Railway vehicle body spraying device and spraying method

Abstract

The invention discloses a railway vehicle body spraying device and method, and belongs to the technical field of railway vehicle paint spraying. According to the railway vehicle body spraying device and method, a mechanical arm is used for loading a spraying mechanism, and a lifting mechanism is used for enabling the spraying mechanism to conduct spraying operation in the height direction of a railway vehicle; translation mechanisms distributed on the two sides of a spraying area drive lifting mechanisms to move in the length direction of the vehicle, so that the spraying mechanism can adapt to the length of the railway vehicle to conduct spraying operation, planning of a spraying path is facilitated, the spraying efficiency and the spraying quality are improved, and the problems that current spraying operation of the railway vehicle is low in efficiency and poor in spraying quality are solved. And the spraying quality is unstable.

Description

Technical Field

[0001] This invention relates to a rail vehicle body spraying device and spraying method, belonging to the field of rail vehicle painting technology. Background Technology

[0002] In traditional rail vehicle painting operations, the large size of the vehicle body and the wide painting area limit the use of manual, handheld spray guns in designated areas. This method is not only labor-intensive and inefficient, but also exposes operators to high concentrations of paint atomization that pose significant health risks and environmental pollution. Furthermore, inherent differences in skill level, work habits, and working conditions among manual operators can lead to uneven paint film thickness and poor coverage, affecting the consistency of painting quality. While automated painting equipment exists for automobiles and auto parts, it is difficult to directly apply it to the specific environmental and structural requirements of rail vehicles. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a rail vehicle body spraying device and spraying method, which is suitable for rail vehicle spraying operations, improves spraying efficiency and spraying quality, and solves the problems of low efficiency and unstable spraying quality in current rail vehicle spraying operations.

[0004] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution: This invention provides a rail vehicle body painting device, comprising: The main frame has a painting area between it for parking vehicles. robotic arm; The painting mechanism, mounted on a robotic arm, is used for painting vehicle bodies; The paint film thickness detection mechanism, mounted on a robotic arm, is used to measure the dry film thickness of the paint film. The lifting mechanism, connected to the robotic arm, is used to move the robotic arm along the height of the vehicle. The translation mechanism is connected to the main frame and distributed on both sides of the painting area. The lifting mechanism is located on the translation mechanism and is used to drive the lifting mechanism to move along the length of the vehicle. A laser positioning mechanism, located on the main frame, is used to guide vehicles to park accurately in the painting area; The controller is electrically connected to the robotic arm, translation mechanism, lifting mechanism, and laser positioning mechanism, respectively.

[0005] Optionally, the lifting mechanism includes a support plate and a connecting plate; The robotic arm is mounted on the support plate; The connecting plate and the support plate are provided with a first groove and a second groove on the side facing each other. The first slide is movably connected to a lead screw, and the lead screw is driven by a drive block, which is connected to a support plate; a first motor is also provided on one side of the first slide, and the drive end of the first motor is connected to the lead screw. The first motor is electrically connected to the controller; The second slide rail has an inherent slide rod, and the slide rod is slidably connected to a slider, which is connected to a support plate.

[0006] Optionally, the spraying mechanism includes a spraying section; The spraying unit includes a spray nozzle, a paint pump, and a paint storage tank for storing paint. The paint pump is connected to the spray head and the paint storage tank via pipelines; The paint pump is electrically connected to the controller.

[0007] Optionally, the spraying mechanism further includes a cleaning unit; The cleaning unit includes a control valve, a water pump, and a water storage tank; The control valve is connected to the nozzle; The water pump is connected to the control valve and the water storage tank via pipelines. The control valve and water pump are both electrically connected to the controller.

[0008] Optionally, the support plate is also provided with a plurality of guide holes and a wastewater recovery tank corresponding to the plurality of guide holes.

[0009] Optionally, the translation mechanism includes multiple guide rods parallel to the main frame, a transmission rack connected to the lifting mechanism, a limiting sliding mechanism, and a driving mechanism; The drive mechanism includes a second motor mounted on a guide rod and a drive gear connected to the drive end of the second motor, wherein the drive gear meshes with a transmission rack; The second motor is electrically connected to the controller; The transmission rack moves along the length of the guide rod via a sliding limiting structure under the drive of the drive gear.

