EP1245293B1 - Vorrichtung und Methode zum Regeln und Aufbringen von Pulverbeschichtungsmaterial - Google Patents

Vorrichtung und Methode zum Regeln und Aufbringen von Pulverbeschichtungsmaterial Download PDF

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Publication number
EP1245293B1
EP1245293B1 EP20020007064 EP02007064A EP1245293B1 EP 1245293 B1 EP1245293 B1 EP 1245293B1 EP 20020007064 EP20020007064 EP 20020007064 EP 02007064 A EP02007064 A EP 02007064A EP 1245293 B1 EP1245293 B1 EP 1245293B1
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EP
European Patent Office
Prior art keywords
coating material
powder coating
suction air
supply rate
air pressure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP20020007064
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English (en)
French (fr)
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EP1245293A1 (de
Inventor
Tadao Morita
Hiroki Murai
Masayuki Hajima
Kazuhide Naruse
Tadashi Suzuki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nihon Parkerizing Co Ltd
Toyota Motor Corp
Original Assignee
Nihon Parkerizing Co Ltd
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from JP2002041484A external-priority patent/JP2003239451A/ja
Application filed by Nihon Parkerizing Co Ltd, Toyota Motor Corp filed Critical Nihon Parkerizing Co Ltd
Publication of EP1245293A1 publication Critical patent/EP1245293A1/de
Application granted granted Critical
Publication of EP1245293B1 publication Critical patent/EP1245293B1/de
Anticipated expiration legal-status Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B7/00—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas
    • B05B7/14—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas designed for spraying particulate materials
    • B05B7/1404—Arrangements for supplying particulate material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B7/00—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas
    • B05B7/14—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas designed for spraying particulate materials
    • B05B7/1404—Arrangements for supplying particulate material
    • B05B7/1472—Powder extracted from a powder container in a direction substantially opposite to gravity by a suction device dipped into the powder

