CN104888999B - A kind of variable spray gun coating sedimentation model modeling method - Google Patents
A kind of variable spray gun coating sedimentation model modeling method Download PDFInfo
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- CN104888999B CN104888999B CN201510359083.8A CN201510359083A CN104888999B CN 104888999 B CN104888999 B CN 104888999B CN 201510359083 A CN201510359083 A CN 201510359083A CN 104888999 B CN104888999 B CN 104888999B
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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 3D-surfaces
Abstract
The invention discloses a kind of variable spray gun coating sedimentation model modeling method, the variable spray gun coating sedimentation model that the present invention is set up can be shipped extensively in the spray robot variate spray operation of complex free curved surface, compared with conventional lance coating sedimentation model modeling method, when spray gun spraying height and spraying inclination angle is changed in spraying process, do not need it is repeated multiple times do spraying experiment set up spray gun coating sedimentation model, the spray gun coating sedimentation model gone out under different torch parameters with fast prediction by the model that the inventive method is set up, effectively increases spray efficiency.
Description
Technical field
The present invention relates to a kind of sedimentation model modeling method, more particularly, to a kind of modeling of variable spray gun coating sedimentation model
Method.
Background technology
The coating quality that has due to spray robot off-line programing control method is high, labour intensity is low and by workman from having
The advantages of being freed in the environment of poison, is used in the fields such as automobile, ship and Aero-Space more and more.
The modeling of robotic spray gun's coating sedimentation model is to build the key that Control During Paint Spraying by Robot off-line programing system is primarily solved
Technical problem, traditional modeling method is on the premise of constant torch parameters, modeling to be completed with reference to static spraying experiment,
The spray gun coating sedimentation model of acquisition is not suitable with the requirement of variate spray technique, such as in spraying process change spraying height and
Change the techniques such as spraying inclination angle, it is impossible to process the spraying operation that surface is complex free curved surface.
The content of the invention
The present invention seeks to：A kind of variable spray gun coating sedimentation model modeling method is provided, for variate spray technique
Need, be controlled variable to spray height and spraying inclination angle, realize the quick Accurate Model of variable spray gun coating sedimentation model, most
It is used for the quick obtaining of robot variate spray trajectory planning spray gun coating sedimentation model eventually, realizes that spray gun coating sedimentation model exists
Utilization in the automatic spraying of variable.
The technical scheme is that：A kind of variable spray gun coating sedimentation model modeling method, specifically includes following steps：
1) spray gun spray torch segment angle and spraying altitude range are determined, spray gun coating is simulated in flat board with finite range model
On deposition distribution rule, the vertical static spraying experiment of unit interval spray gun is done on flat board with standard spray height, in circle
In coating coverage, radially measurement obtains the coating layer thickness of some discrete points, vertical under fitting acquisition standard spray height
Initial spray gun coating sedimentation model during spraying；
2) based on above-mentioned initial spray gun coating sedimentation model, amplify theorem with Differential Geometry and set up to spray inclination angle and spray
It is the spray gun coating deposition theoretical model of variable to apply height；
3) spraying height is changed in the range of spraying height is allowed, and in the case where constant height is sprayed on flat board
A series of static inclination angle spraying experiment of spray guns is done, the coating layer thickness of discrete point is measured in coating range of deposition, inclined with spraying
Angle and spraying height are fitted the coating layer thickness of series of discrete point for the spray gun coating deposition theoretical model of variable respectively, obtain one
The correction factor value of series model, correction factor is set up with spraying inclination angle and spraying height change with binary function fitting
Rule model, with this rule Modifying model above-mentioned theory model, thus set up with spray inclination angle and spraying height be variable
Spray gun coating sedimentation model.
