CN106391372A - ARM-based automatic powder spraying system - Google Patents
ARM-based automatic powder spraying system Download PDFInfo
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- CN106391372A CN106391372A CN201610806710.2A CN201610806710A CN106391372A CN 106391372 A CN106391372 A CN 106391372A CN 201610806710 A CN201610806710 A CN 201610806710A CN 106391372 A CN106391372 A CN 106391372A
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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
- 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
- B05B13/0431—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 spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces
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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
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
本发明公开了一种基于ARM的自动喷粉系统，它至少包括ARM控制器、喷粉装置、喷枪、变量检测传感器、PC机。ARM控制器通过变量检测传感器检测到待喷涂产品，PC机用于编写ARM控制器所需程序，ARM控制器通过外部存储设备获取PC机上的程序，最终通过ARM控制器的触摸屏控制喷粉装置与喷枪，实现自动喷粉。本发明适用于尚未拥有高度自动化喷粉控制技术的企业，借助于ARM控制器、传感器和喷粉装置，最终实现对喷涂工作的自动控制。本发明解决现存的喷粉自动化程度不高、工作效率低、工人安全无保障等问题。
The invention discloses an ARM-based automatic powder spraying system, which at least includes an ARM controller, a powder spraying device, a spray gun, a variable detection sensor and a PC. The ARM controller detects the product to be sprayed through the variable detection sensor, and the PC is used to write the program required by the ARM controller. The ARM controller obtains the program on the PC through an external storage device, and finally controls the powder spraying device and Spray gun to realize automatic powder spraying. The invention is suitable for enterprises that do not have highly automatic powder spraying control technology, and finally realizes automatic control of spraying work by means of an ARM controller, a sensor and a powder spraying device. The invention solves the existing problems of low degree of automation of powder spraying, low work efficiency, no guarantee of workers' safety and the like.
Description
技术领域technical field
本发明涉及一种基于ARM的自动喷粉系统，具体涉及了ARM控制器、喷粉装置、喷枪、变量检测传感器、PC机，用于实现对喷涂工作的自动控制，解决现存的喷粉自动化程度不高、工作效率低、工人安全无保障等问题。The invention relates to an ARM-based automatic powder spraying system, in particular to an ARM controller, a powder spraying device, a spray gun, a variable detection sensor, and a PC, which are used to realize automatic control of the spraying work and solve the existing powder spraying automation degree Low efficiency, low work efficiency, and insecurity of worker safety.
背景技术Background technique
随着基于ARM的控制系统的应用领域不断扩大，为了满足应用需求增强，ARM技术得到了更为广泛的应用；基于ARM的控制系统，已在工业控制、数控行业、工业触摸屏控制系统等场合广泛使用。With the continuous expansion of the application field of ARM-based control systems, in order to meet the enhanced application requirements, ARM technology has been more widely used; ARM-based control systems have been widely used in industrial control, numerical control industry, and industrial touch screen control systems. use.
目前已经有很多基于ARM的控制系统应用于各种监控系统、智能家居控制系统、很多工控机领域等很多方面；国内外的很多学者也都在喷涂这一领域做了很多的研究，控制系统主要以PLC为控制核心或者是基于单片机，但是还没有针对于工业喷粉设备的基于ARM的控制系统，一种基于ARM的自动喷粉系统能够拓展ARM在喷粉行业的应用。At present, many ARM-based control systems have been used in various monitoring systems, smart home control systems, and many industrial computer fields; many scholars at home and abroad have also done a lot of research in the field of spraying. The control system mainly With PLC as the control core or based on single-chip microcomputer, but there is no ARM-based control system for industrial powder spraying equipment. An ARM-based automatic powder spraying system can expand the application of ARM in the powder spraying industry.
