Curved surface spraying trajectory planning method
A trajectory planning and surface technology, applied in instruments, computer control, simulators, etc., can solve the problems of low efficiency of automatic trajectory planning, uneven thickness of spray coating, etc., to achieve excellent uniformity of coating thickness and improved coating quality , the effect of broad application prospects
Active Publication Date: 2018-09-07
TSINGHUA UNIV
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Problems solved by technology
[0006] In order to solve the existing problems of uneven coating thickness and low efficiency of automatic trajectory planning for complex curved surfaces, the present invention provides a complex curved surface spray trajectory planning method based on the transition section optimization algorithm
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[0062] The present invention will be further described below in conjunction with the accompanying drawings.
[0063] figure 1 It is a calculation flowchart of a spraying trajectory planning method based on a transition section optimization algorithm provided by the present invention. The method first inputs the workpiece STL model and the spraying process parameters, and records the vertex coordinates and the surface normal vectors of each triangular patch unit. Calculate the scanning point coordinates formed by the intersection of the scanning surface and the triangular surface; secondly, offset the scanning point along the direction of the normal vector of the surface to determine the trajectory point of the parallel segment; thirdly, according to the angle and The relationship between the angle threshold of the surface sheet, determine the trajectory form of the transition section, and calculate the coordinates and normal vectors of the trajectory points of the transition s...
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A curved surface spraying trajectory planning method comprises the steps that firstly, parallel scanning surfaces at equal intervals are generated, and the coordinates of scanning points formed by intersection of the scanning surfaces and triangular surface sheets are calculated; secondly, a matrix is horizontally moved and converted on the basis of the coordinates, and parallel section trajectorypoints corresponding to all the scanning points are determined; thirdly, according to a transition section optimization theory, a proper transition section trajectory form is selected, and transitionsection trajectory point coordinates are determined; fourthly, on the basis of a complex curved surface coating thickness distribution model, coating thicknesses of workpiece surface calculation points, and the average thickness, the standard deviation, errors and other coating quantity indexes of workpiece coatings are calculated; fifthly, the above processes are repeated until the coating quantity indexes meet the uniformity requirement of the coatings, and an optimized spraying trajectory is obtained. By means of the method, coating thickness uniformity errors of complex curved surfaces are reduced, and the method plays an important role in improving part spraying quality and is suitable for trajectory planning when spraying robots are used for spraying complex free curved surfaces ofaviation structural parts.
Description
technical field [0001] The invention relates to a curved surface spraying trajectory planning method, which is particularly suitable for trajectory planning when a spraying robot is used to spray complex free curved surfaces such as aviation structural parts, and belongs to the field of industrial robots. Background technique [0002] In order to meet the requirements of stealth protection, the surface of aerospace parts is usually a complex free-form surface, and the quality of spray coating thickness and uniformity has an important impact on the performance of parts. The spraying robot is an important automatic processing equipment in the spraying field, and the automatic planning of the spraying trajectory is the core technology of the off-line programming system of the spraying robot, which determines the coating quality and performance of the parts. Compared with the manual teaching method, automatic spraying trajectory planning technology has many advantages such as im...
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IPC IPC(8): G05B19/408
CPCG05B19/4086G05B2219/35356
Inventor 关立文陈璐
Owner TSINGHUA UNIV