CN117290907A - Automobile bumper spraying method, system and equipment - Google Patents
Automobile bumper spraying method, system and equipment Download PDFInfo
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- CN117290907A CN117290907A CN202311560478.5A CN202311560478A CN117290907A CN 117290907 A CN117290907 A CN 117290907A CN 202311560478 A CN202311560478 A CN 202311560478A CN 117290907 A CN117290907 A CN 117290907A
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- 238000005507 spraying Methods 0.000 title claims abstract description 257
- 239000011248 coating agent Substances 0.000 claims abstract description 43
- 238000000576 coating method Methods 0.000 claims abstract description 43
- 239000007921 spray Substances 0.000 claims description 59
- 238000000034 method Methods 0.000 claims description 32
- 230000008569 process Effects 0.000 claims description 14
- 238000005457 optimization Methods 0.000 claims description 10
- 239000013598 vector Substances 0.000 claims description 5
- 238000010422 painting Methods 0.000 claims 1
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
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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
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Abstract
The invention provides an automobile bumper spraying method, an automobile bumper spraying system and automobile bumper spraying equipment, wherein the automobile bumper spraying method comprises the following steps: acquiring a grid model of the bumper, and determining a spraying area based on a plurality of model curved surfaces in the grid model, wherein the spraying area comprises a main spraying area which is arranged corresponding to the center of the model curved surfaces and an edge spraying area which is arranged corresponding to the boundary line between the edges of two adjacent model curved surfaces; and optimizing the spraying path of the edge spraying area based on the following optimizing model so as to perform spraying operation based on the optimized spraying path. The spraying area is determined through the model curved surfaces based on the bumper grid model, the edge spraying area is determined according to the edge boundary line of the two adjacent model curved surfaces, meanwhile, the mutual influence of the spraying paths in the two adjacent model curved surfaces is reduced through the spraying paths of the edge spraying area based on the optimized model, a better spraying path is obtained, and the uniformity of the coating is improved.
Description
Technical Field
The invention relates to the technical field of bumper processing, in particular to an automobile bumper spraying method, an automobile bumper spraying system and automobile bumper spraying equipment.
Background
The automobile bumper is a safety device for absorbing and relieving external impact force and protecting the front and rear parts of the automobile body.
Among the prior art, car bumper sprays mainly through the spraying robot, and the spraying robot accomplishes the spraying operation based on appointed spraying route, and in the spraying process, because the complexity of spraying curved surface, can set up different spraying route and parameter and carry out the operation based on a plurality of curved surfaces generally, in the spraying process, the edge of two adjacent spraying curved surfaces receives the influence from other spraying route easily to influence coating thickness parameter and coating uniformity.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an automobile bumper spraying method, an automobile bumper spraying system and automobile bumper spraying equipment, and aims to solve the technical problem of poor coating uniformity in the prior art.
In order to achieve the above object, the present invention is achieved by the following technical scheme: an automobile bumper spraying method comprises the following steps:
acquiring a grid model of a bumper, and determining a spraying area based on a plurality of model curved surfaces in the grid model, wherein the spraying area comprises a main spraying area which is arranged corresponding to the center of the model curved surfaces, and an edge spraying area which is arranged corresponding to the boundary line between the edges of two adjacent model curved surfaces, and the edge spraying area comprises a first edge spraying area and a second edge spraying area which are arranged corresponding to the model curved surfaces on two sides of the boundary line;
optimizing a spraying path of the edge spraying area based on the following optimization model so as to perform spraying operation based on the optimized spraying path, wherein the spraying path comprises a first path and a second path which are respectively arranged corresponding to the first edge spraying area and the second edge spraying area;
；
in the method, in the process of the invention,for the distance of the first path from the boundary line of the edge, < >>For the distance of the second path from the boundary line of the edge, < >>For the coating thickness of the spray point s in the edge spray region, is->For the desired value of the coating thickness>For the allowable error thickness value, +.>Is the actual coating thickness value.
According to an aspect of the foregoing technical solution, the step of determining the spraying area based on the plurality of model curved surfaces in the mesh model specifically includes:
selecting a grid curved surface as a first grid curved surface based on the grid model, and connecting a second grid curved surface near the first grid curved surface to form a model curved surface with a preset area;
and generating a corresponding spraying path based on the model curved surface and the spraying range of the spraying equipment so as to determine a spraying area based on the spraying path.
