CN109465131B - A kind of automatic coating unit and method of projectile structure functional coating - Google Patents

Abstract

The invention belongs to the technical field of surface engineering, in particular to an automatic coating unit and method for a structural functional coating of a projectile. The invention can realize continuous coating of multiple functional coatings on the outer walls of multiple thin-walled revolving workpieces in a limited area of the spray booth, so as to improve the coating production capacity; realize the non-contact measurement of the thickness of the wet film of the coating, and reduce the coating Waiting time for curing in the spray booth; enables precise control of coating thickness, thus avoiding sanding of the coating.

Description

A kind of automatic coating unit and method of projectile structure functional coating

technical field

The invention belongs to the technical field of surface engineering, in particular to an automatic coating unit and method for a structural functional coating of an elastomer.

Background technique

The special functional coating has the characteristics of strong designability, convenient construction, and easy to achieve multi-functional compatibility. It can endow the overall structure with various functions such as heat resistance, stealth, anti-corrosion, and high-energy laser resistance without changing the structural material. It is a weapon. Equipped with key technologies for high performance. The new generation of strategic and tactical weapons in production in my country all use a large number of functional coatings in the projectile section.

However, due to the characteristics of special functional coatings and environmental protection reasons, the coating of functional coatings cannot meet the needs of the rapid development of models, mainly for the following reasons:

(1) The coating of functional coatings is a special operation and needs to be carried out in the spray booth. Due to the increasing pressure of environmental protection, the approval of new paint spray booths has become more and more strict in various places.

(2) The coating curing cycle is long, and the spraying workpiece occupies the spraying station for a long time, which affects the utilization rate of the spray booth. Most of the coatings involved are silicone rubber systems, and the drying time of the coating is more than 48 hours. Due to the manual handling, in order to prevent the coating from being damaged during the handling process, the manual handling can be carried out after 24 hours of spraying. The workpieces occupy the spraying station for a long time, resulting in waste of resources. .

(3) The fine control and test of coating thickness need to be improved urgently, and there is the phenomenon of overspray grinding and less spraying. Functional coating thickness control is the key to coating. At present, the coating thickness test mainly adopts mechanical thickness measurement, needle thickness measurement, and eddy current thickness measurement (metal substrate). These test methods all require the coating to be tested. It has a certain strength, but the coating cannot reach the required strength in a short time after spraying, so the thickness of the coating cannot be detected in time, so the thickness control of the coating mainly depends on the coating process and experience, but the thickness of the coating is affected by various factors at the same time. Factors such as the viscosity of the paint itself, various spraying parameters and the influence of different spraying operators make it difficult to achieve the thickness required by the process document at one time, resulting in the problem of overspray grinding and repeated work of less spraying.

SUMMARY OF THE INVENTION

The technical problem solved by the invention is: to overcome the deficiencies of the prior art, and to propose an automatic coating unit for the structural functional coating of the projectile.

The technical solution of the present invention is:

An automatic coating unit for projectile structure and function coating, the coating unit includes a spraying robotic arm, three turntables, a laser scanning thickness measuring device, two tracks, a waste liquid bucket, a feeding system, a central control system and a spray booth ; The two tracks are the first track and the second track respectively, and the three turntables are the first turntable, the second turntable and the third turntable respectively;

The spraying robot arm, three turntables, laser scanning thickness measuring device, two rails, waste liquid bucket, and feeding system are installed in the spray booth, and the central control system is installed outside the spray booth;

The spray booth is a room that can be used for painting work. The first track and the second track are installed on the ground in the spray booth. The distance between the first track and the second track is 1.5-2 times the diameter of the largest workpiece to be sprayed, and the minimum not less than 2m;

The spraying robot arm is installed in the gap between the first track and the second track, and the laser scanning thickness measurement device is integrated on the spraying robot arm;

The first turntable is installed on the first track, and the second turntable and the third turntable are installed on the second track;

The workpiece to be sprayed slides onto the first turntable through the first track;

The workpiece to be sprayed slides onto the second turntable through the second track;

The workpiece to be sprayed slides onto the third turntable through the second track;

The three turntables are equipped with fixtures for positioning the workpiece to be sprayed, so as to avoid the problems of bump damage and uncured coating damage that may occur when the workpiece is directly transported;

The feeding system is installed on a corner of the spray booth, and the feeding system and the spraying robot arm are connected by pipelines;

The waste liquid bucket is installed near the spraying robot arm to clean the spray gun of the spraying robot arm;

The feeding system adopts a reciprocating piston flowmeter;

The central control system is used for the transportation of workpieces on the track;

The central control system is used to control the laser scanning thickness measuring device to measure the thickness and determine the thickness obtained by the laser scanning thickness measuring device. The thickness judgment refers to whether the thickness meets the specified thickness requirements;

