CN112241584A - Method for setting boundary constraint distance value of boundary constraint spraying track planning - Google Patents

Method for setting boundary constraint distance value of boundary constraint spraying track planning Download PDF

Info

Publication number
CN112241584A
CN112241584A CN202010890859.XA CN202010890859A CN112241584A CN 112241584 A CN112241584 A CN 112241584A CN 202010890859 A CN202010890859 A CN 202010890859A CN 112241584 A CN112241584 A CN 112241584A
Authority
CN
China
Prior art keywords
spraying
boundary
spray gun
boundary constraint
constraint distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010890859.XA
Other languages
Chinese (zh)
Other versions
CN112241584B (en
Inventor
曾勇
于永庆
赵雪雅
刘毅
刘德志
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yancheng Institute of Technology
Original Assignee
Yancheng Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yancheng Institute of Technology filed Critical Yancheng Institute of Technology
Priority to CN202010890859.XA priority Critical patent/CN112241584B/en
Publication of CN112241584A publication Critical patent/CN112241584A/en
Application granted granted Critical
Publication of CN112241584B publication Critical patent/CN112241584B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/04—Constraint-based CAD
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/10—Numerical modelling

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Optimization (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Software Systems (AREA)
  • Databases & Information Systems (AREA)
  • Algebra (AREA)
  • Operations Research (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Abstract

The invention discloses a method for setting a boundary constraint distance value of a boundary constraint spraying track planning. The method comprises the following steps: constructing a dynamic spraying model of the spray gun along an arc path based on the established static spraying model of the spray gun with the variable pose; defining the boundary constraint distance by taking the minimum allowable coating thickness at the boundary of the workpiece as a requirement, and respectively clarifying the influence rules of the curvature radius, the spraying height and the spraying inclination angle of the boundary curve on the boundary constraint distance; and setting a unified boundary constraint distance value according to the shape of the boundary curve of the surface of the workpiece to be sprayed so as to ensure that the coating thickness quality at the boundary meets the requirements everywhere. The method can quickly set the boundary constraint distance value when the boundary constraint spraying track is planned in an off-line programming mode, then plans the boundary constraint spraying track on the surface of the workpiece to be sprayed, and optimizes the spraying speed, the spraying height and the inclination angle in the spraying process, so that the spraying quality, the spraying efficiency and the coating utilization rate can be improved at the same time.

