机器人喷涂涂层厚度模型分析与试验研究

齐淑林; 郑权; 黄兆晶; 王浩; 何晓龙; 姜代荀; 周辉

doi:10.13433/j.cnki.1003-8728.20220231

机器人喷涂涂层厚度模型分析与试验研究

doi: 10.13433/j.cnki.1003-8728.20220231

齐淑林^1,,
郑权^2, ,,
黄兆晶³,
王浩¹,
何晓龙¹,
姜代荀¹,
周辉²

1.
中车青岛四方机车车辆股份有限公司，山东青岛　266111
2.
无锡中车时代智能装备研究院有限公司，江苏无锡　214174
3.
华中科技大学机械科学与工程学院，武汉　430074

详细信息

作者简介:
齐淑林（1987−），工程师，研究方向为轨道车辆涂装工艺及自动化技术，qishulin.sf@crrcgc.cc

通讯作者:
郑权，工程师，quanzhengsz@163.com

中图分类号: TP242
计量
- 文章访问数: 147
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- PDF下载量: 22
- 被引次数: 0
出版历程
- 收稿日期: 2022-01-06
- 刊出日期: 2023-09-30

Analysis and Experiment on Coating Thickness Model of Robot Spraying

1.
CRRC Qingdao Sifang Co., Ltd., Qingdao 266111, Shandong, China
2.
Wuxi CRRC Times Intelligent Equipment Research Institute Co., Ltd., Wuxi 214174, Jiangsu, China
3.
School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China

摘要

摘要: 针对当前建立的机器人喷涂模型对复杂数据分析拟合能力较弱的问题，本文从喷涂漆膜沉积机理出发，深入研究并分析了机器人喷涂沉积厚度模型，以静态喷涂厚度建模方法为基础，提出了椭圆双高斯和模型，并使用单通道厚度建模方法和多通道厚度建模方法，研究了其动态涂层膜厚的分布规律。通过喷涂试验分析并求解了所建模型的参数，进而以此模型建立得到静态喷涂膜厚分布图。通过试验结果与理论数据之间的对比验证，进一步证实了该模型的有效性和实用性。
- 机器人喷涂 /
- 沉积厚度模型 /
- 膜厚预测 /
- 参数求解
Abstract: Aiming at the problem that the currently established robot spraying model has weak ability to analyze and fit complex data, this paper deeply studied and analyzed the robot spraying deposition thickness model based on the spraying film deposition mechanism. Based on the static spraying thickness modeling method, an elliptical double Gaussian sum model was proposed, and the distribution law of dynamic coating thickness was studied by using single channel thickness modeling method and multi-channel thickness modeling method. The parameters of the model were analyzed and solved through the spraying test, and then the static spraying film thickness distribution was established based on the model. The effectiveness and practicability of the model were further confirmed by the comparison between the experimental results and the theoretical data.
- robot spraying /
- sedimentary thickness model /
- film thickness prediction /
- parameter solution

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图 1 涂料分布区域

Figure 1. Paint distribution area

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图 2 曲面喷涂示意图

Figure 2. Schematic diagram of curved surface spraying

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图 3 单通道轨迹喷涂示意图

Figure 3. Schematic diagram of single channel trajectory spraying

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图 4 多通道轨迹喷涂示意图

Figure 4. Schematic diagram of multi-channel trajectory spraying

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图 5 多通道轨迹涂层厚度分布

Figure 5. Coating thickness distribution of multi-channel track

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图 6 喷涂机器人系统原理图

Figure 6. Schematic diagram of spraying robot system

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图 7 试验设备

Figure 7. Test equipment

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图 8 LM算法原理流程图

Figure 8. Principle flow chart of LM algorithm

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图 9 x向静态喷涂膜厚分布情况

Figure 9. x-direction static spraying film thickness distribution

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图 10 y向静态喷涂膜厚分布情况

Figure 10. y-direction static spraying film thickness distribution

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表 1 x轴方向涂膜厚度分布情况

Table 1. Film thickness distribution in x-axis direction

坐标/mm	膜厚/μm			平均膜厚/μm
坐标/mm	1	2	3	平均膜厚/μm
−120	6.5	7.3	8.2	7.3
−100	31.3	32.8	32.4	32.1
−80	42.9	43.1	43.5	43.1
−60	54.1	53.7	53.9	53.9
−40	59.1	59.3	58.9	59.1
−20	63.4	62.9	63.1	63.1
0	65.2	65.7	65.9	65.6
20	63.1	63.5	63.2	63.2
40	58.9	59.3	59.1	59.1
60	53.1	53.9	53.8	53.6
80	43.6	43.5	44.1	43.7
100	32.4	32.3	31.9	32.2
120	6.8	7.2	7.9	7.3

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表 2 y轴方向涂膜厚度分布情况

Table 2. Film thickness distribution in y-axis direction

坐标/mm	膜厚/μm			平均膜厚/μm
坐标/mm	1	2	3	平均膜厚/μm
−60	7.3	8.2	8.9	8.1
−40	16.5	17.3	16.2	16.7
−20	49.2	50.4	48.5	49.3
0	65.3	66.2	65.4	65.6
20	50.2	48.7	53.1	50.6
40	16.3	18	16.6	17.0
60	7.5	8.1	8.4	8.0

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表 3 x轴方向模厚误差

Table 3. Film thickness error in x-axis direction

坐标/mm	绝对平均误差/μm	相对平均误差/μm
坐标/mm	绝对平均误差/μm	相对平均误差/μm	−120	3.9	0.53
−100	3.8	0.12
−80	1.0	0.02
−60	1.3	0.02
−40	1.0	0.02
−20	1.8	0.03
0	0.9	0.01
20	1.7	0.03
40	1.0	0.02
60	1.0	0.02
80	1.6	0.04
100	3.9	0.12
120	3.9	0.53

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表 4 y轴方向模厚误差

Table 4. Film thickness error in y-axis direction

坐标/mm	绝对平均误差/μm	相对平均误差/μm
坐标/mm	绝对平均误差/μm	相对平均误差/μm	−60	3.2	0.40
−40	1.9	0.10
−20	0.5	0.01
0	1.3	0.02
20	1.8	0.04
40	1.6	0.09
60	3.1	0.39

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