CN116842690A - Parameter optimization algorithm for cylindrical surface spraying - Google Patents
Parameter optimization algorithm for cylindrical surface spraying Download PDFInfo
- Publication number
- CN116842690A CN116842690A CN202310575585.9A CN202310575585A CN116842690A CN 116842690 A CN116842690 A CN 116842690A CN 202310575585 A CN202310575585 A CN 202310575585A CN 116842690 A CN116842690 A CN 116842690A
- Authority
- CN
- China
- Prior art keywords
- spraying
- paint film
- thickness
- track
- cylindrical surface
- 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.)
- Pending
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 126
- 238000005457 optimization Methods 0.000 title claims abstract description 20
- 239000003973 paint Substances 0.000 claims abstract description 64
- 239000007921 spray Substances 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 7
- 238000009718 spray deposition Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000010422 painting Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
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
Abstract
The application provides a parameter optimization algorithm for cylindrical surface spraying, and relates to the technical field of spraying; comprising the following steps: s10, setting a spray gun model as a Gaussian distribution model; s20, displaying the spray gun model and the cylindrical surface in the same figure in a graphical mode; s30, forming a first spraying track by first spraying, rotating the first spraying track around a coordinate origin to obtain a second spraying track, marking an intersection point of the two spraying tracks as a point P, and solving a point P coordinate; s40, controlling the thickness of the paint film at the point P to be close to the maximum value of the thickness of the paint film when the paint is sprayed for the first time or close to the maximum value of the thickness of the paint film when the paint is sprayed for the second time; s50, solving a rotation offset angle between the second spraying track and the first spraying track, and solving an analytic type of the second spraying track; s60, analyzing the uniformity of the thickness of the paint film; the beneficial effects of the application are as follows: the parameters of spraying can be optimized, and the efficiency and uniformity of spraying are improved.
Description
Technical Field
The application relates to the technical field of spraying, in particular to a parameter optimization algorithm for cylindrical surface spraying.
Background
Traditional manual spraying requires spraying operation of workers in severe, severe and toxic environments, and the sprayed effect may be uneven in spraying and unqualified. The spraying robot has the advantages of being uniform in spraying, good in quality, high in working efficiency and the like, and the earliest spraying robot is mainly applied to spraying operations of some parts with complex curved surfaces such as automobiles, airplanes and ships. The track planning of the spraying robot is one of core technologies in the whole spraying process, and the overlapping area, the spraying thickness, the spraying uniformity, the moving speed of the spray gun, the posture and deviation requirements of the spray gun and the like of the spraying process are considered.
At present, curved surface spraying mainly comprises two major steps, namely, acquiring the size information of a curved surface, adopting a different planning method according to the acquired different size information, and planning the posture of a spray gun after track planning is completed, wherein the setting comprises the requirements of spray gun height information, speed, spraying amount per unit time, spray gun direction and the like. The spraying width, the spraying gun height information and the spraying amount set by a common spraying robot are fixed and are sprayed in a constant mode, and the spraying paths are equidistant, but the phenomena of uneven coating thickness, increased spraying gun paths and the like caused by over-spraying or under-spraying can occur under the condition of uneven curved surface width.
Disclosure of Invention
In order to overcome the defects of the prior art, the application provides a parameter optimization algorithm for cylindrical surface spraying, and the parameter of spraying can be optimized through the algorithm, so that the efficiency and uniformity of spraying are improved.
The technical scheme adopted for solving the technical problems is as follows: in a parametric optimization algorithm for cylindrical surface spraying, the improvement comprising the steps of:
s10, setting a spray gun model as a Gaussian distribution model, wherein the thickness of a paint film accords with a normal function relation;
s20, a spray gun model and a cylindrical surface are displayed in the same graph in a graphical mode, and a spray deposition rate model is a parabolic model;
s30, forming a first spraying track by first spraying, rotating the first spraying track around a coordinate origin to obtain a second spraying track, marking an intersection point of the two spraying tracks as a point P, and solving a point P coordinate;
s40, controlling the thickness of the paint film at the point P to be close to the maximum value of the thickness of the paint film in the first spraying process or close to the maximum value of the thickness of the paint film in the second spraying process so as to improve the uniformity of the paint film sprayed twice;
s50, solving a rotation offset angle between the second spraying track and the first spraying track, and solving an analytic type of the second spraying track;
s60, analyzing the uniformity of the thickness of the paint film according to the steps S10 to S50.