Definitions

  • the present invention relates to an apparatus and a method of supplying powder coating material, and more specifically, to improvement in response of an actual supply rate to a given supply rate.
  • a coating gun When powder coating such as coating of a car body is conducted, in order to make uniform the finished coating and to effectively use the coating material, it is necessary to always supply a constant amount of powder coating material to a coating gun.
  • a conventional apparatus for supplying powder coating material of this type one end of a carrier tube is inserted in a tank for containing powder coating material. By blowing suction air into a nozzle of an injector provided on the other end of the carrier tube, the powder coating material in the tank is sucked into the carrier tube to be supplied to the coating gun.
  • a measurement device for measuring the flow rate of the powder coating material is attached to the carrier tube.
  • the pressure of the suction air to be blown into the nozzle of the injector is PID-controlled such that the actual supply rate equals the given supply rate.
  • PID control is a control system which is a combination of proportional operation for smooth control without hunting, integral operation for automatic correction of offset, and differential operation for improved response to disturbance.
  • Document US5473947 relates to a fluidized powder flowrate measurement decive in which the actual powder mass flow rate measured based on signals of two pressure sensors is output from the computer and compared with a flowrate set point. As a result, the air supply is regulated via a valve.
  • An object of the invention is to provide an apparatus and a method of supplying powder coating material with good response of an actual supply rate to a given supply rate.
  • An apparatus for supplying powder coating material comprises: a tank for containing powder coating material therein; an injector connected to the tank and having a main nozzle; a compressed air source for blowing suction air into the main nozzle of the injector to suck powder coating material from the tank; a powder flow rate measurement device for measuring a flow rate of powder coating material sucked by the injector and supplied from the tank; given supply rate input means for inputting a given supply rate of powder coating material; a suction air pressure regulator for adjusting a pressure of suction air blown into the main nozzle of the injector from the compressed air source; storing means; and a control circuit for storing in said storing means as learned data a value of suction air pressure with respect to a given supply rate in the past, for instantaneously operating, when a new given supply rate is inputted from the given supply rate input means, the suction air pressure regulator such that the suction air pressure equals a value of learned data stored in the storing means with respect to the new given supply rate
  • a method of supplying powder coating material comprises the steps of: inputting a given supply rate; sucking powder coating material from a tank by blowing suction air into a main nozzle of an injector connected to the tank; measuring a flow rate of powder coating material; adjusting pressure of suction air blown into the injector such that the measured flow rate of powder coating material equals the inputted given supply rate; storing as learned data a value of suction air pressure with respect to a given supply rate in the past; and instantaneously adjusting, when a new given supply rate is inputted, the suction air pressure equals the value of learned data stored with respect to the new given supply rate, and thereafter PID-controlling the suction air pressure such that the measured flow rate of powder coating material equals the new given supply rate.
  • FIG. 1 illustrates a structure of an apparatus for supplying powder coating material according to Embodiment 1 of the present invention.
  • a tank 1 for containing powder coating material F is a so-called fluidized-bed tank provided with a perforated plate 2. Fluidizing air is blown in to hold the powder coating material F in a fluidized state within the tank 1.
  • One end of a carrier tube 3 is inserted in the tank 1, while the other end of the carrier tube 3 is connected to an injector 4, which is connected to a coating gun 5.
  • a powder flow rate measurement device 6 is attached to the carrier tube 3 for measuring the flow rate of the powder coating material F based on change in capacitance in the carrier tube 3.
  • the powder flow rate measurement device 6 is connected to an amplifier circuit 7, which is in turn connected to a compensation circuit 8.
  • the powder flow rate measurement device 6 measures the flow rate of the powder coating material F based on the density in the carrier tube 3 measured as change in the capacitance and on a flow rate Qf of air for measurement introduced in the carrier tube 3.
  • An output signal from the compensation circuit 8 is inputted to a controller 9, which supplies suction air and diluting air to a main nozzle 4a and a sub-nozzle 4b, respectively, of the injector 4.