The central control system is used for the control of the feeding system, including the opening and closing of the feeding system and the output flow of the feeding system;

The central control system is used to control the rotation of the three turntables;

The central control system is also used to control the switch of the spray gun of the spraying robot arm and the movement of the spraying robot arm, such as the switching of the spray gun between the workpieces to be sprayed on the three turntables;

The laser scanning thickness measuring device is used to measure the coating thickness on the outer surface of the workpiece to be sprayed online. Image A, during the coating process of the workpiece, a laser scanning thickness measuring device is used to scan the outline of the coated workpiece and generate a three-dimensional image, which is called a three-dimensional image B. Subtract the three-dimensional image A from the three-dimensional image B to obtain The thickness of the current workpiece surface coating, when the obtained thickness of the current workpiece surface coating reaches the required thickness, complete the spraying, otherwise continue spraying, and use the same method to measure the current workpiece surface coating thickness until it meets the requirements.

In the feeding system, it is used to provide special functional coatings, and the special functional coatings are heat-resistant coatings, anti-laser coatings or stealth coatings.

An automatic coating method for a structural functional coating of a projectile, the steps of which include:

(1) the workpiece to be sprayed slides onto the first turntable through the first track; the workpiece to be sprayed slides onto the second turntable through the second track; the workpiece to be sprayed slides onto the third turntable through the second track;

(2) Control the switch of the spray gun of the spraying robot arm and the switching of the spray gun between the workpieces to be sprayed on the three turntables through the central control system;

(3) The thickness of the coating sprayed on the outer surface of the workpiece to be sprayed is measured online by the laser scanning thickness measuring device, and the spraying work is stopped when the thickness meets the requirements;

(4) Rotate the spray gun to the waste liquid bucket through the central control system, use the waste liquid bucket to clean the spray gun, and complete the automatic coating of the projectile structure and function coating.

beneficial effect

(1) The present invention combines the characteristics of the projectile structure and functional coatings, and through the optimized design of the automatic coating unit scheme of the projectile structure and functional coating, the high-quality and rapid construction of the functional coating can be realized by using a limited space, and the problem of the projectile structure and functional coating can be solved. The production capacity and automation problems of layer automatic coating.

(2) The laser scanning thickness measuring device of the present invention is integrated with the spraying manipulator. Through the transportation of the spraying manipulator and the rotation of the workpiece, the outline of the workpiece is scanned and a three-dimensional image is generated. After the spraying operation, the painted workpiece is scanned. Scanning is performed, and the thickness of the coating at each position of the workpiece is obtained by subtraction. The central control system analyzes the thickness result to determine whether it meets the requirements. The workpiece with the thickness that meets the requirements is transported out of the coating unit, and the spraying part of the spraying robot arm is cleaned and ready to paint the next workpiece. If the thickness of the workpiece is insufficient, continue to paint.

(3) The present invention can realize the continuous coating of multiple functional coatings on the outer walls of a plurality of thin-walled revolving workpieces in a limited-area spray booth, thereby improving the coating production capacity;

(4) Realize the non-contact measurement of the thickness of the wet film state of the coating, and reduce the curing waiting time of the coating in the spray booth;

(5) Accurate control of coating thickness is achieved, thereby avoiding grinding of the coating.

Description of drawings

Figure 1 shows the layout of the coating unit.

Detailed ways

An automatic coating unit for projectile structure and function coating, which includes two workpiece transportation rails 5, a turntable work station 3 is respectively set in the middle and the end of the rails, the workpiece 1 is transported by the rails and installed in the turntable station 3, and is driven by the turntable 3. The workpiece 1 rotates; the feeding system 7 prepares the paint and provides the spraying robot arm 2; The spraying robot arm 2 cleans the spraying part of the 6 waste liquid bucket, and prepares to paint the next workpiece. If the thickness of the workpiece is insufficient, continue to paint. All operations in the painting unit are controlled and judged by the central control system 8.

The structure of the painted workpiece is a thin-walled rotary cylindrical or conical shell section, the coating part is the outer wall, and the coating is a large-thickness functional coating. Bump and uncured coating damage.

The applied coating is heat-resistant coating, anti-laser coating, stealth coating and other functional coatings, its thickness is ≥1mm, the actual drying time is more than 24 hours, and the single coating thickness is ≥100μm.

The workpiece is installed on the turntable station by the positioning fixture on the workpiece. In order to adapt to the size of the workpiece turntable of different diameters, the turntable can be expanded and retracted. The turntable can start/stop rotating at any specified position. /min.

The method of the laser scanning thickness measuring device is as follows: the scanning device is integrated with the mechanical arm, and the outline of the workpiece is scanned and a three-dimensional image is generated through the transportation of the mechanical arm and the rotation of the workpiece, and then the painted workpiece is scanned after the spraying operation. The thickness of the coating at each position of the workpiece is obtained by subtraction.