[0010] Optionally, the limiting sliding mechanism includes a first guide groove formed inside the guide rod, a second guide groove formed on both sides of the transmission rack, a plurality of rolling guide wheels connected to the first guide groove, and an anti-deviation guide wheel; The transmission rack is located in the first guide groove, and the rolling surface of the roller guide wheel is in contact with the transmission rack; The anti-deviation guide wheel is located in the second guide groove, and the rolling surface of the anti-deviation guide wheel is in contact with the transmission rack.

[0011] The present invention also provides a method for painting the body of a rail vehicle, the method being based on the rail vehicle body painting apparatus described above, comprising: Adjust the position of the spraying mechanism according to the vehicle's parking position in the spraying area; Obtain the initial paint flow rate, the initial moving speed of the robotic arm, and the spraying path; The target paint surface of the vehicle is sprayed according to the initial paint flow rate and the initial moving speed of the robotic arm. Based on the dry film forming results of the target paint surface, the qualification rate of the target paint surface is determined; If the target paint surface is satisfactory, then spray the next paint surface.

[0012] Optionally, determining the pass rate of the target paint surface based on the dry film forming result of the target paint surface includes: Calculate the theoretical dry film thickness of the target paint surface based on the initial paint flow rate and the robotic arm's moving speed; The theoretical dry film thickness of the target paint surface is calculated using the following formula: ; Indicates the theoretical dry film thickness of the target paint surface; This indicates the volume fraction of solids in paints and coatings. This indicates the initial flow rate of the paint pump during painting. This indicates the initial moving speed of the robotic arm. Indicates the width of the nozzle fan; Measure the actual dry film thickness of the target paint surface; Calculate the error between the actual dry film thickness of the target paint surface and the theoretical dry film thickness of the target paint surface. If the error value meets the preset range, the target paint surface is qualified. Otherwise, repaint the target paint surface.

[0013] Optionally, the target paint surface for touch-up spraying includes: The parameter adjustment amount is calculated by selecting a working point on the spraying path, and is expressed as follows: ; Indicates transpose; Indicates the parameter adjustment amount. , This indicates the adjustment amount of the paint pump spray flow rate at the current working point. This indicates the adjustment amount of the robotic arm's movement speed at the current work point; This indicates the error between the actual dry film thickness of the target paint surface and the theoretical dry film thickness of the target paint surface; Represents the sensitivity matrix. ; This indicates the paint pump flow rate at the current working point. This indicates the speed at which the robotic arm moves at the current work point; Represents the weight matrix; If the target painted surface is the side or end face, then: , This indicates that the traffic is adjusted for weight. =10, Indicates speed adjustment weights. =0.1; If the target paint surface is the roof, then: , =0.1, =10; The new parameters for selecting the operating point are calculated using the following formula: ; This indicates the new paint pump spraying flow rate selected at the working point. The range is , express The lower limit value, express The upper limit; like Not meeting the range , ; This indicates the new robotic arm movement speed at the selected work point. The range is , express The lower limit value, express The upper limit; like Not meeting the range , ; Using the new parameters selected for the working point, the target paint surface is re-sprayed along the spraying path.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: 1. This invention employs a robotic arm to load the spraying mechanism and utilizes a lifting mechanism to enable the spraying mechanism to perform spraying operations along the height direction of the rail vehicle. By using translation mechanisms distributed on both sides of the spraying area to drive the lifting mechanism to move along the length direction of the vehicle, the spraying mechanism can adapt to the length of the rail vehicle for spraying operations. It also facilitates the planning of the spraying path, improves spraying efficiency and spraying quality, and solves the current problems of low efficiency and unstable spraying quality in rail vehicle spraying operations.

