Method for spraying robot spatial path planning

A spraying robot and space path technology, applied in the field of intelligent robots, can solve problems such as inability to use complex curved workpiece surface spraying operations, and no planning method for spraying space paths, etc., to achieve the effect of improving work efficiency and product quality

Inactive Publication Date: 2014-03-05
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

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.
The patent document with the patent number ZL200810020500.6 provides a spray gun trajectory optimization method for spraying robots...

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  • Method for spraying robot spatial path planning
  • Method for spraying robot spatial path planning
  • Method for spraying robot spatial path planning

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Embodiment Construction

[0040]The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0041] The implementation steps of the present invention are composed of complex curved surface slices and spraying path planning on each slice. The specific implementation methods are as follows.

[0042] 1. Complex Surface Fragmentation

[0043] Complex surface sharding is mainly based on surface topology. Suppose a complex surface M c After triangular meshing, it is expressed as:

[0044] M c = ∪ i = 1 n T i

[0045] In the formula, T i Indicates the i-th triangular face, and n represents the total number of triangular faces. The calculation method of the average normal vector of a complex surface is:

[0046] n b ...

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Abstract

The invention discloses a method for spraying robot spatial path planning. The method comprises the steps of performing fragmentation on a complex curved surface according to a topological structure of the complex curved surface; respectively calculating measurement parameters of regular polygons and convex polygons after fragmentation, the number of turning points of a spraying spatial path and the sum of public side lengths between pieces, building an optimal solution evaluation function of some piece after fragmentation of the complex curved surface, further expressing a complex curved surface fragmentation problem as a mathematical optimization problem with constraint conditions, and solving the problem. After the complex curved surface is subject to fragmentation, spraying robot spatial path planning is performed on every piece, the spraying path evaluation function is established according to different spatial path modes and trends on every piece, the optimal path mode and trend are selected with the evaluation function value optimum serving as the target, the robot spraying effect and spraying efficiency on the complex curved surface are improved, and the practical industrial production requirements are met.

Description

technical field [0001] The invention relates to a spraying robot, in particular to a space path planning method for a spraying robot, which belongs to the technical field of intelligent robots. Background technique [0002] Spraying robot is an 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 optimization of the appropriate path and other process parameters can save production costs. In actual production, there are two main objectives for optimizing the spraying operation of the spraying robot: one is that the coating on the surface of the workpiece is as uniform as possible; the oth...

Claims

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Application Information

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IPC IPC(8): B05B13/04G06F17/50
CPCB05B13/0457
Inventor 陈伟曾庆军汤养刘海舰
Owner JIANGSU UNIV OF SCI & TECH
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