CN112241584B - Boundary constraint spraying track planning boundary constraint distance value setting method - Google Patents
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Abstract
The invention discloses a setting method of boundary constraint distance values of boundary constraint spraying track planning. The method comprises the following steps: based on the established static spray model of the spray gun position and posture, constructing a dynamic spray model of the spray gun along an arc path; defining a boundary constraint distance by taking the minimum allowable film thickness at the boundary of the workpiece as a requirement, and respectively clarifying the rule of influence of the curvature radius, the spraying height and the spraying inclination angle of the boundary curve on the boundary constraint distance; and setting a uniform boundary constraint distance value according to the shape of a boundary curve of the surface of the workpiece to be sprayed so as to ensure that the thickness and the quality of the coating film at the boundary meet the requirements everywhere. According to the invention, when the boundary constraint spraying track is planned in an offline programming manner, the boundary constraint distance value can be set quickly, and then the spraying speed, the spraying height and the inclination angle in the spraying process are optimized by planning the boundary constraint spraying track on the surface of the workpiece to be sprayed, so that the simultaneous improvement of the spraying quality, the spraying efficiency and the coating utilization rate can be realized.
Description
Technical Field
The invention discloses a setting method of boundary constraint distance values for boundary constraint spraying track planning, in particular relates to off-line programming spraying track planning of a spraying robot, and belongs to the technical field of automatic control.
Background
As the offline programming method of the spraying robot has the advantages of short programming period, capability of planning complex spraying tracks and the like, the offline programming method of the spraying robot is increasingly applied to the planning of the spraying tracks of robots in the fields of automobiles, ships, aerospace and the like. The spray path planning result in the off-line programming system is a key factor for determining the spray effect, the spray efficiency and the paint utilization rate, and has important significance for production.
The traditional spray path planning method only aims at meeting the spray quality, and boundary constraint on the surface of a workpiece is often ignored when the spray path is planned, so that the phenomenon of overspray at the boundary of the workpiece is serious, a great amount of paint is wasted when a spray gun sprays at the boundary of the workpiece, and the spray efficiency is not high. The key point of the method is to reasonably set a boundary constraint distance value according to the shape of a boundary curve of the surface of the workpiece so as to ensure that the thickness of a coating film at the boundary meets the quality requirement.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a setting method of boundary constraint spraying track planning boundary constraint distance values, in order to ensure that the thickness of a coating film of a generated boundary constraint spraying track at a boundary meets quality requirements, firstly, a dynamic spraying model of a spray gun along a curve path is established, then, according to the quality requirements of the coating film thickness, the influence rule of boundary curve shape, spray gun pose (spraying height and spraying dip angle) on the boundary constraint distance is clarified, the prediction of the boundary constraint distance value range is realized, and finally, according to the boundary curve shape of the workpiece surface, the uniform value of the boundary constraint distance is set according to the requirement of the thickness quality of the coating film at the boundary.
A setting method of boundary constraint distance values of boundary constraint spraying track planning comprises the following steps:
step 1, based on the established static spray model of the spray gun in the position-changing pose, constructing a dynamic spray model of the spray gun along an arc path, wherein the space shape of the spray gun is a cone;
step 2, defining a boundary constraint distance by taking the minimum allowable film thickness at the boundary of the workpiece as a requirement, and respectively clarifying the influence rule of the curvature radius, the spraying height and the spraying inclination angle of the boundary curve on the boundary constraint distance;
And 3, setting a uniform boundary constraint distance value according to the shape of a boundary curve of the surface of the workpiece to be sprayed so as to ensure that the thickness and the quality of the coating film at the boundary meet the requirements everywhere.