Description

Method for setting boundary constraint distance value of boundary constraint spraying track planning
Technical Field
The invention discloses a method for setting a boundary constraint distance value of a boundary constraint spraying track planning, particularly relates to an off-line programming spraying track planning of a spraying robot, and belongs to the technical field of automatic control.
Background
The off-line programming method of the spraying robot has the advantages of short programming period, capability of planning complex spraying tracks and the like, and is increasingly applied to robot spraying track planning in the fields of automobiles, ships, aerospace and the like. The spraying path planning result in the off-line programming system is a key factor for determining the spraying effect, the spraying efficiency and the paint utilization rate, and has important significance for production.
The traditional spray path planning method only pursues to meet the spray quality once, and often neglects the boundary constraint of the workpiece surface when pursuing to plan the spray path, so that the phenomenon of overspray at the workpiece boundary is serious, a large amount of paint is wasted when a spray gun sprays at the workpiece boundary, and the spray efficiency is not high. And the key point of planning the boundary constraint spraying path is to reasonably set a boundary constraint distance value according to the shape of the boundary curve of the surface of the workpiece so as to ensure that the thickness of a coating film at the boundary meets the quality requirement.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for setting a boundary constraint distance value for planning a boundary constraint spraying track, which is used for ensuring that the film thickness of the generated boundary constraint spraying track at the boundary meets the quality requirement, firstly establishing a dynamic spraying model of a spray gun along a curve path, then clarifying the influence rule of the curve shape of the boundary, the pose (spraying height and spraying inclination angle) of the spray gun on the boundary constraint distance according to the quality requirement of the film thickness, realizing the prediction of the value range of the boundary constraint distance, and finally setting the uniform value of the boundary constraint distance according to the curve shape of the surface boundary of a workpiece and taking the film thickness quality at the boundary as the requirement.
A setting method of a boundary constraint distance value of a boundary constraint spraying track planning comprises the following steps:
step 1, constructing a dynamic spraying model of a spray gun along an arc path based on an established static spraying model of the spray gun with a variable pose, wherein the space shape of a spraying torch of the spray gun is a cone;
step 2, defining a boundary constraint distance by taking the minimum allowable coating thickness at the boundary of the workpiece as a requirement, and respectively clarifying the influence rules of the curvature radius, the spraying height and the spraying inclination angle of a boundary curve on the boundary constraint distance;
and 3, setting a unified boundary constraint distance value according to the shape of the boundary curve of the surface of the workpiece to be sprayed so as to ensure that the coating thickness quality at the boundary meets the requirements everywhere.
As an improvement, in step 1, based on the established static spraying model of the spray gun with the position changed, a dynamic spraying model of the spray gun along an arc path is established, and the specific steps are as follows:
101. based on a parabolic model with a space shape of a spray torch as a cone, the parabolic model is expressed as:
Figure RE-GDA0002825338550000021
assuming that the spray gun is spraying the coating material flow qvAnd the conical opening angle phi of the spray gun is unchanged, the position and posture of the spray gun relative to the spraying surface are considered as controllable parameters, the position and posture are the spraying height H and the spraying inclination angle alpha, and after the static spraying of the position and posture change of the spray gun on the plane, a paint deposition model of any point (x, y) in the spraying amplitude range can be expressed as
Figure RE-GDA0002825338550000022
Wherein A is a constant;
when the spray gun sprays at a static inclination angle, the spray width formed on the plane is in an ellipse, wherein the major axis a and the minor axis b of the ellipse are respectively as follows:
Figure RE-GDA0002825338550000023
Figure RE-GDA0002825338550000024
