Spray path planning method for bending type sheet metal parts robot

Abstract

The invention relates to a spray path planning method for a bending type sheet metal parts robot. The method comprises the following steps: 1) by using the relational binary tree method, dividing thebending type sheet metal parts to be sprayed into a plurality of dough pieces, sorting and numbering the dough pieces, determining the main direction of spraying and the spraying direction in each dough piece; 2) considering the spraying direction in the dough piece and the transition form between the dough piece, completing the S-shaped path plan of each dough piece reciprocating along the spraying direction in the dough piece, and performing four-corner coding for each dough piece; 3) using the improved simulated annealing algorithm, completing the path combination optimization between multi-dough pieces, obtaining the final optimal planning path. Compared with the prior art, the invention has the advantages of fast group numbering, simple calculation, improved efficiency, wide application field and the like.

Description

technical field [0001] The invention relates to the technical field of robot automatic spraying, in particular to a robot spraying path planning method for bending sheet metal parts. Background technique [0002] Spraying robots play an important role in the automatic spraying production line. Robot automatic spraying technology improves the efficiency of robot spraying while ensuring the quality of spraying. Robot spraying technology is widely used in automobiles, furniture, plastics, military and marine products. Robot spraying technology reduces the consumption of paint, improves the economic efficiency of the factory, and effectively reduces the generation of pollutants. [0003] The surface smoothness of the sprayed finished product depends on the uniformity of the coating thickness. If the coating is too thick, defects such as sagging, wrinkling, and cracking will easily occur. If the coating is too thin, defects such as roughness, loss of gloss, and bottoming will ea...

AI Technical Summary

Problems solved by technology

[0003] The smoothness of the sprayed finished surface depends on the uniformity of the coating thickness. If the coating is too thick, defects such as sagging, wrinkling, and cracking will easily occur. If the coating is too thin, defects such as roughness, loss of gloss, and bottoming will easily occur.

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