CN107744895A - Automatic paint-spraying machine and method - Google Patents
Automatic paint-spraying machine and method Download PDFInfo
- Publication number
- CN107744895A CN107744895A CN201710819916.3A CN201710819916A CN107744895A CN 107744895 A CN107744895 A CN 107744895A CN 201710819916 A CN201710819916 A CN 201710819916A CN 107744895 A CN107744895 A CN 107744895A
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- Prior art keywords
- controller
- automatic
- support
- frame
- spraying machine
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
- B05B13/0228—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts the movement of the objects being rotative
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
- B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
- B05B5/08—Plant for applying liquids or other fluent materials to objects
- B05B5/082—Plant for applying liquids or other fluent materials to objects characterised by means for supporting, holding or conveying the objects
Abstract
The invention discloses a kind of automatic paint-spraying machine and method, including frame, the guider extended laterally, controller and alarm in frame, support bar on the left of frame, 180 degree rotary cylinder on the right side of support, two located at the connecting rod both ends of 180 degree rotary cylinder are hit board clamp；Pressure sensor is equipped with each strike board clamp, guider is provided with fixed block, and fixed block is provided with automatic style electro static spray gun moving up and down；Support bar is provided with and two strike board clamps difference corresponding two club ends location structures.The present invention have it is simple in construction, occupy little space, it is simple to operate, paint efficiency high the characteristics of.
Description
Technical field
The present invention relates to club lacquering technologies field, occupied little space more particularly, to one kind, simple to operate, cost of equipment
It is low, the auto spray painting and method of efficiency high of painting.
Background technology
At present, it is largely to be painted using pure manual mode to club, partly using large-scale automatic paint-spraying machine.
Existing club paint spraying machine major defect is：Equipment volume is big, and manufacturing cost is high, and use cost is high, hall space
It is it is required that high.
The content of the invention
The goal of the invention of the present invention is for big, the production costs that overcome club paint spraying machine of the prior art equipment volume to be present
With height, use cost is high, and hall space requires high deficiency, there is provided one kind occupies little space, simple to operate, cost of equipment
It is low, the automatic paint-spraying machine and method of efficiency high of painting.
To achieve these goals, the present invention uses following technical scheme：
A kind of automatic paint-spraying machine, including frame, the guider extended laterally, controller and alarm in frame
Device, the support bar on the left of frame, the 180 degree rotary cylinder on the right side of support, located at the connecting rod of 180 degree rotary cylinder
Two strike board clamps at both ends；Pressure sensor is equipped with each strike board clamp, guider is provided with fixed block, Gu
Determine block and be provided with automatic style electro static spray gun moving up and down；Support bar is provided with and two strike board clamps difference corresponding two
Individual club end location structure；Pneumatic pin is stepped on switch and electrically connected with 180 degree rotary cylinder, controller respectively with guider, 2
Pressure sensor, alarm, automatic style electro static spray gun and pneumatic pin step on switch electrical connection.
Guider is used to provide guiding to the reciprocating motion of automatic style electro static spray gun, and controller is used to control automatic electrostatic
Spray gun for paint, guider, two strike gentle dynamic pin of board clamp step on the work of switch；180 degree rotary cylinder is used for two ice
The location swap of mallet, so as to realize the function of being painted when changing ice stick, change ice stick and be not required to holding time, improve spray
The efficiency of paint.
Two strike board clamps are used for the beater plate position for clamping 2 ice sticks respectively, two club end location structures
It is respectively used to provide positioning function to two ice stick ends, is fixed so as to which ice stick both ends all be stablized, to improve matter of painting
Amount provides guarantee.
Two ice stick 180 degree rotations, alternately paint and clamping ice stick, simple in construction, efficiency high.It is anti-by 180 degree
Turn, realize the clamping in spray painting, greatly simplify device structure, while improve spray painting efficiency.
The present invention is simple in construction, occupies little space, simple to operate, equipment cost is low；Ice stick spray painting operation, can be from two people
Operation reduces to one man operation, reduces employment cost.
Preferably, also include two the first motors on the support bar, the rotating shafts of two the first motors is respectively with two
The location structure connection of individual club end, two the first motors are electrically connected with the controller；Two strike board clamps are respectively with being connected
Bar both ends are rotatablely connected.
Two the first motors can drive ice stick rotation, so that automatic style electro static spray gun can be the periphery of ice stick
Face auto spray painting.
