A robot spraying trajectory planning method based on large complex surface model

Abstract

The invention discloses a robot spraying trajectory planning method based on a large-scale complex curved surface model. The steps are as follows: first, digital-analog offline planning: divide the workpiece model into regions, and determine the robot positions corresponding to each sub-region; adopt parallel slices based on STL files The algorithm determines the trajectory of the spray gun in each sub-area; generates the robot motion program; finally performs motion analysis and interference check on the robot motion program. If it fails, it is necessary to re-divide the area and determine the robot position corresponding to each sub-area. If it passes, enter the actual spraying planning part. Actual spraying planning: Use the vision system to determine the pose of the actual workpiece, perform corresponding coordinate transformation on the offline planning result, and perform simulation analysis on the transformed motion program, and finally complete the actual spraying after passing it completely, otherwise re-do the offline planning result Appropriate adjustments. By adopting the method, the efficiency of large complex curved surface spraying can be improved, the cost can be reduced, and the change of technological parameters can be easily realized.

Description

technical field [0001] The invention relates to a robot spraying trajectory planning method, in particular to a spraying trajectory planning method for large complex curved surfaces. Background technique [0002] With the rapid development of science and technology, the cost of labor is rising year by year, and the demand for robots is also increasing. Especially in the painting industry, robot spraying is widely used in the painting of automobiles, molds, castings and other products. [0003] After so many years of technological innovation, the spraying robot system used in the automobile body painting production line has been able to meet the automation requirements, and its final surface quality has been well guaranteed. However, the spraying treatment of castings with large and complex surfaces still needs to be improved, especially the spraying of castings used in the wind energy industry, which mostly uses manual spraying. Manual spraying means that the operator hold...

AI Technical Summary

Problems solved by technology

External axis linkage can be used to make up for the limited working space of the robot, but with the increase of external axes, the difficulty and cost of linkage control will also increase significantly

Moreover, general automatic spraying equipment needs to be equipped with special positioning fixtures for different workpieces, and the tooling needs to be redesigned when the product is updated, which will increase the cost

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