CN109332033A - A kind of electrostatic coating machine people is directed to the optimization method of non-regulation planar polygon layer thickness uniformity - Google Patents
A kind of electrostatic coating machine people is directed to the optimization method of non-regulation planar polygon layer thickness uniformity Download PDFInfo
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- CN109332033A CN109332033A CN201811351829.0A CN201811351829A CN109332033A CN 109332033 A CN109332033 A CN 109332033A CN 201811351829 A CN201811351829 A CN 201811351829A CN 109332033 A CN109332033 A CN 109332033A
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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
- B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
- B05B5/08—Plant for applying liquids or other fluent materials to objects
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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
- B05B12/084—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 condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
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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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- 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
- B05B12/124—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 distance between spray apparatus and target
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Abstract
The invention discloses the optimization methods that a kind of electrostatic coating machine people is directed to non-regulation planar polygon layer thickness uniformity, initially set up spray gun track mathematical model, next establishes the spatial distribution model of coating, the section thickness figure of the translation schematic diagram and translation model of static distribution model, then basis and bivariate Cauchy's distributed model, the comparison of bivariate Gaussian distribution model and test experiment the data obtained, final choice establishes the double β models of conventional elliptical, finally spraying swath overlap joint is carried out for multiple tracks spraying, the thickness uniformity of paint film is improved by the selection of the spacing d between stroke.
Description
Technical field
The present invention relates to a kind of methods of the irregular polygon of coating robot coats, mainly for layer thickness uniformity
The method optimized.
Background technique
Electrostatic spraying is the new technology combined according to traditional spraying and electrostatic effect, and Electrostatic Spray Technology is transported
With on spray robot, there is optimal economic benefit, be widely used on domestic and international automobile coating production line, not only improve
The quality and yield of product, and ensured personal safety, improve working conditions, reduce labor intensity, reducing production cost
With mitigation environmental pollution.During Control During Paint Spraying by Robot, workpiece is directly influenced for surface coating the thickness uniformity
Index is not achieved in coating quality, uniformity, it may be desirable to paint again, not only result in the waste of coating, Er Qiehui in this way
Reduce the efficiency of spraying operation.
Summary of the invention
It is an object of the invention to carry out rail in the film thickness uniformity of workpiece surface spraying to electrostatic coating machine people
Mark optimization, initially sets up spray gun track mathematical model, next establishes the translation of the spatial distribution model of coating, static distribution model
The section thickness figure of schematic diagram and translation model, then the double β models of conventional elliptical are established in selection, are finally carried out for multiple tracks spraying
Spraying swath overlap joint, i.e., improve the thickness uniformity of paint film by the selection of the spacing d between stroke.
The technical solution adopted by the present invention is that: the double β models of conventional elliptical are established, multiple tracks is sprayed and carries out spraying swath overlap joint, i.e.,
The thickness uniformity of paint film, specific steps are improved by the selection of the spacing d between stroke are as follows:
A kind of electrostatic coating machine people is directed to the optimization method of non-regulation planar polygon layer thickness uniformity, including with
Lower step: step 1, spray gun track mathematical model and coating spatial distribution model are established；
Step 2, the section thickness figure of the translation schematic diagram and translation model of the static distribution model of coating is established；
Step 3, the double β mould shapes of ellipse sprayed about plane are established；
Step 4, it is sprayed for multiple tracks and carries out spraying swath overlap joint, the thickness of paint film is improved by the selection of the spacing d between stroke
Spend uniformity.
Further, the detailed process of the step 1 are as follows:
1.1. assume that spray gun workpiece is stationary, describes its location and shape using cartesian coordinate system XYZ, if workpiece table
Face is expressed as function z=h (x, y), the function expression of workpiece surface is defined as:
S=x, y, z | z=hx, y, x, y ∈ D
Wherein, h:D → R is mapped, R is real number field, domain
Pose is indicated with cartesian coordinate system XYZ, if trivector function P (t) and 0 (t) indicates spray gun solid respectively
Determine the position and direction in cartesian coordinate system, the relationship of the two vectors and time t may be expressed as:
Pt=[px(t), py(t), pz(t)]
O (t)=[ox(t), oy(t), oz(t)]
Wherein, the vector p in above formulax(t), py(t), pz(t) when indicating moment t, the position of spray gun, vector ox(t), oy
(t), oz(t) when indicating moment t, rotation angle of the spray gun rotating around X, Y, Z coordinate axis；A phasor function a (t) is defined to come always
Body represents the pose of spray gun, indicates are as follows: a (t)=[P (t), O (t)]T；
1.2. the coating manifold shape for setting spray gun ejection is cone: taking circular cone subtended angle as φ, the distance of spray gun to plane is
H, the spraying radius in plane are R, and a point Q is r with a distance from spray gun central projection point in plane, the line of Q point and spray gun with
The angle of spray gun central axes is θ.
