CN101367076A - Variate spray coating method for static electricity spraying robot with non-regulation planar polygon - Google Patents
Variate spray coating method for static electricity spraying robot with non-regulation planar polygon Download PDFInfo
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- CN101367076A CN101367076A CNA200810156065XA CN200810156065A CN101367076A CN 101367076 A CN101367076 A CN 101367076A CN A200810156065X A CNA200810156065X A CN A200810156065XA CN 200810156065 A CN200810156065 A CN 200810156065A CN 101367076 A CN101367076 A CN 101367076A
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- 238000005507 spraying Methods 0.000 title claims abstract description 56
- 230000005611 electricity Effects 0.000 title 1
- 230000003068 static effect Effects 0.000 title 1
- 238000000576 coating method Methods 0.000 claims abstract description 58
- 239000011248 coating agent Substances 0.000 claims abstract description 57
- 238000007590 electrostatic spraying Methods 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 18
- 239000007921 spray Substances 0.000 claims description 47
- 238000005421 electrostatic potential Methods 0.000 claims description 29
- 239000011521 glass Substances 0.000 claims description 20
- 230000008021 deposition Effects 0.000 claims description 14
- 238000013519 translation Methods 0.000 claims description 11
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 239000011247 coating layer Substances 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 8
- 238000003912 environmental pollution Methods 0.000 abstract description 2
- 230000001788 irregular Effects 0.000 abstract 1
- 238000009987 spinning Methods 0.000 abstract 1
- 238000000151 deposition Methods 0.000 description 11
- 238000012360 testing method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 239000000049 pigment Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241000675108 Citrus tangerina Species 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000004924 electrostatic deposition Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000002932 luster Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
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Abstract
The invention discloses an electrostatic spraying robot variable spraying method for an irregular plane polygon. At first, the diameters of a maximum spraying pattern and a minimum spraying pattern are evaluated, then a plane polygon workpiece is subjected to geometric analysis, a spraying starting edge is determined, first section of path is arranged along the starting edge, a track of real-time change of the diameter of an optimum spraying pattern is planned, and finally a polygonal plane is subjected to variable spraying. The method can optimize the spraying effect by adjusting parameters such as electrostatic voltage, spacing, rotating speed of a spinning cup, translational rate and so on. The method improves economic benefit by improving the evenness of a coating and reducing the loss of coating, and can also correspondingly reduce the total amount of the coating discharged to the environment of a spraying workshop to reduce the environmental pollution.
Description
Technical field
The present invention relates to a kind of electrostatic spraying machine people's spraying method, relate in particular to variate spray method the polygonal electrostatic spraying machine of non-regulation planar people.
Background technology
Electrostatic spraying machine people is that equipment is produced in a kind of important advanced application, is widely used in the paint line of products such as automobile at home and abroad.For such as products such as automobile, electrical equipment and furniture, its surperficial spraying effect has considerable influence to quality.The color and luster of product surface depends on the uniformity of coating layer thickness to a great extent, if the coating layer thickness on surface is inconsistent, can cause that the surface is not bright and clean, and the sagging and the coating tangerine peel phenomenon of edge coating occur, and the place of overweight coating in use the tendency of chapping can occur.What generally use in the early stage spray robot programming is " artificial lead-through teaching ", time-consuming, effort, inefficiency, and the spray robot great majority use the off-line programing methods now.The spray robot off-line programing system is mainly optimized module, robot motion's track generation module, robot program's generation module etc. by the robot trajectory and is constituted.Latter two module belongs to the conventional module in the general industry robot Off-line Programming System substantially, and spray robot track optimizing module is more than general industrial robot complexity.The spraying effect of spray robot and the movement locus of robot, to be coated with surface of the work shape, spray gun parameter etc. all multifactor relevant.Especially electrostatic spraying machine people, owing to there is effect of electric field, the factor that influences spraying effect is more.
Variate spray track optimizing technology is a kind of novel spraying technology, it is the shape according to workpiece, in conjunction with revolving a glass rate travel, rotating speed, electrostatic potential, revolving cup and workpiece spacing spray parameters such as (following abbreviation " spacings "), cook up the optimum trajectory of robot, can overcome existing spray robot and on non-regulation planar, spray uneven shortcoming, obtain better spraying effect.