According to an aspect of the above technical solution, an angle between normal vectors of the first mesh curved surface and the second mesh curved surface is smaller than a preset value.
According to an aspect of the foregoing technical solution, the calculated expression of the coating thickness is:
；
in the method, in the process of the invention,for the distance of the spray point s in the edge spray area from the corresponding spray path, +.>Is an included angle between the model curved surface corresponding to the first edge spraying area and the model curved surface corresponding to the second edge spraying area.
According to an aspect of the foregoing technical solution, before the step of performing the spraying operation based on the optimized spraying path, the method further includes:
optimizing the spraying rate of the spraying device based on the following optimization model:
；
；
；
wherein V is the speed of the spray gun,is the distance between the first path and the second path, n is theDistance of spray point j from the corresponding spray path in the edge spray zone, +.>For the coating thickness of the spray point j in the edge spray region, q denotes p +.>Discretizing is carried out, and k is the discretization series.
In another aspect, the present application also provides an automotive bumper spray system comprising:
the spraying module is used for acquiring a grid model of the bumper and determining a spraying area based on a plurality of model curved surfaces in the grid model, wherein the spraying area comprises a main spraying area which is arranged corresponding to the center of the model curved surfaces and an edge spraying area which is arranged corresponding to the edge boundary line of two adjacent model curved surfaces, and the edge spraying area comprises a first edge spraying area and a second edge spraying area which are arranged corresponding to the model curved surfaces on two sides of the edge boundary line;
the optimizing module is used for optimizing the spraying paths of the edge spraying areas on the basis of the following optimizing model so as to perform spraying operation on the basis of the optimized spraying paths, wherein the spraying paths comprise a first path and a second path which are respectively corresponding to the first edge spraying area and the second edge spraying area;
；
in the method, in the process of the invention,for the distance of the first path from the boundary line of the edge, < >>For the second path anddistance of the boundary line of the edges, +.>For the coating thickness of the spray point s in the edge spray region, is->For the desired value of the coating thickness>For the allowable error thickness value, +.>Is the actual coating thickness value.
According to an aspect of the above technical solution, the spraying module is specifically configured to:
selecting a grid curved surface as a first grid curved surface based on the grid model, and connecting a second grid curved surface near the first grid curved surface to form a model curved surface with a preset area;
and generating a corresponding spraying path based on the model curved surface and the spraying range of the spraying equipment so as to determine a spraying area based on the spraying path.
According to an aspect of the foregoing technical solution, the optimization module further includes:
the spraying rate optimizing unit is used for optimizing the spraying rate of the spraying equipment based on the following optimizing model:
；
；
；
wherein V is the speed of the spray gun,for the firstThe distance between the path and the second path, n is the distance between the spraying point j in the edge spraying area and the corresponding spraying path,/o->For the coating thickness of the spray point j in the edge spray region, q denotes p +.>Discretizing is carried out, and k is the discretization series.
On the other hand, the application also provides spraying equipment, and the automobile bumper spraying system comprises the technical scheme.
Compared with the prior art, the invention has the beneficial effects that: the spraying area is determined through the model curved surfaces based on the bumper grid model, the edge spraying area is determined according to the edge boundary line of the two adjacent model curved surfaces, meanwhile, the mutual influence of the spraying paths in the two adjacent model curved surfaces is reduced through the spraying paths of the edge spraying area based on the optimized model, a better spraying path is obtained, and the uniformity of the coating is improved.
Drawings
FIG. 1 is a flow chart of a method of spraying an automobile bumper according to a first embodiment of the present invention;
FIG. 2 is a block diagram of an automotive bumper spray system in accordance with a second embodiment of the present invention;
description of main reference numerals:
a spray module 100, an optimization module 200;
the invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Various embodiments of the invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1 to 2, an automobile bumper spraying method according to a first embodiment of the present invention includes the following steps:
step S100, a grid model of the bumper is obtained, and a spraying area is determined based on a plurality of model curved surfaces in the grid model.
