Variable spraying method for plane polygon

A polygonal and variable technology, applied in the field of off-line programming, can solve the problems of wasting paint, roughness, etc., and achieve the effects of strong practicability, saving paint amount, and optimizing spraying effect

Inactive Publication Date: 2018-04-13
JIANGSU UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

During the spraying process, parameters such as spraying flow rate and rotating cup speed need to be adjusted. Generally, the setting of spraying parameters is relatively rough, which is a waste of paint.

Method used

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  • Variable spraying method for plane polygon
  • Variable spraying method for plane polygon
  • Variable spraying method for plane polygon

Examples

Experimental program
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Effect test

Embodiment Construction

[0033] Step 1: Teach the tool TCP of the spraying robot, so that the tool can teach each vertex of the polygon with a suitable posture. The method of obtaining the pose of the spray gun is as follows:

[0034] 1) Mathematical model of spray gun trajectory

[0035] Assuming that the workpiece is fixed, the polygonal surface can be represented by the function z=h(x,y), where the mapping h:D→R, the definition domain So the function of the polygonal surface can be defined as:

[0036] S={(x,y,z)|z=h(x,y),(x,y)∈D} (1-1)

[0037] The pose is represented by the Cartesian coordinate system XYZ. Let the three-dimensional vector functions P(t) and O(t) represent the position and direction of the spray gun in the fixed Cartesian coordinate system respectively. The relationship between these two vectors and time t can be expressed as:

[0038] P(t)=[p x (t),p y (t),p z (t)] (1-2)

[0039] O(t)=[o x (t), o y (t), o z (t)] (1-3)

[0040] Among them, the vector p in formula (1-...

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Abstract

The invention discloses a variable spraying method for a plane polygon. According to the variable spraying method for the plane polygon, geometric analysis is carried out on an irregular polygon, theirregular polygon is divided into the combination of a triangle and n trapezoids or the combination of n trapezoids, a quantitative spraying area and a variable spraying area are planned, and an optimal spraying track is generated; a quantitative spraying method is adopted for most of the trapezoid regions, a trapezoid scroll number required by variable spraying is obtained according to the widthof the triangle, and the triangular part is digested by adopting the variable spraying method; and the diameter of the spraying pattern is calculated in real time in the variable spraying process, andthe electrostatic voltage of a spinning cup, the rotating speed of the spinning cup, the distance between the spinning cup and the workpiece, the moving speed of the spinning cup and other variable spraying parameters are reversely pushed out through the diameter of the spraying pattern and the expected beat number. According to the variable spraying method for the plane polygon, the trajectory planning time of early-stage spraying can be shortened, the trajectory planning problem of the complex polygon can be simplified, thus the waste of the coating can be reduced, and the economic benefitis improved; and meanwhile, the discharge amount of the paint to the spraying room can be reduced, and the pollution degree of the workshop can be reduced.

Description

technical field [0001] The invention relates to a method for spraying polygons by a spraying robot, which is an off-line programming method for calling variable spraying for irregular polygons. Background technique [0002] Electrostatic spraying is a new technology based on the combination of traditional spraying and electrostatic effect. Applying electrostatic spraying technology to spraying robots has the best economic benefits and is widely used in domestic and foreign automobile coating production lines. It not only improves the quality of products Quality and output, but also to ensure personal safety, improve working conditions, reduce labor intensity, reduce production costs and reduce environmental pollution. Before the robot is sprayed, it is often necessary for technicians to teach a large number of target points, adjust the posture of the robot, and write complex motion trajectories. During the spraying process, parameters such as the spraying flow rate and the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B05D1/04G09B25/02
CPCB05D1/04G09B25/02
Inventor 赵德安糜慧亮季松林
Owner JIANGSU UNIV
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