CN103838172B - The method to set up of robotic spray gun track in copper coin spraying operation - Google Patents
The method to set up of robotic spray gun track in copper coin spraying operation Download PDFInfo
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- CN103838172B CN103838172B CN201210474895.3A CN201210474895A CN103838172B CN 103838172 B CN103838172 B CN 103838172B CN 201210474895 A CN201210474895 A CN 201210474895A CN 103838172 B CN103838172 B CN 103838172B
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Abstract
The invention discloses a kind of method to set up of robotic spray gun track in copper coin spraying operation, set spray gun spraying region, the geometrical model in the region is that a spraying is bored, and sets the relevant parameter of blasting medium and spray gun, obtains spraying area area, radius and coating layer thickness；Spraying area superposition scope is calculated, according to the angle of spray of spray gun and the spacing of each spraying area spray gun, obtains the superposition distance of adjacent spraying area；For copper coin corner angle, spray gun is vertical with the arc surface holding of copper coin corner angle, and in adjacent spraying area, spray gun is using corner angle arc surface axle center as center of circle rotation β angle；Establish robotic spray gun track database and each spray gun track relevant parameter of database is compiled into spray gun track subprogram, spray gun track is by subprogram setting operation.The robotic spray gun path implementation that this method the obtains optimization aim of Control During Paint Spraying by Robot operation, effectively increases coating uniformity and quality, reduces spraying cost, improves spraying effect.
Description
Technical field
The present invention relates to a kind of method to set up of robotic spray gun track in copper coin spraying operation.
Background technology
Robot is widely used in spraying occasion at present, and the setting of robotic spray gun track is to coating quality to pass
Important, spray gun track is typically realized by programming mode, and traditional programmed method is typically programmed using teaching, so-called teaching, just
It is that the movement locus of system actuator is recorded by choosing suitable coordinate, then performs the reproduction journey write
Sequence, executing agency can reproduce predetermined movement locus, and such process is not only cumbersome, often also need to first have sample just to show
Religion, can not be adapted with the beat produced greatly, while the movement locus of spraying effect and efficiency and robotic spray gun, by painting copper coin
The factors such as geometric shape, torch parameters are relevant, and the key of robot supersonic spray coating forming technology is molten on copper coin penetrates
Surface forms with certain thickness and meets the metal coating of technological requirement, due to having height in supersonic spray coating forming process
The characteristics of temperature, high speed and high residual stress, therefore rational path is carried out to spray gun track during robot supersonic spray coating
Planning is to obtain the metal coating of uniform thickness and improve the key of metal coating formability.The Control During Paint Spraying by Robot in actual production
The optimization aim of operation is to improve the coating uniformity on copper coin surface, shortens spray time, is reduced with most rational movement locus
The consumption of sprayed on material, spraying cost is reduced, improves coating quality.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of setting of robotic spray gun track in copper coin spraying operation
Method, the robotic spray gun path implementation obtained using this method the optimization aim of Control During Paint Spraying by Robot operation, is effectively increased
Coating uniformity and quality, spraying cost is reduced, improve shower nozzle efficiency.
In order to solve the above technical problems, the method to set up of robotic spray gun track is included such as in copper coin spraying operation of the present invention
Lower step：
Step 1: spray gun spraying region, the geometrical model of robotic spray gun spraying process sprays cone, i.e. spray gun extremely for one
The blasting medium on copper coin surface forms a taper, sets the flow of blasting medium unit interval as μ, spray gun to copper coin surface
Distance is d, and spray gun rate travel is υ, and angle of spray α, spraying area is the border circular areas of taper bottom surface, then border circular areas area
For A=π r2, wherein r is circular radius, radius r=d*tan α, the coating that thickness is δ is obtained, to determine spray deposited thickness
Distributed model, single track linear reciprocation is carried out on copper coin by robot and sprayed come experimental study, is joined in specific spraying coating process
Several lower metal epithelium tranverse sectional thickness obtained with laser measuring apparatus to spraying are measured, and multiple single track straight line is sprayed into gained
Single track coating thickness curve is obtained after average to Thickness sensitivity result, its deposit thickness shape is distributed in Gaussian function；
Step 2: spraying area is superimposed scope, spray gun rate travel is set as υ=18 ~ 20mm/min, the angle of spray of spray gun
α, injection pressure, metal powder viscosity are constant, and actual measurement coating layer thickness is 45 ~ 50um, on spraying area in single pass spraying
Two adjacent paths of any point, only spray gun can have an impact to its coating thickness, and the spray gun spacing of each spraying area is
L, the superposition distance of adjacent spraying area is C, then sets C=350 ~ 355mm；
Step 3: the setting of spray gun spraying copper coin cornerite, for 90 ° of copper coin periphery corner angle, sets spray gun rate travel as υ
=18 ~ 20mm/min, spray gun is vertical with the arc surface holding of copper coin corner angle, and in adjacent spraying area, spray gun is with corner angle arc surface axle
The heart is center of circle rotation β angle, sets adjacent spraying area spacing as a, and spray gun is highly h away from spraying area, then the spray gun anglec of rotation
Spend β；
Step 4: establishing robotic spray gun track database, database includes spraying area, spraying area is superimposed scope,
Spray gun space path, spray gun rate travel, copper coin dimensional parameters and the spraying parameter of cornerite are sprayed, and database is each
Spray gun track relevant parameter is compiled into spray gun track subprogram, and subprogram is stored in robot control system and adjusted for spraying operation
With spray gun track is by subprogram setting operation.
