CN114100991B - Spraying method for large-scale multi-frame-groove workpiece - Google Patents
Spraying method for large-scale multi-frame-groove workpiece Download PDFInfo
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- CN114100991B CN114100991B CN202111415099.8A CN202111415099A CN114100991B CN 114100991 B CN114100991 B CN 114100991B CN 202111415099 A CN202111415099 A CN 202111415099A CN 114100991 B CN114100991 B CN 114100991B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
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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
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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
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/36—Successively applying liquids or other fluent materials, e.g. without intermediate treatment
- B05D1/38—Successively applying liquids or other fluent materials, e.g. without intermediate treatment with intermediate treatment
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- Robotics (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention relates to a spraying method for a large-scale multi-frame-groove workpiece, which can realize the spraying treatment of the large-scale multi-frame-groove workpiece exceeding the stroke of spraying equipment to the greatest extent by controlling the posture and the movement track of a spraying gun of the spraying equipment and utilizing the perfect combination of the posture and the movement track of the spraying gun, and obviously improve the uniformity of the film thickness of the workpiece and the stability of the spraying quality; meanwhile, the spraying method is convenient to operate, high in automation degree and convenient to realize, can be applied to spraying treatment of large-scale multi-frame-groove workpieces in a large scale, and has positive effects of improving the spraying quality and the spraying efficiency of the large-scale multi-frame-groove workpieces.
Description
Technical Field
The invention relates to the field of workpiece spraying methods, in particular to a spraying method for a large-scale multi-frame-groove workpiece.
Background
For the spraying of common workpieces, known spraying methods are: in order to obtain uniform film thickness, the direction of the paint mist sprayed by the spray gun is always vertical to the coated surface during spraying. However, for a large-sized multi-frame-groove workpiece like that shown in fig. 1, due to the problems of structure and angle, the flow direction of paint mist sprayed by a spray gun cannot be kept perpendicular to the coated surface at the edge of the workpiece and the junction of the edge and the bottom surface, so that the coated surface of the workpiece has the problems of poor coating thickness uniformity, easy sagging and the like, and the quality and application of the workpiece are seriously affected, and thus, the known coating method obviously cannot meet the coating requirement of the large-sized multi-frame-groove workpiece. Meanwhile, for a large multi-frame-groove workpiece similar to the workpiece shown in fig. 1, the size of the workpiece exceeds the stroke of the spraying robot, and the maximum six-axis spraying robot cannot completely cover the upper surface of the workpiece at one time under single positioning; and it has not been seen that such workpieces are painted using a robot without a track.
At the present stage, the workpiece is mostly sprayed in a manual mode, and the used spraying method comprises the following steps: firstly, spraying the edges and roots of the workpieces vertically as much as possible by using the length of a spraying range of 80-100mm and the distance from a nozzle of a spray gun of 150-300mm to the workpieces, wherein the former gun and the latter gun are overlapped by 1/2~2/3. Then spraying the workpiece with the length of a spraying range of 180-220mm and the distance from a gun opening of 150-300mm to the workpiece, wherein the spraying is perpendicular to the bottom surface of the workpiece, and the former gun and the latter gun are overlapped by 1/2~2/3. However, the method not only has very high requirements on the skill level of operators, but also has the problems that the over-spraying or the less-spraying is still easy to occur at the corner between the edge and the bottom surface of the workpiece, the gun returning area is lapped, and the problems of poor coating thickness uniformity, easy sagging and the like are also likely to occur.
