CN118066987B - Automatic temperature-sensitive paint film thickness measurement electrical control system and electrical control method - Google Patents
Automatic temperature-sensitive paint film thickness measurement electrical control system and electrical control method Download PDFInfo
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- CN118066987B CN118066987B CN202410475825.2A CN202410475825A CN118066987B CN 118066987 B CN118066987 B CN 118066987B CN 202410475825 A CN202410475825 A CN 202410475825A CN 118066987 B CN118066987 B CN 118066987B
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- 239000003973 paint Substances 0.000 title claims abstract description 81
- 238000005259 measurement Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000005070 sampling Methods 0.000 claims abstract description 74
- 238000001514 detection method Methods 0.000 claims abstract description 44
- 238000006073 displacement reaction Methods 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000006748 scratching Methods 0.000 claims description 4
- 230000002393 scratching effect Effects 0.000 claims description 4
- 238000013480 data collection Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 2
- 238000004020 luminiscence type Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000006903 response to temperature Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention belongs to the technical field of intelligent robot processing automation and sensor detection, and discloses an electrical control system and an electrical control method for automatic measurement of temperature-sensitive paint film thickness. The system comprises a PC system, a robot controller, a displacement module, an eddy current sensor and a data acquisition circuit board which are sequentially connected according to the data transmission direction; the displacement module is connected with the sliding block type linear displacement sensor in parallel; the displacement controller is simultaneously connected with the data acquisition circuit board; and the PC system is provided with robot autonomous trajectory planning and sampling software. The method includes dividing a sampling region; planning a sampling path; planning a robot detection path and detecting pose; converting the robot detection path into a path instruction; obtaining paint film thickness data of each sampling point; integrating paint film thickness data of each sampling point; and outputting a paint film thickness sampling detection report. The system and the method can rapidly and accurately measure the thickness of the temperature-sensitive paint, and improve the measurement precision and efficiency.
Description
Technical Field
The invention belongs to the technical field of intelligent robot processing automation and sensor detection, and particularly relates to an electric control system and an electric control method for automatic measurement of temperature-sensitive paint film thickness.
Background
The temperature sensitive paint has sensitive response to temperature change in a certain temperature interval and has luminescence excitation and luminescence characteristics, so that the temperature sensitive paint is used for accurately measuring the surface parameters of a metal model with a complex appearance. In engineering practice, the temperature-sensitive paint is mainly sprayed on the surface of a model through a compressed air spray gun, the use environment and specific constraint are limited, the spraying thickness of the temperature-sensitive paint is about tens of micrometers, the uniformity of the large-area spraying thickness of the temperature-sensitive paint is a key factor for guaranteeing the measurement accuracy of surface parameters, and the more uniform the spraying thickness is, the smaller the measurement error is, so that the detection and evaluation of the film thickness of the temperature-sensitive paint are key technical links for controlling the spraying quality.
Because the spraying thickness of the temperature sensitive paint is only in the order of tens of micrometers, the manually-held thickness gauge adopted at present is extremely easy to cause measurement errors; the method is mainly characterized in that the normal direction of the contact force is unstable easily caused by the handheld equipment in the measurement process, so that the sampling result is deviated, meanwhile, the normal force of the contact surface of the thickness measuring equipment and the temperature-sensitive paint film layer cannot be accurately mastered by manual measurement, the scratch problem of the temperature-sensitive paint surface is easily caused, so that the manual thickness error is introduced, in addition, the efficiency of manually detecting the film thickness is low, and the recording process of the detection result is complicated. The factors are combined together, so that the quality effect of temperature-sensitive paint film thickness measurement is severely limited, and the quality of model surface parameters cannot be accurately assessed. Therefore, how to quickly and accurately measure the thickness of the temperature-sensitive paint is a key process link and a technical difficulty in quality and effect inspection of the spraying result of the temperature-sensitive paint.
Currently, development of an automatic temperature-sensitive paint film thickness measurement electric control system and an electric control method are needed.
Disclosure of Invention
The invention aims to provide an automatic temperature-sensitive paint film thickness measuring electric control system, and aims to provide an automatic temperature-sensitive paint film thickness measuring electric control method which is used for overcoming the technical defect of measuring the temperature-sensitive paint film thickness by a manual handheld thickness gauge.