wherein, a1(H,α),a2(H, α) are respectively:
Figure RE-GDA0002825338550000025
Figure RE-GDA0002825338550000026
102. when the spray gun dynamically sprays along the track of the circular arc path, the radius of the circular arc path is set as r, the curvature center of the circular arc is set as O', the speed direction of the spray gun is the tangential direction of the circular arc path, the dynamic spraying speed of the spray gun on the track of the circular arc path is set as v, and the spraying speed at any point S in the spraying range is set as vsThe radius of curvature of the arc on which the point S is located is rSEstablishing a rectangular coordinate system by taking the curvature radius direction of the circular arc path as an x axis and the speed direction of the spray gun as a y axis, wherein
Figure RE-GDA0002825338550000027
The arc length of a point S swept by the spray gun in the spray amplitude range is represented, the spraying speed of the spray gun in the tangential direction on the same arc is unchanged, and if the spray gun is fixed, the spraying process can be regarded as uniform-speed circular motion of any point S around an O' point in the elliptical spray amplitude range, so that the time of the any point S passing through the elliptical spray amplitude range is
Figure RE-GDA0002825338550000028
By integrating the formula (1), a film thickness model of any point S in the spray amplitude range after the spray gun dynamically sprays along the circular arc path track is established as follows:
Figure RE-GDA0002825338550000029
in the formula (6), the spraying rate at any point S and the coordinate value of the y axis where the spraying rate is located are respectively:
Figure RE-GDA0002825338550000031
Figure RE-GDA0002825338550000032
arc length of point S swept by the lance
Figure RE-GDA0002825338550000033
Comprises the following steps:
Figure RE-GDA0002825338550000034
r in formulae (7), (8) and (9)s、
Figure RE-GDA0002825338550000035
And p are each:
rS＝r-x (10)
Figure RE-GDA0002825338550000036
Figure RE-GDA0002825338550000037
q and j in formula (12) are respectively:
Figure RE-GDA0002825338550000038
Figure RE-GDA0002825338550000039
by substituting formula (8) for formula (6), a model of the coating film thickness at any point S in the spray width range can be obtained.
The improvement is that in the step 2, the boundary constraint distance is defined by taking the minimum allowable coating thickness at the workpiece boundary as a requirement, and the influence rules of the curvature radius of the boundary curve, the spraying height and the spraying inclination angle on the boundary constraint distance are respectively clarified, and the method comprises the following steps:
201. assuming that the target value of the thickness of the coating film is TdObtaining a coordinate value X of the X axis on which the peak value of the thickness of the coating film is located by deriving X in the formula (6)0Specifically, the following are shown:
Figure RE-GDA00028253385500000310
according to the formula (15), the spraying speed v, the spraying inclination angle alpha and the spraying height H meet a specific functional relationship, and if one parameter is known, the other two parameters can be obtained by solving the equation set;
202. the boundary constraint spraying path is generated by retracting a certain boundary constraint distance value towards the inner part of the surface of the workpiece based on a workpiece boundary curve, the boundary curve is larger than the spraying path in curvature radius by a boundary constraint distance value, and the reasonable setting of the value directly influences whether the coating thickness quality at the boundary meets the requirement or not;
the requirement of the thickness of a coating film at any point on the surface of a workpiece is set to meet TS∈[Tmin,Tmax]For this purpose, the spray path point at the boundary is defined here in the direction of the radius of curvature of the boundary curve to just meet the minimum film thickness (T)min) The distance between the boundaries is required to be boundary constraint distance, and the boundary constraint distance is divided into left and right parts according to the position relation of the boundary constraint distance relative to the spraying path, and the left and right parts are respectively d1And d2The value of which is influenced by the pose of the lance and the radius of curvature of the boundary curve, based on the numerical valueSimulating, namely clarifying the influence rule by adopting an orthogonal experiment method; according to the orthogonal experiment principle, two of H, r and alpha parameters are respectively fixed, the third parameter is used as an independent variable, the boundary constraint distance is used as a function, the influence rules of the position and the curvature radius of the spray gun and the spray path on the boundary constraint distance are respectively analyzed, and the spray path at the boundary is generated by contracting a boundary constraint distance in a boundary curve, so that the influence of the curvature radius of the spray path on the boundary constraint distance is equal to the influence of the boundary curve on the boundary constraint distance.
