A 3D model-based method for robot spraying trajectory generation

Abstract

The invention is applied to the technical field of robot spraying, and provides a three-dimensional model-based robot spraying path generation method. The method comprises the following steps: S1. Selecting a spraying surface based on a three-dimensional model conducted by a simulation platform; calculating the minimal bounding case of the spraying surface; by taking any one surface of the minimalbounding case as a calibration plane, generating a group of plane clusters parallel to the calibration plane, wherein the distance between any two adjacent planes; by taking an intersection line of each plane in the plane clusters and the spraying surface as a spraying stroke, sequencing all the spraying strokes based on the generation sequence of the plane clusters; respectively adding a path point on counter extension lines from two ends of each spraying stroke, and performing line connection of the path point corresponding to the tail end of the front spraying stroke with the path point corresponding to the beginning end of the next spraying stroke, thus forming a spraying path. By using the method, the spraying path of the robot can be automatically generated only by needing manual setting of part parameters.

Description

technical field [0001] The invention belongs to the technical field of robot spraying and provides a method for generating a robot spraying track based on a three-dimensional model. Background technique [0002] At present, robots have been widely used in the spraying industry. There are two main ways to use robots for spraying operations to generate robot spraying trajectories: online teaching and offline programming. The traditional online teaching method, that is, the operator specifies the trajectory of the robot by dragging the robotic arm, not only takes up a lot of manpower and material resources, but also has problems such as low efficiency, time-consuming, poor accuracy, and insufficient safety. At the same time, when the sprayed workpiece is changed, it is necessary to teach the new workpiece again. This is very unfavorable for those enterprises that produce small batches and many varieties of workpieces, especially some small and medium-sized enterprises with li...

AI Technical Summary

Problems solved by technology

[0003] The embodiment of the present invention provides a method for generating a robot spraying trajectory based on a three-dimensional model, aiming to solve the problem that the existing off-line programming method is used to obtain the spraying trajectory, and the degree of automation is not high

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