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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。
In order to improve the uniformity of the coating thickness when the robot is sprayed, the distribution of the coating thickness is first described according to the oval shape of the coating when the robot is sprayed. The distribution of coating thickness is described by the double-beta spray gun model. Based on the analysis, Layer thickness accumulation mechanism. Through the experiment of circular pipe spraying under the condition of uniform spray gun motion, the relationship between the thickness of coating on the inner wall of pipe and the variation of paint coating efficiency was studied. The optimization method of gun spray gun motion speed was put forward, that is, The ratio between efficiency is constant. Experimental results show that the speed optimization method can effectively improve the coating thickness uniformity.