The method is characterized in that the step 1 is based on the established static spray model of the spray gun position changing gesture, and the dynamic spray model of the spray gun along the arc path is established, and comprises the following specific steps:
101. A parabolic model based on a torch space shape being a cone, the parabolic model being expressed as: Assuming that the coating flow q v and the conical opening angle phi of the spray torch are unchanged when the spray gun sprays, taking the pose of the spray gun relative to the spraying surface as a controllable parameter, wherein the pose is the spraying height H and the spraying inclination angle alpha, and a coating deposition model of any point (x, y) in the range of the spraying width after the spray gun is subjected to static spraying in the pose-changing on a plane can be expressed as
Wherein A is a constant;
When the spray gun sprays at a static inclination angle, the spray width formed on a plane is elliptical, wherein the major axis a and the minor axis b of the ellipse are respectively:
Wherein a 1(H,α),a2 (H, α) is respectively:
102. When the spray gun dynamically sprays along the arc path track, the radius of the arc path is r, the curvature center of the arc is O', the speed direction of the spray gun is the tangential direction of the arc path, the dynamic spraying speed of the spray gun on the arc path track is v, the spraying speed of any point S in the spraying range is v s, the curvature radius of the arc where the point S is positioned is r S, the curvature radius direction of the arc path is x-axis, and the speed direction of the spray gun is y-axis, and a rectangular coordinate system is established, wherein The arc length of the point S swept by the spray gun in the range of the spray width is shown, the spray rate of the spray gun in the tangential direction on the same arc is unchanged, the spray gun is fixed, the spray process can be regarded as uniform circular motion of any point S around the point O' in the range of the elliptical spray width, and therefore the time of any point S passing through the range of the elliptical spray width is/>By integrating the formula (1), a film thickness model of any point S in the range of the spray width of the spray gun after the spray gun is dynamically sprayed along the circular arc path track is established as follows:
In the formula (6), the spraying rate at any point S and the coordinate value of the y axis where the spraying rate is located are respectively as follows:
Arc length of point S swept by spray gun The method comprises the following steps:
R s in the formulae (7), (8) and (9), And p is respectively:
rS＝r-x (10)
q and j in formula (12) are respectively:
By substituting the formula (8) into the formula (6), a model of the film thickness at any point S in the spray width range can be obtained.
As an improvement, in the step 2, the minimum thickness of the coating film meeting the allowable requirement at the boundary of the workpiece is used as a requirement, the boundary constraint distance is defined, and the influence rules of the curvature radius of the boundary curve, the spraying height and the spraying inclination angle on the boundary constraint distance are respectively clarified, and the method comprises the following steps:
201. Assuming that the target film thickness is T d, the coordinate value X 0 of the X axis where the peak film thickness is located is obtained by deriving X in the formula (6), specifically expressed as follows:
the formula (15) shows that the spraying speed v, the spraying inclination angle alpha and the spraying height H meet a specific functional relation, and if one parameter is known, the other two parameters can be obtained by solving the equation set;
202. The boundary constraint spraying path is generated based on a certain boundary constraint distance value which is contracted inwards from the boundary curve of the workpiece to the surface of the workpiece, the boundary curve is larger than the spraying path by one boundary constraint distance value on the radius of curvature, and the reasonable setting of the value directly influences whether the thickness quality of a coating film at the boundary meets the requirement;
Setting the coating thickness requirement of any point on the surface of a workpiece to meet T S∈[Tmin,Tmax, defining the distance between a spraying path point at the boundary and a boundary just meeting the minimum coating thickness (T min) requirement as a boundary constraint distance in the direction of the curvature radius of a boundary curve, and setting the boundary constraint distance as d 1 and d 2 respectively according to the position relation of the boundary constraint distance relative to the spraying path, wherein the values of the boundary constraint distances are influenced by the pose of a spray gun and the curvature radius of the boundary curve, and clarifying the influence rule by adopting an orthogonal experiment method based on numerical simulation; according to the principle of orthogonal experiments, two of H, r and alpha parameters are respectively fixed, a third parameter is taken as an independent variable, the boundary constraint distance is taken as a function, and the influence rule of the pose of the spray gun and the curvature radius of the spraying path on the boundary constraint distance is respectively analyzed.
The beneficial effects are that:
compared with the prior art, the method has the following technical effects:
According to the invention, when the boundary constraint spraying track is planned in an offline programming manner, a reasonable boundary constraint distance value can be quickly set so as to achieve the purpose of ensuring that the thickness of a coating film at the boundary meets the quality requirement.
Drawings
FIG. 1 is a torch space model and a paint deposition model, (a) a torch space model, (b) a paint deposition model;
FIG. 2 is a trajectory of a spray gun dynamically spraying along a circular path trajectory;
FIG. 3 shows the influence of spray gun pose and spray trajectory radius of curvature on boundary constraint distance, (a) spray angle, (b) spray height, and (c) spray trajectory radius of curvature;
FIG. 4 shows the change in the boundary constraint distance with the radius of curvature of the boundary curve, (a) d 1 and (b) d 2;
FIG. 5 is a plot of boundary constraint distance as a function of spray angle, (a) is the variation of d 1, (b) is the variation of d 2;
FIG. 6 is a plot of boundary constraint distance as a function of spray height, (a) is the variation of d 1, (b) is the variation of d 2;
Fig. 7 shows the variation of boundary constraint distance with spray height and inclination angle under different boundary curve curvature radii.
