Optimization method for spray gun track of spraying robot on irregular polyhedron

Abstract

An optimization method for a spray gun track of a spraying robot on an irregular polyhedron includes the steps: triangularly dividing each face of the polyhedron according to CAD (computer-aided design) data of a polyhedral workpiece; computing the normal vector of each triangular face; generating a plurality of large pieces by means of connection according to a topological structure between each two adjacent triangular faces; and building a 'rectangular model' and generating the spraying path of each face of the polyhedron. The variance between the actual thickness of a coating and the ideal thickness of the coating serves as an objective function, and the optimal value of the width of an overlapped area is solved by a golden section method on each surface of the irregular polyhedron. In order to improve spraying efficiency, optimization and combination of the spray gun track on a curved surface are indicated by a non-directional connection diagram, and improved particle swarm algorithm is used for solving. Therefore, spraying quality is ensured, and spraying efficiency is also improved.

Description

technical field [0001] The invention relates to a spray gun trajectory optimization method for a polyhedron workpiece during the automatic spraying process of a spraying robot. Background technique [0002] Spraying robot is a very important advanced coating production equipment, which is widely used in the coating production line of automobiles and other products at home and abroad. For products such as automobiles, electrical appliances and furniture, the spraying effect on the surface has a considerable impact on the quality. In the automatic spraying operation, the manipulator of the spraying robot moves back and forth around the surface of the workpiece to be coated, and the selection of appropriate trajectory and other process parameters can save production costs. The spraying effect of the spraying robot is closely related to the surface shape of the object. For products such as automobiles, electrical appliances and furniture, the spraying effect on the surface has...

AI Technical Summary

Problems solved by technology

Publication number CN 101239346 provides a spray gun trajectory optimization method for spraying robots on complex curved surfaces, which can realize robot automatic spraying when spraying workpieces with complex curved surfaces, but this method is not suitable for irregular polyhedrons

Publication No. CN101367076A provides a variable spraying method for electrostatic spraying robots with irregular plane polygons, but this method can only be used on two-dimensional planes and cannot be applied to three-dimensional polyhedrons

[0004] Therefore, when spraying irregular polyhedron workpieces in actual production, the appearance quality of the product cannot be further improved, and complex, multi-faceted fully automatic spraying cannot be achieved

After the robot sprays the main part of the workpiece, it still needs to be sprayed manually, which is time-consuming, laborious, and material-intensive, and the workers are still in a harmful environment

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