The spraying areas comprise main spraying areas which are arranged corresponding to the centers of the model curved surfaces, and edge spraying areas which are arranged corresponding to the edge boundary lines of the two adjacent model curved surfaces, wherein each edge spraying area comprises a first edge spraying area and a second edge spraying area which are arranged corresponding to the model curved surfaces on two sides of the edge boundary line.
Specifically, in step S100, the step of determining the spraying area based on the plurality of model curved surfaces in the mesh model specifically includes:
step S110, selecting a grid curved surface as a first grid curved surface based on the grid model, and connecting a second grid curved surface near the first grid curved surface to form a model curved surface with a preset area;
and step S120, generating a corresponding spraying path based on the model curved surface and the spraying range of the spraying equipment so as to determine a spraying area based on the spraying path. Specifically, through the steps S110 to S120, a plurality of model curved surfaces can be obtained, and through connecting the spray paths in the model curved surfaces, the spray paths of the whole model can be obtained. Specific parameters such as the spraying amount, the spraying angle and the like can be set based on parameters such as the curvature and the height of the curved surface of the model, the preset coating thickness and the like.
Further, in this embodiment, a normal vector included angle between the first mesh curved surface and the plurality of second mesh curved surfaces is smaller than a preset value. In some application scenarios of this embodiment, if there is a grid curved surface with a larger curvature change, for example, a corner of the bumper model, the grid curved surface may independently form a model curved surface, and the area of the model curved surface at the corner may be smaller than the preset area.
Step S200, optimizing a spraying path of the edge spraying area based on the following optimization model so as to perform spraying operation based on the optimized spraying path, wherein the spraying path comprises a first path and a second path which are respectively corresponding to the first edge spraying area and the second edge spraying area;
；
in the method, in the process of the invention,for the distance of the first path from the boundary line of the edge, < >>For the distance of the second path from the boundary line of the edge, < >>For the coating thickness of the spray point s in the edge spray region, is->For the desired value of the coating thickness>For the allowable error thickness value, +.>Is the actual coating thickness value.
Further, in the present embodiment, the above-described calculation expression of the coating thickness is:
；
in the method, in the process of the invention,for the distance of the spray point s in the edge spray area from the corresponding spray path, +.>Is an included angle between the model curved surface corresponding to the first edge spraying area and the model curved surface corresponding to the second edge spraying area.
It can be understood that by calculating the coating thicknesses of the adjacent two edge spraying areas and the coating thicknesses of the main spraying areas respectively, it can be determined whether the difference between the coating thicknesses of the main spraying areas and the edge spraying areas of the single model curved surface is within a preset error range, and whether the difference between the coating thicknesses of the edge spraying areas of the model curved surfaces is within a preset error range, so as to determine whether the uniformity of the coating is qualified.
Preferably, in this embodiment, before the step of performing the spraying operation based on the optimized spraying path, the method further includes:
step S210, optimizing the spraying rate of the spraying equipment based on the following optimization model:
；
；
；
wherein V is the speed of the spray gun,for the distance between the first path and the second path, n is the distance between the spraying point j in the edge spraying area and the corresponding spraying path, +.>For the coating thickness of the spray point j in the edge spray region, q denotes p +.>Discretizing, k beingDiscretizing the number of stages.
It can be appreciated that the thickness of the coating is mainly based on the influence of the spraying rate, interference influence between curved surfaces can be reduced by optimizing the spraying path, and the spraying rate of the spraying arrangement can be optimized further based on the optimized spraying path, so that the uniformity of the thickness of the coating is further improved. The above-mentioned spraying rate includes the amount of spraying per unit time, the moving rate of the head, and the like.
In summary, according to the method for spraying the automobile bumper in the above embodiment of the present invention, the spraying area is determined based on the model curved surfaces of the bumper mesh model, and the edge spraying area is determined according to the boundary line between the edges of the two adjacent model curved surfaces, and meanwhile, the mutual influence of the spraying paths in the two adjacent model curved surfaces is reduced based on the spraying path of the edge spraying area of the optimization model, so as to obtain a better spraying path, improve the uniformity of the coating, and simultaneously, in the changing process of the sprayed model curved surfaces, the modification amount of the spraying parameters, such as the spraying rate, caused by the mutual influence of the spraying paths, can be reduced, so that the spraying efficiency is improved.
