喷涂机器人路径组合优化中喷枪新模型  

New Spray Gun Model for Path Combination Optimization of Spray Robot

作　　者：魏丽娜[1] 张鹏[1] 龚俊[1] 

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《机床与液压》2016年第17期16-19,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51165022);甘肃省自然科学基金资助项目(145RJZA028)

摘　　要：针对当前已有的喷炬二维和三维模型,由于在解决喷枪路径组合优化时涂层均匀性仍出现的不足,提出了一种考虑喷枪喷射高度的涂层生长速率新模型。该模型以路径组合优化中常见的交界线平行和不平行两种情况为研究对象,并基于面片交界处喷枪轨迹为PA-PA时涂层厚度均匀性较好的原则,分别采用修正喷枪速率法和变偏距变速率法来提高喷涂的均匀性,最后通过应用实例与仿真,证明了该模型的有效性。According to the current existing 2 dimensional（2D） and 3 dimensional（3D） spray model,because the coating uniformity still appears insufficient when solving the spray gun path combination optimization planning,it was proposed of a new coating growth rate model that considering the height of spray from spray gun. The model was made with two cases that boundary was parallel and unparallel as the research object commonly appeared in the path combination optimization,and based on the good thickness uniformity principle when the spray gun trajectory was a pathway of parallel-parallel（ PA-PA） in the public side of the patch. Respectively,spray rate revise method,and variable distance and variable speed rate method were adopted to improve the uniformity of spray. Finally,a practical application example and simulation proves the validity of the model.

关 键 词：喷涂机器人 喷枪轨迹 组合优化 喷枪新模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]