Because the method to set up of robotic spray gun track in copper coin spraying operation of the present invention employs above-mentioned technical proposal, i.e.,
Spray gun spraying region is set, the geometrical model in the region is bored for a spraying, setting blasting medium flow, spray gun distance, spray gun
Speed, spraying angular dimensions, obtain spraying area area, radius and coating layer thickness；Spraying area superposition scope is calculated, setting spray gun moves
After dynamic speed, according to the angle of spray of spray gun and the spacing of each spraying area spray gun, the superposition distance for obtaining adjacent spraying area is
355mm；For copper coin corner angle, spray gun speed is set, spray gun is vertical with the arc surface holding of copper coin corner angle, in adjacent spraying area
Domain, spray gun is using corner angle arc surface axle center as center of circle rotation β angle；Establish robotic spray gun track database and respectively spray database
Rifle track relevant parameter is compiled into spray gun track subprogram, and subprogram is stored in robot control system and adjusted for spraying operation
With spray gun track is by subprogram setting operation.The Control During Paint Spraying by Robot operation of robotic spray gun path implementation that this method obtains
Optimization aim, coating uniformity and quality are effectively increased, reduce spraying cost, improve shower nozzle efficiency.
Brief description of the drawings
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings：
Fig. 1 is the schematic diagram that spray gun spraying region is set in this method；
Fig. 2 is the schematic diagram of adjacent spraying area superposition in this method；
Fig. 3 is that spray gun moves schematic diagram when copper coin cornerite sprays in this method.
Embodiment
The method to set up of robotic spray gun track comprises the following steps in copper coin spraying operation of the present invention：
Step 1: as shown in figure 1, spray gun spraying region, the geometrical model of the spraying process of robotic spray gun 1 is a spraying
The blasting medium of cone 3, i.e. spray gun 1 to the surface of copper coin 2 forms a taper, sets the flow of blasting medium unit interval as μ, sprays
Rifle 1 is d to the distance on the surface of copper coin 2, and the rate travel of spray gun 1 is υ, and angle of spray α, spraying area is the circle of taper bottom surface
Domain 4, then border circular areas area is A=π r2, wherein r is circular radius, radius r=d*tan α, obtains the coating that thickness is δ, is
Spray deposited thickness distribution model is determined, carrying out single track linear reciprocation on copper coin by robot sprays come experimental study,
The metal epithelium tranverse sectional thickness obtained under specific spraying parameter with laser measuring apparatus to spraying measures, and will be more
Thickness sensitivity result obtains single track coating thickness curve after average obtained by secondary single track straight line spraying, its deposit thickness shape
It is distributed in Gaussian function；
Step 2: as shown in Fig. 2 spraying area 4 is superimposed scope 41, by being sprayed during usually copper coin supersonic spray coating
Creation data is concluded, and sets spray gun rate travel as υ=18 ~ 20mm/min, and angle of spray α, injection pressure, the metal powder of spray gun stick
Spend constant, actual measurement coating layer thickness is 45 ~ 50um, for any point on spraying area 4, only spray gun phase in single pass spraying
Two adjacent paths can have an impact to its coating thickness, because the single pass deposit thickness of supersonic spray coating shaping is in Gaussian function
Number distribution, i.e. interior thickness are more than edge thickness, therefore the superposition portion to the uniform Controlling principle of coating thickness for adjacent path
Point height and single spraying stroke peak height substantially close to adjacent thus according to the spray gun spacing L of each spraying area 4
The superposition distance of spraying area 4 is C, then between setting C=350 ~ 355mm；
Step 3: as shown in figure 3, spray gun 1 sprays the setting of the cornerite of copper coin 2, spraying cornerite refers to 90 ° of 2 surrounding of copper coin
