Trajectory partition programming method for uniform spraying on curved surface
A surface and trajectory technology, which is applied in the field of trajectory block planning for uniform spraying on the surface, can solve the problems of uneven thickness of the surface paint film and different pressure gun densities.
Active Publication Date: 2020-12-04
CHANGCHUN UNIV OF SCI & TECH
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[0006] In order to solve the problem of uneven paint film thickness on the curved surface caused by the spraying trajectory generated by the prior art due to the different pressure gun density on the curved surface, the present invention proposes a block-based trajectory planning method for uniform spraying on the curved surface
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[0092] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.
[0093] Taking a certain type of car fender as an example, the surface of the fender is similar to a curved surface, and its boundary is irregular. The spraying robot spraying trajectory planning method, such as figure 1 As shown, a trajectory block planning method for uniform spraying of surfaces includes the following steps:
[0094] 1) Construct a surface expansion bounding box;
[0095] Surface {P}={p i |p i =(x i , y i ,z i ), i∈[1, 3514]}, the maximum and minimum values in the X, Y and Z directions are x, respectively max =1155,x min =1047,y max =1353,y min =676,z max =760,z min = 230, such as figure 2 As shown in a, the radius of the cone bottom when the spray gun is offset by a distance h is R=90mm, and the optimal spacing between adjacent tracks of the grid track is d=110mm.
[0096] like image 3 shown, the initial orie...
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The invention discloses a trajectory partition programming method for uniform spraying on a curved surface, relates to the technical field of robot spraying, and aims to solve the problem that in theprior art, the thickness of a curved surface paint film is not uniform due to different gun pressing densities of a generated spraying trajectory on a curved surface. The trajectory partition programming method comprises the steps of firstly, constructing a curved surface expanding surrounding box; partitioning the curved surface {P} into a series of single curved surface blocks {Pt} by utilizinga transverse section based on the expanding surrounding box; then partitioning each single curved surface block {Pt} into a series of single curved surface slices {wn} by utilizing a longitudinal section; traversing the single curved surface slices {wn}, generating corresponding spraying trajectory points according to the geometric characteristics of the single curved surface slices {wn}, and connecting the trajectory points to generate single spraying trajectories; carrying out over-spraying treatment on the single trajectories, and epitaxially generating over-spraying trajectory points to obtain complete single trajectories; and finally, connecting each trajectory in end-to-end order to form a complete spraying trajectory. According to the trajectory partition programming method, the single curved surface blocks are partitioned into the series of single curved surface slices, and the spraying trajectory points are generated according to the single curved surface slices, so that the gun pressing densities of the spraying trajectory on the curved surface are prevented from being different; and each spraying trajectory is subjected to the over-spraying treatment, so that excessive gun pressing density on the boundary of the curved surface caused by repeated spraying is avoided, and the spraying quality of the boundary of the curved surface is guaranteed.
Description
technical field [0001] The invention relates to the technical field of robot spraying, in particular to a trajectory block planning method for uniform spraying of curved surfaces. Background technique [0002] The trajectory planning of the spraying robot is one of the key technologies in the robot intelligent spraying system, which will directly affect the uniformity of the coating. In the process of spraying trajectory planning, the spraying trajectory generated on the surface is required to ensure that the density of the pressure gun is the same to achieve the uniformity of the coating. At present, there are mainly two types of surface spraying trajectory planning methods: imitation CNC machining method and slicing method. [0003] The Chinese patent publication number is "CN102527554 A", and the name is "a spray gun trajectory planning method for a free-form surface spraying robot". As the initial trajectory, however, the equidistant tool position trajectory may not ne...
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Login to View More IPC IPC(8): B05B12/00
CPCB05B12/00Y02P70/10
Inventor 苏成志刘军王恩国金俊杰王虹霖
Owner CHANGCHUN UNIV OF SCI & TECH