As preferred technical scheme, the step 1) in initial spray gun coating sedimentation model modeling method, specific bag
Include following steps：
(1) rectangular coordinate system is set up by the origin of coordinates of the center of circle of circular coating coverage, and crosses the center of circle and make a series of
Diameter of a circle line, it is ensured that folded angle is equal between adjacent straight radial line；Make a series of concentric circles in circular coating coverage, protect
The line segment equalization that these concentric circles split diameter line is demonstrate,proved, diameter line is measurement point with the intersection point of concentric circles；
(2) the corresponding coordinate of measurement point and coating layer thickness are measured respectively, are designated as qij, wherein ij represented on i-th concentric circles
J-th measurement point, be provided with N number of concentric circles, have M measurement point on each concentric circles, measurement point coating is taken on each concentric circles
The average value of thickness, is designated as
(3) finite range model set for being fitted is q (r), wherein r ∈ [- Htan (θ/2) ,-Htan (θ/2)], θ tables
Show that spray gun sprays the drift angle of torch segment angle, H represents spraying height, and fitting majorized function is set up with least square method：
The relevant parameter for obtaining initial spray gun coating sedimentation model is solved, so that initial spray gun coating sedimentation model is set up,
It is designated as q1(r)。
As preferred technical scheme, the step 2) in spraying inclination angle and spraying height for the spray gun coating of variable sinks
Product theoretical model, its concrete model is as follows：
Wherein：HS=H+x sin α；
rSTo cross on point S and nozzle line a little to the vertical range of origin O；
λ is the angle of spray gun axis and point S to origin O lines；
HSIt is distance of the nozzle to point S between subpoint on spray gun axis, spraying when H is spray gun static spraying is highly；
α represents the angle between spray gun axis and plane normal direction, and A (H, α) represents related to spraying height and spraying inclination angle
Modifying model function.
As preferred technical scheme, the step 3) spray gun painting of the middle foundation to spray height and spraying inclination angle is variable
Expect that the specific method of sedimentation model is as follows：
(1) it is [0, α to set spraying inclination alpha scopemax], spraying height H scopes are [Hmin,Hmax], take respectively within this range
Different spraying height [H1、H2、…、Hs] take turns doing different spraying inclination angle [α1、α2、…、αt] spraying experiment in the unit interval,
And in coating coverage measure discrete point coating layer thickness, qijkRepresent in HiSpraying height under spray gun inclination angle be αjWhen apply
K-th point of coating layer thickness in material coverage；
(2) used for the spray gun coating of variable deposits theoretical model based on the consideration spraying inclination angle and spraying height set up
Least square method is fitted to the discrete point coating layer thickness measured after experiment every time, obtains fitting function matrix and is：
(3) by solving above-mentioned fitting function matrix, obtaining correction factor matrix is：
Wherein AijRepresent in HiSpraying height under spray gun inclination angle be αjWhen spray gun coating sedimentation model correction factor value；
(4) spraying height HiWith spraying inclination alphajIt is variable, AijIt is function, with the method for binary function surface fitting
To being fitted, revision coefficient model A (H, α) is obtained, so as to set up to spray inclination angle and spraying height for the spray gun of variable is applied
Material sedimentation model.
As preferred technical scheme, step 1) described in spray gun spray torch segment angle be directed to coating spatial distribution for circle
The spray gun of taper；
The spraying height refers to distance of the spray gun axis to workpiece surface to be sprayed, and the spraying altitude range refers to protect
Card coating covers the adjustable spraying altitude range of effect；
The finite range model refers to the mathematical function expression that the coating layer thickness that hypothesis spray gun is sprayed beyond torch segment angle is 0
Formula.
Used as preferred technical scheme, the finite range model is β distributed models, gaussian sum model or piecewise function mould
Type.