Further, in step S10, the normal function relation is as follows:
wherein, -3σ < x < 3σ.
Further, in step S20, the spray deposition rate model satisfies the relation:
y＝-ax 2 +h；
wherein a is the spraying width, h is the height of the spray gun from the workpiece, the radius of the cylinder is set to be r, and the paint film thickness value is h-r.
Further, in step S20, a and h are obtained by actual spraying measurement.
Further, after static spraying, the thickness of a paint film is measured by a thickness gauge at a spraying point, and a paint film distribution model is obtained by analysis of pass data processing software, so that a required a and h are obtained.
Further, in step S30, the paint film thickness value at the point P is (h-r)/2; the abscissa and ordinate of the P point satisfy the relation:
meanwhile, the P point coordinate meets the basic formula of a parabola, and the following formula is obtained:
the coordinates of the P point are obtained as follows:
further, in the step S40, when the thickness of the P-dot paint film is close to the maximum value of the paint film thickness in the first painting, the rotation offset angle between the second painting track and the first painting track is obtained:
further, in the step S40, the thickness of the P-dot paint film is obtained to be close to the maximum value of the thickness of the second paint film, and the rotation offset angle between the second paint track and the first paint track is obtained:
further, in the step S50, according to the rotation matrixSolving to obtain an analytical formula of the second spraying track:
y cosθ+x sinθ＝-a(x cosθ-y sinθ) 2 +h。
further, in the step S60, analysis of uniformity of the paint film thickness is achieved by establishing a paint film thickness analysis model.
The beneficial effects of the application are as follows: the application provides a parameter optimization algorithm for cylindrical surface spraying, which is researched aiming at cylindrical surface spraying, and can optimize the spraying parameters and improve the spraying efficiency and uniformity.
Drawings
Fig. 1 is a flow chart of a parameter optimization algorithm for cylindrical surface spraying according to the present application.
FIG. 2 is a schematic view of a spray gun model and a cylindrical surface according to the present application.
Detailed Description
The application will be further described with reference to the drawings and examples.
The conception, specific structure, and technical effects produced by the present application will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, features, and effects of the present application. It is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present application based on the embodiments of the present application. In addition, all the coupling/connection relationships referred to in the patent are not direct connection of the single-finger members, but rather, it means that a better coupling structure can be formed by adding or subtracting coupling aids depending on the specific implementation. The technical features in the application can be interactively combined on the premise of no contradiction and conflict.
Referring to fig. 1, the application provides a parameter optimization algorithm for cylindrical surface spraying, which has a large difference from planar spraying for curved surface spraying, mainly because the curved surface affects paint deposition distribution, and the spraying uniformity is affected by factors such as the curvature radius and radian of a cylinder.
In this embodiment, the algorithm includes the following steps:
s10, setting a spray gun model as a Gaussian distribution model, wherein the thickness of a paint film accords with a normal function relation;
in step S10, the normal functional relation is as follows:
wherein, -3σ < x < 3σ;
s20, a spray gun model and a cylindrical surface are displayed in the same graph in a graphical mode, and a spray deposition rate model is a parabolic model;
in this embodiment, the spray coating is performed on the cylindrical surface, and is shown in fig. 2, which is a schematic diagram of the spray gun model and the cylindrical surface.
In step S20, the spray deposition rate model satisfies the relation:
y＝-ax 2 +h；
wherein a is the spraying width, h is the height of the spray gun from the workpiece, the radius of the cylinder is set to be r, and the thickness value of the paint film is h-r; and the a and the h are obtained by actual spraying measurement: after static spraying, the thickness of a paint film is measured by a thickness gauge at a spraying point, and a paint film distribution model is obtained by analysis of pass data processing software, so that a required a and h are obtained.
