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建立机器人喷涂涂层厚度分布数学计算模型,优化平面喷涂轨迹,求出最佳喷涂步距,获得平整连续的涂层。通过设计单点喷涂试验,获得不同喷涂时长所对应的涂层厚度最大值,用MATLAB软件拟合涂层厚度与时间的关系函数。利用高斯模型建立机器人喷涂涂层厚度分布数学模型,根据该模型获得喷涂点叠加函数。最后利用MATLAB软件进行模拟。结果表明:建立的涂层厚度分布数学模型与实际喷涂涂层厚度分布基本吻合。连续喷涂过程中喷涂点的叠加是以三个喷涂点为周期,在该模型的基础上计算出的最佳步距能获得平整连续的涂层。
The mathematic model of robot spray coating thickness distribution was established, the plane spray trajectory was optimized, the optimal spray step distance was obtained, and a smooth and continuous coating was obtained. By designing a single-point spray test, the maximum coating thickness corresponding to different spraying durations was obtained. The relationship between coating thickness and time was fitted by MATLAB software. The Gaussian model is used to establish the mathematical model of the thickness distribution of the robot spray coating, and the superposition function of the spray spots is obtained according to the model. Finally use MATLAB software to simulate. The results show that the mathematical model of the thickness distribution of the coating is basically consistent with the thickness distribution of the actual coating. In the continuous spraying process, the superposition of spraying points is based on three spraying points, and the optimal step distance calculated on the basis of the model can obtain a smooth and continuous coating.