Variable Velocity Coating Thickness Distribution Model for Super-Large Planar Robot Spraying

This study proposed a dynamic optimization method for spray gun flow to address the issue of uneven film thickness in the acceleration and deceleration section of the z-shaped spray trajectory in large plane ship segments. The method takes into account the acceleration and deceleration section of the spray trajectory and improves the film thickness distribution. The study first established a static vertical spray coating growth model of the spray gun without considering the acceleration and deceleration of the spray trajectory. Then, we used an integral method to optimize the coating uniformity and established a film thickness distribution model. The optimization of spray speed and spray spacing is crucial in the use of variable flow spray guns. It is assumed that the acceleration and deceleration sections of the spraying trajectory are linear and symmetrical, which forms the basis for establishing a mathematical model for the variable flow spray gun. To determine the flow of the spray gun at different speeds in the acceleration and deceleration sections, the pattern search method was adopted. A section of a ship was used as an example for this study. In this study, we utilized numerical simulations to compare the uniformity of paint film thickness when using a spray gun with a constant flow versus variable flow. The results indicate that when taking into account the acceleration and deceleration section of the spray trajectory, the film thickness was more uniform with a variable flow. These findings demonstrate the feasibility and effectiveness of the proposed method.