Preferably, the guider includes the second motor in the frame and is connected with the rotating shaft of the second motor
Belt, the fixed block are fixedly connected with belt.
Second motor work when, belt clockwise or counterclockwise so that fixed block can drive automatic electrostatic
Paint rifle moves left and right.
Preferably, it is described strike board clamp include fixed frame, two telescopic cylinders on fixed frame with set
Two clamping plates in fixed frame；The expansion link of two telescopic cylinders is connected with two clamping plates respectively.
Two telescopic cylinders are respectively used for driving two clamping plates movement, so as to change the spacing between two clamping plates, when two
When block clamping plate extrudes beater plate, two clamping plates clamp beater plate.
Preferably, it is described strike board clamp include fixed frame, two telescopic cylinders on fixed frame with set
Two clamping plates in fixed frame；The expansion link of two telescopic cylinders is connected with two clamping plates respectively；The fixed frame bag
The rectangular slab with the rotation connection of connecting rod one end is included, respectively rectangular slab connected vertically with rectangular slab both sides and long located at two
Connecting plate on square plate；Two telescopic cylinders respectively on the lateral surface of two rectangular slabs, stretch by two telescopic cylinders
Contracting bar is respectively protruding into outside two rectangular slab medial surfaces, and two telescopic rod ends are connected with two clamping plates respectively.
Preferably, the groove being engaged with the shape of ice hockey beater plate is equipped with the relative surface of two clamping plates, often
Individual pressure sensor is respectively positioned in groove.The setting of groove can either be jammed beater plate, will not damage beater plate again.
Preferably, the support bar is in shape of chinese word Ji, the boss of support bar is connected with support；Club end positioning knot
Structure includes the rectangular cross bar in cross section, and cross bar is provided with plastic sheath, and plastic sheath is provided with several elastic protrusions.
Preferably, the fixed block is provided with cross connecting plate, cross connecting plate is provided with montant, and montant lower end is located at
Fixed block, fixed block are connected with automatic style electro static spray gun, and montant is provided with several spaced elastic protrusions.Cross bar can be inserted
Enter in ice stick end, so as to which ice stick end be fixed.
A kind of method of automatic paint-spraying machine, comprises the following steps：
(8-1) moves up automatic style electro static spray gun；
(8-2) inserts the cross bar of the club end location structure on front side of support in the end of ice stick, by ice stick
Beater plate is put into the strike board clamp on front side of support, and beater plate clamp beater plate is controlled by controller；
The control 180 degree rotary cylinder work of (8-3) controller, make 180 degree rotary cylinder drive two strike board clamps and
Support bar rotates 180 degree；
(8-4) inserts the cross bar of the club end location structure on front side of support in the end of ice stick, by ice stick
Beater plate is put into the strike board clamp on front side of support, and beater plate clamp beater plate is controlled by controller；
(8-5) moves down automatic style electro static spray gun, ice stick of the automatic style electro static spray gun on rear side of frame, controller control
The first motor work on rear side of support processed, makes ice stick rotation on rear side of frame；
(8-6) controller controls the movement of the second motor driven belt, and controls automatic style electro static spray gun to move left and right, and starts
Paint spraying；
After the completion of (8-7) spray painting, move up automatic style electro static spray gun；
The control 180 degree rotary cylinder work of (8-8) controller, the ice stick for completing spray painting are gone on front side of support, simultaneously
Automatic electrostatic painting is controlled to the ice stick spray painting on rear side of support；
(8-9) disassembles the ice stick for completion of painting, and is transferred to step (8-2).
