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喷漆机器人空气喷枪的新模型

NEW MODEL FOR AIR SPRAY GUN OF ROBOTIC SPRAY-PAINTING

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【作者】 张永贵黄玉美高峰王伟

【Author】 ZHANG Yonggui HUANG Yumei GAO Feng WANG Wei (Institute of Machine and Automation,Xi’an University of Technology,Xi’an 710048)

【机构】 西安理工大学机械自动化研究所西安理工大学机械自动化研究所 西安710048西安710048

【摘要】 针对实际生产中喷漆机器人空气喷枪喷雾的形状及其附着在平面工件表面形成椭圆形喷漆区域的情况,进行喷枪静止的喷涂试验,得到漆膜厚度测量数据。采用BP神经网络方法进行漆膜表面函数拟合,通过比较拟合后的x、y方向的不同断面上的漆膜分布曲线,提出一种新的椭圆形区域的漆膜厚度分布函数——椭圆双β分布模型,采用遗传算法及最小二乘法对椭圆双β分布模型进行数学拟合,求得其参数。以此模型对一个喷枪行程进行仿真,并与实际的单行程喷漆试验结果进行比较,验证了所建模型的正确性。给出该模型用于一般曲面喷涂时工件表面上任意点的漆膜厚度计算公式,以及喷漆机器人为了保持喷枪姿态需要的喷涂运动方程,为喷漆机器人采用离线编程技术提供一个更为实用的空气喷枪模型。

【Abstract】 According to the case in air spray process,the spray shape of robot spray gun is not a cone and an elliptical paint area adhered to a planar surface is formed,the paint-film thick- ness of ellipse area is obtained by a painting experiment with unmovable spray gun.Neural network(NN)method is em- ployed to fit the paint-film surface function that denotes the thickness distribution of paint-film in ellipse area.A new ana- lytical paint-film thickness distribution function named as el- lipse dual-βmodel is proposed by comparing the fitted paint-film profile on some different sections in x and y direc- tions.Genetic algorithm(GA)and least square are used to fit parameters of the new model according with experiment datum. By the ellipse dual-βmodel,simulation result of a single paint- ing stroke is made out to compare with a practical single paint- ing stroke experiment result to prove that the model and its parameters are right to the experiment case.The formula for computing paint-film thickness of any painted point on a curved surface and a motion equation for spray robot painting the curved surface are also given.This model is a new practical spray-painting gun model for off-line robot painting program- ming.

  • 【文献出处】 机械工程学报 ,Chinese Journal of Mechanical Engineering , 编辑部邮箱 ,2006年11期
  • 【分类号】TP242
  • 【被引频次】133
  • 【下载频次】1582
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