Detailed Description
A setting method of boundary constraint distance values of boundary constraint spraying track planning comprises the following steps:
step 1, based on the established static spray model of the spray gun in the position-changing pose, constructing a dynamic spray model of the spray gun along an arc path, wherein the space shape of the spray gun is a cone;
step 2, defining a boundary constraint distance by taking the minimum allowable film thickness at the boundary of the workpiece as a requirement, and respectively clarifying the influence rule of the curvature radius, the spraying height and the spraying inclination angle of the boundary curve on the boundary constraint distance;
And 3, setting a uniform boundary constraint distance value according to the shape of a boundary curve of the surface of the workpiece to be sprayed so as to ensure that each point of the thickness quality of the coating film at the boundary meets the requirement.
For the static spray model of the spray gun on the basis of the established spray gun position and posture in the step 1, a dynamic spray model of the spray gun along an arc path is established, and the specific steps are as follows:
101. Based on a parabolic model with a torch space shape of a cone, the parabolic model is: assuming that the paint flow q v and the conical opening angle phi of the spray torch are unchanged when the spray gun sprays, taking the pose of the spray gun relative to the spraying surface into consideration as controllable parameters, wherein the pose is the spraying height H and the spraying inclination angle alpha, as shown in fig. 1 (a), after the spray gun performs static spraying in the pose-changing on a plane, a paint deposition model of any point (x, y) in the range of the spraying width can be expressed as follows:
Where a is constant (a is a fixed value for a fixed flow gun for a different flow gun) and the paint deposition model is shown in fig. 1 (b).
When the spray gun is used for spraying at a static inclination angle, the spray width formed on the plane is elliptical, wherein the major axis a and the minor axis b of the ellipse are respectively:
Wherein a 1(H,α),a2 (H, α) is respectively:
102. In fig. 2, let the radius of the arc path be r, the curvature center of the arc be O', when the spray gun dynamically sprays along the arc path, the spray gun velocity direction be tangential to the arc path, the spray gun dynamic spray velocity on the arc path be v, the spray velocity at any point S in the spray range be v s, the curvature radius of the arc where the point S is located be r S, the curvature radius direction of the arc path be x-axis, and the spray gun velocity direction be y-axis, a rectangular coordinate system is established, wherein Indicating the arc length over which the point S is swept by the gun over the range of the spray width.
When the spray gun sprays dynamically along the track of the circular arc path, the spraying speed of the spray gun in the tangential direction on the same section of circular arc is unchanged, so that the spray gun can be assumed to be fixed, the spraying process can be regarded as uniform circular motion of any point S around the point O' in the elliptical spraying range, and the time for the any point S to pass through the elliptical spraying range isBy integrating the formula (1), after the dynamic spraying of the spray gun along the circular arc path track is established, a film thickness model of any point S in the spraying range is as follows:
In the formula (6), the spraying rate at any point S and the coordinate value of the y axis where the spraying rate is located are respectively as follows:
Arc length of point S swept by spray gun The method comprises the following steps:
R s in the formulae (7), (8) and (9), And p is respectively:
rS＝r-x (10)
q and j in formula (12) are respectively:
Substituting the formula (8) into the formula (6) can obtain a specific expression of the thickness of the coating film at any point S in the spray width range.
The static dip angle spraying mentioned above refers to static spraying relative to a plane after the spray gun forms a certain dip angle with the plane, and dynamic spraying along an arc refers to movement of the spray gun relative to the surface.
In step 2, the minimum thickness of the coating film at the boundary of the workpiece is defined, and the influence rules of the curvature radius of the boundary curve, the spraying height and the spraying inclination angle on the boundary constraint distance are respectively clarified, wherein the minimum thickness of the coating film is allowed, and the method comprises the following steps:
201. Assuming that the target film thickness is T d, the coordinate value X 0 of the X axis where the peak film thickness is located is obtained by deriving X in the formula (6), specifically expressed as follows:
the formula (15) shows that the spraying speed v, the spraying inclination angle alpha and the spraying height H meet a specific functional relation, and if one parameter is known, the other two parameters can be obtained by solving the equation set;
202. the boundary constraint spraying path is generated based on a certain boundary constraint distance value which is contracted inwards from the boundary curve of the workpiece to the surface of the workpiece, the boundary curve is larger than the spraying path by one boundary constraint distance value on the radius of curvature, and the reasonable setting of the value directly influences whether the thickness quality of a coating film at the boundary meets the requirement.