The control contents of the central control system include the ventilation/lighting start and stop of the spray booth, the transportation of the workpiece, the rotation of the turntable, the preparation and supply of paint, the painting operation of the robotic arm, the thickness measurement of the thickness measurement system, and the judgment of the painting results.

An automatic coating method for projectile structure and function coating: place three rotary workpieces with positioning fixtures installed on a transport track, respectively, and transport them to three turntable stations through the track. The workpiece is fixed at the turntable station, the turntable station starts to rotate, the robotic arm drives the thickness measuring device to scan the shapes of the three workpieces respectively, and produces a three-dimensional model. Install the robotic arm to spray the outer wall of the workpiece in 3 stations according to the set program. When the spraying is about 2/3 of the theoretical thickness, the thickness measuring device scans the shape of the workpiece again and generates a 3D model, minus the first scan. As a result, the coating thickness is obtained. The system determines the coating thickness and the number of times to be coated. If the coating thickness meets the requirements, the spraying system is cleaned, and the workpiece is transported out of the spray booth through the guide rail to complete the coating operation; If the thickness is less than the required thickness, continue to spray. When spraying, pay attention to the number of coats that the system prompts, and perform thickness measurement again when the number of coats is close to the number of coats. Until the coating thickness meets the requirements, the coating is completed. Operation.

Example

As shown in Figure 1, an automatic coating unit for projectile structural functional coating includes a spraying robot arm 2, three turntables 3, a laser scanning thickness measuring device 4, two rails 5, and a waste liquid bucket 6 , feeding system 7, central control system 8 and spray booth 9; two rails 5 are respectively the first rail and the second rail, and the three turntables 3 are the first turntable, the second turntable and the third turntable respectively;

The spraying robot arm 2, three turntables 3, laser scanning thickness measuring device 4, two rails 5, waste liquid bucket 6, and feeding system 7 are installed in the spray booth 9, and the central control system 8 is installed in the spray booth 9. outside;

The first track and the second track are installed on the ground in the spray booth 9, and the distance between the first track and the second track is 1.5-2 times the maximum diameter of the workpiece to be sprayed, and the minimum is not less than 2m;

The spraying robot arm 2 is installed at the gap position between the first track and the second track, and the laser scanning thickness measuring device 4 is integrated on the spraying robot arm 2;

The first turntable is installed on the first track, and the second turntable and the third turntable are installed on the second track;

The workpiece 11 to be sprayed slides onto the first turntable through the first track;

The workpiece 12 to be sprayed slides onto the second turntable through the second track;

The workpiece 13 to be sprayed slides onto the third turntable through the second track;

The three turntables 3 are provided with clamps for positioning the workpiece to be sprayed, so as to avoid the problems of bumping and damage to the uncured coating that may be caused by the direct transportation of the workpiece;

The feeding system 7 is installed on a corner of the spray booth 9, and the feeding system 7 is connected with the spraying robotic arm 2 through a pipeline;

The waste liquid bucket 6 is installed near the spraying robot arm 2 for cleaning the spray gun of the spraying robot arm 2;

The feeding system 7 adopts a reciprocating piston flowmeter;

The central control system 8 is used for the transportation of workpieces on the track;

The central control system 8 is used to control the laser scanning thickness measuring device 4 to measure the thickness and determine the thickness obtained by the laser scanning thickness measuring device 4, and the thickness judgment refers to whether the thickness meets the specified thickness requirement;

The central control system 8 is used for the control of the feeding system 7, including the opening and closing of the feeding system 7 and the output flow of the feeding system 7;

The central control system 8 is used to control the rotation of the three turntables 3;

The central control system 8 is also used to control the switch of the spray gun of the spraying robot arm 2 and the movement of the spraying robot arm 2, such as the switching of the spray gun between the workpieces to be sprayed on the three turntables 3;

The laser scanning thickness measuring device 4 is used for online measurement of the coating thickness sprayed on the outer surface of the workpiece to be sprayed. It is a three-dimensional image A. During the coating process of the workpiece, the laser scanning thickness measuring device 4 is used to scan the outline of the coated workpiece and generate a three-dimensional image, which is called a three-dimensional image B. The three-dimensional image B is subtracted from the three-dimensional image. A. Obtain the thickness of the current workpiece surface coating, when the obtained thickness of the current workpiece surface coating reaches the required thickness, complete the spraying, otherwise continue spraying, and use the same method to measure the current workpiece surface coating thickness until it meets the Require.

The feeding system 7 is used to provide special functional coatings, and the special functional coatings are heat-resistant coatings, anti-laser coatings or stealth coatings.