发明内容Contents of the invention
本发明的提出，旨在实现一种基于ARM的自动喷粉系统，使用ARM控制器对喷粉装置和喷枪进行控制，最终实现自动喷粉，完成喷涂作业。该基于ARM的自动喷粉系统采用以ARM内核和触摸屏为主的ARM控制器作为核心部分，能够实现自动化喷粉，效率大大提高，喷粉的质量改善，而且还能保障工人的自身健康。The proposal of the present invention aims to realize an ARM-based automatic powder spraying system, using an ARM controller to control the powder spraying device and spray gun, and finally realize automatic powder spraying and complete the spraying operation. The ARM-based automatic dusting system adopts the ARM controller based on the ARM core and touch screen as the core part, which can realize automatic dusting, greatly improve the efficiency, improve the quality of dusting, and protect the health of workers.
为了实现上述目标，本发明的主要技术方案如下：In order to achieve the above object, the main technical solutions of the present invention are as follows:
一种基于ARM的自动喷粉系统，其特征在于：它至少包括ARM控制器、喷粉装置、喷枪1、变量检测传感器、PC机；所述喷粉装置包括喷枪1、第二臂2、第一臂3、升降装置、机架7、第一软管8、第二软管9、送料装置10、气泵11、升降杆驱动元件14、控制元件15；所述ARM控制器，由ARM内核和触摸屏组成；所述变量检测传感器用以检测以速度v运行和相邻两产品间间隔为L的被喷涂产品；所述以速度v运行和两产品间间隔为L的被喷涂产品通过传感器信号与ARM控制器之间进行通信；所述PC机用于编写ARM控制器所需的程序，并用于对ARM控制器所需的程序进行编译和调试，并由外部存储设备将调试好的程序文件传送给ARM控制器；通过所述ARM控制器的触摸屏控制喷粉装置与喷枪1进行运动完成工作，主要用于控制喷粉装置的运动轨迹和喷枪1的启停运动；所述喷枪1固定在喷粉装置的第二臂2上，随喷粉装置的运动而运动，并通过喷粉对被喷涂产品进行喷涂，用以完成喷涂作业。An ARM-based automatic powder spraying system is characterized in that: it at least includes an ARM controller, a powder spraying device, a spray gun 1, a variable detection sensor, and a PC; the powder spraying device includes a spray gun 1, a second arm 2, a first An arm 3, a lifting device, a frame 7, a first flexible pipe 8, a second flexible pipe 9, a feeding device 10, an air pump 11, a lifting rod driving element 14, and a control element 15; the ARM controller is composed of an ARM core and The touch screen is composed; the variable detection sensor is used to detect the sprayed product running at speed v and the interval between two adjacent products is L; the sprayed product running at speed v and the interval between two products is L through the sensor signal and Communication between the ARM controllers; the PC is used to write the program required by the ARM controller, and is used to compile and debug the program required by the ARM controller, and the debugged program file is transferred by the external storage device To the ARM controller; through the touch screen of the ARM controller to control the powder spraying device and the spray gun 1 to complete the work, it is mainly used to control the movement track of the powder spraying device and the start-stop motion of the spray gun 1; the spray gun 1 is fixed on the spray gun 1 On the second arm 2 of the powder device, it moves with the movement of the powder spraying device, and sprays the product to be sprayed by spraying powder to complete the spraying operation.
所述喷粉装置，能够实现空间多自由度的运动，主要包括所述升降装置控制喷枪1上下运动，实现对z轴移动的控制；所述第二臂2绕第一臂3旋转，实现绕x轴转动的控制；所述喷枪1绕第二臂2旋转，实现绕z轴转动的控制。The powder spraying device can realize movement with multiple degrees of freedom in space, mainly including the lifting device controlling the up and down movement of the spray gun 1 to realize the control of the z-axis movement; the second arm 2 rotates around the first arm 3 to realize the movement around the first arm 3. Control of x-axis rotation; the spray gun 1 rotates around the second arm 2 to realize the control of rotation around the z-axis.