Disclosure of Invention
The invention aims to: aiming at the defects that when the existing spraying method is adopted for spraying treatment of a large-scale multi-frame-groove workpiece, the coating at the corner between the edge and the bottom surface of the workpiece has poor thickness uniformity and is easy to sag, the spraying method for the large-scale multi-frame-groove workpiece is provided; the method can realize the spraying treatment of the large-scale multi-frame-groove workpiece exceeding the stroke of the spraying equipment to the maximum extent by controlling the posture and the motion trail of the spraying gun of the spraying equipment and utilizing the perfect combination of the posture and the motion trail of the spraying gun, and obviously improve the uniformity of the thickness of a paint film of the workpiece and the stability of the spraying quality; meanwhile, the spraying method is convenient to operate, high in automation degree and convenient to realize, can be applied to spraying treatment of large-scale multi-frame-groove workpieces on a large scale, and has positive effects on improving the spraying quality and the spraying efficiency of the large-scale multi-frame-groove workpieces.
In order to achieve the purpose, the invention adopts the technical scheme that:
a spraying method for a large-scale multi-frame groove workpiece comprises the following steps:
(1) Cleaning a workpiece needing to be sprayed; dividing the workpiece into areas and marking the areas;
(2) Selecting an area needing spraying, and positioning a workpiece and a tool car; determining the direction and angle of paint mist flow of the spray gun, and adjusting the length of a spraying amplitude; spraying the selected area for at least 1 time by the spray gun according to a first spraying program, and then spraying the selected area for at least one time by a second spraying program, wherein after each spraying is finished, the next spraying is carried out after the surface of the workpiece is dried;
the first spraying program comprises the following steps: the spray gun adopts a first posture and combines a second posture to spray the selected area for 2 times according to the motion track of the shape of the Chinese character 'gong', and the inclination directions of the two spraying paint mist flows are opposite;
the first posture is as follows: the included angle between the paint mist flow and the horizontal plane of the workpiece is theta 1 The included angle between the projection of the paint mist flow and the vertical edge of the workpiece frame groove is theta 2 (ii) a Wherein theta is not less than 40 degrees 1 ≤50°，40°≤θ 2 ≤50°；
The second posture is as follows: when the spray gun moves to the turning point in the first posture, the included angle theta between the paint mist flow and the horizontal plane of the workpiece 1 Gradually adjusting the included angle between the projection of the paint mist flow and the vertical edge of the workpiece frame groove to be theta without changing 3 (ii) a Adjusting theta when the motion track is close to the spraying equipment 3 ＞θ 2 Adjusting theta when the motion track is far away from the spraying equipment 3 ＜θ 2 And theta is not less than 30 degrees 3 Less than or equal to 60; the turning point is a point which is on the motion track of the spray gun and has a distance of 20-30cm from the boundary of the workpiece;
the second spraying program is as follows: the spray gun sprays the selected area according to the bow-shaped motion track by adopting a third posture;
the third posture is as follows: the paint mist flow is vertical to the transverse edge of the workpiece, the included angle between the paint mist flow and the horizontal plane of the workpiece is alpha, and the projection of the paint mist flow is parallel to the vertical edge of the frame groove of the workpiece; wherein alpha is more than or equal to beta and less than or equal to 45 degrees, alpha is more than or equal to 40 degrees and less than or equal to 45 degrees, and beta is an included angle between the upper edge of one side edge of the workpiece groove body and the lower edge of the opposite side edge;
(3) And (3) after the selected area is sprayed, moving the workpiece, sequentially spraying other areas needing to be sprayed according to the method in the step (2), and curing after the spraying treatment of the large-scale multi-frame-groove workpiece is finished.
The large multi-frame groove workpiece is a multi-frame groove workpiece with the length of 2.0m or more, the width of 1.8m or less and the height of 0.25m or less.
Wherein, in the step (1), the maximum size of the divided region of the workpiece is 2m × 1.8m × 0.25m; the divided areas are too large in size and cannot be positioned once to finish spraying, the divided areas are too small in size and need to be sprayed for multiple times, the spraying time is long, the times are multiple, and the spraying efficiency is low.
Preferably, in the step (1), the workpiece area is divided in a manner of being convenient for spray construction positioning, such as a center line or a symmetry axis.