It is an advantage of the invention that：The variable spray gun coating sedimentation model that the present invention is set up can be shipped extensively used in complex free
In the spray robot variate spray operation of curved surface, compared with conventional lance coating sedimentation model modeling method, work as spraying process
It is middle change spray gun spraying height and spraying inclination angle when, it is not necessary to it is repeated multiple times do spraying experiment set up spray gun coating sedimentation model,
The spray gun coating sedimentation model gone out under different torch parameters with fast prediction by the model that the inventive method is set up, effectively
Improve spray efficiency.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Fig. 1 is the modeling procedure figure of variable spray gun coating sedimentation model；
Fig. 2 is the vertical spraying experiment discrete schematic diagram of spraying area measurement point；
Fig. 3 is spray gun spraying spatial model schematic diagram；
Fig. 4 is the inclination angle spraying experiment discrete schematic diagram of spraying area measurement point；
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the implementation method is shown in the drawings, wherein ad initio
Same or similar element or element with same or like function are represented to same or similar label eventually.Below by ginseng
The implementation method for examining Description of Drawings is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
A kind of variable spray gun coating sedimentation model modeling method, specifically includes following steps：
Step 1) on the premise of ensureing that spray gun spraying can obtain preferable spraying effect, determine spray gun spray torch segment angle and spray
Altitude range is applied, deposition distribution rule of the spray gun coating on flat board is simulated with finite range model, with standard spray highly
The vertical static spraying experiment of unit interval spray gun is done on flat board, in circular coating coverage, if radially measurement is obtained
The coating layer thickness of dry discrete point, fitting obtains initial spray gun coating sedimentation model when the highly sagging direct-injection of standard spray is applied；
The vertical static spraying experiment specific method of above-mentioned spray gun is as follows：
(1) for a class spray gun, determine spray gun can normal spraying operation when spray torch segment angle θ and spraying altitude range
[Hmin,Hmax]；
(2) finite range model of the simulation coating regularity of distribution in the plane is determined, the finite range model is β distributed modes
Type, gaussian sum model or multi-stage model etc., here as a example by using relatively broad β distributed models, its expression formula is as follows：
(3) the static spraying experiment of unit interval spray gun is highly done with standard spray on flat board, is time list generally with 1s
Position.
The spray gun spray torch segment angle is directed to the spray gun that coating spatial distribution is cone；It is described spraying height refer to
To the distance of workpiece surface to be sprayed, the spraying altitude range refers to ensure that coating covers the adjustable spraying of effect to spray gun axis
Altitude range；The finite range model refers to the mathematical table that the coating layer thickness that hypothesis spray gun is sprayed beyond torch segment angle is 0
Up to formula.
The modeling method of above-mentioned initial spray gun coating sedimentation model, specifically includes following steps：
(1) after spraying experiment, after after coating drying, right angle is set up by the origin of coordinates of the center of circle of circular coating coverage
A series of coordinate system, as shown in Fig. 2 simultaneously crossing the center of circle makees diameter of a circle lines, it is ensured that folded angle is equal between adjacent straight radial line；In circle
Make a series of concentric circles in shape coating coverage, it is ensured that line segment that these concentric circles split diameter line is impartial, diameter line with
The intersection point of concentric circles is measurement point；
(2) the corresponding coordinate of measurement point and coating layer thickness are measured respectively, are designated as qij, wherein ij represented on i-th concentric circles
J-th measurement point, be provided with N number of concentric circles, have M measurement point on each concentric circles, measurement point coating is taken on each concentric circles
The average value of thickness, is designated as
(3) finite range model set for being fitted is q (r), wherein r ∈ [- Htan (θ/2) ,-Htan (θ/2)], θ tables
Show that spray gun sprays the drift angle of torch segment angle, H represents spraying height, based on β distributed models, fitting optimization is set up with least square method
Function：
The β value for obtaining β distributed models is solved, so as to set up initial spray gun coating sedimentation model, q is designated as1(r)。
Step 2) based on above-mentioned initial spray gun coating sedimentation model, amplify theorem with Differential Geometry and set up to spray inclination angle
With spraying height for the spray gun coating of variable deposits theoretical model, shown in reference picture 3；
Above-mentioned is the spray gun coating deposition theoretical model of variable to spray inclination angle and spraying height, and its concrete model is as follows：
Wherein：HS=H+x sin α；
rSTo cross on point S and nozzle line a little to the vertical range of origin O；
λ is the angle of spray gun axis and point S to origin O lines；
HSIt is distance of the nozzle to point S between subpoint on spray gun axis, spraying when H is spray gun static spraying is highly；
α represents the angle between spray gun axis and plane normal direction, and A (H, α) represents related to spraying height and spraying inclination angle
Modifying model function.
Step 3) change spraying height in the range of spraying height is allowed, and in the case where constant height is sprayed flat
A series of static inclination angle spraying experiment of spray guns is done on plate, the coating layer thickness of discrete point is measured in coating range of deposition, to spray
The coating layer thickness that inclination angle and spraying height are fitted series of discrete point for the spray gun coating deposition theoretical model of variable respectively is applied, is obtained
A series of correction factor value of models is obtained, correction factor is set up with spraying inclination angle with binary function fitting and is sprayed highly
The rule model of change, with this rule Modifying model above-mentioned theory model, so as to set up to spray inclination angle and spraying height to become
The spray gun coating sedimentation model of amount.