  • the controller 9 is provided with a valve 10 which is connected to a compressed air source (not shown) and which is opened and closed based on an operation signal of the coating gun 5, and with a pressure regulator 11 for suction air and a pressure regulator 12 for diluting air which are respectively connected through a node A to the valve 10.
  • the regulators 11 and 12 constitute a suction air pressure adjusting means and a diluting air pressure adjusting means, respectively, in the present invention, and are connected to the main nozzle 4a and the sub-nozzle 4b, respectively, of the injector 4.
  • the controller 9 has a control circuit 13 which is connected to the regulators 11 and 12 and to the compensation circuit 8.
  • the controller 9 also has a control panel 14 and a memory 15 both of which are connected to the control circuit 13.
  • control panel 14 constitutes a given supply rate input means and a carrier air flow rate input means in the present invention.
  • the memory 15 stores as learned data a value of suction air pressure with respect to a given supply rate of the powder coating material F in the past, and constitutes a storing means in the present invention.
  • a given supply rate Qm of the powder coating material F and a carrier air flow rate Qt for carrying the powder coating material F to the coating gun 5 are inputted via the control panel 13.
  • the control circuit 13 determines whether learned data of a suction air pressure Pfm with respect to the inputted given supply rate Qm is stored in the memory 15 or not. If the data is stored in the memory 15, at step S3, the control circuit 13 reads the learned data of the suction air pressure Pfm, and then, at step S4, instantaneously operates the pressure regulator 11 for suction air to be adjusted to have the value of the read learned data.
  • the system moves to PID control with the given supply rate Qm being the target value. More specifically, the pressure regulator 11 for suction air is adjusted by the control circuit 13 such that the flow rate of the powder coating material F measured by the powder flow rate measurement device 6 is the given supply rate Qm which is inputted at step S1.
  • the powder flow rate measurement device 6 measures the flow rate of the powder coating material F based on the density in the carrier tube 3 measured as the change in the capacitance and on the flow rate Qf of air for measurement introduced in the carrier tube 3.
  • An output signal from the powder flow rate measurement device 6 is amplified by the amplifier circuit 7, subjected to zero point compensation, for example, by the compensation circuit 8, and then, inputted to the control circuit 13 of the controller 9 as a signal representing a supply Qp of the powder coating material F.
  • the zero point compensation reduces the influence of powder attached to the inner wall of the carrier tube 3 while the powder coating material is supplied to an extent where there is practically no adverse effect.
  • the zero point compensation compensates measurement values during operation with a measurement value after the apparatus for supplying powder coating material is stopped (a measurement value corresponding to the amount of powder attached to the carrier tube 3) being as a reference value of the compensation.
  • the control circuit 13 compares the supply Qp represented by the signal with the given supply rate Qm of the powder coating material F which is in advance inputted via the control panel 14, and controls the pressure Pfm of suction air blown into the main nozzle 4a of the injector 4 by adjusting the pressure regulator 11 for suction air according to the amount in excess of or less than the given supply rate Qm. This makes the given supply rate Qm of the powder coating material F always supplied to the coating gun 5.
  • control circuit 13 calculates the difference Qt-Qfm between the carrier air flow rate Qt inputted via the control panel 14 and the flow rate Qfm of suction air, and adjusts the pressure regulator 12 for diluting air such that a flow rate Qfs of diluting air equals the difference.
  • step S6 the value of the suction air pressure Pfm when the actual supply rate equals the given supply rate Qm is stored in the memory 15 as learned data by the control circuit 13.
  • step S7 whether there is a change in the given supply rate Qm of the powder coating material F or not is determined. When there is no change, the flow returns to step 5 to continue the PID control. When there is a change, a new given supply rate Qm is inputted at step S8, and the flow returns to step S2 to determine whether learned data of the suction air pressure Pfm with respect to the new given supply rate Qm is stored in the memory 15 or not.
  • step S2 when the data of the suction air pressure Pfm with respect to the newly inputted given supply rate Qm is not stored in the memory 15, a decision is made that there is no learned data in the past. Then, the flow goes to step S5 to carry out the PID control with the given supply rate Qm being the target value.