[0015] 2. This invention determines the passability of the target paint surface based on the error value between the actual dry film thickness and the theoretical dry film thickness of the target paint surface; if the target paint surface is unqualified, the spraying parameter weights are adjusted based on the structural type of the target paint surface, and the re-spraying parameters are re-determined to carry out the re-spraying operation to ensure the spraying quality. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a rail vehicle body painting device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the side view of the main frame structure provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the installation position of the second motor and the drive gear provided in an embodiment of the present invention; Figure 4 yes Figure 2 Enlarged view of point A in the middle; Figure 5 yes Figure 2 Enlarged view at point B in the middle; Figure 6 yes Figure 2 Enlarged view at point C; Figure 7 This is a flowchart of a method for spraying paint on the body of a rail vehicle provided in an embodiment of the present invention.

[0017] In the diagram: 1. Main frame; 101. Spraying area; 2. Robotic arm; 3. Spraying mechanism; 301. Spray nozzle; 302. Paint pump; 303. Paint tank; 304. Control valve; 305. Water pump; 306. Water tank; 4. Paint film thickness detection mechanism; 5. Lifting mechanism; 501. Support plate; 502. Connecting plate; 5021. First slide rail; 5022. Second slide rail; 5023. Drive block; 5024. Slider; 503. Lead screw; 504. First motor; 505. Slide rod; 6. Translation mechanism; 601. Guide rod; 602. Transmission rack; 603. Second motor; 604. Drive gear; 605. First guide groove; 606. Second guide groove; 607. Rolling guide wheel; 608. Anti-deviation guide wheel; 7. Laser positioning mechanism; 8. Guide hole; 9. Wastewater recovery tank. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention. Example

[0019] like Figure 1As shown, a rail vehicle body painting device includes: a main frame 1, a robotic arm 2, a painting mechanism 3, a paint film thickness detection mechanism 4, a lifting mechanism 5, a translation mechanism 6, a laser positioning mechanism 7, and a controller (not shown). The main frame 1 has a spraying area 101 in the middle, and a track is laid in the spraying area 101 for parking vehicles. The paint film thickness detection mechanism 4 is electrically connected to the controller and is installed on the robotic arm 2 to measure the dry film thickness of the paint film. The laser positioning mechanism 7 is electrically connected to the controller and is installed on the top of the main frame 1 to guide the vehicle to be accurately parked in the spraying area 101; Robotic arm 2 is electrically connected to the controller; In this embodiment, the paint film thickness detection mechanism 4 adopts a dry film thickness gauge, and the laser positioning mechanism 7 adopts a laser range sensor. The painting mechanism 3 is mounted on the robotic arm 2 and is used for painting the vehicle body. like Figure 2 As shown, the lifting mechanism 5 is connected to the robotic arm 2 and is used to move the robotic arm 2 along the vehicle height direction. Specifically: The lifting mechanism 5 includes a support plate 501 and a connecting plate 502; Robotic arm 2 is mounted on top of support plate 501; A first groove 5021 and a second groove 5022 are provided on the side of the connecting plate 502 facing the support plate 501; The first slide rail 5021 is movably connected to a lead screw 503, and a drive block 5023 is drivenly connected to the lead screw 503. The drive block 5023 is fixedly connected to the support plate 501. The connecting plate 502 is also equipped with a first motor 504 on the side near the first slide rail 5021. The drive end of the first motor 504 is connected to the lead screw 503, and the controller is electrically connected to the first motor 504. A slide rod 505 is fixedly connected in the second slide groove 5022, and a slider 5024 is slidably connected on the slide rod 505. The slider 5024 is fixedly connected to the support plate 501. like Figure 2 and Figure 4 As shown, the painting mechanism 3 includes a spray nozzle 301 mounted on the top of the robotic arm 2, a paint pump 302 mounted on the robotic arm 2, and a paint storage tank 303 fixedly connected to one side of the support plate 501. The paint pump 302 is connected to the spray nozzle 301 and the paint storage tank 303 through pipelines. When the paint pump 302 is started, paint can be drawn from the paint storage tank 303 to spray the vehicle. The first motor 504 is started, which drives the lead screw 503 to rotate. The lead screw then drives the drive block 5023 to move. Finally, the support plate 501 moves along the slide bar 505 on the connecting plate 502 under the drive of the drive block 5023.