Preferably, in the step (2), the method for adjusting the width length of the spray gun paint mist flow comprises the following steps: and (3) trial spraying the test piece by using the spray gun, measuring the length of the spraying amplitude, and if the length of the spraying amplitude is not in the corresponding interval, adjusting the atomizing fan shape of the spray gun until the length of the spraying amplitude is the required length.
Preferably, in the step (2), in the first spraying procedure, the width length of the spray gun is Lp 1 The distance between the spray gun and the workpiece is H 1 (ii) a In the second spraying program, the length of the spraying range of the spray gun is Lp 2 The distance between the spray gun and the workpiece is H 2 (ii) a And Lp 1 ≥Lp 2 (ii) a The length Lp of the spraying amplitude of the spray gun and the distance H between the spray gun and the workpiece are obtained by comprehensively considering and adjusting conditions such as the spraying requirement of the workpiece, the performance of spraying equipment, the quality of paint and the like.
Among them, it is preferable that the painting apparatus is not limited to the robot painting apparatus and the shuttle painting apparatus.
Preferably, in the step (2), the time for waiting for the surface of the workpiece to dry is adjusted by comprehensively considering the type and performance of the paint to be sprayed, environmental conditions and the like.
Wherein, preferably, in the first posture, θ 1 =45°，θ 2 =45 °; the optimized angle parameters have the best spraying effect on the workpiece, the optimal thickness uniformity of the coating film and the minimum possibility of sagging.
Preferably, in the first spraying procedure, the gun returning distance is L 1 ，L 1 ≈ Lp 1 /(
* 2) (ii) a The gun return distance is the distance between each track.
Preferably, the distance H between the spray gun and the workpiece in the first spraying procedure 1 Is 340-360mm, and the spray amplitude length Lp of the spray gun 1 Is 22-28cm; most preferably, the distance H between the spray gun and the workpiece in the first spraying procedure 1 Is 350mm, and the spraying amplitude length Lp of the spray gun 1 Is 25cm; the spraying conditions are preferred, and the spraying effect is best.
Preferably, in the second posture, when the motion track is close to the spraying equipment, theta is adjusted 3 Is 60 degrees, when the motion track is far away from the spraying equipment, theta is adjusted 3 Is 30 degrees; preferred values of theta 3 The angle, the spraying effect on the workpiece is best, the thickness uniformity of the coating film is best, and the possibility of sagging is least.
Preferably, in the second spraying procedure, the gun returning distance is L 2 ，L 2 = Lp/2。
Preferably, the distance H between the spray gun and the workpiece in the second spraying procedure 2 Is 340-360mm, and the spraying amplitude length Lp of the spray gun 2 Is 18-22cm; most preferably, the distance H between the spray gun and the workpiece in the second spraying procedure 2 Is 350mm, and the spraying amplitude length Lp of the spray gun 2 Is 20cm; the spraying conditions are preferred, and the spraying effect is best.
Preferably, in the third posture, when the beta angles of all the groove bodies of the workpiece are different, the included angle alpha between the paint mist flow and the horizontal plane of the workpiece is 40 degrees; the preferred angle alpha has the best spraying effect on the workpiece, the best thickness uniformity of the coating film and the lowest possibility of sagging.
Preferably, at the joint of the region and the region, in order to ensure the spraying effect, in the arc-shaped movement track of the spray gun, the first movement track is parallel to the region boundary line, and the distance Lf between the first movement track and the region boundary line is Lp/2 (as shown in fig. 10); the preferred distance between the trajectory and the zone boundary line provides the best spray effect at the overlap between the zones of the workpiece.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the spraying method can be used for spraying large multi-frame groove workpieces exceeding the stroke of the spraying equipment, has good spraying effect and high efficiency, breaks through the idea that the spraying machine equipment cannot spray the large multi-frame groove workpieces exceeding the stroke of the spraying equipment, and realizes the automatic spraying treatment of the large multi-frame groove workpieces.
2. The spraying method provided by the invention has the advantages that the posture and the movement track of the spray gun of the spraying equipment are controlled, and the perfect combination of the posture and the movement track of the spray gun is utilized, so that the paint film thickness uniformity and the spraying quality stability of the large-scale multi-frame-groove workpiece are obviously improved.