Set up above-mentioned to spray height and spraying inclination angle as the specific method of the spray gun coating sedimentation model of variable is as follows：
(1) it is [0, α to set spraying inclination alpha scopemax], spraying height H scopes are [Hmin,Hmax], take respectively within this range
Different spraying height [H1、H2、…、Hs] take turns doing different spraying inclination angle [α1、α2、…、αt] spraying experiment in the unit interval,
The mode of the acquisition spraying area discrete point according to Fig. 4, measures the coating layer thickness of discrete point in coating coverage, its
Middle qijkRepresent in HiSpraying height under spray gun inclination angle be αjWhen coating coverage in k-th point of coating layer thickness；
(2) used for the spray gun coating of variable deposits theoretical model based on the consideration spraying inclination angle and spraying height set up
Least square method is fitted to the g discrete point coating layer thickness measured after experiment every time, obtains fitting function matrix and is：
(3) by solving above-mentioned fitting function matrix, obtaining correction factor matrix is：
Wherein AijRepresent in HiSpraying height under spray gun inclination angle be αjWhen spray gun coating sedimentation model correction factor value；
(4) spraying height HiWith spraying inclination alphajIt is variable, AijIt is function, with the method for binary function surface fitting
To being fitted, revision coefficient model A (H, α) is obtained, so as to set up to spray inclination angle and spraying height for the spray gun of variable is applied
Material sedimentation model.
The variable spray gun coating sedimentation model that the present invention is set up can extensively ship the spraying robot used in complex free curved surface
In people's variate spray operation, compared with conventional lance coating sedimentation model modeling method, when changing spray gun spraying in spraying process
Height and spraying inclination angle when, it is not necessary to it is repeated multiple times do spraying experiment set up spray gun coating sedimentation model, with the inventive method
The spray gun coating sedimentation model that fast prediction goes out under different torch parameters by the model set up, effectively increases spraying effect
Rate.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
The personage for knowing this technology all can carry out modifications and changes under without prejudice to spirit and scope of the invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete with institute under technological thought without departing from disclosed spirit such as
Into all equivalent modifications or change, should be covered by claim of the invention.
Claims (3)
1. a kind of variable spray gun coating sedimentation model modeling method, it is characterised in that specifically include following steps：
1) spray gun spray torch segment angle and spraying altitude range are determined, with finite range model simulation spray gun coating on flat board
Deposition distribution rule, does the vertical static spraying experiment of unit interval spray gun, in circular coating with standard spray height on flat board
In coverage, radially measurement obtains the coating layer thickness of some discrete points, and fitting obtains the highly sagging direct-injection of standard spray and applies
When initial spray gun coating sedimentation model；
2) based on above-mentioned initial spray gun coating sedimentation model, amplify theorem with Differential Geometry and set up high to spray inclination angle and spraying
Spend for the spray gun coating of variable deposits theoretical model；
3) change spraying height in the range of spraying height is allowed, and one is done on flat board in the case where constant height is sprayed
Serial spray gun it is static inclination angle spraying experiment, in coating range of deposition measure discrete point coating layer thickness, with spray inclination angle and
Spraying height is fitted the coating layer thickness of series of discrete point for the spray gun coating deposition theoretical model of variable respectively, obtains a series of
The correction factor value of model, correction factor is set up with spraying inclination angle and the rule of spraying height change with binary function fitting
Rule model, with this rule Modifying model above-mentioned theory model, so that it is the spray gun of variable to set up to spray inclination angle and spraying height
Coating sedimentation model；
The step 1) in initial spray gun coating sedimentation model modeling method, specifically include following steps：
(1) rectangular coordinate system is set up by the origin of coordinates of the center of circle of circular coating coverage, and crosses the center of circle and make a series of circles
Diameter line, it is ensured that folded angle is equal between adjacent straight radial line；Make a series of concentric circles in circular coating coverage, it is ensured that this
The line segment that a little concentric circles split diameter line is impartial, and diameter line is measurement point with the intersection point of concentric circles；
(2) the corresponding coordinate of measurement point and coating layer thickness are measured respectively, are designated as qij, wherein ij represents the jth on i-th concentric circles
Individual measurement point, is provided with N number of concentric circles, there is M measurement point on each concentric circles, and measurement point coating layer thickness is taken on each concentric circles
Average value, is designated as
(3) finite range model set for being fitted is q (r), r ∈ [- H tan (θ/2) ,-H tan (θ/2)], and wherein θ is represented
Spray gun sprays the drift angle of torch segment angle, and H represents spraying height, and fitting majorized function is set up with least square method：
The relevant parameter for obtaining initial spray gun coating sedimentation model is solved, so as to set up initial spray gun coating sedimentation model, q is designated as1
(r)。
The step 2) in spray inclination angle and spraying height be variable spray gun coating deposit theoretical model, its concrete model is such as
Under：
Wherein：HS=H+xsin α；
rSTo cross on point S and nozzle line a little to the vertical range of origin O；
λ is the angle of spray gun axis and point S to origin O lines；
HSIt is distance of the nozzle to point S between subpoint on spray gun axis, spraying when H is spray gun static spraying is highly；
α represents the angle between spray gun axis and plane normal direction, and A (H, α) represents the mould related to spraying height and spraying inclination angle
Type correction function.
