Spraying process integrated spraying path planning algorithm for automatic spraying system

Abstract

The invention relates to a spraying process integrated spraying path planning algorithm for an automatic spraying system. The spraying process integrated spraying path planning algorithm comprises the following steps: importing a generated 3D model of a part to be subjected to spraying; reading information of triangle patches of an STL-format mathematical model and displaying the 3D model of the part to be subjected to spraying; judging features of the part to be subjected to spraying, automatically giving scanning directions, starting positions and scanning intervals of scanning planes according to the integrated process principle, and generating a cluster of scanning planes at equal intervals; obtaining intersection line segments of the scanning planes with the triangle patches through calculation, and sequentially connecting the line segments to obtain a track line so as to form a spraying track; judging the features of the part and the type of a spray gun, and automatically giving the distance between the spray gun and a spraying surface; obtaining the track of the center of the spray gun; judging the features of the part to be subjected to spraying, and automatically giving a moving speed on the spraying surface according to the integrated process principle; calculating the moving speed of the spray gun along the track of the center of the spray gun; and generating a numerical control command for spraying operation and finishing the track planning.

Description

technical field [0001] The invention relates to the field of automatic spraying systems, in particular to a spraying path planning algorithm suitable for the integrated spraying process of the automatic spraying system. Background technique [0002] In order to ensure the quality of spraying, improve the efficiency of spraying, and realize the automation of spraying for the surface automatic spraying of parts with complex curved surfaces, it is necessary to develop a trajectory planning algorithm suitable for automatic spraying systems. [0003] In the past, the path planning of spraying robots mostly used the manual trajectory planning method, and taught according to the manual spraying trajectory. With the experience of workers and a large number of experiments, the spraying effect largely depends on the level of workers, and it is difficult to achieve high spraying quality. It is difficult to meet the spraying needs of complex parts; or manually collect points from the sp...

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