Further, the detailed process of the step 2 are as follows: when doing electrostatic spraying experiment, the space point of generated coating
Cloth model is annular；When the viscosity parameter of electrostatic potential, spacing, rotation cup revolving speed, coating flow and coating keeps certain situation
Under, it is hollow annular that spray gun pinpoints spraying to be formed by coating spatial distribution for a period of time perpendicular to workpiece surface；Work as fixation
Spray deposited model when moving in the x-direction, the translation schematic diagram of the static distribution model of generated coating will form one
Striped model；The section thickness figure of translation model are as follows: its section thickness figure is symmetrical about x-axis, and with a thickness of 0 at ± Δ y, with
There is a smooth ascendant trend afterwards, reaches peak value thickness decrease.
Further, the detailed process of the step 3 are as follows:
The data for collecting spraying area first, carry out curve fitting after screening to data, select neural network algorithm
Data after screening are fitted；
Coordinate system is established using o point as coordinate origin in oval spraying swath region, it is assumed that the film thickness in x-axis and y-axis
Sectional outline shape curve all obey the β distribution function of profile exponent β 1, β 2, and the β value of the point on same section is all
It is identical:
Assuming that the distance of distance axis is m at interior any point in region A (x, y) to x-axis distance n, crosses this point and make straight line
AiBi, then it is straight line A1A2, this two straight lines distinguish parallel x-axis and y-axis, and straight line A1A2It is denoted as with the intersection point of elliptic curve
A1, A2, straight line A1A2A, A are denoted as with the intersection point of x-axisiPoint is denoted as B about the symmetric points of y-axisi, after point BiMake straight line B1B2With straight
Line A1A2In parallel, and respectively hand over oval boundary curve in B1B2Two o'clock is denoted as B point with x-axis intersection point；
According to straight line AA1Length | AA1| calculate distribution function q of the paint film film thickness in X=m at sectionX=mAnd
Film thickness distribution function q in Y=n at sectionY=n, finally obtain the film thickness mathematical modulo at any point in spraying swath region
Type；
According to the major axis radius a for the oval painted areas that spray gun is formed in the plane, minor axis radius b, nozzle to level
The vertical range h in face, the subtended angle θ and γ of x-axis and y-axis direction, seeks elliptical major axis radius a and elliptical minor axis radius respectively
b；
The rate of paint film accumulation indicates with β distributed model, according to any point on surface to spray gun in the horizontal plane
The distance between subpoint r, the diameter w for the prototype spraying area that spray gun is formed in the plane obtain maximum paint film cumulative speed
qmax。
Further, information is to be stored in network by the excited mode distribution on neuron in the neural network algorithm
On, and information processing is by between neuron while the dynamic process of interaction is completed, using three layers of nerve net
For network to realize, inputting is three layers, and 8 nodes are arranged in hidden layer, and two layers of output layer, d (i) is input layer point, i=1,2.., d
(j) be hidden layer node, j=1,2.., d (k) be input layer node, k=1,2.., activation primitive is set as
Right value update are as follows:
For hidden layer, have:
hj=f (Hj)
Wherein xiIt exports or inputs for d (i), Hj, hjThe respectively input of d (j), output, wijBetween d (i) and d (j)
Connection weight；For output layer, have:
yk=∫ (Yk)
YK, ykThe respectively input of d (k), output, wjkConnection weight between d (j) and d (k).
Further, in spraying swath region any point film thickness mathematical model are as follows:
Wherein a, b are respectively oval and x-axis y-axis intersection point, wherein 1 β, and β 2 is profile exponent, and x is independent variable, qmaxFor maximum
Paint film cumulative speed.
Further, maximum paint film cumulative speed qmaxAre as follows:
Wherein: Q0For gun traffic, w is diameter.