Corner angle side is sprayed, and can be effectively improved coating quality, be prevented coating edge from peeling off, for 90 ° of 2 periphery of copper coin corner angle, setting
The rate travel of spray gun 1 is υ=18 ~ 20mm/min, and spray gun 1 is vertical with the arc surface holding of the corner angle of copper coin 2, in adjacent spraying area
4, in right angle turn in order that the axis of spray gun 1 revolves perpendicular to corner angle face, spray gun 1 by the center of circle of corner angle arc surface axle center O all the time
Turn β angles, and the displacement of spray gun is arc length corresponding to angle, sets the adjacent spacing of spraying area 4 as a, spray gun 1 is away from spraying
The height of region 4 is h, then the anglec of rotation β of spray gun 1；
Step 4: establishing robotic spray gun track database, database includes spraying area, spraying area is superimposed scope,
Spray gun space path, spray gun rate travel, copper coin dimensional parameters and the spraying parameter of cornerite are sprayed, and database is each
Spray gun track relevant parameter is compiled into spray gun track subprogram, and subprogram is stored in robot control system and adjusted for spraying operation
With spray gun track is by subprogram setting operation.
The spray gun track that this method is set can be realized by robot control system and the corresponding control software of configuration；
1. control system hardware forms and operation principle
The control system can be controlled using PLC to robot, supersonic spray coating equipment and servicing unit
And monitoring, and using touch-screen as man-machine interface, for receiving input signal and display device running status.
The basic functional principle of control system is：Supersonic spray coating equipment is with robot as relatively independent control list
Member, the spray gun track subprogram of multigroup copper coin product is prepared in advance and be stored in robot program's database, operating personnel
The copper coin title currently sprayed by man-machine interface input, PLC rely on fieldbus to robotic delivery information, PLC
Core of the controller as control, the procedural information in management spraying production, spraying equipment and robot are opened/stopped, run shape
State and live I/O states, and shown by man-machine interface.According to input parameter, system will be automatically performed whole spraying behaviour
Make process, it is not necessary to manual intervention.
2. control system function declaration
Control software develops control system program using the softwares of GX DEVELOP 8 as platform.Carried out according to modularization thinking
The design of PLC control software, it can generally conclude following sections composition：
1. initialization programs：The setting of initiation parameter, reset partial data register and timer, with removing
The transient state variable of secondary operation；
2. single step configuration processors：For certain block copper coin spray-on coating thickness deficiency, perform one-step program and carry out plus spray, with
Supply coating layer thickness；
3. communication programs：Be responsible for the data communication of control system and man-machine interface, and with spraying equipment and robot it
Between I/O information transmissions；
4. auto-programmings：Under automatic working method, control system is set to be automatically performed by technological requirement from copper coin plane to bag
The complete operation of angle spraying；When abnormal alarm occurs in spraying operation, robot automatically returns to home, and spray gun
Close；Once alarm release, continued executing with automatically by original action；Also corresponding home can be returned to manually, can be according to spraying
The needs at scene adjust corresponding home；
5. manual process：Single step configuration processor is manually performed, is used when thickening coating for repairing manually；
6. exception handles：Different fault categories is shown in man-machine interface according to input signal types, to prompt to grasp
Make personnel equipment's failure, and reference is provided for troubleshooting, it is ensured that equipment and personal security；
7. jerk programs：When there is critical failure in system, it is necessary to control system is stopped transport immediately, prevent copper coin coating heap
Product.