The invention relates to an automatic temperature-sensitive paint film thickness measuring electric control system which is characterized by comprising a PC system, a robot controller, a displacement module, an eddy current sensor and a data acquisition circuit board which are sequentially connected according to a data transmission direction; the displacement module is connected with the sliding block type linear displacement sensor in parallel; the displacement controller is simultaneously connected with the data acquisition circuit board; installing autonomous trajectory planning and sampling software of the robot in the PC system;
The robot autonomous trajectory planning and sampling software transmits a robot trajectory planning instruction to a robot controller; the robot controller transmits the pose information of the robot to the data acquisition circuit board; the electric vortex sensor collects and transmits paint film thickness data of the sampling points to the data collection circuit board; and the robot outputs a sampling detection report from the autonomous trajectory planning and sampling software.
The invention discloses an automatic measurement electrical control method for the thickness of a temperature-sensitive paint film, which comprises the following steps:
S10, dividing a sampling area;
The robot autonomous trajectory planning and sampling software establishes a digital model according to the physical model, and divides a sampling area on the digital model;
S20, planning a sampling path;
The robot autonomous trajectory planning and sampling software plans the sampling path of each sampling area according to the number and the requirement of manually input sampling points, and simultaneously obtains pose information of each sampling point;
S30, planning a robot detection path and detecting pose;
The robot autonomous trajectory planning and sampling software calculates and converts the pose information of each sampling point into pose point data of the robot, so as to plan a robot measurement detection path and detect the pose;
For the characteristic appearance of the physical model including surface corners, thin edges and large curvature spherical surfaces, the eddy current sensor is difficult to detect by adopting an optimal posture, and the individual detection strategy design is respectively carried out on various characteristic appearances, so that an optimal detection path and an optimal detection pose are set;
s40, converting the robot detection path into a path instruction;
Converting the robot detection path into a robot instruction and uploading the robot instruction to a robot controller, wherein the robot walks according to the robot instruction output by the robot controller;
s50, obtaining paint film thickness data of each sampling point;
When the robot is in a detection pose of one sampling point, the displacement controller controls the linear module to reach and be positioned at a temperature-sensitive paint film thickness measurement position of the model along the sliding table, and a probe of an eddy current sensor fixed on the linear module extends out of the surface of the model; when the electric vortex sensor contacts the surface of the model, the contact spring of the electric vortex sensor drives the electric vortex sensor to retreat under the action of elastic force until the contact spring reaches the preset elastic contact force for preventing the electric vortex sensor from scratching a temperature sensitive paint film on the surface of the physical model; measuring by an eddy current sensor to obtain temperature-sensitive paint film thickness data of the sampling point;
The robot continues to walk along the detection path to obtain temperature-sensitive paint film thickness data of all sampling points, and the temperature-sensitive paint film thickness data of all sampling points are transmitted to a data acquisition circuit board;
s60, integrating paint film thickness data of each sampling point;
the robot controller transmits the pose information of the robot to the data acquisition circuit board; the data acquisition circuit board transmits temperature-sensitive paint film thickness data of all sampling points and corresponding robot pose information to the PC system; the robot autonomous trajectory planning and sampling software of the PC system integrates temperature-sensitive paint film thickness data of sampling points and corresponding robot pose information into a paint film thickness database of each sampling point comprising pose information;
s70, outputting a paint film thickness sampling detection report;
And the robot autonomous trajectory planning and sampling software outputs paint film thickness sampling detection reports according to the paint film thickness databases of all the sampling points.
According to the automatic temperature-sensitive paint thickness measurement electric control system and the automatic temperature-sensitive paint thickness measurement electric control method, the robot autonomous track planning and sampling software can autonomously plan a robot detection path according to the number and the requirements of manually input sampling points and the digital model of the physical model, so that the temperature-sensitive paint thickness measurement requirements of the physical models with different shapes and different sizes can be met; in addition, when the robot reaches the position above the normal direction of the sampling point on the physical model, the robot controller feeds back a signal in place, the displacement controller controls the start and stop actions of the linear module, and the contact spring is adjusted to a preset anti-slip elastic contact force so as to conform to the spraying change of the thickness of the temperature-sensitive paint film on the surface of the physical model, and the eddy current sensor is prevented from scratching the temperature-sensitive paint film on the surface of the physical model.
The automatic temperature-sensitive paint film thickness measuring electrical control system and the electrical control method can quickly and accurately measure the temperature-sensitive paint film thickness, improve the measuring precision and the measuring efficiency, and have engineering practical values.
Drawings
FIG. 1 is a schematic diagram of the hardware connection of an automatic temperature-sensitive paint film thickness measurement electric control system;
FIG. 2 is a flow chart of an electrical control method for automatic measurement of the thickness of a temperature-sensitive paint film.
Detailed Description
The invention is described in detail below with reference to the drawings and examples.