Further, the detailed process of the step 4 are as follows: assuming that the direction that spray gun is advanced is the direction of Y-axis, then with spray gun
Perpendicular direction of advancing is exactly X-direction, chooses in spraying area that any point P is as the object studied, if P point coordinate is
(x, 0), according to symmetry, is at the time of spray gun is finally sprayed onto P point if spray gun starts to be denoted as x=-t at the time of spraying to P point
X=t1, it may be assumed that in-t1~t1Time interval, P point can all be sprayed onto:
So displacement of the spray gun on direction are as follows:
Y=vt
In formula: the speed of v expression spray gun；
Any point can be obtained in spraying area to the distance r of origin by geometrical relationship:
R=(x2+y2)1/2
The rate of paint film accumulation is indicated in the present invention using β distributed model, it may be assumed that
The film thickness T (x) of P point is obtained according to above formula are as follows:
Indicate that the rate of paint film accumulation obtains gun traffic Q according to β distributed model0:
Wherein, A is the area of spraying area；
There are three points can control in overlapping region for film thickness, the most fundamental or depending between paint stroke
Away from d；If d has been determined, the film thickness of overlapping region can be overlapped mutually to obtain by the film thickness to paint twice, following formula
Illustrate the coating layer thickness distribution that two spray gun strokes offset obtain:
Wherein, T12In 1 represent spray gun 1,2 and represent spray gun 2, T (x) is the cumulative thickness at any point in spraying area.
The technical effect that the present invention has are as follows: established by the present invention to be sprayed about plane during Control During Paint Spraying by Robot
The double β mould shapes of ellipse, and carry out spraying swath overlap joint for multiple tracks spraying, can be straight for surface coating the thickness uniformity
The coating quality for influencing workpiece is connect, so that spraying is uniformly, additional spray painting again is not needed in operating process, is saved significantly in this way
About coating material, and improve the efficiency of spraying operation.
Detailed description of the invention
Fig. 1 is coating spatial distribution model
Fig. 2 is spatial distribution map in coating plane
Fig. 3-a is the floor map of static distribution model
Fig. 3-b is the screenshot thickness of areal model
Fig. 4 is coating cumulative percentage finite range model
Fig. 5 mist bores x-axis section
Fig. 6 mist bores y-axis section
Fig. 7 paints spatial distribution
Fig. 8 is overlapped by spraying
The distribution of the overlapping region Fig. 9 coating layer thickness
Figure 10 Neural Network Structure Design figure
Specific embodiment
One, spray gun track mathematical model and coating spatial distribution model are established
1.1. assume that workpiece is stationary, and its location and shape is described using cartesian coordinate system XYZ.If workpiece surface
It is represented by function z=h (x, y).By general collective concept, the function expression of workpiece surface be may be defined as:
S=(x, y, z) | z=h (x, y), (x, y) ∈ D }
Wherein, h:D → R (real number field) is mapped, domain
Pose is indicated with cartesian coordinate system XYZ, if trivector function P (t) and 0 (t) indicates spray gun solid respectively
Determine the position and direction in cartesian coordinate system, the relationship of the two vectors and time t may be expressed as:
P (t)=[px(t), py(t), pz(t)]
O (t)=[ox(t), oy(t), oz(t)]
Wherein, when vector representation moment t, the position of spray gun, vector ox(t), oy(t), oz(t) when indicating moment t, spray gun
Rotating around the rotation angle of X, Y, Z coordinate axis；A phasor function a (t) is defined totally to represent the pose of spray gun, is indicated
Are as follows: a (t)=[P (t), O (t)]T。
1.2. the coating manifold shape for setting spray gun ejection is cone, coating spatial distribution model such as Fig. 1 institute in plane
Show.φ be circular cone subtended angle, h be spray gun arrive plane distance, R be plane on spraying radius, r be in plane a point Q from spray gun
The distance of central projection point, θ are the line of Q point and spray gun and the angle of spray gun central axes.
Two, the section thickness figure of the translation schematic diagram and translation model of static distribution model is established
When doing electrostatic spraying experiment, the atomization of coating is centrifugal force, the high-pressure electrostatic generated by rotation cup high speed rotation
What the inertia force of electric field force and shaping air was completed jointly, coating spatial distribution caused by it is annular, is different from air and sprays
The cone of rifle.When the parameters such as electrostatic potential, spacing, the viscosity of rotation cup revolving speed, coating flow and coating keep certain situation
Under, it is hollow annular that spray gun pinpoints spraying to be formed by coating spatial distribution for a period of time perpendicular to workpiece surface.Such as Fig. 2 institute
Show.