所述喷粉装置的喷枪1安装于第二臂2前端，能够绕第二臂2前端旋转；所述喷粉装置的送料装置10和气泵11都安装在机架7上；所述喷粉装置的第一软管8的一端与送料装置10连接，另一端与喷枪1连接；所述喷粉装置的第二软管9的一端与气泵11连接，另一端与喷枪1连接；所述喷粉装置的第一臂3安装在滑块4上；所述喷粉装置的第二臂2安装于第一臂3前端，能够绕第一臂3前端旋转。The spray gun 1 of the powder spraying device is installed on the front end of the second arm 2, and can rotate around the front end of the second arm 2; the feeding device 10 and the air pump 11 of the powder spraying device are all installed on the frame 7; the powder spraying device One end of the first flexible pipe 8 is connected with the feeding device 10, and the other end is connected with the spray gun 1; one end of the second flexible pipe 9 of the powder spraying device is connected with the air pump 11, and the other end is connected with the spray gun 1; The first arm 3 of the device is installed on the slider 4; the second arm 2 of the powder spraying device is installed on the front end of the first arm 3 and can rotate around the front end of the first arm 3 .
所述喷粉装置的升降装置主要包括滑块4、升降杆5和支架6，滑块4安装在升降杆5上，升降杆5、支架6安装在机架7上；所述滑块4与支架6开有滑槽，相互配合；所述滑块4与升降杆5相互配合，能使滑块4升降；所述升降杆驱动元件14安装在机架7上；所述控制元件15安装在机架7上。The elevating device of described powder spraying device mainly comprises slide block 4, elevating bar 5 and support 6, and slide block 4 is installed on elevating bar 5, and elevating bar 5, support 6 are installed on the frame 7; Described slide block 4 and The support 6 has a chute and cooperates with each other; the slider 4 and the elevating rod 5 cooperate with each other to make the slider 4 lift; the elevating rod driving element 14 is installed on the frame 7; the control element 15 is installed on Rack 7.
本发明的有益效果在于：The beneficial effects of the present invention are:
本发明设计的是一种基于ARM的自动喷粉系统，它至少包括ARM控制器、喷粉装置、喷枪1、变量检测传感器、PC机，各模块相互之间有一定关联性；ARM控制器，由ARM内核和触摸屏组成；ARM控制器通过变量检测传感器检测到待喷涂产品，PC机用于编写ARM控制器所需的程序，ARM控制器通过外部存储设备获取PC机上的程序，最终通过ARM控制器的触摸屏控制喷粉装置的运动轨迹和喷枪的启停，从而实现自动喷粉，完成喷涂工作；此外，本发明适用于尚未拥有高度自动化喷粉控制技术的企业，并能解决现存的喷粉自动化程度不高、工作效率低、工人安全无保障等问题。What the present invention designs is a kind of automatic powder spraying system based on ARM, and it at least comprises ARM controller, powder spraying device, spray gun 1, variable detection sensor, PC, and each module has certain interrelationship between each other; ARM controller, It is composed of ARM core and touch screen; the ARM controller detects the product to be sprayed through the variable detection sensor, the PC is used to write the program required by the ARM controller, and the ARM controller obtains the program on the PC through an external storage device, and finally controls it through the ARM The touch screen of the device controls the movement trajectory of the powder spraying device and the start and stop of the spray gun, so as to realize automatic powder spraying and complete the spraying work; in addition, the present invention is suitable for enterprises that do not have highly automated powder spraying control technology, and can solve the existing powder spraying problems. Problems such as low degree of automation, low work efficiency, and insecure worker safety.
附图说明Description of drawings
图1为一种基于ARM的自动喷粉系统的控制流程图。Figure 1 is a control flow chart of an ARM-based automatic powder spraying system.
图2为喷粉装置的一侧结构示意图。Figure 2 is a schematic view of one side of the powder spraying device.
其中1-喷枪，2-第二臂，3-第一臂，4-滑块，5-升降杆，6-支架，7-机架，Among them, 1-spray gun, 2-second arm, 3-first arm, 4-slider, 5-lift rod, 6-bracket, 7-rack,
8-第一软管，9-第二软管，10-送料装置，11-气泵，15-控制元件。8-first hose, 9-second hose, 10-feeding device, 11-air pump, 15-control element.
图3为喷粉装置的另一侧结构示意图。Fig. 3 is a structural schematic diagram of the other side of the powder spraying device.
其中14-升降杆驱动元件。Wherein 14-lift rod driving element.
