Curved surface object corner recognizing and spraying method

Abstract

The invention relates to a curved surface object corner recognizing and spraying method. The method includes that on the basis of realization of fragmenting of a complex free curved surface, aiming at an included angle between adjacent surface fragment combinations, geometric relation with a spraying flare angle of a spray gun is adopted, and a law model of influence, of the included angles between the surface fragment combinations, on extreme thickness values of a coating during vertical spraying is built to recognize corner features. By the method, nonexistence of coatings and coating waste at junctions of concave surface fragments during vertical spraying at junctions of the surface fragment combinations can be effectively avoided, so that spraying efficiency is improved while spraying quality is guaranteed.

Description

technical field [0001] The invention relates to a method for identifying and spraying curved surface object horns. Background technique [0002] As a very important automatic coating equipment in the coating field, spraying robots are widely used in fields such as automobiles, shipbuilding, molds and aerospace. The improvement of coating uniformity and coating utilization rate on the surface of the product during spraying has always been the goal pursued by the company, especially the corners on the surface of box products such as the trunk lid of the car. The traditional spraying operation is used, and the coating quality is low. , And the waste of paint will be caused during the spraying process. The traditional spraying operation adopts the process method perpendicular to the surface of the workpiece. If the inclination spraying process in the spraying process is considered in due course, by analyzing the geometric parameters of the workpiece surface that affect the qual...

AI Technical Summary

Problems solved by technology

It is known from the existing literature that the current relevant research on spraying trajectory planning is based on the vertical spraying process. For example, public numbers CN101239346, CN101367076A and CN102500498A provide respectively for complex curved surfaces, irregular planes and irregular polyhedrons. The vertical spraying trajectory optimization method, and in the actual spraying process, in order to improve the coating quality at the corners of the curved surface and reduce the waste of paint, the inclined angle spraying process is often used, but if the inclined angle spraying process is blindly used in other areas of the curved surface It does not improve the spraying effect, so there is still room for development of the feature recognition method for curved surface corners using the angled spraying process

Images