Robot spray workpiece surface modeling method

Abstract

The invention discloses a robot spray workpiece surface modeling method. The method includes the steps of performing triangular grid partitioning on a workpiece surface, setting a maximum normal vector threshold, connecting triangular faces into small flat patches according to a triangular face connecting method, creating a flat patch adjacency graph, and merging all the small flat patches to a plurality of new large flat patches according to a flat patch adjacency graph merging algorithm. The method is applicable to surface modeling of various complicated sprayed workpieces, particularly applicable to surface modeling of workpieces large in curvature change and fast in calculation, so that preparations are made for follow-up spraying robot route planning and trajectory optimization so as to meet requirements on working of a spraying robot, and working efficiency of the spraying robot and quality of products can be improved.

Description

Technical field [0001] The invention relates to a curved surface modeling method of a sprayed workpiece by a robot, in particular to a curved surface modeling method of a sprayed workpiece used in an offline programming system of a spraying robot. Background technique [0002] The structure of the spraying robot offline programming system mainly includes the following six modules: workpiece modeling module, parameter setting module, spraying robot trajectory generation module, robot motion trajectory generation module, analysis simulation module and robot program generation module. In the workpiece modeling module, for plane or regular surface, you can directly write its expression; for free-form or complex surface, you need to use a special method to model the surface. After modeling, the system CAD database is stored The CAD data of the object provides the workpiece data information for the spraying robot trajectory generation module. [0003] The surface modeling of the sprayed...

AI Technical Summary

Problems solved by technology

These three types of methods have limitations: they are neither suitable for surface modeling with large curvature changes, nor for workpiece modeling with complex curved surfaces that need to be sliced.

This method is relatively simple for surface modeling, and can only be applied to free-form surfaces with small curvature changes, and cannot be used for spraying operations on the surface of complex curved workpieces with complex connected areas.

In the patent literature with the patent number ZL200810020500.6, a spray gun trajectory optimization method for spraying robots on complex surfaces is proposed. In this method, it is proposed to divide the complex surface into triangular meshes and then segment it for processing, but the processing method has low precision. It can only be used on surfaces with small curvature changes, but not on three-dimensional entities with relatively large angles between the normal vectors of each sprayed surface

[0004] To sum up, due to the diversity and complexity of sprayed workpieces, there is no complete set of curved surface modeling methods suitable for sprayed workpieces with complex curved surfaces and large curvature changes in the prior art.

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