[0020] To facilitate cleaning of the spray nozzle 301, the spraying mechanism 3 also includes a cleaning unit; The cleaning unit includes a control valve 304 connected to the side of the nozzle 301, a water pump 305 mounted on the robotic arm 2, and a water storage tank 306 fixedly connected to the other side of the support plate 501. The control valve 304 and the water pump 305 are both electrically connected to the controller. The water pump 305 is connected to the control valve 304 and the water storage tank 306 through pipelines. When the control valve 304 and the water pump 305 are opened, the cleaning liquid or clean water in the water storage tank 306 can be drawn into the nozzle 301 through the control valve 304, and the waste liquid flows out from the nozzle 301, thus cleaning the nozzle 301. like Figure 2 and Figure 6 As shown, in order to avoid the accumulation of waste liquid on the support plate 501 and to facilitate the rapid discharge of waste liquid, multiple guide holes 8 are provided on the support plate 501. A wastewater recycling tank 9 corresponding to the guide holes 8 is also fixedly connected to the bottom of the support plate 501. The waste liquid accumulated on the support plate 501 flows into the wastewater recycling tank 9 through the guide holes 8 for collection and recycling. In addition, it should be noted that the paint pump 302, water storage tank 306 and wastewater recycling tank 9 in this embodiment are all fixedly installed by detachable connectors, and all have a tank opening, a drain outlet and corresponding seals, which facilitates adding or discharging materials into the tank.

[0021] Translation mechanism 6 is connected to the main frame 1 and distributed on both sides of the painting area 101. Lifting mechanism 5 is mounted on translation mechanism 6 and is used to drive lifting mechanism 5 to move along the length of the vehicle. Specifically: like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, the translation mechanism 6 includes multiple guide rods 601 parallel to the main frame 1, a transmission rack 602 connected to the lifting mechanism 5, a limiting sliding mechanism, and a driving mechanism. The guide rods 601 are two in number and are distributed vertically in parallel. The drive mechanism includes a second motor 603 mounted on the end face of the guide rod 601 and a drive gear 604 mounted on the drive end of the second motor 603. The drive gear 604 meshes with the transmission rack 602, and the second motor 603 is electrically connected to the control. The limiting sliding mechanism includes a first guide groove 605 formed inside the guide rod 601, second guide grooves 606 formed on both sides of the transmission rack 602, a plurality of rolling guide wheels 607 connected to the first guide groove 605, and anti-deviation guide wheels 608; wherein, the transmission rack 602 is located in the first guide groove 605 and the rolling surface of the rolling guide wheels is in contact with the transmission rack 602; the anti-deviation guide wheels 608 are located in the second guide groove 606 and the rolling surface of the anti-deviation guide wheels 608 is in contact with the transmission rack 602; The back of the connecting plate 502 is fixedly connected to the front of the transmission rack 602 using fasteners; Start the second motor 603, which drives the drive gear 604 to rotate, thereby driving the transmission rack 602 to drive the connecting plate 502, and then driving the entire lifting mechanism 5 to move along the length of the vehicle.