S30, forming a first spraying track by first spraying, rotating the first spraying track around a coordinate origin to obtain a second spraying track, marking an intersection point of the two spraying tracks as a point P, and solving a point P coordinate;
in the present example, as shown in FIG. 2, the paint film thickness value at the point P is (h-r)/2; the abscissa and ordinate of the P point satisfy the relation:
meanwhile, the P point coordinate meets the basic formula of a parabola, and the following formula is obtained:
the coordinates of the P point are obtained as follows:
s40, controlling the thickness of the paint film at the point P to be close to the maximum value of the thickness of the paint film during the first spraying so as to improve the uniformity of the paint film sprayed twice; in step S40, when the paint film thickness of the P dot is close to the maximum value of the paint film thickness in the first spraying, the rotation offset angle between the second spraying track and the first spraying track is obtained:
in another embodiment, the thickness of the paint film at point P is controlled to be close to the maximum of the thickness of the paint film of the second spray paint to improve the uniformity of the paint film of the second spray paint.
S50, solving a rotation offset angle between the second spraying track and the first spraying track, and solving an analytic type of the second spraying track;
in the step S50, according to the rotation matrixSolving to obtain an analytical formula of the second spraying track:
y cosθ+x sin θ＝-a(x cosθ-y sinθ) 2 +h。
s60, analyzing the uniformity of the thickness of the paint film according to the steps S10 to S50;
in the step S60, analysis of uniformity of paint film thickness is achieved by establishing a paint film thickness analysis model.
In this embodiment, a MATLAB GUI platform is adopted, and in combination with the contents of steps S10 to S50, a paint film thickness analysis model is established to observe the problem between the process parameters and the uniformity of the paint film thickness. Aiming at cylindrical surface spraying, the basic idea is as follows: the first spraying track and the second spraying track are perpendicular to the surface of the cylindrical part, the second spraying track is not obtained by offsetting the first spraying track by a certain angle perpendicular to the horizontal, but is obtained by rotating the first spraying track by a certain angle around the origin of coordinates (curvature center). And judging the relation between the spraying distance and the spraying height according to the distribution of the paint film thickness in the overlapping area of the two tracks. Wherein the spraying interval is the distance between spraying channels.
Based on the method, the application provides a parameter optimization algorithm for cylindrical surface spraying, the algorithm is researched aiming at cylindrical surface spraying, and the algorithm can optimize the spraying parameters and improve the spraying efficiency and uniformity.
While the preferred embodiment of the present application has been described in detail, the present application is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present application, and the equivalent modifications or substitutions are included in the scope of the present application as defined in the appended claims.
Claims (10)
1. A parameter optimization algorithm for cylindrical surface spraying, characterized in that the algorithm comprises the following steps:
s10, setting a spray gun model as a Gaussian distribution model, wherein the thickness of a paint film accords with a normal function relation;
s20, a spray gun model and a cylindrical surface are displayed in the same graph in a graphical mode, and a spray deposition rate model is a parabolic model;
s30, forming a first spraying track by first spraying, rotating the first spraying track around a coordinate origin to obtain a second spraying track, marking an intersection point of the two spraying tracks as a point P, and solving a point P coordinate;
s40, controlling the thickness of the paint film at the point P to be close to the maximum value of the thickness of the paint film in the first spraying process or close to the maximum value of the thickness of the paint film in the second spraying process so as to improve the uniformity of the paint film sprayed twice;
s50, solving a rotation offset angle between the second spraying track and the first spraying track, and solving an analytic type of the second spraying track;
s60, analyzing the uniformity of the thickness of the paint film according to the steps S10 to S50.
2. A parameter optimization algorithm for cylindrical surface spraying according to claim 1, wherein in step S10, the normal functional relation is as follows:
wherein, -3σ < x < 3σ.
3. A parameter optimization algorithm for cylindrical surface spraying according to claim 1, wherein in step S20, the spray deposition rate model satisfies the relation:
y＝-ax 2 +h；
wherein a is the spraying width, h is the height of the spray gun from the workpiece, the radius of the cylinder is set to be r, and the paint film thickness value is h-r.
4. A parameter optimization algorithm for cylindrical surface spraying according to claim 3, wherein in step S20, a and h are obtained by actual spraying measurement.
5. The parameter optimization algorithm for cylindrical surface spraying according to claim 4, wherein after static spraying, the thickness of a paint film is measured through a thickness meter at a spraying point, and a paint film distribution model is obtained through analysis of pass data processing software, so that a required a and h are obtained.
