A trajectory planning method for air-spraying irregular curved pipe inner wall thickness coating trajectory

Abstract

The invention provides an air spraying irregular curved tube inner wall thick coating track planning method. According to the method, the longitudinal uniformity of a coating is better guaranteed on spraying path planning by optimizing the lap width and the dislocation distance with the help of a dislocation spraying method, intermittent construction operation can be achieved with the help of a transverse intermittent track spraying method, a spray gun of a spraying robot does not need to continuously rotate in the single direction all the time during spraying, and therefore spraying operation track planning can be beneficial for simplifying the structural design of the spraying robot without needing a complex mechanical structure; meanwhile, the relative relationship between the spray moving speed of the spray gun and the spray gun paint transferring rate of different curvature surfaces is further taken in account, and the transverse uniformity of coatings on the different surface areas is further improved in spray moving speed planning. Accordingly, according to the track planning method, not only is simplification of the structural design of the spraying robot facilitated, but also the uniformity of the thick coatings can be significantly improved.

Description

technical field [0001] The invention relates to the technical field of robot spraying control, in particular to an air spraying method for planning a coating track with an inner wall thickness of an irregularly curved pipe. Background technique [0002] In the manufacturing industry, air spraying the inner wall thickness coating of irregular curved pipe is an important process. Irregular curved pipe refers to a curved pipe composed of a variety of different curvature surfaces and planes. Irregular curved pipe has the characteristics of curved center line, variable cross-section and narrow space. Some aircraft inlets are typical irregular Curved pipe. Thick coatings are coatings whose thickness is measured in millimeters and require multiple passes of air spray to achieve the required thickness. Due to the narrow internal space of the irregular curved pipe, only air can be used to spray its inner wall. The traditional manual spraying method has three obvious disadvantages:...

AI Technical Summary

Problems solved by technology

The traditional manual spraying method has three obvious disadvantages: first, it is difficult to do manual work in a narrow space, and the uniformity of the coating after spraying is poor; second, the efficiency of spraying operations is low, which seriously affects the production progress; third, the coating contains heavy metals and toxic organic solvents. The harsh environment of construction is very harmful to the health of spraying workers

However, the continuous spraying method of the helical trajectory requires the spray gun of the spraying robot to continuously rotate in a single direction when spraying. Such a spraying technology requires the spraying robot to have a relatively complicated mechanical structure, resulting in difficult structural design of the robot and high equipment manufacturing costs. The size is too large, too heavy, and the flexibility is poor, so it is difficult to spray the inner wall of the irregularly curved pipe with a curved center line

In addition, spraying thick coatings using the traditional method of only optimizing the overlap width (overlap width refers to the width of the overlapping area of ​​the spray pattern of two adjacent spray strokes in a single spraying process), will lead to coating uniformity not ideal

Images