  • pressure regulators are used as the suction air pressure regulator and the diluting air pressure regulator, respectively, the present invention is not limited thereto.
  • control valves may be used.
  • An apparatus for supplying powder coating material according to Embodiment 2 has a similar structure to that of the apparatus of Embodiment 1 shown in Fig. 1 except that, before the apparatus is operated, a calibration curve is formed for supplying powder coating material in advance by supplying an arbitrary supply of powder coating material, and, based on values of actual supply rate and suction air pressure when the calibration curve is formed, presumed data of suction air pressures with respect to respective set supplies are prepared and stored.
  • a calibration curve is formed.
  • an arbitrary supply is specified to supply powder coating material, and a value of a suction air pressure P1 with respect to an actual supply rate Q1 is obtained.
  • values of suction air pressures P2 and P3 with respect to actual supplies Q2 and Q3, respectively, are obtained by forming a calibration curve.
  • Interpolation is made by sequentially connecting an origin and measurement points M1 to M3 with straight lines.
  • the data is stored in the memory 15 as presumed data. It is to be noted that, with regard to a region where the supply is larger than Q3, the straight line connecting the measurement points M2 and M3 is extended to be used as the presumed data.
  • Steps 1 to 3 are similar to those in Embodiment 1. More specifically, at step S1, a given supply rate Qm of the powder coating material F and a carrier air flow rate Qt are inputted. At step S2, the control circuit 13 determines whether learned data of a suction air pressure Pfm with respect to the inputted given supply rate Qm is stored in the memory 15 or not. If the data is stored in the memory 15, at step S3, the learned data of the suction air pressure Pfm is read.
  • step S2 If the learned data of the suction air pressure Pfm with respect to the inputted given supply rate Qm is not stored in the memory 15 in step S2, the flow goes to step S13 to read from the memory 15 the presumed data of the suction air pressure Pfm corresponding to the inputted given supply rate Qm.
  • Steps S4 to S8 thereafter are similar to those in Embodiment 1. More specifically, at step S4, the pressure regulator 11 for suction air is instantaneously operated to be adjusted to have the value of the above-described learned data read at step 3 or the value of the presumed data read at step 13. After operation for a predetermined time period in this state, at step S5, the system moves to PID control with the given supply rate Qm being the target value. At step S6, the value of the suction air pressure Pfm when the actual supply rate equals the given supply rate Qm is stored in the memory 15 as learned data. Further, at step S7, whether there is a change in the given supply rate Qm of the powder coating material F or not is determined. When there is no change, the flow returns to step 5 to continue the PID control. When there is a change, a new given supply rate Qm is inputted at step S8, and the flow returns to step S2.
  • Embodiment 2 since the presumed data of the suction air pressures with respect to the respective set supplies are prepared and stored by forming the calibration curve at arbitrary supplies, when there is no learned data with respect to a newly inputted given supply rate, by instantaneously adjusting the suction air pressure to have the value of the presumed data stored with respect to the given supply rate, the response of the actual supply rate when the apparatus is started and when the given supply rate is changed is good.
  • a calibration curve may be formed using at least one measurement point.
  • presumed data can be prepared by connecting the measurement point and the origin with a straight line.
  • the presumed data may be stored in the form of a linear equation, or may be stored in the form of a data map of suction air pressures with respect to respective set supplies.
  • the origin and the three measurement points are sequentially connected with different straight lines
  • the present invention is not limited thereto. It is also possible to find from an origin and a plurality of measurement points one approximate straight line or curve which is nearest to the origin and the measurement points and to use it as the presumed data.
  • the suction air pressure is, when a new given supply rate is inputted, instantaneously adjusted to have a value in the learned data stored with respect to the given supply rate, and after that, the suction air pressure is PID-controlled such that the flow rate of powder coating material measured by the powder flow rate measurement device is the new given supply rate, the response of the actual supply rate when the apparatus is started and when the given supply rate is changed is good, and thus, powder coating can be carried out in a short time with good controllability.