Has the advantages that:
compared with the prior art, the method has the following technical effects:
the invention can rapidly set a reasonable boundary constraint distance value when planning the boundary constraint spraying track in an off-line programming way so as to achieve the purpose of ensuring that the thickness of a coating film at the boundary meets the quality requirement.
Drawings
FIG. 1 is a space model of a torch and a paint deposition model, (a) a space model of a torch, (b) a paint deposition model;
FIG. 2 is a trajectory of a spray gun for dynamic spray along a circular arc path trajectory;
FIG. 3 is a graph showing the influence of the pose of the spray gun and the radius of curvature of the spray trajectory on the boundary constraint distance, where (a) is the spray inclination angle, (b) is the spray height, and (c) is the radius of curvature of the spray trajectory;
FIG. 4 is a graph showing the variation of the boundary constraint distance with the curvature radius of the boundary curve, where (a) is d1Is (b) is d2A change in (c);
FIG. 5 is a graph showing the variation of the boundary constraint distance with the spray inclination angle, where (a) is d1Is (b) is d2A change in (c);
FIG. 6 is a graph showing the variation of the boundary constraint distance with the height of the sprayed material, where (a) is d1Is (b) is d2A change in (c);
FIG. 7 is a graph showing the change rule of boundary constraint distance with spraying height and inclination angle under different boundary curve curvature radii.
Detailed Description
A setting method of a boundary constraint distance value of a boundary constraint spraying track planning comprises the following steps:
step 1, constructing a dynamic spraying model of a spray gun along an arc path based on an established static spraying model of the spray gun with a variable pose, wherein the space shape of a spraying torch of the spray gun is a cone;
step 2, defining a boundary constraint distance by taking the minimum allowable coating thickness at the boundary of the workpiece as a requirement, and respectively clarifying the influence rules of the curvature radius of the boundary curve, the spraying height and the spraying inclination angle on the boundary constraint distance;
and 3, setting a unified boundary constraint distance value according to the shape of the boundary curve of the surface of the workpiece to be sprayed so as to ensure that each point of the coating thickness quality at the boundary meets the requirement.
And (2) constructing a dynamic spraying model of the spray gun along the arc path based on the established static spraying model of the spray gun with the posture changing in the step 1, and specifically comprising the following steps:
101. based on a parabolic model with a spray torch space shape as a cone, the parabolic model is as follows:
Figure RE-GDA0002825338550000051
assuming that the spray gun is spraying the coating material flow qvAnd the conical opening angle phi of the spray gun is unchanged, the pose of the spray gun relative to the spraying surface is considered as a controllable parameter, the pose is the spraying height H and the spraying inclination angle alpha, and as shown in figure 1(a), after the static spraying of the spray gun with the changed pose on a plane, the paint deposition model of any point (x, y) in the spraying width range can be represented as follows:
Figure RE-GDA0002825338550000052
where a is a constant (the value of a is different for spray guns with different flow rates, and a is a fixed value for a certain spray gun with a fixed flow rate), and the paint deposition model is shown in fig. 1 (b).
When the spray gun sprays at a static inclination angle, the spray width formed on the plane is in an ellipse, wherein the major axis a and the minor axis b of the ellipse are respectively as follows:
Figure RE-GDA0002825338550000053
Figure RE-GDA0002825338550000054
wherein, a1(H,α),a2(H, α) are respectively:
Figure RE-GDA0002825338550000055
Figure RE-GDA0002825338550000056
