Pipeline spraying robot and operation track planning method thereof

Abstract

The invention discloses a pipeline spraying robot with multiple-redundant degree of freedom and an operation track planning method thereof. The method comprises the following steps: S1, a geometric mode of a sprayed surface is led into a specified module of a drawing software, the specified module automatically generates a no-touching spraying path of the spraying workpiece of the robot in the pipeline; S2, iterative operation is carried out based on a projection gradient method, and the continuous movement track of the joints of the robot is planned; S3, collision detection is carried out according to the continuous movement track of the joints, if colliding, the weighting coefficient of an optimization function is revised, and S2 is restarted to re-plan the continuous movement track of the joint; otherwise, planning ends. The method of the invention has small calculation amount, can ensure no wall collision occurs when the method is used for spraying the inner wall of a special-shaped long path after planning tracks, and has high spraying quality.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a pipeline spraying robot with multiple redundant degrees of freedom and an operation trajectory planning method thereof. Background technique [0002] In the field of special industries, the inner walls of the narrow and long tubes of many complex workpieces need to be sprayed. Because the inner surfaces of these long and narrow tubes are relatively complex and the internal space is extremely narrow, it is difficult for spraying technicians to enter, so robots must be used for automatic spraying. [0003] In the prior art, redundant degree-of-freedom robots are generally used for pipeline spraying operations. The meaning of "redundancy" is that in order for the robot to complete the spraying operation in the narrow and complicated pipeline, the degree of freedom of the robot must be increased, so that the robot body will not conflict with the environmental constraints while the r...

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Problems solved by technology

Another example, the quadratic programming method requires writing a quadratic optimization function, which contains a matrix, so the operation is complicated

[0005] Therefore, the above method is not suitable for multi-redundant degree of freedom robots to plan spraying operations for special-shaped narrow and long pipes.

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