Preferably, also comprise the following steps：Also include the process fault detection of strike board clamp：
The initial value that the initial value provided with j is 1, i in (9-1) controller is 1, provided with fault threshold E；
The detection signal u (t) of (9-2) controller calculation pressure sensor local maximum simultaneously passes through cubic spline interpolation
Obtain coenvelope line uup(t)；
(9-3) calculates signal u (t) local minimum and obtains lower envelope line u by cubic spline interpolationlow(t)；
(9-4) defines average envelope m1(t)=[uup(t)+ulow(t)]/2；
(9-5) utilizes formula hj(t)=u (t)-mj(t) calculating difference hj(t)；
(9-6) is if hj(t) IMF screening stop conditions are unsatisfactory for, make u (t)=hj(t), j values increase by 1, return to step (9-2)
To hj(t) continue to decompose；Work as hj(t) meet that IMF sieves stop condition, then obtain the 1st IMF components c of u (t) signals1
(t)=hj(t)；
(9-7) utilizes formula ri(t)=u (t)-ci(t) residual components r is calculatedi(t)；
(9-8) works as ri(t) when being unsatisfactory for decomposing stop condition, u (t)=r is madei(t) i values, are made to increase by 1, return to step (9-
2) to ri(t) continue to decompose；When meeting to sieve stop condition, if n1=i, n1 IMF components c is obtainedi(t) divide with 1 residue
Measure rn(t), u (t) can be then expressed asExtract ci(t) N number of sample value ci(k), k=1,2 ...,
N；
(9-9) controller utilizes formulaU (t) each component energy is calculated, compares u (t) each component
ENERGY Emax, choose E1, E2..., EnMiddle maximum Emax, work as EmaxDuring ＞ E, controller makes the judgement of strike board clamp failure,
Controller control strike board clamp is stopped, alarm alert；
Work as EmaxDuring≤E, step (8-1) is transferred to；
Wherein, (9-6), the screening stop condition of (9-8) use imitative Cauchy's test for convergence,
Work as SDSieve and stop during ＜ ε, for ε generally between 0.2 and 0.3, T is the constant of setting；Decomposition stop condition is residual signal ri
(t) it is changed into monotonic function.
The setting of pressure sensor can detect pressure signal, and by the processing to pressure signal, determine that beater plate presss from both sides
Whether tool breaks down, and effectively prevents beater plate from being pressed from both sides the occurrence of bad.
Therefore, the present invention has the advantages that：It is simple in construction, occupy little space, simple to operate, equipment cost is low,
Reduce employment cost, efficiency high of painting, security is good.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present invention；
Fig. 2 is a kind of structural representation of the strike board clamp of the present invention；
Fig. 3 is Fig. 1 of present invention partial enlarged drawing；
Fig. 4 is a kind of flow chart of the present invention.
In figure：Frame 1, guider 2, controller 3, support bar 4,180 degree rotary cylinder 5, strike board clamp 6, fixation
Block 7, automatic style electro static spray gun 8, pneumatic pin step on switch 9, the first motor 10, bottom plate 11, riser 12, the second motor 21, belt 22,
Club end location structure 41, connecting rod 51, fixed frame 61, telescopic cylinder 62, clamping plate 63, cross connecting plate 71, montant 72,
Fixed block 73, rectangular slab 611, rectangular slab 612, connecting plate 613, ice stick 1001.
Embodiment
The present invention will be further described with reference to the accompanying drawings and detailed description.
Embodiment as shown in Figure 1 is a kind of automatic paint-spraying machine, including frame 1, in frame extend laterally lead
To device 2, controller 3 and alarm, the support bar 4 on the left of frame, the 180 degree rotary cylinder 5 on the right side of support, if
Two in the both ends of connecting rod 51 of 180 degree rotary cylinder are hit board clamp 6；Pressure sensing is equipped with each strike board clamp
Device, guider are provided with fixed block 7, and fixed block is provided with automatic style electro static spray gun 8 moving up and down；Support bar is provided with
With two strike board clamps difference corresponding two club ends location structures 41；Pneumatic pin steps on switch 9 and 180 degree rotary cylinder
Electrical connection, controller step on switch with guider, 2 pressure sensors, alarm, automatic style electro static spray gun and pneumatic pin respectively
Electrical connection.
Also include two the first motors 10 on the support bar, the rotating shafts of two the first motors respectively with two club ends
Location structure connection is held, two the first motors are electrically connected with the controller；Two strike board clamps turn with connecting rod both ends respectively
Dynamic connection.
Guider includes the second motor 21 in frame and the belt 22 being connected with the rotating shaft of the second motor, fixed
Block is fixedly connected with belt.
As shown in Fig. 2 strike board clamp include fixed frame 61, two telescopic cylinders 62 on fixed frame with set
Two clamping plates 63 in fixed frame；The expansion link of two telescopic cylinders is connected with two clamping plates respectively；Fixed frame includes
With the rectangular slab 611 of connecting rod one end rotation connection, respectively rectangular slab 612 connected vertically with rectangular slab both sides and located at two
Connecting plate 613 on individual rectangular slab；Two telescopic cylinders are located on the lateral surface of two rectangular slabs respectively, two flexible gas
The expansion link of cylinder is respectively protruding into outside two rectangular slab medial surfaces, and two telescopic rod ends are connected with two clamping plates respectively.