Example 1: as shown in fig. 1, the automatic temperature-sensitive paint film thickness measuring electric control system of the embodiment is characterized by comprising a PC system, a robot controller, a displacement module, an eddy current sensor and a data acquisition circuit board which are sequentially connected according to a data transmission direction; the displacement module is connected with the sliding block type linear displacement sensor in parallel; the displacement controller is simultaneously connected with the data acquisition circuit board; installing autonomous trajectory planning and sampling software of the robot in the PC system;
The robot autonomous trajectory planning and sampling software transmits a robot trajectory planning instruction to a robot controller; the robot controller transmits the pose information of the robot to the data acquisition circuit board; the electric vortex sensor collects and transmits paint film thickness data of the sampling points to the data collection circuit board; and the robot outputs a sampling detection report from the autonomous trajectory planning and sampling software.
As shown in fig. 2, the automatic temperature-sensitive paint film thickness measurement electrical control method of the embodiment comprises the following steps:
S10, dividing a sampling area;
The robot autonomous trajectory planning and sampling software establishes a digital model according to the physical model, and divides a sampling area on the digital model;
S20, planning a sampling path;
The robot autonomous trajectory planning and sampling software plans the sampling path of each sampling area according to the number and the requirement of manually input sampling points, and simultaneously obtains pose information of each sampling point;
S30, planning a robot detection path and detecting pose;
The robot autonomous trajectory planning and sampling software calculates and converts the pose information of each sampling point into pose point data of the robot, so as to plan a robot measurement detection path and detect the pose;
For the characteristic appearance of the physical model including surface corners, thin edges and large curvature spherical surfaces, the eddy current sensor is difficult to detect by adopting an optimal posture, and the individual detection strategy design is respectively carried out on various characteristic appearances, so that an optimal detection path and an optimal detection pose are set;
s40, converting the robot detection path into a path instruction;
Converting the robot detection path into a robot instruction and uploading the robot instruction to a robot controller, wherein the robot walks according to the robot instruction output by the robot controller;
s50, obtaining paint film thickness data of each sampling point;
When the robot is in a detection pose of one sampling point, the displacement controller controls the linear module to reach and be positioned at a temperature-sensitive paint film thickness measurement position of the model along the sliding table, and a probe of an eddy current sensor fixed on the linear module extends out of the surface of the model; when the electric vortex sensor contacts the surface of the model, the contact spring of the electric vortex sensor drives the electric vortex sensor to retreat under the action of elastic force until the contact spring reaches the preset elastic contact force for preventing the electric vortex sensor from scratching a temperature sensitive paint film on the surface of the physical model; measuring by an eddy current sensor to obtain temperature-sensitive paint film thickness data of the sampling point;
The robot continues to walk along the detection path to obtain temperature-sensitive paint film thickness data of all sampling points, and the temperature-sensitive paint film thickness data of all sampling points are transmitted to a data acquisition circuit board;
s60, integrating paint film thickness data of each sampling point;
the robot controller transmits the pose information of the robot to the data acquisition circuit board; the data acquisition circuit board transmits temperature-sensitive paint film thickness data of all sampling points and corresponding robot pose information to the PC system; the robot autonomous trajectory planning and sampling software of the PC system integrates temperature-sensitive paint film thickness data of sampling points and corresponding robot pose information into a paint film thickness database of each sampling point comprising pose information;
s70, outputting a paint film thickness sampling detection report;
And the robot autonomous trajectory planning and sampling software outputs paint film thickness sampling detection reports according to the paint film thickness databases of all the sampling points.
Although embodiments of the invention have been disclosed in the foregoing description and illustrated in the drawings, it will be understood by those skilled in the art that the present invention is not limited to the specific details and illustrations of features and steps set forth herein, and that all features of the invention disclosed, or steps of the method or process, except for mutually exclusive features and/or steps, may be combined in any manner without departing from the principles of the invention.