The thickness requirement of a coating film at any point on the surface of a workpiece is set to meet T S∈[Tmin,Tmax, therefore, in the curvature radius direction of a boundary curve, the distance between a spraying path point at the boundary and a boundary just meeting the requirement of the minimum thickness (T min) of the coating film is defined as a boundary constraint distance, the boundary constraint distance is divided into a left part and a right part according to the position relation of the boundary constraint distance relative to the spraying path, the boundary constraint distance is respectively d 1 and d 2, the values of the boundary constraint distance are influenced by the pose of a spray gun and the curvature radius of the boundary curve, and as shown in figure 3, the influence rule is clarified by adopting an orthogonal experiment method based on numerical simulation.
Taking the target film thickness T d =50 μm as an example, the conical opening angle phi=28° of the spray gun, taking different parameter values of H, alpha and r into the above formula of the formula (15) respectively in the variable ranges of the spray gun pose parameters H and alpha (the variable ranges are related to the spray gun), different film thickness distribution states can be obtained, and the boundary constraint distance values in the different film thickness distribution states can be measured according to the definition of the boundary constraint distance.
According to the principle of orthogonal experiment, two of H, r and alpha parameters are respectively fixed, a third parameter is taken as an independent variable, the boundary constraint distance is taken as a function, and the influence law of the spray gun pose and the radius of curvature of the spraying path on the boundary constraint distance is respectively analyzed.
Fig. 4, 5 and 6 show the curves of the influence of the radius of curvature of the boundary curve, the spray angle and the spray height on the boundary beam distance, respectively.
As can be seen from fig. 4, 5 and 6, the boundary constraint distance generally varies in a power function relationship with the radius of curvature of the boundary curve on the premise that the pose of the spray gun is fixed, wherein when the radius of curvature of the boundary curve is greater than 400mm, the boundary constraint distance almost varies in a linear relationship with the radius of curvature of the boundary curve. On the premise that the spraying height and the curvature radius of the boundary curve are fixed, the boundary constraint distance is in a linear change relation with the spraying dip angle. On the premise that the spraying inclination angle and the curvature radius of the boundary curve are fixed, the boundary constraint distance is also in a linear change relation with the spraying height.
According to fig. 4, 5 and 6, the law of influence of spray gun pose on the boundary constraint distance under different curvature radius of boundary curve can be clarified, as shown in fig. 7, so that the minimum value and the maximum value of the boundary constraint distance at the boundary with any curvature radius on the irregular plane can be predicted in the variable range of spray gun pose, and the minimum value and the maximum value of the boundary constraint distance are respectively d i min and d i max D i is in the range, and in the range of the variable pose of the spray gun, the thickness effect of the coating film meeting the requirement of spraying quality can be obtained at the boundary position by optimizing the pose of the spray gun.
For any irregular plane, the boundary curve can be approximately regarded as a combination of a plurality of straight line segments and circular arc segments, and according to the analysis, if the boundary curve has N boundary segments with different curvature radiuses, on the premise that the spray gun pose is unchanged, the boundary curve theoretically has N boundary constraint distance values, and in order to generate a smooth continuous spray path at the boundary, the boundary constraint distance values can be unified at the boundary.
In order to ensure that the thickness of a coating film at any position of a boundary can meet the quality requirement, the minimum value of the boundary constraint distance values is taken as a uniform boundary constraint distance value on the basis of obtaining the value range of boundary constraint distance values of all boundary segments, and the following formula is shown:
And uniformly biasing the boundary constraint distance d 0 from the boundary curve to the inside of the surface sheet in the curvature radius direction of the boundary curve to obtain a boundary constraint range closed curve for generating a boundary constraint spraying path, thereby finally completing the setting of the boundary constraint distance value.
In the foregoing, the protection scope of the present invention is not limited to the preferred embodiments of the present invention, and any simple changes or equivalent substitutions of the technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention disclosed in the present invention fall within the protection scope of the present invention.
