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

A spraying robot and trajectory optimization technology, applied in the direction of instruments, spraying devices, special data processing applications, etc., can solve the problems of not being able to use three-dimensional polyhedrons, time-consuming, harmful environment for workers, etc., to improve work efficiency and product quality, strong and practical sexual effect

Active Publication Date: 2012-06-20
JIANGSU NEWBLUE INTELLIGENT EQUIP CO LTD
View PDF4 Cites 48 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 an

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Optimization method for spray gun track of spraying robot on irregular polyhedron
  • Optimization method for spray gun track of spraying robot on irregular polyhedron
  • Optimization method for spray gun track of spraying robot on irregular polyhedron

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0020] The present invention will be further described below with reference to the drawings and embodiments. The implementation steps of the present invention consist of three parts: the generation of the spray gun space path of the spraying robot on the polyhedron, the spray gun trajectory optimization on each surface of the polyhedron, and the spray gun trajectory optimization combination. The specific implementation is as follows.

[0021] 1 Generation of space path of spraying robot spray gun on polyhedron

[0022] The specific steps of the spray gun space path of the spraying robot on the polyhedron are as follows:

[0023] (1) Determine the irregular polyhedron from the CAD model of the workpiece. After inputting the irregular polyhedron CAD graphics in the GID7.2 software, use the GID grid graphics output function to obtain the irregular polyhedron triangle mesh graphics (allowable error 2mm, each The mesh is called a triangular surface or triangular piece). After each face ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B05B13/04G06F19/00
Inventor 陈伟曾庆军李春华章飞王彪
Owner JIANGSU NEWBLUE INTELLIGENT EQUIP CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products