Spherical coordinate system-based calculation method of spraying thickness accumulation rate

Abstract

The invention discloses a spherical coordinate system-based calculation method of a spraying thickness accumulation rate. The method is characterized by including the following steps: S1, establishinga function expression of a spraying-gun coating supply flow rate model under a spherical coordinate system of a spraying gun; S2, establishing a relationship of a coating accumulation rate model andthe spraying-gun coating supply flow rate model of any point on a free curved surface under the spherical coordinate system; S3, determining each to-be-determined parameter or coefficient in a spraying-gun coating supply flow rate function, and calculating a spraying-gun coating supply flow rate; and S4, calculating the coating accumulation rate according to the spraying-gun coating supply flow rate. The method can be widely used in spraying-robot spraying jobs of various complex free curved surfaces, expression is more intuitive, calculation is simpler, and a good foundation can be laid for subsequent trajectory planning and cumulative thickness simulation; and theoretical and algorithmic bases can be provided for realizing offline programming and simulation of robot automatic-spraying, and improvement of workpiece spraying quality is facilitated.

Description

technical field [0001] The invention belongs to the field of robotic automatic spraying, and in particular relates to a method for calculating the cumulative rate of spraying thickness based on a spherical coordinate system. Background technique [0002] The spraying robot is an advanced coating equipment developed based on robot technology and combined with the spraying process. It can complete the spraying operation of different workpieces through programming, ensure the consistency of spraying quality, reduce the loss of paint, and greatly improve the spraying efficiency and spraying quality. Quality, reduce the cost of spraying production, can adapt to various complex spraying environments, and eliminate the damage to workers caused by traditional spraying operations, so it is widely used in the spraying operations of automobiles, electrical appliances, furniture and other products. [0003] In robot spraying production, the cumulative rate model of spraying thickness at...

AI Technical Summary

Problems solved by technology

However, the above models are all based on the spraying of the spray gun to the plane. When it is extended to the free-form surface spraying, it is necessary to approximate and introduce more complex algorithms, and the calculation and implementation are not simple and intuitive.

Images