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  • Application Of Or Painting With Fluid Materials (AREA)
  • Coating Apparatus (AREA)

Claims (9)

  1. Eine Vorrichtung zum Zuführen von Pulverbeschichtungsmaterial, die aufweist:
    einen Tank (1) zur Aufnahme von Pulverbeschichtungsmaterial in diesem,
    eine Einbringeinrichtung (4), die mit dem Tank (1) verbunden ist und die eine Hauptdüse (4a) aufweist,
    eine Quelle für komprimierte Luft zum Blasen von Saugluft in die Hauptdüse (4a) der Einbringeinrichtung, um Pulverbeschichtungsmaterial vom Tank (1) zu saugen,
    eine Pulverströmungsrate-Messvorrichtung (6) zum Messen einer Strömungsrate des Pulverbeschichtungsmaterials, das durch die Einbringeinrichtung (4) angesaugt wurde und vom Tank (1) zugeführt wurde,
    eine Eingabeeinrichtung (14) für die gegebene Zuführrate zum Eingeben einer gegebenen Zuführrate (Qm) des Pulverbeschichtungsmaterials,
    eine Saugluftdruck-Einstelleinrichtung (11) zum Einstellen eines Drucks der Saugluft, die in die Hauptdüse der Einbringeinrichtung (4) von der Quelle der komprimierten Luft geblasen wird,
    eine Speichereinrichtung (15), gekennzeichnet durch
    eine Steuerschaltung (13) mit
    einer Einrichtung zum Speichern von einem Wert des Saugluftdrucks bezüglich einer gegebenen Zuführrate in der Vergangenheit als gelernte Daten in der Speichereinrichtung (15),
    eine Einrichtung zum unverzüglichen Betreiben, wenn eine neue gegebene Zuführrate von der Eingabeeinrichtung (14) für die gegebene Zuführrate eingegeben wird, der Saugluftdruck-Einstelleinrichtung (11), so dass der Saugluftdruck gleich einem Wert der gelernten Daten ist, der in der Speichereinrichtung (15) bezüglich der neuen gegebenen Zuführrate gespeichert wurde, und
    eine Einrichtung zum Einstellen nach dem Betreiben der Einrichtung zum unverzüglichen Betreiben der Saugluftdruck-Einstelleinrichtung (11), so dass eine Strömungsrate des Pulverbeschichtungsmaterials, die durch die Pulverströmungsrate-Messvorrichtung (6) gemessen wurde, gleich der neuen gegebenen Zuführrate ist, um eine PID-Steuerung des Saugluftdrucks auszuführen.
  2. Eine Vorrichtung zum Zuführen von Pulverbeschichtungsmaterial nach Anspruch 1, wobei
    die Einbringeinrichtung eine Nebendüse (4b) hat, in die Verdünnungsluft geblasen wird,
    wobei die Vorrichtung ferner eine Verdünnungsluftdruck-Einstelleinrichtung (12) zum Einstellen des Drucks der Verdünnungsluft, die von der Quelle für komprimierte Luft in die Nebendüse (4b) der Einbringeinrichtung geblasen wird, und eine Trägerluft-Strömungsrate-Eingabeeinrichtung (14) zum Eingeben eines Trägerluft-Strömungsrate-Sollwertes aufweist,
    wobei die Steuerschaltung (13) eine PID-Steuerung des Verdünnungs-Luftdrucks ausführt, indem die Sauglauftdruck-Einstelleinrichtung (11) und die Verdünnungsluftdruck-Einstelleinrichtung (12) eingestellt werden, so dass die Summe einer Strömungsrate der Saugluft, die in die Hauptdüse (4a) der Einbringeinrichtung geblasen wird, und einer Strömungsrate der Verdünnungsluft, die in die Nebendüse (4b) der Einbringeinrichtung geblasen wird, gleich dem Trägerluft-Strömungsrate-Sollwert ist, der von der Trägerluft-Strömungsrate-Eingabeeinrichtung (14) eingegeben wurde.
  3. Eine Vorrichtung zum Zuführen von Pulverbeschichtungsmaterial nach Anspruch 1, wobei die Steuerschaltung (13) in der Steuereinrichtung (15) angenommene Daten der Saugluftdrücke bezüglich der jeweiligen gegebenen Zuführrate auf der Grundlage der Werte der Ist-Zuführrate und des Saugluftdrucks auf einer Kalibrierkurve, die zuvor durch das Zuführen einer beliebigen Zuführung von Pulverbeschichtungsmaterial ausgebildet wurde, vorbereitet und speichert, die Saugluftdruck-Einstelleinrichtung (11), wenn der gelernte Wert bezüglich einer neuen gegebenen Zuführrate, die von der Eingabeeinrichtung (14) für die gegebene Zuführrate eingegeben wurde, nicht in der Speichereinrichtung (15) gespeichert ist, unverzüglich betreibt, so dass der Saugluftdruck gleich einem Wert der angenommenen Daten ist, der in der Speichereinrichtung (15) bezüglich der gegebenen Zuführrate gespeichert ist, und anschließend eine PID-Steuerung des Saugluftdrucks ausführt.