The groove being engaged with the shape of ice hockey beater plate, each pressure sensing are equipped with the relative surface of two clamping plates
Device is respectively positioned in 2 grooves.
Support bar is in shape of chinese word Ji, and the boss of support bar is connected with support；Club end location structure includes cross section
Rectangular cross bar, cross bar are provided with plastic sheath, and plastic sheath is provided with 5 elastic protrusions.
As shown in figure 3, fixed block is provided with cross connecting plate 71, cross connecting plate is provided with montant 72, and montant lower end is set
In fixed block 73, fixed block is connected with automatic style electro static spray gun, and montant is provided with several spaced elastic protrusions.
As shown in figure 4, a kind of method of automatic paint-spraying machine, comprises the following steps：
Step 100, move up automatic style electro static spray gun；
Step 200, by club end location structure of the ice stick clamping on front side of support and strike board clamp
The cross bar of club end location structure on front side of support is inserted in the end of ice stick, by the beater plate of ice stick
It is put into the strike board clamp on front side of support, beater plate clamp beater plate is controlled by controller；
Step 300,180 degree rotation support bar and 2 strike board clamps
Controller control 180 degree rotary cylinder work, makes 180 degree rotary cylinder drive two strike board clamps and support bar
Rotate 180 degree；
Step 400, another ice stick of clamping
The cross bar of club end location structure on front side of support is inserted in the end of ice stick, by the beater plate of ice stick
It is put into the strike board clamp on front side of support, beater plate clamp beater plate is controlled by controller；
Step 500, the ice stick rotation for making needs paint
Automatic style electro static spray gun is moved down, ice stick of the automatic style electro static spray gun on rear side of frame, controller control branch
The first motor work on rear side of frame, makes ice stick rotation on rear side of frame；
Step 600, automatic style electro static spray gun is moved left and right and painted
Controller controls the movement of the second motor driven belt, and controls automatic style electro static spray gun to move left and right, and starts to paint
Operation；
Step 700, after the completion of spray painting, move up automatic style electro static spray gun；
Step 800, two ice sticks exchange position, continue to paint
Controller controls the work of 180 degree rotary cylinder, and the ice stick for completing spray painting is gone on front side of support, while is controlled certainly
Dynamic electrostatic painting is to the ice stick spray painting on rear side of support；
Step 900, ice stick is dismantled
The ice stick for completion of painting is disassembled, is transferred to step 200.
Also include the process fault detection of strike board clamp：
The initial value that the initial value provided with j is 1, i in (9-1) controller is 1, provided with fault threshold E；
The detection signal u (t) of (9-2) controller calculation pressure sensor local maximum simultaneously passes through cubic spline interpolation
Obtain coenvelope line uup(t)；
(9-3) calculates signal u (t) local minimum and obtains lower envelope line u by cubic spline interpolationlow(t)；
(9-4) defines average envelope m1(t)=[uup(t)+ulow(t)]/2；
(9-5) utilizes formula hj(t)=u (t)-mj(t) calculating difference hj(t)；
(9-6) is if hj(t) IMF screening stop conditions are unsatisfactory for, make u (t)=hj(t), j values increase by 1, return to step (9-2)
To hj(t) continue to decompose；Work as hj(t) meet that IMF sieves stop condition, then obtain the 1st IMF components c of u (t) signals1
(t)=hj(t)；
(9-7) utilizes formula ri(t)=u (t)-ci(t) residual components r is calculatedi(t)；
(9-8) works as ri(t) when being unsatisfactory for decomposing stop condition, u (t)=r is madei(t) i values, are made to increase by 1, return to step (9-
2) to ri(t) continue to decompose；When meeting to sieve stop condition, if n1=i, n1 IMF components c is obtainedi(t) divide with 1 residue
Measure rn(t), u (t) can be then expressed asExtract ci(t) N number of sample value ci(k), k=1,2 ...,
N；
(9-9) controller utilizes formulaU (t) each component energy is calculated, compares u (t) each component
ENERGY Emax, choose E1, E2..., EnMiddle maximum Emax, work as EmaxDuring ＞ E, controller makes the judgement of strike board clamp failure,
Controller control strike board clamp is stopped, alarm alert；
Work as EmaxDuring≤E, step (8-1) is transferred to；
Wherein, (9-6), the screening stop condition of (9-8) use imitative Cauchy's test for convergence,
Work as SDSieve and stop during ＜ ε, for ε generally between 0.2 and 0.3, T is the constant of setting；Decomposition stop condition is residual signal ri
(t) it is changed into monotonic function.
