Intelligent optimization method for spray gun tracks of steel box girder sandblast derusting parallel robot

Abstract

The invention discloses an intelligent optimization method for spray gun tracks of a steel box girder sandblast derusting parallel robot. According to the method, firstly, a surface roughness prediction model reflecting the relationship between spray gun track parameters, including spray distances, spray angles and spray gun moving speeds, and surface roughness is established by adopting multivariate fitting for sandblast derusting operation by the steel box girder sandblast derusting parallel robot; secondly, a spray gun track parameter optimization model with sandblast efficiency being an optimization target is established, optimal spray gun track parameters are optimally solved, and a spray gun track on each surface is generated; and finally, a genetic algorithm is fused on the basis ofan ant colony optimization algorithm to perform combined optimization on the spray gun tracks between all the surfaces. According to the intelligent optimization method for the spray gun tracks, theproblem that the surface roughness of a steel box girder is difficult to detect in real time at present is effectively solved by establishing the surface roughness prediction model; and the spray guntracks finally obtained through intelligent optimization can ensure that the surface roughness meet the technological requirement, and the sandblast derusting efficiency also can be improved.

Description

technical field [0001] The invention relates to the technical field of sandblasting and cleaning of large workpieces, in particular to an intelligent optimization method for spray gun trajectory of a steel box girder sandblasting and derusting parallel robot. Background technique [0002] Sand blasting and rust removal is the most basic and important link in the anticorrosion treatment of steel bridge decks. The quality of rust removal directly affects the quality and effect of subsequent spraying. Because the steel box girder is bulky and difficult to transport, its manufacture and anti-corrosion treatment are usually carried out not far from the bridge construction, which requires that the equipment for automatic sandblasting and derusting operations must have good mobility. However, the existing spraying Sand robots usually need to perform sandblasting operations in a fixed sandblasting room, and their mobility is poor. In addition, the steel box girder is not only bulky...

AI Technical Summary

Problems solved by technology

This method not only effectively solves the problem that the surface roughness of steel box girders can only be measured with the help of surface roughness templates or surface profilers after sandblasting, but is difficult to detect in real time by establishing a surface roughness prediction model, but also through intelligent optimization The final trajectory of the spray gun can not only ensure that the surface roughness meets the process requirements, but also improve the efficiency of sand blasting and rust removal

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