6. A parameter optimization algorithm for cylindrical surface spraying according to claim 3, characterized in that in step S30, the paint film thickness value at point P is (h-r)/2; the abscissa and ordinate of the P point satisfy the relation:
meanwhile, the P point coordinate meets the basic formula of a parabola, and the following formula is obtained:
the coordinates of the P point are obtained as follows:
7. the parameter optimization algorithm for cylindrical surface spraying according to claim 6, wherein in the step S40, when the thickness of the P-dot paint film is close to the maximum value of the thickness of the paint film at the time of the first spraying, the rotation offset angle between the second spraying track and the first spraying track is obtained:
8. the parameter optimization algorithm for cylindrical surface spraying according to claim 6, wherein in the step S40, the thickness of the P-dot paint film is obtained to be close to the maximum value of the thickness of the second paint film, and the rotation offset angle between the second paint track and the first paint track is obtained:
9. a parameter optimization algorithm for cylindrical surface spraying according to claim 7 or 8, wherein in step S50, the rotation matrix is usedSolving to obtain an analytical formula of the second spraying track:
y cosθ+x sinθ＝-a(x cosθ-y sinθ) 2 +h。
10. the parameter optimization algorithm for cylindrical surface spraying according to claim 9, wherein in the step S60, analysis of paint film thickness uniformity is achieved by establishing a paint film thickness analysis model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310575585.9A CN116842690A (en) | 2023-05-18 | 2023-05-18 | Parameter optimization algorithm for cylindrical surface spraying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310575585.9A CN116842690A (en) | 2023-05-18 | 2023-05-18 | Parameter optimization algorithm for cylindrical surface spraying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116842690A true CN116842690A (en) | 2023-10-03 |
Family
ID=88173219
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310575585.9A Pending CN116842690A (en) | 2023-05-18 | 2023-05-18 | Parameter optimization algorithm for cylindrical surface spraying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116842690A (en) |
-
2023
- 2023-05-18 CN CN202310575585.9A patent/CN116842690A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108465583B (en) | A kind of curved surface spraying orbit generation method and system based on surface parameterization | |
| CN106354932B (en) | robot spraying and track setting method for cambered surface transition area between smooth curved surfaces | |
| CN106955831B (en) | Method for spraying complex curved surface of gas turbine component by robot | |
| CN112632718B (en) | Spraying robot track planning method based on improved point cloud slicing algorithm | |
| CN109093619B (en) | Robot track planning method for uniform thermal spraying of curved surface | |
| Hegels et al. | Simulation based iterative post-optimization of paths of robot guided thermal spraying | |
| CN108563852B (en) | Method for calculating spraying thickness accumulation rate based on spherical coordinate system | |
| Dhanaraj et al. | A mobile manipulator system for accurate and efficient spraying on large surfaces | |
| WO2006046536A1 (en) | Paint film thickness simulation method | |
| CN109308370B (en) | Vehicle coating robot simulation method | |
| CN111744735B (en) | Control method based on surface spraying simulation of artware | |
| CN104888999B (en) | A kind of variable spray gun coating sedimentation model modeling method | |
| CN116842690A (en) | Parameter optimization algorithm for cylindrical surface spraying | |
| CN110153582B (en) | Welding scheme generation method and device and welding system | |
| CN115358965A (en) | Welding deformation adaptive linear weld grinding track generation method and device | |
| CN114515662A (en) | Robot spraying system for automobile maintenance sheet metal parts and technological process thereof | |
| CN104777838B (en) | Continuous variational inclination angle spraying track planning method for corner characteristic curved surface | |
| CN113019763B (en) | Spraying robot track planning method based on grid projection algorithm | |
| CN114260625A (en) | Method for welding intersecting line of circular tube, welding equipment and storage medium | |
| GB2541547A (en) | Sealant application tip | |
| Cai et al. | A geodesic-based robot trajectory planning approach for cold spray applications | |
| CN116852374B (en) | Intelligent robot control system based on machine vision | |
| Xia et al. | Paint deposition pattern modeling and estimation for robotic air spray painting on free‐form surface using the curvature circle method | |
| CN115254537B (en) | Track correction method of glue spraying robot | |
| CN110976154A (en) | Spraying robot track combination planning method for three-side crossed workpiece |
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 |