This method overcomes the defects of traditional robot spray gun track teaching programming, and obtained spray gun track fully meets copper
The requirement of plate spraying coating process, the uniformity of copper coin coating is effectively increased, reduce the consumption of sprayed on material, saved and be sprayed into
This, and improve the efficiency of spraying operation.This method can be applied to the spraying of copper plate of crystallizer, using after this method according to statistics,
From originally, only 18 pieces of copper coins of spraying are brought up to more than 28 pieces of copper coins certain enterprises production efficiency weekly, and spray run time shortened belt
Carrying out sprayed on material consumption significantly to decline, every piece of copper coin spray time is reduced to 3 minutes one time by original 5 minutes one time,
General copper coin needs even to spray for 3 times, that is, shortens 6 minutes spray times, efficiency improves more than 40%, the metal that spraying process uses
Dust（Nickel chromium triangle powder）Reduced by original 5 kilograms of one piece of copper coin to 4 kilograms, the consumption of oxygen is 60m in spraying3/ H, aviation kerosine
Consumption be 25kg/H, with the shortening of spray time, then material consumption also declines to a great extent, and specific calculate to every piece of copper coin saves gold
Category dusts 920 yuan, and oxygen consumes 25 yuan, and 45 yuan of aviation kerosine, power consumption and compressed gas consumption etc. are negligible, so tentatively press
Monthly calculate can more than 110,000 yuan of direct saving production cost for 110 pieces of copper coins.
Claims (1)
1. the method to set up of robotic spray gun track in a kind of copper coin spraying operation, it is characterised in that this method includes following step
Suddenly：
Step 1: spray gun spraying region, the geometrical model of robotic spray gun spraying process is bored for a spraying, i.e. spray gun to copper coin
The blasting medium on surface forms a taper, sets the flow of blasting medium unit interval as μ, distance of the spray gun to copper coin surface
For d, spray gun rate travel is υ, and angle of spray α, spraying area is the border circular areas of taper bottom surface, then border circular areas area be A=
πr2, wherein r is circular radius, radius r=d*tan α, the coating that thickness is δ is obtained, to determine spray deposited thickness distribution
Model, the spraying of single track linear reciprocation is carried out on copper coin by robot come experimental study, under specific spraying parameter
The metal epithelium tranverse sectional thickness obtained with laser measuring apparatus to spraying measures, thick obtained by multiple single track straight line is sprayed
Degree testing result obtains single track coating thickness curve after average, and its deposit thickness shape is distributed in Gaussian function；
Step 2: spraying area is superimposed scope, spray gun rate travel is set as υ=18 ~ 20mm/min, the angle of spray α of spray gun, spray
Injection pressure, metal powder viscosity are constant, and actual measurement coating layer thickness is 45 ~ 50um, for any on spraying area in single pass spraying
A bit, only two adjacent paths of spray gun can have an impact to its coating thickness, and the spray gun spacing of each spraying area is L, phase
The superposition distance of adjacent spraying area is C, then between setting C=350 ~ 355mm；
Step 3: the setting of spray gun spraying copper coin cornerite, for 90 ° of copper coin periphery corner angle, set spray gun rate travel as υ=18 ~
20mm/min, spray gun is vertical with the arc surface holding of copper coin corner angle, in adjacent spraying area, spray gun using corner angle arc surface axle center as
Center of circle rotation β angle, adjacent spraying area spacing is set as a, spray gun is highly h away from spraying area, then spray gun anglec of rotation β；
Step 4: establishing robotic spray gun track database, database includes spraying area, spraying area superposition scope, spraying
Spray gun space path, spray gun rate travel, copper coin dimensional parameters and the spraying parameter of cornerite, and by each spray gun of database
Track relevant parameter is compiled into spray gun track subprogram, and subprogram is stored in robot control system and called for spraying operation,
Spray gun track is by subprogram setting operation.
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| CN201210474895.3A CN103838172B (en) | 2012-11-21 | 2012-11-21 | The method to set up of robotic spray gun track in copper coin spraying operation |
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| CN201210474895.3A CN103838172B (en) | 2012-11-21 | 2012-11-21 | The method to set up of robotic spray gun track in copper coin spraying operation |
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| CN103838172B true CN103838172B (en) | 2018-02-16 |
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| CN106354932B (en) * | 2016-08-30 | 2019-12-17 | 江苏大学 | robot spraying and track setting method for cambered surface transition area between smooth curved surfaces |
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| CN112691864B (en) * | 2020-11-27 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Method for improving coating thickness uniformity of automatic spraying coating |
| CN113276094B (en) * | 2021-05-17 | 2023-03-31 | 湖南大学 | Distributed intelligent teaching system and method |
| CN114063570B (en) * | 2022-01-17 | 2022-04-01 | 季华实验室 | Robot spraying control method and device, electronic equipment and storage medium |
| CN114713468A (en) * | 2022-03-03 | 2022-07-08 | 柳州五菱汽车工业有限公司 | Technological method for spraying pearlescent paint on bumper |
| CN115193658A (en) * | 2022-08-12 | 2022-10-18 | 一汽丰田汽车有限公司 | Bumper surface spraying method, device, equipment and storage medium |
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