When fixed spray deposited model moves in the x-direction, it will form a striped model as shown in Fig. 3-a.
The striped of Fig. 3-a along the direction A-A typical screenshot face as shown in Fig. 3-b, it indicate sectional thickness the direction y variation function.
By Fig. 3-b it is found that section thickness figure is symmetrical about x-axis, and with a thickness of 0 at ± Δ y, then there is a smooth rising to become
Gesture reaches peak value thickness decrease.
Three, the double β mould shapes of conventional elliptical are established
A large amount of spraying experiment is carried out first, then collects the data of spraying area.After being screened to data then into
Row curve matching.Ordinary least square method and neural network are common two methods, and wherein least square method is those
What the curve of known function expression formula was fitted.Selection neural network is fitted the data after screening herein.Building
Mathematical model.Information is stored on network by the distribution of excited mode on neuron in neural Meta algorithm, and at information
Reason be by herein being realized using three-layer neural network between neuron while the dynamic process of interaction is completed,
Input is three layers, and 8 nodes are arranged in hidden layer, and output layer is two layers as shown in Figure 10, and d (i) is input layer point, i=1,2.., d
(j) be hidden layer node, j=1,2.., d (k) be input layer node, k=1,2..,.Activation primitive is set as
Right value update are as follows:
For hidden layer, have:
hj=f (Hj) (3-4)
Wherein xiIt exports or inputs for d (i), HJ, hjThe respectively input of d (j), output, output.YK, ykRespectively d (k)
Input, output, wijFor the connection weight between (di) and (dj).
For output layer, have:
yk=∫ (Yk) (3-6)
YK, ykThe respectively input of d (k), output, wjkFor the connection weight between (dj) and (dk).
By years of researches, people have been set up very more film thickness growth models, that is, coating accumulation
Rate Models.Such as the bivariate Gaussian distribution model in infinite range model, bivariate Cauchy distributed model, limited range mould
Type and β distributed model etc..For plane spraying, because the coating layer thickness of distributed model is than the painting thickness of other distributed models
The variable quantity of degree will may be significantly smaller.So all selecting distributed model in the when marquis of consideration coating cumulative speed and film thickness herein
Based on.Simply introduce this model now:
Coordinate system is established using o point as coordinate origin in oval spraying swath region.Assuming that the film thickness in x-axis and y-axis
Sectional outline shape curve all obey the β distribution function of profile exponent β 1, β 2.And the β value of the point on same section is all
It is identical.
Assuming that at interior any point in region A (x, y) to x-axis distance n, the distance of distance axis is m, as shown in figure 4, crossing this
Point makees straight line AiBi.Straight line A is again1A2.This two straight lines distinguish parallel x-axis and y-axis.And straight line A1A2With elliptic curve
Intersection point is denoted as A1, A2.Straight line A1A2A, A are denoted as with the intersection point of x-axisiPoint is denoted as B about the symmetric points of y-axisi.After point BiMake straight line
B1B2With straight line A1A2In parallel.And hand over oval boundary curve in B respectively1B2Two o'clock.It is denoted as B point with x-axis intersection point, then straight line AA1
Length can think:
|AA1|=b (1-x2/a2)1/2 (3-7)
Wherein, a, b are respectively oval and x-axis y-axis intersection point, and x is independent variable, | AA1| it is A, A1Distance between two points.
It can thus be concluded that distribution function of the paint film film thickness in X=m at section out:
Wherein β2For profile exponent.
Film thickness distribution function when Y=n at section is obtained as a same reason:
Wherein hj=f (Hj) it is profile exponent.
Wherein qMax, xmAnd qMax, ynIt is the maximum value of film thickness on corresponding section respectively, and:
b(1-x2/a2)1/2≤y≤b(1-x2/a2)1/2| x=m (3-10)
-a(1-y2/a2)1/2≤x≤a(1-x2/b2)1/2| y=n (3-5)
Therefore, point A can be obtained by formula (3-2)iPaint film film thickness are as follows:
It, can invocation point film thickness because A point is in x-axis are as follows:
Wherein qmaxFor maximum paint film cumulative speed.
Formula (3-12) is brought into formula (3-11) to obtain:
Wherein-a≤x≤a,
-b(1-x2/a2)1/2≤y≤b(1-x2/a2)1/2 (3-14)
Similarly (3-15) is also set up:
Wherein-b≤x≤b ,-a (1-y2/b2)1/2≤x≤a(1-y2/b2)1/2
Formula (3-16) is exactly the film thickness mathematical model at any point in spraying swath region.But wherein still there is unknown ginseng
Number, if unknown parameter a, b, β1, β2And qmaxIt all seeks out and, then the mathematical model tool of the film thickness of this workpiece surface
Body expression formula, which is just found out, to be come.
