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Painting robot position planning method for large-scale free-form surface

A spraying robot, free technology, applied in the fields of instruments, computing, electrical and digital data processing, etc., can solve the problems of large demand for planning and low efficiency of offline spraying planning

Active Publication Date: 2015-02-04
清研同创机器人(天津)有限公司
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AI Technical Summary

Problems solved by technology

If the station location is determined by manual designation, there are problems: on the one hand, how to adjust the station that cannot meet the requirements needs to rely on experienced planners; on the other hand, large free-form surfaces will be divided into a large number of free-form surface blocks, each free-form surface block needs to find a station, and the demand for planning is large
In this way, if the manual method is adopted, the efficiency of offline spraying planning is very low. Therefore, it is urgent to propose a fast and highly automated station planning method

Method used

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  • Painting robot position planning method for large-scale free-form surface
  • Painting robot position planning method for large-scale free-form surface
  • Painting robot position planning method for large-scale free-form surface

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Embodiment Construction

[0029] For large free-form surfaces, the workspace of common 6-DOF spraying robots can only cover a small area on it. In order to use as few spraying robots as possible to complete the spraying of large free-form surfaces, the spraying robot should be installed on a three-dimensional mobile platform with a large stroke. The three-dimensional mobile platform will transport the spraying robot to a suitable position and keep it still. Robots do the painting. When the spraying robot is spraying, the position where the origin of the base coordinate system is located is called the station. The station planning of the spraying robot on the large free-form surface is to find a suitable station for each free-form surface in the large free-form surface on the basis of completing the trajectory planning of the spray gun, so that the spraying robot can satisfy the requirements of the robot itself when moving according to the trajectory of the spray gun. Joint angle and angular velocity a...

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Abstract

The invention discloses a painting robot position planning method for a large-scale free-form surface and relates to the technical field of robot painting. According to the method, firstly, a spray gun track planning method is adopted to complete blocking of the large-scale free-form surface and planning of a spray gun track; then on a specified position search cone generatrix, a point in a working space of a painting robot and a three-dimensional moving platform is selected and a joint angle and a joint angular velocity in the painting motion are solved out by utilizing the robotics principle so as to carry out feasibility checking on the point; next, collision interference check is carried out by utilizing a motion simulation function of three-dimensional shaping software; finally, all feasible positions corresponding to free-form surface blocks are found. The painting robot position planning method for the large-scale free-form surface can implement batch position planning on a plurality of free-form surface blocks in the large-scale free-form surface and has a high calculating speed and a high automation degree.

Description

technical field [0001] The invention relates to the technical field of robot spraying, in particular to a station planning method for a large free-form surface spraying robot. Background technique [0002] The robotic automatic spraying system has the advantages of good repeatability, easy regulation, stable spraying quality and high work efficiency, and is widely used in the coating operations of various products. The spraying robot for painting small products is installed on a fixed base, so the core of offline spraying planning for the spraying robot is to solve the problem of spray gun trajectory planning. For products with large free-form surfaces such as airplanes and ships, a spraying robot installed on a fixed base can only cover a small part of the area to be painted. At the same time, such products are also heavy and difficult to move and locate. features. Although it is possible to cover more areas by increasing the number of spraying robots, the increase in the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
Inventor 王国磊陈恳谢颖杨向东帅朝林郑林斌刘莉吴聊刘志任书楠程建辉于乾坤
Owner 清研同创机器人(天津)有限公司
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