Claims (3)
1. The setting method of the boundary constraint distance value of the boundary constraint spraying track planning is characterized by comprising the following steps:
step 1, based on the established static spray model of the spray gun in the position-changing pose, constructing a dynamic spray model of the spray gun along an arc path, wherein the space shape of the spray gun is a cone;
step 2, defining a boundary constraint distance by taking the minimum allowable film thickness at the boundary of the workpiece as a requirement, and respectively clarifying the influence rule of the curvature radius, the spraying height and the spraying inclination angle of the boundary curve on the boundary constraint distance;
in the step 2, the minimum allowable thickness of the coating film at the boundary of the workpiece is used as a requirement, the boundary constraint distance is defined, and the influence rules of the curvature radius of the boundary curve, the spraying height and the spraying inclination angle on the boundary constraint distance are respectively clarified, and the method comprises the following steps:
201. Assuming that the target film thickness is T d, the coordinate value X 0 of the X axis where the peak film thickness is located is obtained by deriving X in the formula (6), specifically expressed as follows:
the formula (15) shows that the spraying speed v, the spraying inclination angle alpha and the spraying height H meet a specific functional relation, and if one parameter is known, the other two parameters can be obtained by solving the equation set;
202. The boundary constraint spraying path is generated based on a certain boundary constraint distance value which is contracted inwards from the boundary curve of the workpiece to the surface of the workpiece, the boundary curve is larger than the spraying path by one boundary constraint distance value on the radius of curvature, and the reasonable setting of the value directly influences whether the thickness quality of a coating film at the boundary meets the requirement;
Setting the coating thickness requirement of any point on the surface of a workpiece to meet T S∈[Tmin,Tmax, defining the distance from a spraying path point at the boundary to the boundary just meeting the requirement of the minimum coating thickness T min as a boundary constraint distance in the direction of the curvature radius of a boundary curve, and setting up the influence rule by adopting an orthogonal experiment method according to the position relation of the boundary constraint distance relative to the spraying path, wherein the value of the boundary constraint distance is influenced by the pose of a spray gun and the curvature radius of the boundary curve; according to the principle of orthogonal experiment, two of H, r and alpha parameters are respectively fixed, a third parameter is taken as an independent variable, the boundary constraint distance is taken as a function, the influence rule of the pose of the spray gun and the curvature radius of the spraying path on the boundary constraint distance is respectively analyzed, and the influence of the curvature radius of the spraying path on the boundary constraint distance is equal to the influence of the boundary curve on the boundary constraint distance
And 3, setting a uniform boundary constraint distance value according to the shape of a boundary curve of the surface of the workpiece to be sprayed so as to ensure that the thickness and the quality of the coating film at the boundary meet the requirements everywhere.
2. The method for setting boundary constraint distance values for boundary constraint spraying trajectory planning according to claim 1, wherein in step 1, a dynamic spraying model of a spray gun along an arc path is built based on the built static spraying model of the spray gun position changing pose, and specifically comprises the following steps:
101. A parabolic model based on a torch space shape being a cone, the parabolic model being expressed as: Assuming that the coating flow q v and the conical opening angle phi of the spray torch are unchanged when the spray gun sprays, taking the pose of the spray gun relative to the spraying surface as a controllable parameter, wherein the pose is the spraying height H and the spraying inclination angle alpha, and a coating deposition model of any point (x, y) in the range of the spraying width after the spray gun is subjected to static spraying in the pose-changing on a plane can be expressed as
Wherein A is a constant;
When the spray gun sprays at a static inclination angle, the spray width formed on a plane is elliptical, wherein the major axis a and the minor axis b of the ellipse are respectively:
Wherein a 1(H,α),a2 (H, α) is respectively:
102. When the spray gun dynamically sprays along the arc path track, the radius of the arc path is r, the curvature center of the arc is O', the speed direction of the spray gun is the tangential direction of the arc path, the dynamic spraying speed of the spray gun on the arc path track is v, the spraying speed of any point S in the spraying range is v s, the curvature radius of the arc where the point S is positioned is r S, the curvature radius direction of the arc path is x-axis, and the speed direction of the spray gun is y-axis, and a rectangular coordinate system is established, wherein The arc length of the point S swept by the spray gun in the range of the spray width is shown, the spray rate of the spray gun in the tangential direction on the same arc is unchanged, the spray gun is assumed to be fixed, the spray process can be regarded as uniform circular motion of any point S around the point O' in the range of the elliptical spray width, so that the time of the any point S passing through the range of the elliptical spray width is t=l CD/vS, and the integral of the formula (1) is used for establishing a film thickness model of the any point S in the range of the spray width after the spray gun dynamically sprays along the track of the arc path as follows
In the formula (6), the spraying rate at any point S and the coordinate value of the y axis where the spraying rate is located are respectively as follows:
Arc length of point S swept by spray gun The method comprises the following steps:
R s in the formulae (7), (8) and (9), And p is respectively:
rS＝r-x (10)
q and j in formula (12) are respectively:
By substituting the formula (8) into the formula (6), a model of the film thickness at any point S in the spray width range can be obtained.
3. The method of claim 1, wherein the boundary constraint distance in step 202 is divided into left and right parts, and d 1 and d 2 are respectively defined.
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| 自由曲线边界的喷涂路径规划研究;张亚坤;曾勇;张春伟;刘冬明;吴元强;机床与液压;20190828;第47卷(第016期);139-143 * |
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