3. The spraying method is convenient to operate, high in automation degree and convenient to realize, and has positive effects of improving the spraying quality and the spraying efficiency of large-scale multi-frame-groove workpieces.
Drawings
FIG. 1 is a schematic view of a large frame groove workpiece according to example 1 of the present invention;
FIG. 2 is an enlarged view of portion C of FIG. 1 in accordance with the present invention;
FIG. 3 is a schematic view of the spray gun of the present invention in a first attitude (3 a is a schematic side view and 3b is a schematic top view);
FIG. 4 is a schematic view of the spray gun of the present invention in a second attitude (4 a, side view, 4b, top view with the trajectory of motion away from the spray coating device, and 4c, top view with the trajectory of motion closer to the spray coating device);
FIG. 5 is a schematic view of the third attitude of the lance of the present invention (5 a is a schematic top view and 5b is a schematic side view);
FIG. 6 is a schematic view of the movement of the spray gun according to the first attitude of the present invention (6 a is a schematic view of the movement of the spray gun biased to the left, and 6b is a schematic view of the movement of the spray gun biased to the right);
FIG. 7 is a schematic view of the movement of the spray gun of the present invention in a second attitude (7 a is a schematic view of the movement of the spray gun away from the spray coating device, and 7b is a schematic view of the movement of the spray gun closer to the spray coating device);
FIG. 8 is a schematic view of a first spray program movement of the spray gun of the present invention (including a first attitude and a second attitude);
FIG. 9 is a schematic view of the movement of the spray gun of the present invention in a third attitude;
FIG. 10 is a spray painting arcuate movement trace of the embodiment 1 of the present invention;
FIG. 11 is a schematic illustration of zone boundary spray application of the present invention.
The labels in the figure are: 1-transverse edge of frame groove; 2-workpiece level; 3-vertical edge of frame groove; 4-multi-frame groove workpiece; 5, area boundary; 6-spraying equipment.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The model of the selected spraying robot is as follows: ABB 5500 spraying robot;
paint type: conventional polyurethane paints;
and (3) spraying requirements: the outer surface of a large multi-frame groove part with the thickness of 4m multiplied by 1.8m multiplied by 0.25m is sprayed, the thickness of a paint film is 35-60 mu m, the surface of the paint film is smooth and flat, and the large multi-frame groove part does not have the faults of sagging, shrinkage cavity and the like.
1. Cleaning a workpiece to be sprayed (4 m multiplied by 1.8m multiplied by 0.25m, as shown in figure 1); dividing the workpiece into A, B two regions (each region having a size of 2m × 1.8m × 0.25 m) with a midline as a boundary line, and marking as a part a front surface, a part B front surface, a part a back surface, and a part B back surface;
2. the front surface of the part A is selected to be sprayed firstly, and the positioning of a workpiece and a tooling vehicle is completed; according to the spraying requirement of a workpiece and the performance of a spray gun, a test piece is subjected to test spraying, and the first spraying program is determined as follows: distance H between spray gun and workpiece 1 Is 350mm, and the spraying amplitude length Lp of the spray gun 1 25cm, gun return distance L 1 Is 8cm; in the second spray coating procedure: distance H between spray gun and workpiece 2 Is 350mm, and the spraying amplitude length Lp of the spray gun 2 20cm, a gun return distance L 2 Is 10cm;
the specific spraying process comprises the following steps: the spray gun is in a first posture (the included angle between the paint mist flow and the horizontal plane of the workpiece is 45 degrees, the included angle between the paint mist flow projection and the vertical edge of the frame groove of the workpiece is 45 degrees, as shown in figure 3) and a second posture (when the spray gun moves to a point with the distance of 30cm from the boundary of the workpiece in the first posture, the included angle between the paint mist flow projection and the horizontal plane of the workpiece is kept unchanged, the included angle between the paint mist flow projection and the vertical edge of the frame groove of the workpiece is gradually adjusted, when the movement track is close to the spraying equipment, the included angle between the paint mist flow projection and the vertical edge of the frame groove of the workpiece is adjusted to be 60 