Robot spray workpiece surface modeling method

A surface modeling and robot technology, which is applied in the directions of manipulators, spray devices, manufacturing tools, etc., can solve problems such as inability to use complex curved workpiece surfaces for spraying operations, low precision, and inability to apply the angle between the normal vectors of the spraying surfaces.

Inactive Publication Date: 2014-01-01
JIANGSU UNIV OF SCI & TECH
View PDF10 Cites 14 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These three types of methods have limitations: they are neither suitable for surface modeling with large curvature changes, nor for workpiece modeling with complex curved surfaces that need to be sliced.
This method is relatively simple for surface modeling, and can only be applied to free-form surfaces with small curvature changes, and cannot be used for spraying operations on the surface of complex curved workpieces with complex connected areas.
In the patent literature with the patent number ZL200810020500.6, a spray gun trajectory optimization method for spraying robots on complex surfaces i

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
  • Robot spray workpiece surface modeling method
  • Robot spray workpiece surface modeling method
  • Robot spray workpiece surface modeling method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0050] The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0051] The implementation steps of the present invention are mainly composed of three parts: connecting triangles into smaller plane pieces, establishing plane piece connection diagram FPAG, and merging smaller plane pieces into several new larger plane pieces. The specific implementation is as follows:

[0052] 1. Triangular faces are connected into smaller flat pieces

[0053] After inputting the CAD data of the workpiece in the engineering application software (such as GID7.2), use the triangle output function of the software to directly triangulate the workpiece. The specific steps of triangular meshing of workpiece surface are as follows:

[0054] ① According to the CAD model of the workpiece, divide the surface of the workpiece into a triangular mesh;

[0055] ② After the division is completed, the triangular mesh surface is obtained to approximate the origin...

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

The invention discloses a robot spray workpiece surface modeling method. The method includes the steps of performing triangular grid partitioning on a workpiece surface, setting a maximum normal vector threshold, connecting triangular faces into small flat patches according to a triangular face connecting method, creating a flat patch adjacency graph, and merging all the small flat patches to a plurality of new large flat patches according to a flat patch adjacency graph merging algorithm. The method is applicable to surface modeling of various complicated sprayed workpieces, particularly applicable to surface modeling of workpieces large in curvature change and fast in calculation, so that preparations are made for follow-up spraying robot route planning and trajectory optimization so as to meet requirements on working of a spraying robot, and working efficiency of the spraying robot and quality of products can be improved.

Description

Technical field [0001] The invention relates to a curved surface modeling method of a sprayed workpiece by a robot, in particular to a curved surface modeling method of a sprayed workpiece used in an offline programming system of a spraying robot. Background technique [0002] The structure of the spraying robot offline programming system mainly includes the following six modules: workpiece modeling module, parameter setting module, spraying robot trajectory generation module, robot motion trajectory generation module, analysis simulation module and robot program generation module. In the workpiece modeling module, for plane or regular surface, you can directly write its expression; for free-form or complex surface, you need to use a special method to model the surface. After modeling, the system CAD database is stored The CAD data of the object provides the workpiece data information for the spraying robot trajectory generation module. [0003] The surface modeling of the sprayed...

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): B05B13/04B25J13/00
CPCB05B13/0457
Inventor 陈伟曾庆军汤养刘海舰
Owner JIANGSU UNIV OF SCI & TECH
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

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap