Trajectory Block Planning Method for Uniform Spraying on Surface
A curved surface and trajectory technology, which is applied in the field of trajectory block planning for uniform spraying on curved surfaces, can solve problems such as uneven paint film thickness on curved surfaces and different pressure gun densities, and achieve the goal of ensuring rationality, ensuring spraying quality, and improving spraying quality Effect
Active Publication Date: 2022-05-17
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 in conjunction with the accompanying drawings and embodiments.
[0093] Taking a car fender of a certain model as an example, the surface of the fender is similar to a curved surface, and its boundary is irregular. The spraying trajectory planning method of the spraying robot is as follows: figure 1 As shown, a trajectory block planning method for uniform surface spraying, including the following steps:
[0094] 1) Construct the bounding box of surface expansion;
[0095] Surface {P} = {p i |p i =(x i ,y i ,z i ), i∈[1, 3514]}, its maximum and minimum values in the X, Y and Z directions are x 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 is R=90mm when the spray gun is offset by h, and the optimal distance between the adjacent tracks of the grid track is d=110mm.
[0096] Such as image 3 As shown, the initi...
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The trajectory block planning method for uniform spraying on curved surfaces involves the field of robot spraying technology. In order to solve the problem of uneven paint film thickness on curved surfaces caused by different spraying trajectories generated by the prior art on curved surfaces, the method first constructs curved surfaces Expanded bounding box; Based on the expanded bounding box, the surface {P} is divided into a series of single surfaces {P} using transverse slices t}; then for a single surface {P t}Use the longitudinal section to block into a series of monolithic surfaces{w n}; Traverse the monolithic surface {w n}, generate corresponding spraying trajectory points according to their geometric features, and connect the trajectory points to generate a single spraying trajectory; then perform overspray processing on a single trajectory, and generate overspraying trajectory points by extension, so as to obtain a complete single trajectory; finally, each trajectory is in the order of first and last Connect to form a complete spraying trajectory. This method divides a single curved surface into a series of single-piece curved surfaces, and generates spraying trajectory points based on the single-piece curved surface, which avoids the difference in the pressure gun density of the spraying trajectory on the curved surface; overspraying is carried out for each spraying trajectory, avoiding duplication Spraying leads to excessive pressure gun density on the surface boundary, which ensures the spraying quality of the surface boundary.
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 on curved surfaces. Background technique [0002] Trajectory planning of spraying robot is one of the key technologies in robot intelligent spraying system, which will directly affect the uniformity of coating. In the process of spraying trajectory planning, the spraying trajectory generated on the curved surface needs to ensure the same pressure gun density, so as to achieve the uniformity goal of the coating. At present, there are mainly two methods for trajectory planning of curved surface spraying: imitation numerical control machining method and slicing method. [0003] The Chinese patent publication number is "CN102527554 A", and the title is "A spray gun trajectory planning method for a free-form surface spraying robot". This method utilizes the characteristics that the numerical control machining process is v...
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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