Summary of the invention
The objective of the invention is to utilize electrostatic spraying machine people electrostatic potential, revolve of the influence of duty parameters such as a glass rotating speed, spacing and rate of translation to spraying figure, coating growth rate, coating deposition and pigment transfer rate etc., propose a kind of specially at the polygonal electrostatic spraying machine of non-regulation planar people variate spray method, to improve the uniformity, coating quality, spray efficiency and the pigment transfer rate of non-regulation planar polygon workpiece edge coating.
The technical solution used in the present invention is: according to the shape of workpiece, in conjunction with revolving a glass rate travel, rotating speed, electrostatic potential, revolving spray parameters such as cup and workpiece spacing, cook up the optimum trajectory of robot, at first ask for minimax spraying figure diameter, then the plane polygon workpiece is carried out geometrical analysis, determine to have sprayed initial line, along playing first section path of initial line layout, the track of the spraying figure diameter real-time change that planning is optimum carries out variate spray to polygon plane at last.
The present invention can be by regulating electrostatic potential, spacing, revolving parameters such as glass rotating speed and rate of translation and optimize spraying effect.By improving the uniformity of coating, reduce the coating content of surface of the work, increase economic efficiency, also can correspondingly reduce the coating total amount that is discharged in the painting workshop environment simultaneously, alleviate environmental pollution.
Description of drawings
Fig. 1 is the schematic diagram that concerns of electrostatic potential and spacing;
Fig. 2 is voltage and deposition graph of relation;
Fig. 3 is voltage and spraying graphics relationship schematic diagram;
Fig. 4 is electrostatic spraying coating quality and duty parameter variation schematic diagram;
Fig. 5 is the planning step schematic diagram of the variate spray track on non-regular polygon plane;
Fig. 6 is the polygon plane workpiece;
Fig. 7 is non-variate spray track schematic diagram;
Fig. 8 is a variate spray track schematic diagram.
The specific embodiment
1, the relation of electrostatic spraying coating quality and duty parameter
1) relation of electrostatic potential and spacing
Directly by revolving rim of a cup output, then there is substantial connection in electrostatic potential between the shape of the charge-mass ratio of droplet, the coating deposition of being sprayed surface of the work and spraying figure in electrostatic potential and spacing, the spraying process usually.
When electrostatic potential one timing, for preventing to puncture air and spraying medium, the spacing limiting value can be expressed as
L
1=0.5U (to air dielectric)
L
2=2.5U (to the spraying medium)
In the formula: L is spacing limiting value (mm), and U is electrostatic potential (kV).
In course of normal operation, the MBV between spray gun and workpiece and the relation of spacing as shown in Figure 1, the longitudinal axis is an electrostatic potential, transverse axis is a spacing, dash area is the zone of operate as normal.
2) relation of electrostatic potential and deposition
When spacing, coating constant flow, electrostatic potential and the coating deposition on workpiece as shown in Figure 2, voltage is high more, deposition is high more.In actual applications, electrostatic spraying voltage should be chosen more than the 80kV.Show that according to a large amount of behaviours in service when electrostatic spraying voltage was 85kV, the spacing usual range was: during spraying large tracts of land workpiece, its distance is 260～350mm; During spraying small size workpiece, its distance is 240～300mm.
3) relation of electrostatic potential and spraying figure
Under spacing, the parameters such as viscosity of revolving a glass rotating speed, coating flow and coating keep certain situation, electrostatic potential and surface of the work spray formed figure as shown in Figure 3, in actual use, the external diameter of the spraying figure of requirement formation is big usually, and intermediate blank part internal diameter is little.
4) relation of spacing and coating growth rate, spraying figure
When electrostatic potential, revolve parameters such as a glass rotating speed, coating flow and dope viscosity and keep under certain situation, spacing mainly influences coating growth rate and spraying feature size.Usually increase spacing, then coating growth rate diminishes, and spraying figure deformation is big, therefore, in the spraying process, adjusts and revolves cup and workpiece spacing, helps improving coating quality.
5) revolve the influence of glass rotating speed
Revolving glass rotating speed is the key factor of influence spraying fogging degree, and the range of speeds is elected 1400～5600rev/min as usually.Improve rotary speed, can improve the coating degree of atomization.Rotating speed is crossed when hanging down, and the droplet particulate is too thick, and coating uniformity will reduce, and droplet surface area and volume ratio reduce simultaneously, and droplet is elongated at rim of a cup tangential direction move distance, and spraying figure diameter is increased; When rotating speed was too high, droplet was meticulous, will improve coating uniformity, and its surface area and volume ratio increase simultaneously, and spraying figure diameter is reduced.
