Continuous variational inclination angle spraying track planning method for corner characteristic curved surface

Abstract

The invention discloses a continuous variational inclination angle spraying track planning method for a corner characteristic curved surface. The continuous variational inclination angle spraying track planning method comprises the following steps: carrying out modeling for a spraying gun static inclination angle spraying process to obtain a variational inclination angle spraying film distribution rule model on a plane; dividing a complex curved surface slice into a plurality of similar planar slices according to planning, distinguishing corner characteristic surface slice combinations, and generating spraying tracks on the corner characteristic surface slice combinations; establishing a coating overlaying model between every two adjacent spraying tracks during variational inclination angle spraying on the plane and at corners according to the variational inclination angle spraying film distribution rule model, and optimizing each model according to an ideal coating thickness to obtain relevant spraying track parameters. The continuous variational inclination angle spraying track planning method based on the inclination angle spraying technique has the advantages that spraying at inner corners of the corner characteristic curved surface can meet the coating quality requirements, and coating wastes at outer corners of the corner characteristic curved surface can be reduced; compared with the vertical spraying technique, the continuous variational inclination angle spraying track planning method has the advantages that the coating uniformity at the inner corners and the coating utilization rate at the outer corners can be improved, and the environment protection effect can be achieved.

Description

technical field [0001] The invention discloses a spraying trajectory planning method with continuously variable inclination angles on a characteristic curved surface of horns, relates to off-line programming control of a spraying robot, and belongs to the technical field of automatic control. Background technique [0002] Due to the advantages of high spraying quality, low labor intensity and liberating workers from toxic environment, the off-line programming control method of spraying robot is more and more used in the fields of automobile, ship and aerospace. The spraying trajectory planning in the off-line programming system is its core, but the current spraying trajectory planning is limited to the vertical spraying process. For such as the corner characteristic surface, the spraying trajectory planning method of the vertical spraying process is not suitable. The reason The reason is that the depth of the inner horns cannot be covered with an effective coating, and a lar...

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Problems solved by technology

The spraying trajectory planning in the off-line programming system is its core, but the current spraying trajectory planning is limited to the vertical spraying process. For such as the corner characteristic surface, the spraying trajectory

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