1: The positioning mechanism is used to fix the mold placer to be sprayed above the mounting plate, and the control device initializes the basic parameters of the attitude monitoring subunit, the spraying mechanism and the quality monitoring subunit. S2: The attitude monitoring subunit collects the initial attitude data of the molded placenta, the vision scanning module obtains the surface contour data of the irregular surface of the molded placenta, and the quality monitoring subunit presets the coating quality threshold based on the irregular surface type. S3: The control device fuses and corrects the attitude data to obtain the initial attitude angle of the mold placenta, and trains the learning model based on the historical spraying dataset to generate an adaptive attitude threshold that fits various irregular surfaces. S4: The control device sends a command to the adjustment mechanism, which drives the adjustment mechanism to perform multi-directional attitude adjustment of the mold plate, so that the initial relative attitude between the first irregular surface of the mold plate to be sprayed and the spraying mechanism meets the preset requirements. S5: The spraying mechanism starts spraying. At the same time, the attitude monitoring subunit and the quality monitoring subunit collect the actual attitude data of the mold and the coating quality data at a preset frequency, and feed them back to the control device. S6: The control device compares the actual attitude data with the adaptive attitude threshold and the actual coating quality data with the preset quality threshold. If any threshold is exceeded, attitude adjustment and / or quality correction are performed until the data returns to within the threshold and then spraying continues. S7: After completing the spraying of the current irregular surface, the control device automatically switches to the next irregular surface based on the surface contour data, repeating steps S4 to S6 until all irregular surfaces are sprayed.

2. The method for coating a molded placenta according to claim 1, characterized in that: The attitude monitoring subunit in step S2 includes an accelerometer, a magnetometer, and a gyroscope. The visual scanning module is a 3D visual scanning module used to acquire the three-dimensional coordinates, radius of curvature of the irregular surface, and aperture-depth ratio information of the hole. In step S2, the coating quality threshold is set differently based on the irregular surface type, including a thickness threshold and a uniformity threshold, where continuous arc surfaces, holes and angular surfaces correspond to different threshold ranges.

3. The method for coating a molded placenta according to claim 1, characterized in that: In step S3, the data fusion correction adopts a weighted fusion algorithm to dynamically allocate the weights of gyroscope data and acceleration-magnetic joint data in order to improve the accuracy of attitude angle calculation. In step S3, the learning model is a machine learning model, which is trained by associating posture deviations with coating quality defects in historical spraying data, so that the adaptive posture threshold is linked with the coating quality threshold.

4. The method for coating a molded placenta according to claim 1, characterized in that: The multi-directional attitude adjustment in step S4 includes the adjustment of azimuth, pitch and roll angles. The adjustment parameters are based on the differential control of irregular surface type, and the adjustment accuracy reaches within ±0.1°. Step S4 also includes generating the attitude baseline of the irregular surface, and controlling the angle between the baseline and the axis of the spray gun of the spraying mechanism through real-time feedback, so that the angle is ≤0.3°.

5. The method for coating a molded placenta according to claim 1, characterized in that: The quality monitoring subunit in step S5 includes a thickness detection device and a surface uniformity detection device, and the detection point density is set based on the differential settings of the irregular surface type. The quality correction mentioned in step S6 includes adjusting the spray gun movement speed, spray flow rate, spray angle, atomization pressure, or touch-up spraying to optimize coating thickness and uniformity; Step S6 also includes an exception handling mechanism. If data deviations are detected multiple times in a row, process parameter diagnosis or fault investigation will be triggered. The spraying sequence of the irregular surface in step S7 is sorted based on the difficulty of posture adjustment and the coating quality requirements. The surface state of the next irregular surface is pre-collected before the surface is switched, and local preprocessing is performed if necessary.