102. in fig. 2, let the radius of the circular arc path be r, the center of curvature of the circular arc be O', when the spray gun is dynamically spraying along the circular arc path trajectory, the speed direction of the spray gun is the tangential direction of the circular arc path, the dynamic spraying speed of the spray gun on the circular arc path trajectory is v, and the spraying speed at any point S in the spray width range is vsThe radius of curvature of the arc on which the point S is located is rSEstablishing a rectangular coordinate system by taking the curvature radius direction of the circular arc path as an x axis and the speed direction of the spray gun as a y axis, wherein
Figure RE-GDA0002825338550000061
Indicating the arc length swept by the lance at point S over the range of the spray pattern.
When the spray gun is used for dynamically spraying along the path track of the circular arc, the spraying speed of the spray gun in the tangential direction on the same circular arc is constant, so that the spray gun is assumed to be fixed, and the spraying process can be regarded as uniform-speed circular motion of any point S around the point O' in the elliptical spraying range, so that any point S can be freely movedThe time when the intention point S passes through the elliptical spray amplitude range is
Figure RE-GDA0002825338550000062
By integrating the formula (1), after the spray gun is established to dynamically spray along the circular arc path track, the film thickness model of any point S in the spray amplitude range is as follows:
Figure RE-GDA0002825338550000063
in the formula (6), the spraying rate at any point S and the coordinate value of the y axis where the spraying rate is located are respectively:
Figure RE-GDA0002825338550000064
Figure RE-GDA0002825338550000065
arc length of point S swept by the lance
Figure RE-GDA0002825338550000066
Comprises the following steps:
Figure RE-GDA0002825338550000067
r in formulae (7), (8) and (9)s、
Figure RE-GDA0002825338550000068
And p are each:
rS＝r-x (10)
Figure RE-GDA0002825338550000069
Figure RE-GDA00028253385500000610
q and j in formula (12) are respectively:
Figure RE-GDA00028253385500000611
Figure RE-GDA00028253385500000612
the formula (8) is substituted into the formula (6), and a specific expression of the coating thickness of any point S in the spray width range can be obtained.
The static dip spraying mentioned above means that the spray gun forms a certain dip angle with a plane and then is statically sprayed relative to the plane, and the dynamic spraying along the arc means that the spray gun moves relative to the surface.
In step 2, defining the boundary constraint distance by taking the minimum allowable coating thickness at the boundary of the workpiece as a requirement, and respectively clarifying the influence rules of the curvature radius of the boundary curve, the spraying height and the spraying inclination angle on the boundary constraint distance, wherein the method comprises the following steps:
201. assuming that the target value of the thickness of the coating film is TdObtaining a coordinate value X of the X axis on which the peak value of the thickness of the coating film is located by deriving X in the formula (6)0Specifically, the following are shown:
Figure RE-GDA0002825338550000071
according to the formula (15), the spraying speed v, the spraying inclination angle alpha and the spraying height H meet a specific functional relationship, and if one parameter is known, the other two parameters can be obtained by solving the equation set;
202. the boundary constraint spraying path is generated based on a certain boundary constraint distance value of a workpiece boundary curve inwards shrinking towards the inner part of the surface of the workpiece, the boundary curve is larger than the spraying path in curvature radius by a boundary constraint distance value, and the reasonable setting of the value directly influences whether the coating thickness quality at the boundary meets the requirement or not.
The requirement of the thickness of a coating film at any point on the surface of a workpiece is set to meet TS∈[Tmin,Tmax]For this purpose, in the direction of the radius of curvature of the boundary curve, the point of the spray path at the boundary is defined so as to just meet the minimum film thickness (T)min) The distance between the boundaries is required to be boundary constraint distance, and the boundary constraint distance is divided into left and right parts according to the position relation of the boundary constraint distance relative to the spraying path, and the left and right parts are respectively made to be d1And d2The value of the curve is influenced by the pose of the spray gun and the curvature radius of the boundary curve, and the influence rule is clarified by adopting an orthogonal experiment method based on numerical simulation as shown in figure 3.