degrees, when the movement track is far away from the spraying equipment, the included angle between the paint mist flow projection and the vertical edge of the frame groove of the workpiece is adjusted to be 30 degrees, as shown in fig. 4), respectively spraying the front surface of the part a for 1 time in opposite inclined directions (as shown in fig. 6, 7 and 8) according to a bow-shaped motion track (as shown in fig. 10), waiting for drying the surface of the workpiece for 30s after each spraying, and spraying the front surface of the part a for one time (as shown in fig. 9) according to a bow-shaped motion track (as shown in fig. 10) in a third posture (paint mist flow is perpendicular to the transverse edge of the workpiece, the included angle between the paint mist flow and the horizontal plane of the workpiece is 45 degrees, and the projection of the paint mist flow is parallel to the vertical edge of a frame groove of the workpiece, as shown in fig. 5), thereby completing the spraying treatment of the front surface of the part a;
3. moving the workpiece, repositioning, and spraying the front surface of the part B, the back surface of the part A and the back surface of the part B in sequence according to the method in the step 2.
Example 2
The model of the selected spraying robot is as follows: ABB 5500;
paint type: acrylic polyurethane primer;
spraying requirements: the outer surface of a large multi-frame groove part with the thickness of 3.6m multiplied by 1.7m multiplied by 0.25m is sprayed, the thickness of a paint film is 25-45 mu m, the surface of the paint film is smooth and flat, and the large multi-frame groove part does not have the faults of sagging, shrinkage cavity and the like.
1. Cleaning a workpiece (3.6 m multiplied by 1.7m multiplied by 0.25 m) needing to be sprayed; dividing the workpiece into A, B two regions (each region having a size of 1.8m × 1.7m × 0.25 m) with a midline as a boundary line, and marking as a part a front surface, a part B front surface, a part a back surface, and a part B back surface;
2. firstly, spraying the front surface of the part A to finish positioning a workpiece and a tooling vehicle; according to the spraying requirement of a workpiece and the performance of a spray gun, a test piece is subjected to test spraying, and the first spraying program is determined as follows: distance H between spray gun and workpiece 1 Is 340mm, and the spraying amplitude length Lp of the spray gun 1 22cm, the gun return distance L 1 Is 7.0cm; in the second spray coating procedure: distance H between spray gun and workpiece 2 Is 340mm, and the spraying amplitude length Lp of the spray gun 2 18cm, a gun return distance L 2 Is 9cm;
the specific spraying process comprises the following steps: the spray gun is combined with a first posture (the included angle between the paint mist flow and the horizontal plane of the workpiece is 40 degrees, the included angle between the paint mist flow projection and the vertical edge of the frame groove of the workpiece is 40 degrees, the included angle between the paint mist flow projection and the horizontal plane of the workpiece is 40 degrees) and a second posture (when the spray gun moves to a point with a distance of 25cm from the boundary of the workpiece in the first posture, the included angle between the paint mist flow projection and the horizontal plane of the workpiece is kept unchanged, the included angle between the paint mist flow projection and the vertical edge of the frame groove of the workpiece is gradually adjusted, when the movement track is close to a spraying device, the included angle between the paint mist flow projection and the vertical edge of the frame groove of the workpiece is adjusted to be 50 degrees, when the movement track is far away from the spraying device, the included angle between the paint mist flow projection and the vertical edge of the frame groove of the workpiece is adjusted to be 35 degrees as shown in figure 3), the front face of the part is respectively sprayed in 1 reverse inclined direction according to the bow-shaped movement track, after each spraying is finished, the workpiece surface drying of the workpiece is required to be dried for 30 seconds, the front part is sprayed in a third posture (the paint mist flow is perpendicular to the horizontal edge of the workpiece, the transverse edge of the workpiece, the front surface of the workpiece is 40 degrees, and the front surface of the workpiece is treated according to be sprayed once;
3. moving the workpiece, repositioning, and spraying the front surface of the part B, the back surface of the part A and the back surface of the part B in sequence according to the method in the step 2.