An automatic coating method for a structural functional coating of a projectile, the steps of which include:

(1) The workpiece 11 to be sprayed slides onto the first turntable through the first track; the workpiece 12 to be sprayed slides onto the second turntable through the second track; the workpiece 13 to be sprayed slides onto the third turntable through the second track;

(2) control the switch of the spray gun of the spraying robot arm 2 and the switching of the spray gun between the workpieces to be sprayed on the three turntables 3 by the central control system 8;

(3) The thickness of the coating sprayed on the outer surface of the workpiece to be sprayed is measured online by the laser scanning thickness measuring device 4, and the spraying work is stopped when the thickness meets the requirements;

(4) Rotate the spray gun to the waste liquid bucket 6 through the central control system 8, and use the waste liquid bucket 6 to clean the spray gun to complete the automatic coating of the projectile structure and function coating.

Claims (1)

1. An automatic coating unit for projectile structure and function coating, characterized in that: the coating unit comprises a spraying robot arm (2), three turntables (3), a laser scanning thickness measuring device (4), two rails (5), waste liquid bucket (6), feeding system (7), central control system (8) and spray booth (9); the two tracks (5) are the first track and the second track respectively, and three turntables (3) They are the first turntable, the second turntable and the third turntable; The spraying robot arm (2), three turntables (3), laser scanning thickness measuring device (4), two rails (5), waste liquid bucket (6), and feeding system (7) are installed in the spray booth Inside (9), the central control system (8) is installed outside the spray booth (9); Install the first track and the second track on the ground in the spray booth (9); A spraying robot arm (2) is installed at the gap between the first track and the second track, and the laser scanning thickness measuring device (4) is integrated on the spraying robot arm (2); The first turntable is installed on the first track, and the second turntable and the third turntable are installed on the second track; The feeding system (7) adopts a reciprocating piston flowmeter; The laser scanning thickness measuring device (4) is used for online measurement of the coating thickness sprayed on the outer surface of the workpiece to be sprayed; The distance between the first track and the second track is 1.5-2 times the diameter of the largest workpiece to be sprayed, and the minimum is not less than 2m; All three turntables are used to install the workpiece to be sprayed; The three turntables (3) are provided with fixtures for positioning the workpiece to be sprayed; The feeding system (7) is installed on a corner of the spray booth (9), and the feeding system (7) is connected with the spraying mechanical arm (2) through a pipeline; The waste liquid bucket (6) is installed near the spraying robot arm (2), and is used for cleaning the spray gun of the spraying robot arm (2); The central control system (8) is used for the transportation of workpieces on the track; The central control system (8) is used to control the laser scanning thickness measuring device (4) to measure the thickness and determine the thickness obtained by the laser scanning thickness measuring device (4). The thickness judgment refers to whether the thickness meets the specified thickness requirements; The central control system (8) is used for the control of the feeding system (7), including the opening and closing of the feeding system (7) and the output flow of the feeding system (7); The central control system (8) is used to control the rotation of the three turntables (3); The central control system (8) is also used to control the switch of the spray gun of the spraying robotic arm (2) and the movement of the spraying robotic arm (2). The central control system (8) controls the workpieces to be sprayed by the spray gun on the three turntables (3). switch between; The method used by the laser scanning thickness measuring device (4) for online measurement of the coating thickness sprayed on the outer surface of the workpiece to be sprayed is as follows: first, before the workpiece is sprayed, the laser scanning thickness measuring device (4) is used to scan the contour of the workpiece and generate Three-dimensional image, called three-dimensional image A, during the coating process of the workpiece, use the laser scanning thickness measuring device (4) to scan the outline of the coated workpiece and generate a three-dimensional image, called three-dimensional image B, which is a three-dimensional image. Image B subtracts three-dimensional image A to obtain the thickness of the current workpiece surface coating. When the obtained thickness of the current workpiece surface coating reaches the required thickness, the spraying is completed, otherwise the spraying is continued, and the same method is used to measure the current workpiece surface coating. the thickness of the layer until the requirements are met; The feeding system (7) is used to provide special functional coatings, and the special functional coatings are heat-resistant coatings, anti-laser coatings or stealth coatings; An automatic coating method for a structural functional coating of a projectile, comprising the steps of: (1) The workpiece to be sprayed (11) slides to the first turntable through the first track; the workpiece to be sprayed (12) slides to the second turntable through the second track; the workpiece to be sprayed (13) slides to the second track through the second track. three turntables; (2) Control the switch of the spray gun of the spraying robot arm (2) and the switching of the spray gun between the workpieces to be sprayed on the three turntables (3) through the central control system (8); (3) The thickness of the coating on the outer surface of the workpiece to be sprayed is measured online by the laser scanning thickness measuring device (4), and the spraying work is stopped when the thickness meets the requirements; (4) Rotate the spray gun to the waste liquid bucket (6) through the central control system (8), use the waste liquid bucket (6) to clean the spray gun, and complete the automatic coating of the structural and functional coating of the projectile.

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