Spraying path automatic generating method for adaptive modeling of multiple spray guns

Abstract

The invention discloses a spraying path automatic generating method for the adaptive modeling of a plurality of spray guns, which comprises the following steps of: firstly, designing a spraying experiment for the used spray gun and adaptively selecting to parameterize the fitting approximation of a coating accumulation model according to the measurement on the thickness of a coating; establishing a multi-travel spraying optimization model and carrying out iteration solution on the corresponding optimal spray gun path parameters by adopting a bisection method; then providing a longest edge parameter path algorithm to automatically generate a spray travel of a workpiece and adding a transition path to form the complete spraying path; and finally, aiming at the complex curved surface characteristics of the surface of the workpiece, carrying out further optimization regulation on the path by adopting a variable travel method. According to the invention, corresponding accurate spraying models can be adaptively established for different spray guns so as to automatically generate the optimal spraying path on the curved surface of the complex workpiece; and on the premise of ensuring the uniformity of a coating, the working efficiency of the spraying manufacturing industry and the utilization rate of a paint are improved and the spraying quality and the aesthetics of the product are improved, so that better economic and social benefits can be obtained.

Description

technical field [0001] The invention relates to a spray gun path automatic planning method in the spraying robot manufacturing industry, in particular to a multi-spray gun self-adaptive modeling spray path automatic generation method. Background technique [0002] For products such as automobiles, electrical appliances and furniture, the spraying effect on the surface has a great influence on the quality. The use of painting robots in painting operations can improve product quality and stability, reduce paint and energy consumption, avoid acute or chronic poisoning caused by workers always being in a toxic environment during manual painting, and improve labor production efficiency. Therefore, the application of spraying robots in the manufacturing industry has attracted more and more attention. [0003] Early painting robots were of the "teach and reproduce" type. First, the operator "teaches" the whole process of the spray gun operation, and the robot controller memorizes...

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