6. A molded placenta coating device, characterized in that: The method for coating a molded placenta according to any one of claims 1-5 includes: Frame; A mounting bracket is disposed on the top of the frame and movably connected to the frame, and a mounting plate is provided on the mounting bracket; A positioning mechanism is disposed on the mounting plate, and the positioning mechanism is rotatably connected to the mounting plate. The positioning mechanism is used to position the mold tray to be processed. An adjustment mechanism is provided for adjusting the multi-directional attitude of the mold plate on the positioning mechanism relative to the frame. The spraying mechanism is used to spray the molded placer and adaptively adjust the posture relative to the molded placer to spray different surfaces of the molded placer. A control device is connected to the adjustment mechanism and the spraying mechanism to control the multi-directional attitude of the mold platen relative to the frame and to adaptively adjust the attitude of the spraying mechanism relative to the mold platen. The control device is equipped with: The data acquisition unit includes an attitude monitoring subunit, a visual scanning subunit, and a quality monitoring subunit. The attitude monitoring subunit is used to acquire real-time attitude data of the molded placenta using an inertial sensor. The visual scanning subunit is used to acquire surface contour data of the irregular surface of the molded placenta using 3D vision. The quality monitoring subunit is used to acquire thickness and uniformity data of the coating using a thickness gauge and a camera. The data processing unit includes a data fusion and correction module, a learning model module, and a threshold management module. The data fusion and correction module is used to fuse multi-sensor data, compensate for drift, and output high-precision attitude angles. The learning model module is used to train a model based on historical data to generate adaptive attitude thresholds that are linked to different irregular surfaces. The threshold management module is used to store and manage the coating quality thresholds corresponding to each irregular surface. The control and execution unit is used to plan the spraying sequence of irregular surfaces and generate the attitude baseline of each surface; drive the adjustment mechanism to adjust the relative angle deviation between the mold platen attitude and the spray gun; and control the spraying parameters, and automatically adjust the parameters or perform re-spraying when the quality deviation is detected.

7. The molded placenta coating device according to claim 6, characterized in that: The spraying mechanism includes: a base, a moving mechanism at the bottom of the base to move the spraying mechanism relative to the frame, a fixed plate on the base along the height direction, a pair of slide rails and an L-shaped plate along the height direction of the fixed plate, sliders on the slide rails, the sliders connected to the vertical edges of the L-shaped plates, a screw parallel to the pair of slide rails, the two ends of the screw rotatably connected to a support seat on the fixed plate, a sliding block on the screw, the sliding block screwed to the screw, the sliding block connected to the vertical edge of the L-shaped plate, and a first motor on one end of the screw, the first motor connected to one end of the screw. A robotic arm is provided on the horizontal side of the L-shaped plate, and a spray gun is provided at the moving end of the robotic arm. The spray gun, the first motor, the robotic arm, the moving mechanism, and the control device are connected.

8. The molded placenta coating device according to claim 6, characterized in that: The adjustment mechanism includes an XY adjustment mechanism and an XZ adjustment mechanism. The XZ adjustment mechanism includes a pair of rotating seats and a mounting seat. The rotating seats are respectively disposed on the two sides of the top of the frame. The mounting seat is disposed on the mounting plate. The pair of rotating seats and the mounting seat are on the same axis and a rotating shaft is disposed between them. The rotating shaft is rotatably connected to the mounting seat and the rotating seats and its two ends pass through the rotating seats. The mounting bracket and the top of the frame are separated by a gap. A first linkage rod and a second linkage rod are provided between the rotating shaft and the bottom of the frame at the end away from the rotating shaft. One end of the first linkage rod is rotatably connected to the bottom of the frame, and the other end of the first linkage rod is rotatably connected to one end of the second linkage rod. The other end of the second linkage rod is connected to the rotating shaft. A second motor is provided near one end of the rotating shaft. The output shaft of the second motor is connected to the rotating shaft, and the second motor is connected to the control device.

9. The molded placenta coating device according to claim 8, characterized in that: The XY adjustment mechanism includes: a positioning plate and a first rotating rod. One end of the first rotating rod is connected to the bottom center of the positioning plate, and the other end of the first rotating rod rotatably passes through to the bottom of the first mounting plate and is rotatably connected to the bottom of the mounting frame. A first pulley is provided below the mounting plate on the first rotating rod, and a second pulley is provided at the bottom of the mounting plate near the first pulley. A belt ring is provided between the first pulley and the second pulley. One end of a second rotating rod at the center of the second pulley is rotatably connected to the bottom of the mounting plate, and the other end of the second rotating rod is connected to the output shaft of a third motor located at the bottom of the mounting frame.

10. The molded placenta coating device according to claim 6, characterized in that: The positioning mechanism includes: a positioning element, wherein at least three positioning elements are evenly arranged along the center of the positioning disk, and one end of the positioning element near the center of the positioning disk is provided with an inclined abutment surface to abut against the receiving mold tray. The positioning disk has a positioning groove at its center and a sliding groove along its radial direction; the positioning element and the sliding groove are slidably connected. A connecting ring is provided below the positioning disk, and the positioning disk is provided with a connecting groove that is adapted to the connecting ring. The connecting groove communicates with the sliding groove, and the connecting ring and the connecting groove are detachably connected.

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