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Novel electrostatic rotating cup coating accumulation model of a spraying robot

A technology of spraying robots and electrostatic rotary cups, which is applied in the fields of instruments, electrical digital data processing, and special data processing applications, etc., to achieve the effect of rich expression forms and easy application

Active Publication Date: 2019-04-19
TIANJIN UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a new electrostatic rotary cup paint accumulation model for solving the technical problem of off-line trajectory planning of the spraying robot

Method used

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  • Novel electrostatic rotating cup coating accumulation model of a spraying robot
  • Novel electrostatic rotating cup coating accumulation model of a spraying robot
  • Novel electrostatic rotating cup coating accumulation model of a spraying robot

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Embodiment Construction

[0032] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0033] (1) The double-biased β model represents a non-circular model

[0034] The characteristic of the non-circular model is that the peak value is obtained at the zero point and the function value decreases from the center to both sides, such as Figure 4 As shown, when the non-circular model is represented by the double-biased β model, the offset distance D=0 and the shape parameter a=b=β are required at this time, and d=2D at this time 0 , resolve formula (2) to get formula (3).

[0035]

[0036] This expression is also the classic β distribution model, so the classic β distribution model is a special case of the double-biased β model.

[0037] (2) The double-biased β model represents the circular model

[0038] The characteristic o...

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Abstract

The invention discloses a novel electrostatic rotating cup coating accumulation model of a spraying robot. The invention is transformed on the basis of a standard distribution function. The expressionis shown as follows: V (r) = g (r-D) + g (-r-D) = f (r + D0-D) + f (-r + D0-D), wherein V (r) represents the cumulative rate of all points on a circle with the center of a spray spot as the center and the radius as r; Wherein the formula (1) is shown in the specification, and the formula (2) is shown in the specification, and the formula (1) is shown in the specification, wherein the formula (1)is obtained by enabling a function to deviate leftwards by D0; G (r-D) is a right bias model and is obtained by shifting g (r) rightwards by D; And g (-r-D) is a left bias model and is a function obtained by symmetric about an x axis of g (r-D). The method better conforms to the actual spraying condition, and has the advantages of diverse expression forms, simple structure, easier parameterizationand very high practical value.

Description

technical field [0001] The invention relates to the field of off-line programming of a spraying robot, and is a mathematical model used to represent the paint accumulation rate during electrostatic rotary cup spraying. Background technique [0002] In the automobile spraying production line, in order to solve the problem of how to plan the spraying trajectory of the spraying machine, it is necessary to carry out offline programming for the spraying robot. [0003] The accumulation rate model of the spraying tool represents the relationship between the accumulation rate v of the paint and the distance r between the accumulation point and the center point of the spraying tool, which is an important basis for the offline programming of the spraying robot, because they are closely related to the calculation of paint film thickness and trajectory planning. relevant. However, with the continuous progress and development of science and technology, the spraying tool has transitione...

Claims

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Application Information

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IPC IPC(8): G06F17/50
CPCG06F30/20
Inventor 张培伦刘洋王旭浩赵臣孟祥智马力康立
Owner TIANJIN UNIV
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