摘要
针对目前汽车生产中机器人底涂参数标定结果数据不连续及质量控制准确性低的问题,提出一种基于最小二乘法逆向计算瞬时流量和喷涂速率的方法。先进行机器人底涂测试,分别建立瞬时流量与涂胶宽度和涂胶厚度的映射模型,再基于最小二乘法求解出两两之间的函数关系式。接着利用喷涂速率与涂胶厚度的反比关系建立不同涂胶厚度下对应的喷涂速率模型。最后开发了机器人Karel程序,将建立的底涂参数逆向计算模型应用于机器人底涂生产。结果表明,涂胶宽度和厚度的控制精度分别保持在±1.5 mm和±10μm,满足精准控制机器人底涂质量的要求。
Aiming at the problems i.e.discontinuous calibration data of robotic UBC(underbody coating)spraying parameters and low accuracy of quality control in automobile production,a reverse calculation method based on least square method was used to calculate the instantaneous flow rate and spraying rate.Robotic UBC spraying test was conducted initially to establish the mapping models of instantaneous flow to sealing width and to sealing thickness,and the corresponding formulas were obtained based on least square method.A spraying rate model representing the inverse relationship between spraying rate and sealing thickness at different sealing thicknesses was then established.Finally,a robot Karel program was developed and the reverse calculation model of UBC spraying parameters was applied to the production.The results showed that the control accuracy of sealing width and thickness was maintained within±1.5 mm and±10μm respectively,meeting the requirement of accurate quality control in robotic UBC spraying process.
作者
刘鹏祥
魏小群
李国龙
LIU Pengxiang;WEI Xiaoqun;LI Guolong(Evergrande Henchi New Energy Vehicle Research Institute(Shanghai)Co.,Ltd.,Shanghai 201600,China;Shanghai Real Estate Science Research Institute,Shanghai 200300,China;State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,China)
出处
《电镀与涂饰》
CAS
北大核心
2022年第6期409-413,共5页
Electroplating & Finishing
关键词
汽车
机器人
车底抗石击涂料
涂胶
最小二乘法
逆向计算
瞬时流量
喷涂速率
automobile
robot
underbody coating
sealing
least square method
reverse calculation
instantaneous flow rate
spraying rate
