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| 管道喷涂机器人喷枪运动速度优化 |
潘玉龙1,2,王国磊1,朱丽3,陈雁1,陈恳1( ) |
2. 空军预警学院 黄陂士官学校, 武汉 430019
3. 成都飞机工业(集团)有限责任公司 制造工程部, 成都 610092); |
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| Optimization of spray gun speed for pipe painting robots |
| Yulong PAN1,2,Guolei WAN1,Li ZHU3,Yan CHEN1,Ken CHEN1() |
1. Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China
2. Huangpi Noncommissioned Officer School, Air Force Early Warning Academy, Wuhan 430019, China
3. Department of Manufacturing Engineering, Chengdu Aircraft Industrial (Group) Co., Ltd, Chengdu 610091, China |
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| 文章导读 |
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摘要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。
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| 关键词 ：机器人,喷枪模型,涂层厚度均匀性,涂着效率,喷枪运动速度 |
Abstract：Paint coating thickness uniformity is investigated with a double beta spray gun model to 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.
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| Key words：robotspray gun modelcoating thickness uniformitycoating transfer efficiencyspray gun moving speed |
| 收稿日期: 2012-09-07 出版日期: 2015-04-16 |
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| 基金资助:国家 “八六三” 高技术项目 (2009AA043701);清华大学摩擦学国家重点实验室项目 (SKLT09A03) |
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