6) influence of rate of translation
Under normal conditions, point-to-point speed and coating growth rate are inversely proportional to, still since the coating conductive capability generally a little less than, after surface of the work has formed certain thickness coating, because the repulsive interaction of charged particle, the coating deposition will descend.
In sum, there are relation shown in the accompanying drawing 4 in electrostatic spraying coating quality and duty parameter:
2, the acquisition methods of spraying figure diameter maximum (Dmax) and minimum of a value (Dmin) in the variate spray
From the above, regulate electrostatic potential, spacing, revolve glass rotating speed and rate of translation can change deposition, coating growth rate, coating uniformity, spraying figure diameter within the specific limits.Can be divided into following a few step and obtain satisfying the minimax spraying figure diameter that allows under the prerequisite of coating quality:
The first step, know that the coating deposition (Ratio) of the electrostatic spraying mainly electrostatic potential (U) by revolving cup and revolving glass is regulated with the vertical range that is coated with surface of the work (L) by accompanying drawing 4.With the deposition of accompanying drawing 1 and accompanying drawing 2 and the relation curve of voltage and spacing is reference, carries out spray test, writes down the test data under several groups of current working, and the Mathematical Modeling that draws the coating deposition by data fitting as shown in Equation (1).
Ratio＝f
1(U，L) (1)
Second step, know by accompanying drawing 4, surface of the work any coating growth rate (q) mainly the electrostatic potential (U) by revolving cup, revolve cup and the vertical range that is coated with surface of the work (L) and the rate of translation of revolving glass (is v) regulated.Under the operating mode of the first step, by regulate parameter U, L, v carry out the measurement test of coating growth rate, write down the test data under several groups of current working, the Mathematical Modeling that draws coating growth rate by data fitting is as shown in Equation (2).
q＝f
2(U，L，v) (2)
The 3rd step, know by accompanying drawing 3 and accompanying drawing 4, spraying figure diameter (D, d) mainly the electrostatic potential (U) by revolving cup, revolve cup and the vertical range that is coated with surface of the work (L) and the speed of rotation (w) of revolving glass is regulated.Under the operating mode of the first step, spray the measurement test of figure diameter by adjusting parameter U, L, w, write down the test data under several groups of current working, the Mathematical Modeling that draws spraying figure diameter by data fitting is shown in formula (3) and (4), thereby convenient foundation sprays the little spray parameters of figure diameter external diameter large diameter.
D＝f
3(U，L，w) (3)
d＝f
4(U，L，w) (4)
The 4th step, because there is nonuniformity in the coating growth rate in the spraying figure scope, therefore the overlap coefficient (a) that sprays figure directly just is being the coating uniformity (S) of direction in decision spraying path, and mainly (is v) determined with coating growth rate (q) by rate of translation along the coating uniformity of path direction.Under the operating mode of the first step, by regulate parameter U, L, v carry out spray test, write down the test data under several groups of current working, the Mathematical Modeling that draws coating uniformity by data fitting is as shown in Equation (5).
s＝f
5(U、L、v、a) (5)
The 5th the step, parameters such as deposition, coating uniformity and coating layer thickness are updated to formula (1), (2), (3), (4), (5), obtain electrostatic potential, spacing, revolve a glass rotating speed, when the technological parameters such as overlap coefficient of rate of translation and spraying figure change in allowed band, the maximum (Dmax) and the minimum of a value (Dmin) of spraying figure diameter.
3, the planning step of the variate spray track on non-regular polygon plane
Trajectory planning is carried out on any non-regular polygon plane, as shown in Figure 5
The first step, calculating are coated with polygonal each length of side, find out two the longest limit B
1And B
2
Second goes on foot, compares both sides B
1And B
2Length, if length differs big (criterion decide according to concrete operating mode), then choose longest edge as an initial line in planning process; Otherwise, ask limit B more respectively
1And B
2Angle theta with adjacent side
11, θ
12, θ
21, θ
22, choosing two adjacent angles has been initial line near the limit at right angle more.If all near the right angle, then getting longer sides has been initial line.
The vertical range of initial line has been arrived on the 3rd step, each summit of calculating polygon.