  4. Eine Vorrichtung zum Zuführen von Pulverbeschichtungsmaterial nach Anspruch 1, wobei der Tank (1) ein Wirbelbett-Tank ist.
  5. Eine Vorrichtung zum Zuführen von Pulverbeschichtungsmaterial nach Anspruch 1, wobei die Saugluftdruck-Einstelleinrichtung (11) ein Druckregulator ist.
  6. Eine Vorrichtung zum Zuführen von Pulverbeschichtungsmaterial nach Anspruch 2, wobei die Verdünnungsluftdruck-Einstelleinrichtung (12) ein Druckregulator ist.
  7. Ein Verfahren zum Zuführen von Pulverbeschichtungsmaterial, das die Schritte aufweist:
    Eingeben (S1) einer gegebenen Zuführrate (Qm),
    Saugen von Pulverbeschichtungsmaterial von einem Tank (1) durch das Blasen von Saugluft in eine Hauptdüse (4a) einer Einbringeinrichtung, die mit dem Tank (1) verbunden ist,
    Messen einer Strömungsrate des Pulverbeschichtungsmaterials,
    Einstellen (S4) des Drucks der Saugluft, die in die Einbringeinrichtung (4) geblasen wurde, in einer solchen Weise, dass die gemessene Strömungsrate des Pulverbeschichtungsmaterials gleich der eingegebenen gegebenen Zuführrate ist,
    Speichern von einem Wert des Saugluftdrucks bezüglich einer gegebenen Zuführrate in der Vergangenheit als gelernten Wert und
    unverzügliches Einstellen, wenn eine neue gegebene Zuführrate eingegeben wird, des Saugluftdrucks, so dass dieser gleich dem Wert der gelernten Daten ist, der bezüglich der neuen gegebenen Zuführrate gespeichert wurde, und anschließend
    PID-Steuern (S5) des Saugluftdrucks, so dass die gemessene Strömungsrate des Pulverbeschichtungsmaterials gleich der neuen gegebenen Zuführrate ist.
  8. Ein Verfahren zum Zuführen von Pulverbeschichtungsmaterial nach Anspruch 7, das ferner die Schritte aufweist:
    Blasen von Verdünnungsluft in eine Nebendüse (4b) der Einbringeinrichtung (4),
    Eingeben eines Trägerluft-Strömungsrate-Sollwertes, und PID-Steuern des Verdünnungsluftdrucks, so dass die Summe einer Strömungsrate der Saugluft, die in die Hauptdüse der Einbringeinrichtung geblasen wurde, und einer Strömungsrate der Verdünnungsluft, die in die Nebendüse der Einbringeinrichtung geblasen wurde, gleich dem eingegebenen Trägerluft-Strömungsrate-Sollwert ist.
  9. Ein Verfahren zum Zuführen von Pulverbeschichtungsmaterial nach Anspruch 7, das ferner die Schritte aufweist:
    vorheriges Ausbilden (S11) einer Kalibrierkurve bei einer beliebigen Zuführung,
    Vorbereiten und Speichern (S12) der angenommenen Daten der Saugluftdrücke bezüglich den jeweiligen Soll-Zuführungen auf der Grundlage von Werten der Ist-Zuführrate und des Saugluftdrucks auf der Kalibrierkurve, und
    unverzügliches Einstellen (S4), wenn die gelernten Daten bezüglich der neu eingegebenen gegebenen Zuführrate nicht gespeichert sind, so dass der Saugluftdruck gleich dem Wert der angenommenen Daten, die bezüglich der neu gegebenen Zuführrate gespeichert sind, ist.
EP20020007064 2001-03-27 2002-03-27 Vorrichtung und Methode zum Regeln und Aufbringen von Pulverbeschichtungsmaterial Expired - Lifetime EP1245293B1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2001090183 2001-03-27
JP2001090183 2001-03-27
JP2002041484 2002-02-19
JP2002041484A JP2003239451A (ja) 2002-02-19 2002-02-19 軽量的構造物

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EP1245293A1 EP1245293A1 (de) 2002-10-02
EP1245293B1 true EP1245293B1 (de) 2006-12-13

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110612799A (zh) * 2019-04-19 2019-12-27 青岛农业大学 基于行程感知的行走与排种速度匹配的控制***及其方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1992008177A1 (en) * 1990-10-30 1992-05-14 Gmf Robotics Corporation Hybrid control method and system for controlling the flow of liquid coating material
FR2680416B1 (fr) * 1991-08-12 1995-06-30 Sames Sa Procede de mesure de debit de poudre fluidisee et dispositif de mesure de debit mettant en óoeuvre un tel procede.

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110612799A (zh) * 2019-04-19 2019-12-27 青岛农业大学 基于行程感知的行走与排种速度匹配的控制***及其方法

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