At a target coating film thickness TdTaking the cone opening angle phi of the spray gun spray torch as an example of 28 degrees, different coating film thickness distribution states can be obtained by respectively taking different parameter values of H, alpha and r to substitute in the formula (15) in the variable ranges of the position and posture parameters of the spray gun H and alpha (the variable ranges are related to the spray gun), and boundary constraint distance values under different coating film thickness distribution states are measured according to the definition of the boundary constraint distance.
According to the orthogonal experiment principle, respectively fixing H, r and two of three parameters alpha, respectively analyzing the influence rules of the pose of the spray gun and the curvature radius of the spraying path on the boundary constraint distance by taking the third parameter as an independent variable and the boundary constraint distance as a function, wherein the spraying path at the boundary is generated by contracting the boundary constraint distance in a boundary curve, and the curvature radius of the boundary curve is set as rdSatisfy rdTherefore, the influence of the curvature radius of the boundary curve on the boundary constraint distance can be obtained by analyzing the influence rule of the curvature radius of the spraying track on the boundary constraint distance.
Fig. 4, 5 and 6 show the influence rule curves of the curvature radius of the boundary curve, the spraying inclination angle and the spraying height on the boundary constraint distance respectively.
As can be seen from fig. 4, 5 and 6, under the premise that the posture of the lance is fixed, the boundary constraint distance is in a power function change relationship with the curvature radius of the boundary curve as a whole, wherein when the curvature radius of the boundary curve is greater than 400mm, the boundary constraint distance is in an almost linear change relationship with the curvature radius of the boundary curve. On the premise that the spraying height and the curvature radius of the boundary curve are fixed and unchanged, the boundary constraint distance is in a linear change relation with the spraying inclination angle. On the premise that the spraying inclination angle and the curvature radius of the boundary curve are fixed and unchanged, the boundary constraint distance is in a linear change relation with the spraying height.
According to fig. 4, 5 and 6, the rule of influence of the pose of the spray gun on the boundary constraint distance under different boundary curve curvature radii can be clarified, as shown in fig. 7, so that the minimum value and the maximum value of the boundary constraint distance at any curvature radius boundary on an irregular plane can be predicted within the variable range of the pose of the spray gun, and are respectively set as di minAnd di maxBoundary constraint distance value of
Figure RE-GDA0002825338550000081
diWhen the value is taken in the range, the coating thickness effect meeting the spraying quality requirement can be obtained at the boundary by optimizing the position and posture of the spray gun in the range of the position and posture variable of the spray gun.
For any irregular plane, the boundary curve can be approximately regarded as the combination of a plurality of straight line segments and circular arc segments, and the analysis shows that if the boundary curve has N boundary segments with different curvature radiuses, under the premise that the posture of the spray gun is fixed, N boundary constraint distance values theoretically exist, and in order to generate a smooth and continuous spraying path at the boundary, a uniform boundary constraint distance value can be obtained at the boundary.
In order to ensure that the thickness of the coating film at any position of the boundary can meet the quality requirement, on the basis of obtaining the value range of the boundary constraint distance values of all the boundary segments, the minimum value is taken as a uniform boundary constraint distance value, as shown in the following formula:
Figure RE-GDA0002825338550000082
in the direction of curvature radius of the boundary curve, the boundary curve of the patch is uniformly biased to be bound to the inside of the patchDistance d0And obtaining a boundary constraint range closed curve for generating a boundary constraint spraying path, thereby finally finishing the setting of the boundary constraint distance value.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and any simple modifications or equivalent substitutions of the technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention are within the scope of the present invention.