A second embodiment of the present invention provides an automobile bumper spraying system, as shown in fig. 2, which is a block diagram of an automobile bumper spraying system according to the above embodiment of the present invention, the automobile bumper spraying system includes:
the spraying module 100 is configured to obtain a grid model of a bumper, and determine a spraying area based on a plurality of model curved surfaces in the grid model, where the spraying area includes a main spraying area corresponding to a center of the model curved surfaces, and an edge spraying area corresponding to an edge boundary line between two adjacent model curved surfaces, and the edge spraying area includes a first edge spraying area and a second edge spraying area corresponding to model curved surfaces on two sides of the edge boundary line;
the optimizing module 200 is configured to optimize a spraying path of the edge spraying area based on the following optimizing model, so as to perform a spraying operation based on the optimized spraying path, where the spraying path includes a first path and a second path that are respectively set corresponding to the first edge spraying area and the second edge spraying area;
；
in the method, in the process of the invention,for the distance of the first path from the boundary line of the edge, < >>For the distance of the second path from the boundary line of the edge, < >>For the coating thickness of the spray point s in the edge spray region, is->For the desired value of the coating thickness>For the allowable error thickness value, +.>Is the actual coating thickness value.
Preferably, in the present embodiment, the spraying module 100 is specifically configured to:
selecting a grid curved surface as a first grid curved surface based on the grid model, and connecting a second grid curved surface near the first grid curved surface to form a model curved surface with a preset area;
and generating a corresponding spraying path based on the model curved surface and the spraying range of the spraying equipment so as to determine a spraying area based on the spraying path. Specifically, in this embodiment, the normal vector included angle between the first mesh curved surface and the second mesh curved surface is smaller than a preset value.
Further, in the present embodiment, the above-described calculation expression of the coating thickness is:
；
in the method, in the process of the invention,for the distance of the spray point s in the edge spray area from the corresponding spray path, +.>Is an included angle between the model curved surface corresponding to the first edge spraying area and the model curved surface corresponding to the second edge spraying area.
Preferably, in this embodiment, the optimizing module 200 further includes:
the spraying rate optimizing unit is used for optimizing the spraying rate of the spraying equipment based on the following optimizing model:
；
；
；
wherein V is the speed of the spray gun,for the distance between the first path and the second path, n is the distance between the spraying point j in the edge spraying area and the corresponding spraying path, +.>For the coating thickness of the spray point j in the edge spray region, q denotes p +.>Discretizing is carried out, and k is the discretization series.
In summary, in the automobile bumper spraying system according to the above embodiment of the present invention, the spraying module 100 is configured to determine the spraying area based on the model curved surfaces of the bumper mesh model, and determine the edge spraying area according to the boundary line between the edges of the two adjacent model curved surfaces, and simultaneously, the optimizing module 200 is configured to reduce the interaction of the spraying paths in the two adjacent model curved surfaces based on the spraying path of the edge spraying area of the optimizing model, so as to obtain a better spraying path, improve the uniformity of the coating, and simultaneously, in the changing process of the model curved surfaces of the spraying, reduce the modification amount of the spraying parameters, such as the spraying rate, caused by the interaction of the spraying paths, so as to improve the spraying efficiency.
A third embodiment of the present invention provides a spray apparatus comprising the automotive bumper spray system of the above embodiment.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that various modifications and improvements can be made by those skilled in the art without departing from the spirit of the invention, which falls within the scope of the present invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. An automobile bumper spraying method is characterized by comprising the following steps of:
acquiring a grid model of a bumper, and determining a spraying area based on a plurality of model curved surfaces in the grid model, wherein the spraying area comprises a main spraying area which is arranged corresponding to the center of the model curved surfaces, and an edge spraying area which is arranged corresponding to the boundary line between the edges of two adjacent model curved surfaces, and the edge spraying area comprises a first edge spraying area and a second edge spraying area which are arranged corresponding to the model curved surfaces on two sides of the boundary line;
optimizing a spraying path of the edge spraying area based on the following optimization model so as to perform spraying operation based on the optimized spraying path, wherein the spraying path comprises a first path and a second path which are respectively arranged corresponding to the first edge spraying area and the second edge spraying area;
；
in the method, in the process of the invention,for the distance of the first path from the boundary line of the edge, < >>For the distance of the second path from the boundary line of the edge, < >>For the coating thickness of the spray point s in the edge spray region, is->For the desired value of the coating thickness>For the allowable error thickness value, +.>Is the actual coating thickness value.