具体实施方式detailed description
下面结合附图1、附图2、附图3对本发明做进一步说明：Below in conjunction with accompanying drawing 1, accompanying drawing 2, accompanying drawing 3 the present invention will be further described:
本发明一种基于ARM的自动喷粉系统的控制流程图，如图1所示，其特征在于：它至少包括ARM控制器、喷粉装置、喷枪1、变量检测传感器、PC机；所述ARM控制器，由ARM内核和触摸屏组成；所述变量检测传感器用以检测以速度v运行和相邻两产品间间隔为L的被喷涂产品；所述以速度v运行和两产品间间隔为L的被喷涂产品通过传感器信号与ARM控制器之间进行通信；所述PC机用于编写ARM控制器所需的程序，并用于对ARM控制器所需的程序进行编译和调试，并由外部存储设备将调试好的程序文件传送给ARM控制器；通过所述ARM控制器的触摸屏控制喷粉装置与喷枪1进行运动完成工作，主要用于控制喷粉装置的运动轨迹和喷枪1的启停运动；所述喷枪1固定在喷粉装置的第二臂2上，随喷粉装置的运动而运动，并通过喷粉对被喷涂产品进行喷涂，用以完成喷涂作业。A kind of control flowchart of the automatic dusting system based on ARM of the present invention, as shown in Figure 1, is characterized in that: it at least comprises ARM controller, dusting device, spray gun 1, variable detection sensor, PC; Said ARM The controller is composed of an ARM core and a touch screen; the variable detection sensor is used to detect the sprayed product running at a speed v and the interval between two adjacent products is L; The sprayed product communicates with the ARM controller through the sensor signal; the PC is used to write the program required by the ARM controller, and is used to compile and debug the program required by the ARM controller, and the external storage device Send the debugged program file to the ARM controller; control the powder spraying device and the spray gun 1 to complete the work through the touch screen of the ARM controller, which is mainly used to control the movement track of the powder spraying device and the start-stop motion of the spray gun 1; The spray gun 1 is fixed on the second arm 2 of the powder spraying device, moves with the movement of the powder spraying device, and sprays the product to be sprayed by spraying powder to complete the spraying operation.
所述喷粉装置，如图2、图3所示，包括喷枪1、第二臂2、第一臂3、升降装置、机架7、第一软管8、第二软管9、送料装置10、气泵11、升降杆驱动元件14、控制元件15；能够实现空间多自由度的运动，主要包括所述升降装置控制喷枪1上下运动，实现对z轴移动的控制；所述第二臂2绕第一臂3旋转，实现绕x轴转动的控制；所述喷枪1绕第二臂2旋转，实现绕z轴转动的控制。Described powder spraying device, as shown in Figure 2, Figure 3, comprises spray gun 1, second arm 2, first arm 3, lifting device, frame 7, first hose 8, second hose 9, feeding device 10. Air pump 11, elevating rod driving element 14, and control element 15; capable of realizing movement with multiple degrees of freedom in space, mainly including the elevating device controlling the up and down movement of the spray gun 1 to realize the control of z-axis movement; the second arm 2 Rotating around the first arm 3 realizes the control of rotation around the x-axis; the spray gun 1 rotates around the second arm 2 to realize the control of rotation around the z-axis.
所述喷粉装置的喷枪1安装于第二臂2前端，能够绕第二臂2前端旋转；所述喷粉装置的送料装置10和气泵11都安装在机架7上；所述喷粉装置的第一软管8的一端与送料装置10连接，另一端与喷枪1连接；所述喷粉装置的第二软管9的一端与气泵11连接，另一端与喷枪1连接；所述喷粉装置的第一臂3安装在滑块4上；所述喷粉装置的第二臂2安装于第一臂3前端，能够绕第一臂3前端旋转。The spray gun 1 of the powder spraying device is installed on the front end of the second arm 2, and can rotate around the front end of the second arm 2; the feeding device 10 and the air pump 11 of the powder spraying device are all installed on the frame 7; the powder spraying device One end of the first flexible pipe 8 is connected with the feeding device 10, and the other end is connected with the spray gun 1; one end of the second flexible pipe 9 of the powder spraying device is connected with the air pump 11, and the other end is connected with the spray gun 1; The first arm 3 of the device is installed on the slider 4; the second arm 2 of the powder spraying device is installed on the front end of the first arm 3 and can rotate around the front end of the first arm 3 .