Claims (4)

1. A method for setting a boundary constraint distance value of a boundary constraint spraying track planning is characterized by comprising the following steps:
step 1, constructing a dynamic spraying model of a spray gun along an arc path based on an established static spraying model of the spray gun with a variable pose, wherein the space shape of a spraying torch of the spray gun is a cone;
step 2, defining a boundary constraint distance by taking the minimum allowable coating thickness at the boundary of the workpiece as a requirement, and respectively clarifying the influence rules of the curvature radius, the spraying height and the spraying inclination angle of a boundary curve on the boundary constraint distance;
and 3, setting a unified boundary constraint distance value according to the shape of the boundary curve of the surface of the workpiece to be sprayed so as to ensure that the coating thickness quality at the boundary meets the requirements everywhere.
2. The method for setting the boundary constraint distance value for the boundary constraint spraying trajectory planning according to claim 1, wherein a dynamic spraying model of a spray gun along an arc path is constructed based on the established static spraying model of the spray gun with a variable pose in step 1, and the specific steps are as follows:
101. based on a parabolic model with a space shape of a spray torch as a cone, the parabolic model is expressed as:
Figure FDA0002656945380000011
assuming that the spray gun is spraying the coating material flow qvAnd the conical opening angle phi of the spray gun is not changed, and the spray gun is considered relative to the sprayingThe pose of the surface is a controllable parameter, the pose is a spraying height H and a spraying inclination angle alpha, and after the spray gun shifts the pose on the plane and performs static spraying, a paint deposition model of any point (x, y) in a spraying amplitude range can be expressed as
Figure FDA0002656945380000012
Wherein A is a constant;
when the spray gun sprays at a static inclination angle, the spray width formed on the plane is in an ellipse, wherein the major axis a and the minor axis b of the ellipse are respectively as follows:
Figure FDA0002656945380000013
Figure FDA0002656945380000014
wherein, a1(H,α),a2(H, α) are respectively:
Figure FDA0002656945380000015
Figure FDA0002656945380000016
102. when the spray gun dynamically sprays along the track of the circular arc path, the radius of the circular arc path is set as r, the curvature center of the circular arc is set as O', the speed direction of the spray gun is the tangential direction of the circular arc path, the dynamic spraying speed of the spray gun on the track of the circular arc path is set as v, and the spraying speed at any point S in the spraying range is set as vsThe radius of curvature of the arc on which the point S is located is rSEstablishing a rectangular coordinate system by taking the curvature radius direction of the circular arc path as an x axis and the speed direction of the spray gun as a y axis, wherein
Figure FDA0002656945380000021
The arc length of a point S swept by the spray gun in the spray amplitude range is represented, the spraying speed of the spray gun in the tangential direction on the same arc is unchanged, and if the spray gun is fixed, the spraying process can be regarded as uniform-speed circular motion of any point S around an O' point in the elliptical spray amplitude range, so that the time of the any point S passing through the elliptical spray amplitude range is
Figure FDA0002656945380000022
By integrating the formula (1), a film thickness model of any point S in the spray amplitude range after the spray gun dynamically sprays along the circular path track is established as
Figure FDA0002656945380000023
In the formula (6), the spraying rate at any point S and the coordinate value of the y axis where the spraying rate is located are respectively:
Figure FDA0002656945380000024
Figure FDA0002656945380000025
arc length of point S swept by the lance
Figure FDA0002656945380000026
Comprises the following steps:
Figure FDA0002656945380000027
r in formulae (7), (8) and (9)s、
Figure FDA0002656945380000028
And p is divided intoRespectively, the following steps:
rS＝r-x (10)
Figure FDA0002656945380000029
Figure FDA00026569453800000210
q and j in formula (12) are respectively:
Figure FDA00026569453800000211
Figure FDA0002656945380000031
by substituting formula (8) for formula (6), a model of the coating film thickness at any point S in the spray width range can be obtained.
3. The method for setting the value of the boundary constraint distance in the boundary constraint spraying trajectory planning of claim 1, wherein the boundary constraint distance is defined by taking the minimum allowable coating film thickness at the workpiece boundary as a requirement in the step 2, and the influence rules of the curvature radius of the boundary curve, the spraying height and the spraying inclination angle on the boundary constraint distance are respectively clarified, which comprises the following steps:
201. assuming that the target value of the thickness of the coating film is TdObtaining a coordinate value X of the X axis on which the peak value of the thickness of the coating film is located by deriving X in the formula (6)0Specifically, the following are shown:
Figure FDA0002656945380000032
according to the formula (15), the spraying speed v, the spraying inclination angle alpha and the spraying height H meet a specific functional relationship, and if one parameter is known, the other two parameters can be obtained by solving the equation set;
202. the boundary constraint spraying path is generated by retracting a certain boundary constraint distance value towards the inner part of the surface of the workpiece based on a workpiece boundary curve, the boundary curve is larger than the spraying path in curvature radius by a boundary constraint distance value, and the reasonable setting of the value directly influences whether the coating thickness quality at the boundary meets the requirement or not;
the requirement of the thickness of a coating film at any point on the surface of a workpiece is set to meet TS∈[Tmin,Tmax]In the direction of the radius of curvature of the boundary curve, the point of the spray path at the boundary is defined to just meet the minimum film thickness (T)min) The required distance between the boundaries is a boundary constraint distance, the position relation of the boundary constraint distance relative to the spraying path is influenced by the position and the posture of the spray gun and the curvature radius of the boundary curve, and an orthogonal experiment method is adopted to clarify the influence rule; according to the orthogonal experiment principle, respectively fixing H, r and two of the three parameters alpha, respectively analyzing the influence rules of the position and the curvature radius of the spray gun and the spraying path on the boundary constraint distance by taking the third parameter as an independent variable and the boundary constraint distance as a function, wherein the influence of the curvature radius of the spraying path on the boundary constraint distance is equal to the influence of a boundary curve on the boundary constraint distance.
4. The method as claimed in claim 3, wherein the boundary constraint distance in step 202 has left and right scores, respectively given as d1And d2。
CN202010890859.XA 2020-08-29 2020-08-29 Boundary constraint spraying track planning boundary constraint distance value setting method Active CN112241584B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010890859.XA CN112241584B (en) 2020-08-29 2020-08-29 Boundary constraint spraying track planning boundary constraint distance value setting method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010890859.XA CN112241584B (en) 2020-08-29 2020-08-29 Boundary constraint spraying track planning boundary constraint distance value setting method

