面向圆形弯管的喷涂机器人喷枪参数优化

Parameters optimization of spray painting robot for circular bend

针对喷涂机器人喷涂圆形弯管内壁时的涂层均匀性问题,提出了一种喷枪参数的优化方法。基于椭圆双β分布喷枪数学模型,采用钣金展开原理对圆形弯管处进行面片划分,进而推导得到面片宽度的变化规律,提出机器人喷涂圆形弯管时喷枪移动速度应与面片的宽度保持一定的反比例关系,在此基础上根据涂层厚度叠加原理对相邻喷枪轨迹间的距离进行优化,最后利用流量守恒原理和数值仿真实验验证了分片算法的可行性。数值仿真结果表明,该喷枪参数优化方法能够保证涂层厚度偏差在10%以内,与传统方法相比可以显著提高圆形弯管内壁涂层厚度的均匀性。

In order to solve the poor uniformity problem of the coating when a spray painting robot worked in the circular bend, an optimization method of spray gun parameters was proposed by adjusting the speed of spray gun and the trajectory spacing of adjacent spray guns. The circular bend surface was fitted into several patches by using the principle of sheet metal unfolding, and the variation rule of patch width was deduced based on the ellipse dual-β model. The spray gun motion speed was inversely propor- tional to the patch width when a spray painting robot worked in the circular bend, upon which the trajectory spacing of adjacent spray guns can be optimized according to the superposition principle of coating thickness. Finally, the subdivision algorithm is verified valid by using the principle of fluid flux conservation and numerical simulation results. The simulation results show this spray gun parameter optimization method can ensure the coating thickness deviation less than 10%. Compared with the general method, the proposed method can significantly improve the uniformity of coating thickness in the circular bend.