管道喷涂机器人喷枪运动速度优化

Optimization of spray gun speed for pipe painting robots

为提高机器人喷涂时涂层厚度均匀性,首先根据机器人喷涂时涂层形状呈椭圆形的实际情况,选择双β分布喷枪模型对涂层厚度分布进行描述,在此基础上分析喷枪运动过程中涂层厚度累积机理。通过喷枪匀速运动条件下的圆形管道喷涂实验,研究管道内壁涂层厚度与涂料涂着效率变化规律之间的关系,提出机器人喷涂作业时喷枪运动速度优化方法,即保持喷枪运动速度与涂料涂着效率之间比值恒定。实验结果表明,该速度优化方法可有效提高涂层厚度均匀性。

Paint coating thickness double beta spray gun model to uniformity is investigated with a investigate the coating thickness distribution assuming that the robot spraying coating shape is oval. Then, the coating mechanism is analyzed for the spray gun model. The relationship between the coating thickness variation and the coating transfer efficiency is studied experimentally with a uniform gun motion speed. An optimal spray gun motion speed is found with the best results found for a constant ratio of the spray gun speed to the paint transfer efficiency. The experimental results indicate that the speed optimization method effectively improves the coating thickness uniformity.