[0022] Example 2 like Figure 7 As shown, a method for painting the body of a rail vehicle includes: Adjust the position of the spraying mechanism according to the vehicle's parking position in the spraying area; Obtain the initial paint flow rate, the initial moving speed of the robotic arm, and the spraying path; The target paint surface of the vehicle is sprayed according to the initial paint flow rate and the initial moving speed of the robotic arm. Based on the dry film formation results of the target paint surface, the pass rate of the target paint surface is determined, specifically: Calculate the theoretical dry film thickness of the target paint surface based on the initial paint flow rate and the robotic arm's moving speed; The theoretical dry film thickness of the target paint surface is calculated using the following formula: ; Indicates the theoretical dry film thickness of the target paint surface; This indicates the volume fraction of solids in paints and coatings. This indicates the initial flow rate of the paint pump during painting. This indicates the initial moving speed of the robotic arm. Indicates the width of the nozzle fan; Measure the actual dry film thickness of the target paint surface; Calculate the error between the actual dry film thickness of the target paint surface and the theoretical dry film thickness of the target paint surface. If the error value meets the preset range, the target paint surface is qualified. Otherwise, repaint the target paint surface; If the target paint surface is satisfactory, then spray the next paint surface; The target paint surfaces for touch-up spraying include: The parameter adjustment amount is calculated by selecting a working point on the spraying path, and is expressed as follows: ; Indicates transpose; Indicates the parameter adjustment amount. , This indicates the adjustment amount of the paint pump spray flow rate at the current working point. This indicates the adjustment amount of the robotic arm's movement speed at the current work point; This indicates the error between the actual dry film thickness of the target paint surface and the theoretical dry film thickness of the target paint surface; Represents the sensitivity matrix. ; This indicates the paint pump flow rate at the current working point. This indicates the speed at which the robotic arm moves at the current work point; Represents the weight matrix; If the target painted surface is the side or end face, then: , This indicates that the traffic is adjusted for weight. =10, Indicates speed adjustment weights. =0.1; If the target paint surface is the roof, then: , =0.1, =10; The new parameters for selecting the operating point are calculated using the following formula: ; This indicates the new paint pump spraying flow rate selected at the working point. The range is , express The lower limit value, express The upper limit; like Not meeting the range , ; This indicates the new robotic arm movement speed at the selected work point. The range is , express The lower limit value, express The upper limit; like Not meeting the range , ; Using the new parameters selected for the working point, the target paint surface is re-sprayed along the spraying path.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A rail vehicle body painting device, characterized in that, include: The main frame (1) has a painting area (101) between the main frames (1) for parking vehicles; robotic arm (2); The painting mechanism (3) is mounted on the robotic arm (2) and is used for painting the vehicle body; The paint film thickness detection mechanism (4) is mounted on the robotic arm (2) and is used to measure the dry film thickness of the paint film. The lifting mechanism (5) is connected to the robotic arm (2) and is used to drive the robotic arm (2) to move along the vehicle height direction; The translation mechanism (6) is connected to the main frame (1) and distributed on both sides of the spraying area (101). The lifting mechanism (5) is located on the translation mechanism (6) and is used to drive the lifting mechanism (5) to move along the length of the vehicle. A laser positioning mechanism (7) is installed on the main frame (1) to guide the vehicle to be accurately parked in the spraying area (101). The controller is electrically connected to the robotic arm (2), translation mechanism (6), lifting mechanism (5) and laser positioning mechanism (7), respectively.

2. The rail vehicle body painting device according to claim 1, characterized in that, The lifting mechanism (5) includes a support plate (501) and a connecting plate (502); The robotic arm (2) is mounted on the support plate (501); The connecting plate (502) and the support plate (501) are provided with a first sliding groove (5021) and a second sliding groove (5022) on the side facing each other; The first slide groove (5021) is movably connected to a lead screw (503), and the lead screw (503) is driven by a drive block (5023), which is connected to a support plate (501); a first motor (504) is also provided on one side of the first slide groove (5021), and the drive end of the first motor (504) is connected to the lead screw (503); The first motor (504) is electrically connected to the controller; The second slide groove (5022) has an inherent slide rod (505), and the slide rod (505) is slidably connected to a slider (5024), which is connected to the support plate (501).

3. The rail vehicle body painting device according to claim 2, characterized in that, The spraying mechanism (3) includes a spraying section; The spraying unit includes a spray nozzle (301), a paint pump (302), and a paint storage tank (303) for storing paint. The paint pump (302) is connected to the spray head (301) and the paint tank (303) via pipelines; The paint pump (302) is electrically connected to the controller.

4. The rail vehicle body painting device according to claim 3, characterized in that, The spraying mechanism (3) also includes a cleaning unit; The cleaning unit includes a control valve (304), a water pump (305), and a water storage tank (306). The control valve (304) is connected to the nozzle (301); The water pump (305) is connected to the control valve (304) and the water storage tank (306) respectively through pipelines; The control valve (304) and water pump (305) are both electrically connected to the controller.

5. The rail vehicle body painting device according to claim 4, characterized in that, The support plate (501) is also provided with a plurality of guide holes (8) and a wastewater recycling tank (9) corresponding to the plurality of guide holes (8).