The 4th the step, according to the 3rd the step the result, be parallel to initial line according to first section path, and the path is the shortest and principle paint loss rate minimum is chosen every section the best spraying figure diameter Dopt (p) that sprays the path, Dmax wherein〉Dopt (p)〉Dmin, p=(x, y) be the coordinate of the central point of spraying figure, all central points constitute the optimal path on the workpiece.
Further specify the present invention by the following examples, wherein embodiment 1 is the comparative examples that does not adopt variate spray method of the present invention, and embodiment 2 adopts variate spray method of the present invention:
Embodiment 1
Polygon plane workpiece: AB=800mm as shown in Figure 6, BE=3000mm, DE=1000mm, CD=1400mm, AC=1612mm, AB ⊥ BE, DE ⊥ BE, CD ⊥ DE; If satisfy the overall diameter of the minimax spraying figure of spraying index be: Dmax=500mm, Dmin=400mm.
Do not considering to spray under the situation of graphics overlay, by regulating electrostatic potential, spacing, revolving glass rotating speed and rate of translation and make figure outer diameter D=Dmax, workpiece shown in the accompanying drawing 6 is carried out non-variate spray, the spray cup track (TCP) of robot shown in phantom line segments abcd in the accompanying drawing 7, path S
0=2 * ab+2 * ac=8000mm.The coating layer thickness of supposing unit are in the spraying figure is certain, is assumed to be 1mm, then the coating C of Xiao Haoing
0=1 * (2 * ac * ab+ac * Dmax+ π * Dmax2/4)=3946350mm
3
Under the condition of example 1, workpiece shown in the accompanying drawing 6 is carried out variate spray.By AB=800mm, BE=3000mm, DE=1000mm, CD=1400mm, AC=1612mm, AB ⊥ BE, DE ⊥ BE, CD ⊥ DE; The overall diameter of minimax spraying figure is: Dmax=500mm, Dmin=400mm.Step by accompanying drawing 5 is planned the variate spray track as shown in Figure 8: the BE limit is as playing an initial line; Path de//parallel BE and at a distance of 250mm; Line segment ef and BE are not parallel, and the f point all vertical range of straight line BE is 200mm; Af=400mm, cd=500mm, af//AB and at a distance of 200mm, cd//ED and at a distance of 250mm, bc//CD, bc=de; The figure diameter of path bcde section is 500mm, and the figure diameter of path af section is 400mm, and b progressively reduces to 400mm by 500mm to a diameter, and e directly progressively reduces to 400mm by 500mm to f.af＝400mm，ab＝1806mm，cd＝500mm，bc＝de＝CD+Dmax/2＝1650mm，ef＝1801mm。
The path S1=ab+bc++cd+de+ef+fa=7087mm of variate spray.
The coating that consumes is rectangle in track bcde section, and the abef section is trapezoidal, C1=1625 * 2 * Dmax+Dmax * Dmax/2+ π * Dmax2/8 (BE-CD+Dmin/2) * (Dmax+Dmin)+Dmin * Dmin/2+ π * Dmin2/8=3611006mm3
Draw by comparing embodiment 1 and embodiment 2: the few 913mm of variate spray robot path, about 11.4%; Save coating 335344mm3, about 8.3%.As seen variate spray has significantly and raises the efficiency, reduces cost, reduces the air-polluting effect.
Claims (4)
1. the electrostatic spraying machine people variate spray method on non-regular polygon plane, shape according to workpiece, in conjunction with revolving a glass rate travel, rotating speed, electrostatic potential, revolve spray parameters such as cup and workpiece spacing, cook up the optimum trajectory of robot, it is characterized in that: at first ask for minimax spraying figure diameter, then the plane polygon workpiece is carried out geometrical analysis, determine to have sprayed initial line, along playing first section path of initial line layout, the track of the spraying figure diameter real-time change that planning is optimum, at last polygon plane is carried out variate spray, improve surface coating thickness evenness and utilization efficiency of coatings.
