Robot spray gun trajectory setting method in copper plate spraying operation

Abstract

The invention discloses a robot spray gun trajectory setting method in copper plate spraying operation. The method comprises the steps that a spray gun spraying area is set, wherein the geometric model of the area is a spraying cone; spraying mediums and related parameters of a spray gun are set; the area and the radius of the spraying area and the thickness of a coating are acquired; the stacking range of the spraying area is calculated; according to a spraying angle of the spray gun and the distance between the spray guns of all spraying areas, the stacking distance between adjacent spraying areas is acquired; for a copper plate corner angle, the spray gun is always vertical to an arc face of the copper plate corner angle; in adjacent spraying areas, the spray gun rotates an angle of beta by taking the axis of the corner angle arc face as the circle center; a robot spray gun trajectory database is established and related parameters of the spray gun trajectories of the database are programmed into a spray gun trajectory subprogram; and the trajectory of the spray gun runs according to the setting of the subprogram. According to the method, through the acquired robot spray gun trajectory, an optimization target of the robot spraying operation is realized; the uniformity and the quality of the coating are effectively improved; the spraying cost is reduced; and the spraying efficiency is improved.

Description

technical field [0001] The invention relates to a method for setting the track of a robot spray gun in copper plate spraying operation. Background technique [0002] At present, robots are widely used in spraying occasions. The setting of robot spray gun trajectory is very important to the coating quality. The spray gun trajectory is generally realized by programming. The traditional programming method generally uses teaching programming. The trajectory of the motion is recorded by selecting the appropriate coordinates, and then the written reproduction program is executed, and the actuator can reproduce the predetermined trajectory. This process is not only cumbersome, but also requires samples before teaching, which cannot be compared with mass production. At the same time, the spraying effect and efficiency are related to many factors such as the trajectory of the robot spray gun, the geometric shape of the copper plate to be coated, and the parameters of the spray gun. ...

AI Technical Summary

Problems solved by technology

[0002] At present, robots are widely used in spraying occasions. The setting of robot spray gun trajectory is very important to the coating quality. The spray gun trajectory is generally realized by programming. The traditional programming method generally uses teaching programming. The trajectory of the motion is recorded by selecting the appropriate coordinates, and then the written reproduction program is executed, and the actuator can reproduce the predetermined trajectory. This process is not only cumbersome, but also requires samples before teaching, which cannot be compared with mass production. At the same time, the spraying effect and efficiency are related to many factors such as the trajectory of the robot spray gun, the geometric shape of the copper plate to be coated, and the parameters of the spray gun. The metal coating required by the process, due to the characteristics of high temperature, high speed and high residual stress in the supersonic spraying forming process, the reasonable path planning of the spray gun trajectory in the supersonic spraying process of the robot is to obtain a uniform thickness of the metal coating and improve The key to metal coating formability

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