6. The rail vehicle body painting device according to claim 1, characterized in that, The translation mechanism (6) includes multiple guide rods (601) parallel to the main frame (1), a transmission rack (602) connected to the lifting mechanism (5), a limiting sliding mechanism, and a driving mechanism. The drive mechanism includes a second motor (603) mounted on a guide rod (601) and a drive gear (604) connected to the drive end of the second motor (603), wherein the drive gear (604) meshes with a transmission rack (602); The second motor (603) is electrically connected to the controller; The transmission rack (602) moves along the length of the guide rod (601) through the sliding limiting structure under the drive of the drive gear (604).

7. The rail vehicle body painting device according to claim 6, characterized in that, The limiting sliding mechanism includes a first guide groove (605) opened inside the guide rod (601), a second guide groove (606) opened on both sides of the transmission rack (602), a plurality of rolling guide wheels (607) connected to the first guide groove (605), and an anti-deviation guide wheel (608). The transmission rack (602) is located in the first guide groove (605), and the rolling surface of the roller guide wheel is in contact with the transmission rack (602); The anti-offset guide wheel (608) is located in the second guide groove (606), and the rolling surface of the anti-offset guide wheel (608) is in contact with the transmission rack (602).

8. A method for spraying paint on the body of a rail vehicle, characterized in that, The method is based on the rail vehicle body painting apparatus as described in any one of claims 1 to 7, comprising: Adjust the position of the spraying mechanism according to the vehicle's parking position in the spraying area; Obtain the initial paint flow rate, the initial moving speed of the robotic arm, and the spraying path; The target paint surface of the vehicle is sprayed according to the initial paint flow rate and the initial moving speed of the robotic arm. Based on the dry film forming results of the target paint surface, the qualification rate of the target paint surface is determined; If the target paint surface is satisfactory, then spray the next paint surface.

9. The method for spraying paint on the body of a rail vehicle according to claim 8, characterized in that, The determination of the target paint surface qualification based on the dry film forming result of the target paint surface includes: Calculate the theoretical dry film thickness of the target paint surface based on the initial paint flow rate and the robotic arm's moving speed; The theoretical dry film thickness of the target paint surface is calculated using the following formula: ； Indicates the theoretical dry film thickness of the target paint surface; This indicates the volume fraction of solids in paints and coatings. This indicates the initial flow rate of the paint pump during painting. This indicates the initial moving speed of the robotic arm. Indicates the width of the nozzle fan; Measure the actual dry film thickness of the target paint surface; Calculate the error between the actual dry film thickness of the target paint surface and the theoretical dry film thickness of the target paint surface. If the error value meets the preset range, the target paint surface is qualified. Otherwise, repaint the target paint surface.

10. The method for spraying paint on the body of a rail vehicle according to claim 9, characterized in that, The target paint surfaces to be repainted include: The parameter adjustment amount is calculated by selecting a working point on the spraying path, and is expressed as follows: ； Indicates transpose; Indicates the parameter adjustment amount. , This indicates the adjustment amount of the paint pump spray flow rate at the current working point. This indicates the adjustment amount of the robotic arm's movement speed at the current work point; This indicates the error between the actual dry film thickness of the target paint surface and the theoretical dry film thickness of the target paint surface; Represents the sensitivity matrix. ; This indicates the paint pump flow rate at the current working point. This indicates the speed at which the robotic arm moves at the current work point; Represents the weight matrix; If the target painted surface is the side or end face, then: , This indicates that the traffic is adjusted for weight. =10, Indicates speed adjustment weights. =0.1; If the target paint surface is the roof, then: ， =0.1， =10； The new parameters for selecting the operating point are calculated using the following formula: ； This indicates the new paint pump spraying flow rate selected at the working point. The range is , express The lower limit value, express The upper limit; like Not meeting the range , ; This indicates the new robotic arm movement speed at the selected work point. The range is , express The lower limit value, express The upper limit; like Not meeting the range , ; Using the new parameters selected for the working point, the target paint surface is re-sprayed along the spraying path.

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