所述喷粉装置的升降装置主要包括滑块4、升降杆5和支架6，滑块4安装在升降杆5上，升降杆5、支架6安装在机架7上；所述滑块4与支架6开有滑槽，相互配合；所述滑块4与升降杆5相互配合，能使滑块4升降；所述升降杆驱动元件14安装在机架7上；所述控制元件15安装在机架7上。The elevating device of described powder spraying device mainly comprises slide block 4, elevating bar 5 and support 6, and slide block 4 is installed on elevating bar 5, and elevating bar 5, support 6 are installed on the frame 7; Described slide block 4 and The support 6 has a chute and cooperates with each other; the slider 4 and the elevating rod 5 cooperate with each other to make the slider 4 lift; the elevating rod driving element 14 is installed on the frame 7; the control element 15 is installed on Rack 7.
所述PC机，在本实施例中，由一台普通的PC机和安装在此PC机上的Linux虚拟系统组成；所述Linux虚拟系统用以进行GCC程序编译，并用Eclipse软件进行程序调试和修改；所述Eclipse软件安装在PC机里的Linux系统当中，用以对编译好的程序进行调试及修改。Described PC machine, in the present embodiment, is made up of a common PC machine and the Linux virtual system that is installed on this PC machine; Described Linux virtual system is used for carrying out GCC program compilation, and carries out program debugging and modification with Eclipse software ; The Eclipse software is installed in the Linux system in the PC to debug and modify the compiled program.
所述被喷涂产品，在本实施例中，指具有一定运行速度v，具有一定间隔L的机箱；所述机箱待喷涂表面带负电，用以与带正电的喷粉异性相吸，达到将喷粉固定于机箱表面的目的。The product to be sprayed, in this embodiment, refers to a cabinet with a certain running speed v and a certain interval L; the surface of the cabinet to be sprayed is negatively charged to attract the positively charged opposite sex to achieve The purpose of powder spraying is fixed on the surface of the chassis.
所述外部存储设备，在本实施例中，指SD卡，所述SD卡能够将所述PC机中的程序送入到ARM控制器当中。In this embodiment, the external storage device refers to an SD card, and the SD card can send the programs in the PC to the ARM controller.
所述ARM控制器，在本实施例中，是指ARM Cortex-A8核心板，所述ARM Cortex-A8核心板由网络接口、12V电源接口、COM1、COM2、BAT接口、启动拨码开关、SD接口、TF接口、JTAG、3个USB接口、音频I/O、显示触摸屏及其他小部件组成。Described ARM controller, in the present embodiment, refers to ARM Cortex-A8 core board, and described ARM Cortex-A8 core board is made up of network interface, 12V power supply interface, COM1, COM2, BAT interface, start dial switch, SD Interface, TF interface, JTAG, 3 USB interfaces, audio I/O, display touch screen and other small components.
最后说明的是本发明的一种基于ARM的自动喷粉系统不局限于上述一个实施例，还可以做出各种修改、变换和变形。因此说明书和附图应被认为是说明性的而非限制性的。凡是依据本发明的技术方案进行修改、修饰或等同变化，而不脱离本发明技术方案的思想和范围，其均应涵盖在本发明的权利要求范围当中。Finally, it is explained that an ARM-based automatic powder spraying system of the present invention is not limited to the above-mentioned embodiment, and various modifications, transformations and deformations can also be made. Accordingly, the specification and drawings are to be regarded as illustrative rather than restrictive. Any modification, modification or equivalent change based on the technical solution of the present invention without departing from the idea and scope of the technical solution of the present invention shall be covered by the claims of the present invention.
Claims (4)
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| CN106391372A true CN106391372A (en) | 2017-02-15 |
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| CN201610806710.2A Pending CN106391372A (en) | 2016-09-07 | 2016-09-07 | ARM-based automatic powder spraying system |
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| CN114054293A (en) * | 2021-11-17 | 2022-02-18 | 珠海格力智能装备有限公司 | Embedded glue spraying control system and use method thereof |
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Application publication date: 20170215 |