Claims (1)
1. The automatic temperature-sensitive paint film thickness measuring electric control method is used for an automatic temperature-sensitive paint film thickness measuring electric control system, and the electric control system comprises a PC system, a robot controller, a displacement module, an eddy current sensor and a data acquisition circuit board which are sequentially connected according to a data transmission direction; the displacement module is connected with the sliding block type linear displacement sensor in parallel; the displacement controller is simultaneously connected with the data acquisition circuit board; installing autonomous trajectory planning and sampling software of the robot in the PC system; the robot autonomous trajectory planning and sampling software transmits a robot trajectory planning instruction to a robot controller; the robot controller transmits the pose information of the robot to the data acquisition circuit board; the electric vortex sensor collects and transmits paint film thickness data of the sampling points to the data collection circuit board; the robot autonomous trajectory planning and sampling software outputs a sampling detection report; the method is characterized by comprising the following steps of:
S10, dividing a sampling area;
The robot autonomous trajectory planning and sampling software establishes a digital model according to the physical model, and divides a sampling area on the digital model;
S20, planning a sampling path;
The robot autonomous trajectory planning and sampling software plans the sampling path of each sampling area according to the number and the requirement of manually input sampling points, and simultaneously obtains pose information of each sampling point;
S30, planning a robot detection path and detecting pose;
The robot autonomous trajectory planning and sampling software calculates and converts the pose information of each sampling point into pose point data of the robot, so as to plan a robot measurement detection path and detect the pose;
For the characteristic appearance of the physical model including surface corners, thin edges and large curvature spherical surfaces, the eddy current sensor is difficult to detect by adopting an optimal posture, and the individual detection strategy design is respectively carried out on various characteristic appearances, so that an optimal detection path and an optimal detection pose are set;
s40, converting the robot detection path into a path instruction;
Converting the robot detection path into a robot instruction and uploading the robot instruction to a robot controller, wherein the robot walks according to the robot instruction output by the robot controller;
s50, obtaining paint film thickness data of each sampling point;
When the robot is in a detection pose of one sampling point, the displacement controller controls the linear module to reach and be positioned at a temperature-sensitive paint film thickness measurement position of the model along the sliding table, and a probe of an eddy current sensor fixed on the linear module extends out of the surface of the model; when the electric vortex sensor contacts the surface of the model, the contact spring of the electric vortex sensor drives the electric vortex sensor to retreat under the action of elastic force until the contact spring reaches the preset elastic contact force for preventing the electric vortex sensor from scratching a temperature sensitive paint film on the surface of the physical model; measuring by an eddy current sensor to obtain temperature-sensitive paint film thickness data of the sampling point;
The robot continues to walk along the detection path to obtain temperature-sensitive paint film thickness data of all sampling points, and the temperature-sensitive paint film thickness data of all sampling points are transmitted to a data acquisition circuit board;
s60, integrating paint film thickness data of each sampling point;
the robot controller transmits the pose information of the robot to the data acquisition circuit board; the data acquisition circuit board transmits temperature-sensitive paint film thickness data of all sampling points and corresponding robot pose information to the PC system; the robot autonomous trajectory planning and sampling software of the PC system integrates temperature-sensitive paint film thickness data of sampling points and corresponding robot pose information into a paint film thickness database of each sampling point comprising pose information;
s70, outputting a paint film thickness sampling detection report;
And the robot autonomous trajectory planning and sampling software outputs paint film thickness sampling detection reports according to the paint film thickness databases of all the sampling points.
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| CN102049732B (en) * | 2010-08-30 | 2012-05-23 | 清华大学 | Method for measuring thickness of edge film of silicon wafer |
| CN102175133B (en) * | 2011-02-25 | 2012-07-18 | 清华大学 | Global metal film thickness measuring device |
| CN104154852B (en) * | 2014-08-20 | 2017-11-28 | 中国科学技术大学 | Conducting film thickness measurement system and method based on current vortex sensor |
| CN107101573B (en) * | 2017-05-03 | 2023-04-07 | 武汉轻工大学 | Online measuring device and method for thickness of ultrathin glass and application |
| CN107127755B (en) * | 2017-05-12 | 2023-12-08 | 华南理工大学 | Real-time acquisition device of three-dimensional point cloud and robot polishing track planning method |
| CN111023960B (en) * | 2019-12-31 | 2021-04-27 | 新余学院 | Non-contact paint film thickness nondestructive testing system and method based on transparent conductive film electrode material |
| CN114035568A (en) * | 2021-03-27 | 2022-02-11 | 浙江大学 | Method for planning path of stratum drilling robot in combustible ice trial production area |
| CN117268255A (en) * | 2023-09-21 | 2023-12-22 | 中国空气动力研究与发展中心超高速空气动力研究所 | System and method for measuring rough morphology of MEMS friction test |
| CN117723626A (en) * | 2023-11-17 | 2024-03-19 | 苏州热工研究院有限公司 | Clamping device for eddy current probe |
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| CN110006475A (en) * | 2019-05-16 | 2019-07-12 | 金瓜子科技发展（北京）有限公司 | Detection device and detection execution method |
| CN117359625A (en) * | 2023-10-24 | 2024-01-09 | 中冶检测认证有限公司 | Robot special-shaped motion track automatic planning method based on point cloud data guiding technology |
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