As shown in Figure 5 and Figure 6, the major axis radius for the oval painted areas that wherein a is formed in the plane for spray gun, b are
Minor axis radius, h are vertical range of the nozzle to horizontal plane.θ and γ is respectively subtended angle (θ < 90, the γ < of x-axis Yu y-axis direction
90),.So elliptical major axis radius can indicate are as follows:
A=h*tan θ
Elliptical minor axis radius b can be indicated are as follows:
B=h*tan γ
As shown in fig. 7, in the plane, the paint that spray gun sprays forms a cone in the sky.The rate of paint film accumulation
It can be indicated with β distributed model, it may be assumed that
Wherein r is subpoint the distance between of any point to spray gun in the horizontal plane on surface.W is spray gun in plane
The diameter of the prototype spraying area of upper formation.qmaxIt is maximum paint film cumulative speed.It is related with diameter w.
Wherein
Four, spraying swath overlap joint is carried out for multiple tracks spraying, i.e., improves the thickness of paint film by the selection of the spacing d between stroke
Uniformity
4.1 multiple tracks spraying process
In spraying process, spray gun is kept with workpiece surface equidistantly and perpendicular to the path of workpiece surface along one always
It is moved.It by the every bit film thickness above spray object is obtained by accumulation when spray gun individually sprays one.But
When spraying entire workpiece, overlapped between adjacent twice painting trajectory, and region film thickness is also that accumulation obtains.We are to spray plane work
For part, when single track sprays, intermediate most thick, thinner closer to both sides, uniform film thickness, two adjacent in order to obtain
The paint of spraying track should be covered mutually, and overlapped distance plays an important role to film thickness quality.It is logical
Lap over region film thickness distribution it is recognised that film thickness in overlapping region there are three point can control.It is the most fundamental
Or depend on the spacing d between paint stroke.If d has been determined, the film thickness of overlapping region can be by painting twice
Film thickness is overlapped mutually to obtain.Following formula illustrates the coating layer thickness distribution that two spray gun strokes offset obtain:
Wherein, T12In 1 represent spray gun 1,2 and represent spray gun 2, T (x) is the cumulative thickness at any point in spraying area,
Partial Variable formula is as follows in formula (4-1):
By geometrical relationship what, in fact r be spraying area in any point to origin distance.
R=(x2+y2)1/2 (4-3)
Displacement of the spray gun in y-axis direction are as follows:
Y=vt (4-4)
V represents spray gun speed.
TmaxWhen for x=0, maximum film thickness.
Q0For gun traffic:
In painting process, the overlap joint of spraying swath is directly related to the uniformity of film thickness.It is as shown in Figure 8 to overlap pattern.
4.2 overlap joints require
If spraying area is ellipse atomization figure,
AB is to catch round long axis, and 0 point is elliptical center.If spraying area is circular atomization figure,
It takes
Wherein, AB is diameter of a circle, and 0 point is the center of circle.
But in specific operation process, we can uniformly require according to film thickness, and optimization spraying swath is taken
It connects, is exactly the spacing d between stroke.The reasonable selection of d influences the uniformity of film thickness very big.
By seeing that figure may know that the available maximum film thickness at d/2.According to symmetry, at d-w/2 and w/2
It can obtain minimum film thickness.If expecting most uniform film thickness distribution, it is necessary that T12, d/2T should be equal tomax。
I.e. as x=d/2, have:
So:
D=w (1-23/2)1/2=0.608w (4-10)
So at that time x=w/2 when, film thickness reaches minimum value.
Then:
Tmin=0.93Tmax (4-11)
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (8)
1. a kind of electrostatic coating machine people is directed to the optimization method of non-regulation planar polygon layer thickness uniformity, feature exists
In, comprising the following steps:
Step 1, spray gun track mathematical model and coating spatial distribution model are established；
Step 2, the section thickness figure of the translation schematic diagram and translation model of the static distribution model of coating is established；
Step 3, the double β mould shapes of ellipse sprayed about plane are established；
Step 4, it is sprayed for multiple tracks and carries out spraying swath overlap joint, it is equal to improve the thickness of paint film by the selection of the spacing d between stroke
Even property.
