Robot spraying trajectory planning method based on large complex curved surface model

Abstract

The invention discloses a robot spraying trajectory planning method based on a large complex curved surface model. The method comprises the following steps that firstly, mathematical model offline planning is conducted, specifically, region division is conducted on a workpiece model, and robot positions corresponding to all sub-regions are determined; spray gun trajectories of all the sub-regionsare determined by adopting an STL file-based parallel slicing algorithm, and a robot motion program is generated; and finally motion analysis and interference checking are conducted on the robot motion program. If the check is disqualified, region re-division needs to be conducted, the robot positions corresponding to all sub-regions are determined, and if the check is qualified, an actual spraying planning part is entered. The actual spraying planning comprises the following steps that the actual pose of the workpiece is determined by using a vision system, corresponding coordinate transformation is conducted on an offline planning result, simulation analysis is conducted on the transformed motion program, finally, actual spraying can be conducted if the analysis is completely qualified,and otherwise, the offline planning result is properly re-adjusted. By adopting the method, the efficiency of large-scale complex curved surface spraying can be improved, the cost is reduced, and process parameter changing is easy to realize.

Description

technical field [0001] The invention relates to a robot spraying trajectory planning method, in particular to a spraying trajectory planning method for large complex curved surfaces. Background technique [0002] With the rapid development of science and technology, the cost of labor is rising year by year, and the demand for robots is also increasing. Especially in the painting industry, robot spraying is widely used in the painting of automobiles, molds, castings and other products. [0003] After so many years of technological innovation, the spraying robot system used in the automobile body painting production line has been able to meet the automation requirements, and its final surface quality has been well guaranteed. However, the spraying treatment of castings with large and complex surfaces still needs to be improved, especially the spraying of castings used in the wind energy industry, which mostly uses manual spraying. Manual spraying means that the operator hold...

AI Technical Summary

Problems solved by technology

External axis linkage can be used to make up for the limited working space of the robot, but with the increase of external axes, the difficulty and cost of linkage control will also increase significantly

Moreover, general automatic spraying equipment needs to be equipped with special positioning fixtures for different workpieces, and the tooling needs to be redesigned when the product is updated, which will increase the cost

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