Comparative example 1:
the workpiece of example 1 (fig. 1) was spray treated manually.
Comparative example 2:
the workpiece in example 2 was spray coated by a manual method.
In examples 1-2 and comparative examples 1-2 of the present invention, statistics of the time of the spray treatment and the spray effect were as follows:
| serial number | Time required for spraying （min） | Effect of spray coating |
| Examples 1 | 18 | Meets the process requirements, has uniform film thickness (the maximum thickness is 50 μm, the minimum thickness is 25 μm, and the average thickness is 40 μm), has the same characteristic region thickness difference less than 4 μm, and has no sagging |
| Examples 2 | 17 | The process requirements are met, the film thickness is uniform (the maximum thickness is 45 mu m, the minimum thickness is 25 mu m, the average thickness is 38 mu m), the thickness difference of the same characteristic region is less than 4 mu m, and no sagging exists |
| Comparative example 1 | 22 | There are more sagging regions andthe paint film is too thin, the uniformity of the film thickness is poor, and the thickness difference of the same characteristic region is less than 10 mu m (the maximum thickness is 65 mu m, the minimum thickness is 20 mu m, and the average thickness is Degree 45 μm) |
| Comparative example 2 | 20 | The defects of more sagging areas and over-thin paint films exist, the uniformity of the film thickness is poor, and the thickness difference of the same characteristic area is less than 10 mu m (the maximum thickness is 62 mu m, the minimum thickness is 17 mu m, the average thickness is Thickness 35 μm) |
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A spraying method for a large-scale multi-frame groove workpiece is disclosed, wherein the large-scale multi-frame groove workpiece is a multi-frame groove workpiece with the length of 2.0m or more, the width of 1.8m or less and the height of 0.25m or less; the method is characterized by comprising the following steps:
(1) Cleaning a workpiece needing spraying; dividing the workpiece into regions and marking the regions;
(2) Selecting an area needing spraying, and positioning a workpiece and a tool car; determining the direction and angle of paint mist flow of the spray gun, and adjusting the length of a spraying amplitude; spraying the selected area for at least 1 time by the spray gun according to a first spraying program, and then spraying the selected area for at least one time by a second spraying program, wherein after each spraying is finished, the next spraying is carried out after the surface of the workpiece is dried;
the first spraying program comprises the following steps: the spray gun adopts a first posture and combines a second posture to spray the selected area for 2 times according to the motion track of the shape of the Chinese character 'gong', and the inclination directions of the two spraying paint mist flows are opposite;
the first posture is as follows: paint mist flow and workpieceThe horizontal plane has an included angle theta 1 The included angle between the projection of the paint mist flow and the vertical edge of the workpiece frame groove is theta 2 (ii) a Wherein theta is not less than 40 degrees 1 ≤50°，40°≤θ 2 ≤50°；
The second posture is as follows: when the spray gun moves to the turning point in the first posture, the included angle theta between the paint mist flow and the horizontal plane of the workpiece 1 Gradually adjusting the included angle between the projection of the paint mist flow and the vertical edge of the workpiece frame groove to be theta without changing 3 (ii) a Adjusting theta when the motion track is close to the spraying equipment 3 ＞θ 2 Adjusting theta when the motion trajectory is far away from the spraying equipment 3 ＜θ 2 And theta is not less than 30 degrees 3 Less than or equal to 60 percent; the turning point is a point which is on the motion track of the spray gun and has a distance of 20-30cm from the boundary of the workpiece;
the second spraying program is as follows: the spray gun sprays the selected area according to the bow-shaped motion track by adopting a third posture;
the third posture is as follows: the paint mist flow is vertical to the transverse edge of the workpiece, the included angle between the paint mist flow and the horizontal plane of the workpiece is alpha, and the projection of the paint mist flow is parallel to the vertical edge of the frame groove of the workpiece; wherein, the alpha is more than or equal to beta and less than or equal to 45 degrees, and the alpha is more than or equal to 40 degrees and less than or equal to 45 degrees; beta is an included angle between the upper edge of the edge at one side of the workpiece groove body and the lower edge of the edge at the opposite side;
(3) And (3) after the selected area is sprayed, moving the workpiece, sequentially spraying other areas needing to be sprayed according to the method in the step (2), and curing after the spraying treatment of the large-scale multi-frame-groove workpiece is finished.