2. a kind of electrostatic coating machine people according to claim 1 is directed to non-regulation planar polygon layer thickness uniformity
Optimization method, which is characterized in that the detailed process of the step 1 are as follows:
1.1. assume that spray gun workpiece is stationary, describes its location and shape using cartesian coordinate system XYZ, if workpiece surface table
It is shown as function z=h (x, y), the function expression of workpiece surface is defined as:
S=(x, y, z) | z=h (x, y), (x, y) ∈ D }
Wherein, h:D → R is mapped, R is real number field, domain
Pose is indicated with cartesian coordinate system XYZ, if trivector function P (t) and 0 (t) indicates spray gun in fixed flute respectively
The relationship of position and direction in karr coordinate system, the two vectors and time t may be expressed as:
P (t)=[px(t), py(t), pz(t)]
O (t)=[ox(t), oy(t), oz(t)]
Wherein, the vector p in above formulax(t), py(t), pz(t) when indicating moment t, the position of spray gun, vector ox(t), oy(t), oz
(t) when indicating moment t, rotation angle of the spray gun rotating around X, Y, Z coordinate axis；A phasor function a (t) is defined totally to represent
The pose of spray gun indicates are as follows: a (t)=[P (t), O (t)]T；
1.2. the coating manifold shape for setting spray gun ejection is cone: taking circular cone subtended angle as φ, the distance of spray gun to plane is h, is put down
Spraying radius on face is R, and a point Q is r, the line and spray gun of Q point and spray gun with a distance from spray gun central projection point in plane
The angle of central axes is θ.
3. a kind of electrostatic coating machine people according to claim 1 is directed to non-regulation planar polygon layer thickness uniformity
Optimization method, which is characterized in that the detailed process of the step 2 are as follows: when doing electrostatic spraying experiment, generated coating
Spatial distribution model is annular；When the viscosity parameter of electrostatic potential, spacing, rotation cup revolving speed, coating flow and coating keeps certain
In the case where, it is hollow annular that spray gun pinpoints spraying to be formed by coating spatial distribution for a period of time perpendicular to workpiece surface；
When fixed spray deposited model moves in the x-direction, the translation schematic diagram of the static distribution model of generated coating can shape
At a striped model；The section thickness figure of translation model are as follows: its section thickness figure is symmetrical about x-axis, and the thickness at ± Δ y
It is 0, then there is a smooth ascendant trend, reaches peak value thickness decrease.
4. a kind of electrostatic coating machine people according to claim 1 is directed to non-regulation planar polygon layer thickness uniformity
Optimization method, which is characterized in that the detailed process of the step 3 are as follows:
The data for collecting spraying area first, carry out curve fitting after screening to data, select neural network algorithm to sieve
Data after choosing are fitted；
Coordinate system is established using o point as coordinate origin in oval spraying swath region, it is assumed that film thickness cuts open in x-axis and y-axis
Facial contour pattern curve all obeys the β distribution function of profile exponent β 1, β 2, and the β value of the point on same section is all identical:
Assuming that the distance of distance axis is m at interior any point in region A (x, y) to x-axis distance n, crosses this point and make straight line AiBi, then
It is straight line A1A2, this two straight lines distinguish parallel x-axis and y-axis, and straight line A1A2A is denoted as with the intersection point of elliptic curve1, A2,
Straight line A1A2A, A are denoted as with the intersection point of x-axisiPoint is denoted as B about the symmetric points of y-axisi, after point BiMake straight line B1B2With straight line A1A2
In parallel, and respectively hand over oval boundary curve in B1B2Two o'clock is denoted as B point with x-axis intersection point；
According to straight line AA1Length | AA1| calculate distribution function q of the paint film film thickness in X=m at sectionX=mAnd in Y=
Film thickness distribution function q when n at sectionY=n, finally obtain the film thickness mathematical model at any point in spraying swath region；
According to the major axis radius a for the oval painted areas that spray gun is formed in the plane, minor axis radius b, nozzle to horizontal plane
Vertical range h, the subtended angle θ and γ of x-axis and y-axis direction, seeks elliptical major axis radius a and elliptical minor axis radius b respectively；
The rate of paint film accumulation is indicated with β distributed model, according to the projection of any point on surface to spray gun in the horizontal plane
The distance between point r, the diameter w for the prototype spraying area that spray gun is formed in the plane obtain maximum paint film cumulative speed qmax。
5. a kind of electrostatic coating machine people according to claim 4 is directed to non-regulation planar polygon layer thickness uniformity
Optimization method, it is characterised in that: information is by the distribution storage of excited mode on neuron in the neural network algorithm
On network, and information processing is by between neuron while the dynamic process of interaction is completed, using three layers
For neural network to realize, inputting is three layers, hidden layer be arranged 8 nodes, two layers of output layer, d (i) be input layer point, i=1,
2.., d (j) be hidden layer node, j=1,2.., d (k) be input layer node, k=1,2.., activation primitive is set as
Right value update are as follows:
For hidden layer, have:
hj=f (Hj)
Wherein xiIt exports or inputs for d (i), Hj, hjThe respectively input of d (j), output, wijConnection between d (i) and d (j)
Power；For output layer, have:
yk=∫ (Yk)
YK, ykThe respectively input of d (k), output, wjkConnection weight between d (j) and d (k).