2. The method of claim 1, wherein the step of determining the painting area based on the plurality of model curved surfaces in the mesh model specifically comprises:
selecting a grid curved surface as a first grid curved surface based on the grid model, and connecting a second grid curved surface near the first grid curved surface to form a model curved surface with a preset area;
and generating a corresponding spraying path based on the model curved surface and the spraying range of the spraying equipment so as to determine a spraying area based on the spraying path.
3. The method of claim 2, wherein a normal vector angle between the first mesh surface and the second mesh surface is less than a predetermined value.
4. The automobile bumper spray method of claim 1, wherein the calculated expression of the coating thickness is:
；
in the method, in the process of the invention,for the distance of the spray point s in the edge spray area from the corresponding spray path, +.>Is an included angle between the model curved surface corresponding to the first edge spraying area and the model curved surface corresponding to the second edge spraying area.
5. The method of spraying an automobile bumper according to claim 4, further comprising, prior to the step of performing a spraying operation based on the optimized spraying path:
optimizing the spraying rate of the spraying device based on the following optimization model:
；
；
；
wherein V is the speed of the spray gun,for the distance between the first path and the second path, n is the distance between the spraying point j in the edge spraying area and the corresponding spraying path, +.>For the coating thickness of the spray point j in the edge spray region, q denotes p +.>Discretizing is carried out, and k is the discretization series.
6. An automotive bumper spray system, comprising:
the spraying module is used for acquiring a grid model of the bumper and determining a spraying area based on a plurality of model curved surfaces in the grid model, wherein the spraying area comprises a main spraying area which is arranged corresponding to the center of the model curved surfaces and an edge spraying area which is arranged corresponding to the edge boundary line of two adjacent model curved surfaces, and the edge spraying area comprises a first edge spraying area and a second edge spraying area which are arranged corresponding to the model curved surfaces on two sides of the edge boundary line;
the optimizing module is used for optimizing the spraying paths of the edge spraying areas on the basis of the following optimizing model so as to perform spraying operation on the basis of the optimized spraying paths, wherein the spraying paths comprise a first path and a second path which are respectively corresponding to the first edge spraying area and the second edge spraying area;
；
in the method, in the process of the invention,for the distance of the first path from the boundary line of the edge, < >>For the distance of the second path from the boundary line of the edge, < >>For the coating thickness of the spray point s in the edge spray region, is->For the desired value of the coating thickness>For the allowable error thickness value, +.>Is the actual coating thickness value.
7. The automotive bumper spray system of claim 6, wherein the spray module is specifically configured to:
selecting a grid curved surface as a first grid curved surface based on the grid model, and connecting a second grid curved surface near the first grid curved surface to form a model curved surface with a preset area;
and generating a corresponding spraying path based on the model curved surface and the spraying range of the spraying equipment so as to determine a spraying area based on the spraying path.
8. The automotive bumper spray system of claim 7, wherein a normal vector angle between the first mesh surface and the second mesh surface is less than a preset value.
9. The automotive bumper spray system of claim 6, wherein the optimization module further comprises:
the spraying rate optimizing unit is used for optimizing the spraying rate of the spraying equipment based on the following optimizing model:
；
；
；
wherein V is the speed of the spray gun,is between the first path and the second pathDistance n is the distance between the spraying point j and the corresponding spraying path in the edge spraying area,/>For the coating thickness of the spray point j in the edge spray region, q denotes p +.>Discretizing is carried out, and k is the discretization series.
10. A spray coating device comprising an automotive bumper spray coating system according to any one of claims 6 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311560478.5A CN117290907A (en) | 2023-11-22 | 2023-11-22 | Automobile bumper spraying method, system and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311560478.5A CN117290907A (en) | 2023-11-22 | 2023-11-22 | Automobile bumper spraying method, system and equipment |
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| Publication Number | Publication Date |
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| CN117290907A true CN117290907A (en) | 2023-12-26 |
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|---|---|---|---|
| CN202311560478.5A Pending CN117290907A (en) | 2023-11-22 | 2023-11-22 | Automobile bumper spraying method, system and equipment |
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