2. The method according to claim 1, wherein in the step (2), the first spraying process is performed with a spray width of the spray gun of Lp 1 The distance between the spray gun and the workpiece is H 1 (ii) a In the second spraying program, the length of the spraying range of the spray gun is Lp 2 The distance between the spray gun and the workpiece is H 2 (ii) a And Lp 1 ≥Lp 2 。
3. A method according to claim 2, characterized in that the first spraying programIn the middle, the gun return distance is L 1 ，L 1 = Lp 1 /(
*2)。
4. A method according to claim 3, wherein in the first spraying procedure the distance H between the spray gun and the workpiece 1 Is 340-350mm, and the spraying amplitude length Lp of the spray gun 1 Is 22-28cm.
5. The method of claim 2, wherein the second spraying procedure has a gun return distance L 2 ，L 2 = Lp 2 /2。
6. A method according to claim 5, wherein in the second spraying procedure the distance H between the spray gun and the workpiece 2 Is 340-360mm, and the spraying amplitude length Lp of the spray gun 2 Is 18-22 cm.
7. The method of claim 1, wherein in the first attitude, θ 1 =45°，θ 2 =45°。
8. The method of claim 1, wherein in the second attitude, θ is adjusted when the motion trajectory approaches the spray device 3 Is 60 degrees, when the motion track is far away from the spraying equipment, theta is adjusted 3 Is 30 deg..
9. The spraying method according to claim 1, wherein in the third posture, when the angle β of each groove of the workpiece is different, the included angle α of the paint mist flow with the horizontal plane of the workpiece is 40 °.
10. The spray coating method according to claim 1 wherein, at the overlap of the zone and the zone, in order to ensure the effect of the spray coating, the first trajectory of the spray gun is parallel to the zone boundary line and is at a distance Lf/2 from the zone boundary line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111415099.8A CN114100991B (en) | 2021-11-25 | 2021-11-25 | Spraying method for large-scale multi-frame-groove workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111415099.8A CN114100991B (en) | 2021-11-25 | 2021-11-25 | Spraying method for large-scale multi-frame-groove workpiece |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114100991A CN114100991A (en) | 2022-03-01 |
| CN114100991B true CN114100991B (en) | 2022-12-13 |
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| JP2000061871A (en) * | 1998-08-20 | 2000-02-29 | Hitachi Zosen Corp | Specific attitude candidate searching method for robot trajectory and precision evaluation method for robot trajectory |
| KR100812725B1 (en) * | 2006-10-23 | 2008-03-12 | 삼성중공업 주식회사 | Control method of position and angle for coating robot |
| CN112403746A (en) * | 2019-08-21 | 2021-02-26 | 成都飞机工业（集团）有限责任公司 | Spraying process method of multi-frame groove part |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000061871A (en) * | 1998-08-20 | 2000-02-29 | Hitachi Zosen Corp | Specific attitude candidate searching method for robot trajectory and precision evaluation method for robot trajectory |
| KR100812725B1 (en) * | 2006-10-23 | 2008-03-12 | 삼성중공업 주식회사 | Control method of position and angle for coating robot |
| CN112403746A (en) * | 2019-08-21 | 2021-02-26 | 成都飞机工业（集团）有限责任公司 | Spraying process method of multi-frame groove part |
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