The step 3) in set up with spray height and spraying inclination angle as the spray gun coating sedimentation model of variable specific method such as
Under：
(1) it is [0, α to set spraying inclination alpha scopemax], spraying height H scopes are [Hmin,Hmax], take difference respectively within this range
Spraying height [H1、H2、…、Hs] take turns doing different spraying inclination angle [α1、α2、…、αt] spraying experiment in the unit interval, and
The coating layer thickness of measurement discrete point, q in coating coverageijkRepresent in HiSpraying height under spray gun inclination angle be αjWhen coating cover
K-th point of coating layer thickness in the range of lid；
(2) based on the consideration spraying inclination angle and spraying height set up for the spray gun coating of variable deposits theoretical model, with minimum
Square law is fitted to the discrete point coating layer thickness measured after experiment every time, obtains fitting function matrix and is：
(3) by solving above-mentioned fitting function matrix, obtaining correction factor matrix is：
Wherein AijRepresent in HiSpraying height under spray gun inclination angle be αjWhen spray gun coating sedimentation model correction factor value；
(4) spraying height HiWith spraying inclination alphajIt is variable, AijIt is function, with the method for binary function surface fitting to entering
Row fitting, obtains revision coefficient model A (H, α), so as to set up to spray inclination angle and spraying height for the spray gun coating of variable sinks
Product module type.
2. variable spray gun coating sedimentation model modeling method according to claim 1, it is characterised in that step 1) described in
Spray gun spray torch segment angle is directed to the spray gun that coating spatial distribution is cone；
The spraying height refers to distance of the spray gun axis to workpiece surface to be sprayed, and the spraying altitude range refers to ensure to apply
Material covers the adjustable spraying altitude range of effect；
The finite range model refers to the mathematical function expression formula that the coating layer thickness that hypothesis spray gun is sprayed beyond torch segment angle is 0.
3. variable spray gun coating sedimentation model modeling method according to claim 2, it is characterised in that the limited range
Model is β distributed models, gaussian sum model or multi-stage model.
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| CN106179903B (en) * | 2016-08-12 | 2019-05-28 | 福建工程学院 | Globoidal glass colloidal sol even application method |
| CN106995909B (en) * | 2017-05-25 | 2019-02-15 | 扬州大学 | A kind of uniform heat spraying method of cylindrical surface |
| CN108563852B (en) * | 2018-03-29 | 2021-09-14 | 苏州瀚华智造智能技术有限公司 | Method for calculating spraying thickness accumulation rate based on spherical coordinate system |
| CN111036456B (en) * | 2018-10-15 | 2022-03-29 | 常州星宇车灯股份有限公司 | Method for realizing variable spraying scroll on ABB robot simulation software |
| CN112917486B (en) * | 2021-01-21 | 2022-06-14 | 江苏科技大学 | Automatic planning method for intelligent spraying path of ship outer plate based on unmanned aerial vehicle |
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| CN101739488B (en) * | 2009-12-10 | 2012-05-30 | 广西大学 | Method for modeling paint deposition rate model adapting to complex free curved surface spraying |
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