Multi-parameter time-varying robot spraying method

Abstract

The invention relates to a multi-parameter time-varying robot spraying method which comprises the following steps: firstly, establishing a free-form surface multivariable spraying model which uses flow of a spraying gun, a spraying distance and a spraying speed as model independent variables; then discretizing an original spraying path into a plurality of sections of minute sub paths, distributing initial values of time-varying spraying process parameters to each sub path and on the basis of the established multivariable spraying model, predicting distribution of an initial coating thickness; next, on the basis of a prediction result on distribution of the coating thickness, carrying out combined optimization on the time-varying process parameters to obtain the optimal process parameters on each section of sub path and finally, obtaining a multi-parameter time-varying spraying path of a surface to be sprayed. According to the method disclosed by the invention, various process parameters are used as variables; by the multivariable spraying model and a free-form surface coating thickness predicting method, the optimal process parameters on the sub paths of the discretized spraying path are obtained; dynamic optimization of the process parameters is implemented; the multi-parameter time-varying robot spraying method has the important effect of improving spraying operation efficiency, quality and safety of a robot.

Description

technical field [0001] The invention relates to a multi-parameter time-varying robot spraying method, which belongs to the technical field of robot spraying. Background technique [0002] In recent years, spraying robots have been widely used due to their high spraying efficiency, high trajectory accuracy, and good repeatability. With the expansion and deepening of robot spraying applications, the shape of workpieces has become more and more complex. The requirements for precision are getting higher and higher. How to reasonably plan the spraying trajectory of the robot, optimize the process parameters, fully tap the potential of the robot, and improve the quality of the spraying operation has become an important issue for the spraying robot. [0003] In the traditional robot spraying method, the process parameters should be kept constant throughout the spraying operation as the basic principle to ensure the stability of the spraying quality. Adjust the paint pressure regul...

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Problems solved by technology

[0004] However, through the investigation of published literature, patents, and industrial products, it is found that most of the research and application of spraying trajectory optimization are limited to the optimization of spraying path. Although a few studies involve the optimization of spraying speed, they are only Single-parameter optimization does not go deep into the level of multi-parameter combination optimization, and most of the optimization methods used are aimed at specific applications, lacking versatility

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