Optimizing method of spray coating robot spray gun track on complex curved surface

Abstract

The invention discloses spray gun locus optimization method of a spray robot on a complex curve surface, comprising: slicing the complex surface, considering each slice as a plane, designing locus of each slice by using plane spray gun locus optimization method; according to relative position relationship between two slices boundary and juncture locus, discussing juncture spray locus optimization according to different condition, optimizing the juncture locus by using spray locus subsection method; considering spray gun locus optimization composition problem as country mail carrier problem (ORPP), representing ORPP by using Hamiltonian graphic method, performing optimum combination of spray gun locus of each slice by using modified genetic algorithm, and realizing spray locus optimization on a large area curve surface. The invented method is provided with practicability, and is a robot auto spray method for workpieces with a surface of complex curve surface. By using the invented method, the work efficiency of the spray robot is improved, the spray quality is promised, and the paint is saved.

Description

technical field [0001] The invention relates to a method for automatically optimizing the trajectory of a spray gun of a spraying robot, which is an off-line programming method for a robot when performing a spraying operation on a workpiece whose surface is a complex curved surface. Background technique [0002] The spraying effect of the spraying robot is related to many factors such as the surface shape of the object and the parameters of the spray gun. For products such as automobiles, electrical appliances and furniture, the spraying effect on the surface has a considerable impact on the quality. In the automatic spraying operation, the manipulator of the spraying robot moves back and forth around the surface of the workpiece to be painted, and the selection of appropriate trajectory and other process parameters can save production costs and correspondingly reduce the total amount of paint discharged into the spray shop environment. amount and reduce environmental pollu...

AI Technical Summary

Problems solved by technology

However, when spraying large-scale products such as automobiles, aircrafts, and ships, many large-area complex surfaces will be encountered. The usual method for this is to slice the surfaces, but the complex surface segmentation and optimal combination strategy and slice-to-slice The trajectory optimization problem at the junction has not been effectively solved so far, resulting in increased difficulty in robot movement, reduced spraying efficiency, and uneven coating thickness at the junction of sheets.

Therefore, when spraying large-scale products in actual production, the appearance quality of the product cannot be further improved, and automatic spraying on complex and multi-piece curved surfaces cannot be realized

For example, after the robot sprays the main part of the car body, it still needs to be supplemented by manual spraying, which is time-consuming, laborious, and material-intensive, and the workers are still in a harmful environment.

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