Spray gun track planning method for free-form surface spraying robot

Abstract

The invention discloses a spray gun track planning method for a free-form surface spraying robot. According to the spray gun track planning method disclosed by the invention, the characteristic that a numerical control processing process is very similar to the spaying process is utilized, so that the motion track of a spray gun can be obtained by little calculation on the basis of the tool path. The method comprises the following steps of: firstly, dividing the sprayed surface in three-dimensional modeling software into a plurality of areas with regular shape, generating m equidistant tool paths and deriving the equidistant tool paths into standard APT (Automatic Programming Tools) files by using a five-axis numerical control machining method; extracting tool motion information contained in the APT files, extending the obtained tool points, processing the corner parts into circular arc transition to generate a spray gun path point sequence and then solving a spray gun posture sequence on the path point sequence; and interpolating the spray gun posture sequence to generate a complete motion track of the spray gun. According to the spray gun track planning method disclosed by the invention, accurate control over the track of the spray gun can be realized and the high praying quality is ensured; and the spray gun track planning method is simple in calculation process and calculation amount.

Description

technical field [0001] The invention relates to a planning method for a spray gun trajectory of a free-form surface spraying robot, and belongs to the technical field of robots Background technique [0002] Due to the advantages of good coating quality and high work efficiency, the robot automatic spraying system has been applied to the coating operations of many products with complex curved surfaces such as airplanes and automobiles. Spray gun trajectory planning is one of the key technologies in the robot automatic spraying system. It not only directly affects the coating uniformity and other spraying effects, but also is a necessary link before robot joint trajectory planning. In addition to the CAD model of the workpiece surface and the spray gun coating deposition model, spray gun trajectory planning also needs to consider constraints such as coating thickness and deviation requirements, spray distance, spray gun moving speed, and spray direction. Generally speaking, t...

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Problems solved by technology

The disadvantages of these two methods are: there is ambiguity when calculating the normal vector on the path point, and the obtained normal vector may not be perpendicular to the workpiece surface. In addition, because the CAD model of the workpiece surface needs to be reprocessed, it has to Processing a large amount of data with redundancy and noise requires a large amount of calculation and takes a long time to calculate, which leads to a long time and low efficiency in the trajectory planning of the robot, which is not conducive to the high degree of automation of the robot. Therefore, it is urgent to propose a calculation method. Small, simple calculation process spray gun trajectory planning method

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