It should be understood that the present embodiment is only illustrative of the invention and is not intended to limit the scope of the invention.In addition, it is to be understood that
After having read the content of the invention lectured, those skilled in the art can make various changes or modifications to the present invention, these etc.
Valency form equally falls within the application appended claims limited range.
Claims (9)
1. a kind of automatic paint-spraying machine, it is characterized in that, including frame (1), the guider (2) extended laterally in frame,
Controller (3) and alarm, the support bar (4) on the left of frame, the 180 degree rotary cylinder (5) on the right side of support, it is located at
Two strike board clamps (6) at connecting rod (51) both ends of 180 degree rotary cylinder；Pressure biography is equipped with each strike board clamp
Sensor, guider are provided with fixed block (7), and fixed block is provided with automatic style electro static spray gun (8) moving up and down；Support bar
It is provided with two club ends location structure (41) corresponding with two strike board clamps difference；Pneumatic pin steps on switch (9) and 180
Rotary cylinder electrical connection is spent, controller is gentle with guider, 2 pressure sensors, alarm, automatic style electro static spray gun respectively
Dynamic pin steps on switch electrical connection.
2. automatic paint-spraying machine according to claim 1, it is characterized in that, in addition to two the first motors on support bar
(10), the rotating shaft of two the first motors is connected with two club end location structures respectively, and two the first motors are and controller
Electrical connection；Two strike board clamps are rotatablely connected with connecting rod both ends respectively.
3. automatic paint-spraying machine according to claim 1, it is characterized in that, the guider includes second in frame
Motor (21) and the belt (22) being connected with the rotating shaft of the second motor, the fixed block are fixedly connected with belt.
4. automatic paint-spraying machine according to claim 1, it is characterized in that, the strike board clamp includes fixed frame (61),
Two telescopic cylinders (62) on fixed frame and the two clamping plates (63) in fixed frame；Two telescopic cylinders
Expansion link is connected with two clamping plates respectively；The fixed frame includes the rectangular slab (611) with the rotation connection of connecting rod one end, point
Connecting plate (613) not with rectangular slab both sides rectangular slab connected vertically (612) and on two rectangular slabs；Two are stretched
For contracting cylinder respectively on the lateral surface of two rectangular slabs, the expansion link of two telescopic cylinders is respectively protruding into two rectangular slabs
Outside medial surface, two telescopic rod ends are connected with two clamping plates respectively.
5. automatic paint-spraying machine according to claim 4, it is characterized in that, it is equipped with the relative surface of two clamping plates and ice hockey
The groove that the shape of beater plate is engaged, each pressure sensor are respectively positioned in groove.
6. automatic paint-spraying machine according to claim 1, it is characterized in that, the support bar is in shape of chinese word Ji, the projection of support bar
Position is connected with support；Club end location structure includes the rectangular cross bar in cross section, and cross bar is provided with plastic sheath, plastic sheath
It is provided with several elastic protrusions.
7. automatic paint-spraying machine according to claim 1, it is characterized in that, the fixed block is provided with cross connecting plate (71),
Cross connecting plate is provided with montant (72), and montant lower end is located at fixed block (73), and fixed block is connected with automatic style electro static spray gun, erects
Bar is provided with several spaced elastic protrusions.
8. a kind of method of the automatic paint-spraying machine based on claim 2, it is characterized in that, comprise the following steps：
(8-1) moves up automatic style electro static spray gun；
(8-2) inserts the cross bar of the club end location structure on front side of support in the end of ice stick, by the strike of ice stick
Plate is put into the strike board clamp on front side of support, and beater plate clamp beater plate is controlled by controller；
The control 180 degree rotary cylinder work of (8-3) controller, makes 180 degree rotary cylinder drive two strike board clamps and support
Bar rotates 180 degree；
(8-4) inserts the cross bar of the club end location structure on front side of support in the end of ice stick, by the strike of ice stick
Plate is put into the strike board clamp on front side of support, and beater plate clamp beater plate is controlled by controller；
(8-5) moves down automatic style electro static spray gun, ice stick of the automatic style electro static spray gun on rear side of frame, controller control branch
The first motor work on rear side of frame, makes ice stick rotation on rear side of frame；
(8-6) controller controls the movement of the second motor driven belt, and controls automatic style electro static spray gun to move left and right, and starts to paint
Operation；
After the completion of (8-7) spray painting, move up automatic style electro static spray gun；
The control 180 degree rotary cylinder work of (8-8) controller, the ice stick for completing spray painting go on front side of support, controlled simultaneously
Automatic electrostatic painting is to the ice stick spray painting on rear side of support；
(8-9) disassembles the ice stick for completion of painting, and is transferred to step (8-2).