2. the electrostatic spraying machine people variate spray method on non-regular polygon according to claim 1 plane is characterized in that: the method step of asking for minimax spraying figure diameter is as follows successively:
(1) electrostatic potential by revolving cup and revolve the coating deposition of cup and the vertical range adjusting electrostatic spraying that is coated with surface of the work;
(2) electrostatic potential by revolving cup, revolve cup and the vertical range that is coated with surface of the work and any coating growth rate of the rate of translation adjusting surface of the work that revolves glass;
(3) electrostatic potential by revolving cup, the speed of rotation adjusting coating cloud figure diameter that revolves cup and the vertical range that is coated with surface of the work and revolve glass;
(4) by the relation of regulating electrostatic potential, revolve cup and the vertical range that is coated with surface of the work, the rate of translation of revolving glass drawing coating uniformity and each parameter;
(5) obtain electrostatic potential, workpiece spacing, revolve a glass rotating speed, when the technological parameters such as overlap coefficient of rate of translation and spraying figure change, obtain the maximum and the minimum of a value of spraying figure diameter in allowed band by coating deposition, coating uniformity and coating layer thickness.
3. the electrostatic spraying machine people variate spray method on non-regular polygon according to claim 1 plane, it is characterized in that: definite method that described spraying plays initial line is: calculate and be coated with polygonal each length of side, find out two the longest limits, the length that compares both sides, if it is bigger that length differs, then choose longest edge as playing initial line; Otherwise, ask the angle of both sides and adjacent side more respectively, choosing two adjacent angles has been initial line near the limit at right angle more, if all near the right angle, then getting longer sides has been initial line.According to the surface of the work geometry, cook up the path and the parameter of variate spray.
4. the electrostatic spraying machine people variate spray method on non-regular polygon according to claim 1 plane, it is characterized in that: electrostatic potential is chosen more than the 80kV; The workpiece spacing is 240～350mm; Revolving glass rotating speed is 1400～5600rev/min.
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|---|---|
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| CN101367076B CN101367076B (en) | 2011-06-01 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102500498A (en) * | 2011-11-11 | 2012-06-20 | 江苏科技大学 | Optimization method for spray gun track of spraying robot on irregular polyhedron |
| CN103909031A (en) * | 2014-04-09 | 2014-07-09 | 盐城工学院 | Curved surface object corner recognizing and spraying method |
| CN104607367A (en) * | 2015-01-26 | 2015-05-13 | 江苏大学 | Variable spraying method by electrostatic spraying robot on hook face |
| CN106179903A (en) * | 2016-08-12 | 2016-12-07 | 福建工程学院 | Globoidal glass colloidal sol even application method |
| CN107899907A (en) * | 2017-12-12 | 2018-04-13 | 江苏大学 | A kind of plane polygon variate spray method |
| CN111062542A (en) * | 2019-12-30 | 2020-04-24 | 华南理工大学 | LED coating path planning method based on uniformity |
| CN111515098A (en) * | 2020-04-27 | 2020-08-11 | 哈尔滨工业大学 | Spraying method for conductive film of insulating element of micro-cathode arc thruster |
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2008
- 2008-09-19 CN CN200810156065XA patent/CN101367076B/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102500498A (en) * | 2011-11-11 | 2012-06-20 | 江苏科技大学 | Optimization method for spray gun track of spraying robot on irregular polyhedron |
| CN102500498B (en) * | 2011-11-11 | 2014-06-04 | 江苏科技大学 | Optimization method for spray gun track of spraying robot on irregular polyhedron |
| CN103909031A (en) * | 2014-04-09 | 2014-07-09 | 盐城工学院 | Curved surface object corner recognizing and spraying method |
| CN104607367A (en) * | 2015-01-26 | 2015-05-13 | 江苏大学 | Variable spraying method by electrostatic spraying robot on hook face |
| CN106179903A (en) * | 2016-08-12 | 2016-12-07 | 福建工程学院 | Globoidal glass colloidal sol even application method |
| CN106179903B (en) * | 2016-08-12 | 2019-05-28 | 福建工程学院 | Globoidal glass colloidal sol even application method |
| CN107899907A (en) * | 2017-12-12 | 2018-04-13 | 江苏大学 | A kind of plane polygon variate spray method |
| CN111062542A (en) * | 2019-12-30 | 2020-04-24 | 华南理工大学 | LED coating path planning method based on uniformity |
| CN111515098A (en) * | 2020-04-27 | 2020-08-11 | 哈尔滨工业大学 | Spraying method for conductive film of insulating element of micro-cathode arc thruster |
| CN111515098B (en) * | 2020-04-27 | 2022-09-27 | 哈尔滨工业大学 | Spraying method for conductive film of insulating element of micro-cathode arc thruster |
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