6. a kind of electrostatic coating machine people according to claim 4 is directed to non-regulation planar polygon layer thickness uniformity
Optimization method, it is characterised in that: the film thickness mathematical model at any point in spraying swath region are as follows:
Wherein a, b are respectively oval and x-axis y-axis intersection point, wherein 1 β, and β 2 is profile exponent, and x is independent variable, qmaxFor maximum paint film
Cumulative speed.
7. a kind of electrostatic coating machine people according to claim 4 is directed to non-regulation planar polygon layer thickness uniformity
Optimization method, it is characterised in that: maximum paint film cumulative speed qmaxAre as follows:
Wherein: Q0For gun traffic, w is diameter.
8. a kind of electrostatic coating machine people according to claim 7 is directed to non-regulation planar polygon layer thickness uniformity
Optimization method, it is characterised in that: the detailed process of the step 4 are as follows: assuming that spray gun advance direction be Y-axis direction, that
It is exactly X-direction with spray gun perpendicular direction of advancing, chooses in spraying area that any point P is as the object studied, if P
Point coordinate is (x, 0), if spray gun starts to be denoted as x=-t at the time of spraying to P point, according to symmetry, when spray gun is finally sprayed onto P point
At the time of be x=t1, it may be assumed that in-t1~t1Time interval, P point can all be sprayed onto:
So displacement of the spray gun on direction are as follows:
Y=vt
In formula: the speed of v expression spray gun；
Any point can be obtained in spraying area to the distance r of origin by geometrical relationship:
R=(x2+y2)1/2
The rate of paint film accumulation is indicated in the present invention using β distributed model, it may be assumed that
The film thickness T (x) of P point is obtained according to above formula are as follows:
Indicate that the rate of paint film accumulation obtains gun traffic Q according to β distributed model0:
Wherein, A is the area of spraying area；
There are three points can control in overlapping region for film thickness, the most fundamental or depending on the spacing d between paint stroke；
If d has been determined, the film thickness of overlapping region can be overlapped mutually to obtain by the film thickness to paint twice, and following formula indicates
The coating layer thickness distribution that two spray gun strokes offset obtain:
Wherein, T12In 1 represent spray gun 1,2 and represent spray gun 2, T (x) is the cumulative thickness at any point in spraying area.
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| CN111905941A (en) * | 2020-08-07 | 2020-11-10 | 东华大学 | Control method of fan-shaped spray flow field |
| CN112241584A (en) * | 2020-08-29 | 2021-01-19 | 盐城工学院 | Method for setting boundary constraint distance value of boundary constraint spraying track planning |
| CN112892932A (en) * | 2021-01-25 | 2021-06-04 | 王会波 | Transparent adhesive tape preparation process and transparent adhesive tape prepared by same |
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| CN111041441A (en) * | 2019-12-28 | 2020-04-21 | 中国科学院长春光学精密机械与物理研究所 | Uniform coating method, coating equipment and computer-readable storage medium |
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| CN114063570A (en) * | 2022-01-17 | 2022-02-18 | 季华实验室 | Robot spraying control method and device, electronic equipment and storage medium |
| CN114985227A (en) * | 2022-06-16 | 2022-09-02 | 安徽康宏精密制造有限公司 | Metal surface treatment spraying method and spraying equipment |
| CN114985227B (en) * | 2022-06-16 | 2023-09-29 | 安徽康宏精密制造有限公司 | Metal surface treatment spraying method and spraying equipment |
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