Method for setting boundary constraint distance value of boundary constraint spraying track planning

Abstract

The invention discloses a method for setting a boundary constraint distance value of boundary constraint spraying track planning. The method comprises the following steps: constructing a dynamic spraying model of a spray gun along an arc path based on an established spray gun pose-variable static spraying model; defining a boundary constraint distance by taking the minimum allowable coating thickness at the boundary of a workpiece as a requirement, and illustrating the influence rules of the curvature radius, the spraying height and the spraying inclination angle of a boundary curve on the boundary constraint distance; and setting a unified boundary constraint distance value according to the boundary curve shape of the surface of the to-be-sprayed workpiece to ensure that the coating thickness quality of the boundary meets the requirements everywhere. The boundary constraint distance value can be quickly set when the boundary constraint spraying track is planned in an offline programming mode, then the boundary constraint spraying track is planned on the surface of the to-be-sprayed workpiece, the spraying speed, the spraying height and the inclination angle in the spraying processare optimized, and the spraying quality, the spraying efficiency and the coating utilization rate can be improved at the same time.

Description

technical field [0001] The invention discloses a method for setting a boundary constraint distance value for boundary-constrained spraying trajectory planning, in particular to the off-line programming spraying trajectory planning of a spraying robot, and belongs to the technical field of automation control. Background technique [0002] Due to the advantages of short programming cycle and the ability to plan complex spraying trajectories, the off-line programming method of spraying robots is more and more used in robot spraying trajectory planning in fields such as automobiles, ships and aerospace. The result of spraying path planning in the off-line programming system is the key factor to determine the spraying effect, spraying efficiency and paint utilization rate, which is of great significance to production. [0003] The previous spraying path planning method only blindly pursued to meet the spraying quality, and often ignored the boundary constraints on the workpiece s...

AI Technical Summary

Problems solved by technology

[0003] The previous spraying path planning method only blindly pursued to meet the spraying quality, and often ignored the boundary constraints on the workpiece surface when planning the spraying path, resulting in serious overspray at the boundary of the workpiece, resulting in a large amount of paint waste when the spray gun sprays at the boundary of the workpiece. And the spraying efficiency is not high

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