Layered spraying track planning method used for spraying robot

Abstract

The invention discloses a layered spraying track planning method used for a spraying robot. The layered spraying track planning method comprises the steps of: firstly, designing an experiment method to build a model for the spraying process and fitting a coating distribution condition by introducing Gaussian and coating accumulative rate model; then adopting a layered track planning method and dividing a complex curve into a plurality of simple sub-curves by respectively applying a double deviation angle method and a projection method based on geometric and topological characteristics of a work-piece, establishing a corresponding spraying track optimization model and obtaining a travel parameter by adopting a numerical method so as to generate a spraying track in each sub-sheet; and finally, adopting an estimation of distribution algorithm to perform optimized combination on the track of each sub-sheet. The layered spraying track planning method used for the spraying robot, disclosed by the invention, has the advantages of improving the spraying production technology of the spraying robot, realizing track optimized generation of the spraying robot on each complex work-piece surface, improving distribution uniformity under the precondition of satisfying expected thickness of the coating, reducing paint waste, and thereby facilitating to improve production efficiency and economic benefits of the spraying manufacturing industry.

Description

technical field [0001] The invention relates to the technical field of advanced manufacturing industry of spraying robots, in particular to a layered spraying trajectory planning process algorithm for complex workpiece curved surfaces. Background technique [0002] As a special robot developed on the basis of industrial robot technology, the spraying robot is the product of the combination of robot technology and spraying process, and is mainly used for spraying operations in industrial production. As an intelligent equipment, the spraying robot will not be affected by toxic and harmful substances, and the spraying effect is stable. At the same time, it is also programmable. It can be programmed to complete the spraying of different workpieces, thus greatly improving the spraying efficiency and spraying quality. , has been widely used in the current manufacturing industry. [0003] Traditional spraying robots are mainly "teaching-reproduction" robots, and the spraying traje...

AI Technical Summary

Problems solved by technology

This "teaching-reproduction" trajectory planning method is simple to operate and easy to implement, but this method also has the following disadvantages: (1) The quality of the spraying trajectory of the spray gun depends heavily on the experience of the workers, and it is difficult to combine the geometric characteristics of the sprayed workpiece and The spray gun parameters obtain the best spraying trajectory, resulting in waste of paint, energy, etc., which increases economic costs; (2) During the teaching process, the robot cannot be used for production, and the teaching cycle is long, which reduces the production efficiency of the robot; ( 3) In the process of manual teaching, workers must be in a toxic and harmful environment, which seriously damages the health of workers

However, as far as the current industry research is concerned, the main disadvantage of the current off-line trajectory planning technology for spraying robots is that there is a lack of an effective, unified, and adaptive intelligent spraying robot process algorithm that can target various complex and diverse The workpiece to be sprayed can automatically generate an optimized spray trajectory that meets certain process indicators or quality requirements without manual intervention, so as to truly realize the automation of the spraying process, improve the productivity level of the spraying manufacturing industry, and reduce production costs. , to ensure the overall economic benefits

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