9. the method for automatic paint-spraying machine according to claim 7, it is characterized in that, also comprise the following steps：Also include beater plate to press from both sides
The process fault detection of tool：
The initial value that the initial value provided with j is 1, i in (9-1) controller is 1, provided with fault threshold E；
The detection signal u (t) of (9-2) controller calculation pressure sensor local maximum is simultaneously obtained by cubic spline interpolation
Coenvelope line uup(t)；
(9-3) calculates signal u (t) local minimum and obtains lower envelope line u by cubic spline interpolationlow(t)；
(9-4) defines average envelope m1(t)=[uup(t)+ulow(t)]/2；
(9-5) utilizes formula hj(t)=u (t)-mj(t) calculating difference hj(t)；
(9-6) is if hj(t) IMF screening stop conditions are unsatisfactory for, make u (t)=hj(t), j values increase by 1, return to step (9-2) is to hj
(t) continue to decompose；Work as hj(t) meet that IMF sieves stop condition, then obtain the 1st IMF components c of u (t) signals1(t)=
hj(t)；
(9-7) utilizes formula ri(t)=u (t)-ci(t) residual components r is calculatedi(t)；
(9-8) works as ri(t) when being unsatisfactory for decomposing stop condition, u (t)=r is madei(t) i values, are made to increase by 1, return to step (9-2) is right
ri(t) continue to decompose；When meeting to sieve stop condition, if n1=i, n1 IMF components c is obtainediAnd 1 residual components r (t)n
(t), u (t) can be then expressed asExtract ci(t) N number of sample value ci(k), k=1,2 ..., N；
(9-9) controller utilizes formulaU (t) each component energy is calculated, compares u (t) each component energy
Emax, choose E1, E2..., EnMiddle maximum Emax, work as EmaxDuring ＞ E, controller makes the judgement of strike board clamp failure, control
Device control strike board clamp is stopped, alarm alert；
Work as EmaxDuring≤E, step (8-1) is transferred to；
Wherein, (9-6), the screening stop condition of (9-8) use imitative Cauchy's test for convergence,
Work as SDSieve and stop during ＜ ε, for ε generally between 0.2 and 0.3, T is the constant of setting；Decomposition stop condition is residual signal ri
(t) it is changed into monotonic function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819916.3A CN107744895B (en) | 2017-09-12 | 2017-09-12 | Automatic paint-spraying machine and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819916.3A CN107744895B (en) | 2017-09-12 | 2017-09-12 | Automatic paint-spraying machine and method |
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| CN107744895A true CN107744895A (en) | 2018-03-02 |
| CN107744895B CN107744895B (en) | 2019-05-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111715438A (en) * | 2020-06-17 | 2020-09-29 | 威海楚创电子科技有限公司 | Automatic change body of rod auxiliary device that sprays paint |
Citations (11)
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| US6638577B2 (en) * | 2001-01-24 | 2003-10-28 | Sumitomo Rubber Industries, Ltd. | Method of manufacturing golf club head |
| CN1681608A (en) * | 2002-09-16 | 2005-10-12 | 菲永投资公司 | Device for cleaning diversified objects |
| JP2007111176A (en) * | 2005-10-19 | 2007-05-10 | Sri Sports Ltd | Method for coating golf club shaft |
| JP2007222550A (en) * | 2006-02-27 | 2007-09-06 | Sri Sports Ltd | Method for coating tubular body and method for manufacturing golf club |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111715438A (en) * | 2020-06-17 | 2020-09-29 | 威海楚创电子科技有限公司 | Automatic change body of rod auxiliary device that sprays paint |
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| CN107744895B (en) | 2019-05-03 |
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