Publications (2)

Publication Number Publication Date
CN112241584A true CN112241584A (en) 2021-01-19
CN112241584B CN112241584B (en) 2024-05-07

Family

ID=74170558

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010890859.XA Active CN112241584B (en) 2020-08-29 2020-08-29 Boundary constraint spraying track planning boundary constraint distance value setting method

Country Status (1)

Country Link
CN (1) CN112241584B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113106440A (en) * 2021-04-21 2021-07-13 西安交通大学 Appearance control method of cold spraying additive manufacturing component
CN118002340A (en) * 2024-04-10 2024-05-10 成都飞机工业（集团）有限责任公司 Method for predicting thickness of complex curved surface spray coating and uniformly controlling thickness of coating

Citations (5)

* Cited by examiner, † Cited by third party
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
US20120156362A1 (en) * 2010-12-21 2012-06-21 Alexandr Sadovoy Method and device for coating path generation
CN104777838A (en) * 2015-04-15 2015-07-15 盐城工学院 Continuous variational inclination angle spraying track planning method for corner characteristic curved surface
CN108636671A (en) * 2018-05-24 2018-10-12 盐城工学院 A kind of irregular dough sheet biasing spraying paths planning method
CN109332033A (en) * 2018-11-13 2019-02-15 江苏大学 A kind of electrostatic coating machine people is directed to the optimization method of non-regulation planar polygon layer thickness uniformity

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120156362A1 (en) * 2010-12-21 2012-06-21 Alexandr Sadovoy Method and device for coating path generation
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
CN104777838A (en) * 2015-04-15 2015-07-15 盐城工学院 Continuous variational inclination angle spraying track planning method for corner characteristic curved surface
CN108636671A (en) * 2018-05-24 2018-10-12 盐城工学院 A kind of irregular dough sheet biasing spraying paths planning method
CN109332033A (en) * 2018-11-13 2019-02-15 江苏大学 A kind of electrostatic coating machine people is directed to the optimization method of non-regulation planar polygon layer thickness uniformity

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
张亚坤;曾勇;张春伟;刘冬明;吴元强: "自由曲线边界的喷涂路径规划研究", 机床与液压, vol. 47, no. 016, 28 August 2019 (2019-08-28), pages 139 - 143 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113106440A (en) * 2021-04-21 2021-07-13 西安交通大学 Appearance control method of cold spraying additive manufacturing component
CN118002340A (en) * 2024-04-10 2024-05-10 成都飞机工业（集团）有限责任公司 Method for predicting thickness of complex curved surface spray coating and uniformly controlling thickness of coating
CN118002340B (en) * 2024-04-10 2024-09-10 成都飞机工业（集团）有限责任公司 Method for predicting thickness of complex curved surface spray coating and uniformly controlling thickness of coating

Also Published As

Publication number Publication date
CN112241584B (en) 2024-05-07

Similar Documents

Publication Publication Date Title
CN108508846B (en) Curved surface spraying track planning method
CN106354932B (en) robot spraying and track setting method for cambered surface transition area between smooth curved surfaces
CN108465583B (en) A kind of curved surface spraying orbit generation method and system based on surface parameterization
CN106955831B (en) Method for spraying complex curved surface of gas turbine component by robot
CN112241584A (en) Method for setting boundary constraint distance value of boundary constraint spraying track planning
CN104324861A (en) Multi-parameter time-varying robot spraying method
CN109332033A (en) A kind of electrostatic coating machine people is directed to the optimization method of non-regulation planar polygon layer thickness uniformity
CN112632718B (en) Spraying robot track planning method based on improved point cloud slicing algorithm
US6582766B2 (en) Two-tone coating method
CN108636671B (en) Irregular surface patch offset spraying path planning method
CN109093619B (en) Robot track planning method for uniform thermal spraying of curved surface
CN104607367B (en) A kind of electrostatic coating machine people's variate spray method on curved surface
CN105349994A (en) Laser cladding process for part cavity surface repair
CN108563852B (en) Method for calculating spraying thickness accumulation rate based on spherical coordinate system
CN118591441A (en) Simulation method for a coating system and corresponding coating system
CN111013887B (en) Method for optimizing irregular plane variable-inclination-angle spraying track based on boundary constraint
CN104777838B (en) Continuous variational inclination angle spraying track planning method for corner characteristic curved surface
CN108057592A (en) Fork truck camouflage color spraying process
CN106995909B (en) A kind of uniform heat spraying method of cylindrical surface
CN115906532A (en) Modeling method and system for deposition model of spraying asphalt waterproof coating
US6703079B2 (en) Method for painting with a bell applicator
CN116787434A (en) Spraying track optimization method of spraying robot based on boundary constraint
Zhang et al. Optimization of spraying distance and coating thickness of spraying robot
Tang et al. Tool trajectory planning of painting robot and its experimental
Hao et al. Trajectory Optimization of Glue Spraying on Athletic Footwear Sole Based on Multivariable Spray Torch Model

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant