CN102527554A - Spray gun track planning method for free-form surface spraying robot - Google Patents

Spray gun track planning method for free-form surface spraying robot Download PDF

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CN102527554A
CN102527554A CN2012100504343A CN201210050434A CN102527554A CN 102527554 A CN102527554 A CN 102527554A CN 2012100504343 A CN2012100504343 A CN 2012100504343A CN 201210050434 A CN201210050434 A CN 201210050434A CN 102527554 A CN102527554 A CN 102527554A
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spray gun
point
track
place
path
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CN102527554B (en
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陈恳
缪东晶
王国磊
杨向东
杨东超
潘玉龙
吴聊
谢颍
刘志
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Qingyan co creation robot (Tianjin) Co., Ltd.
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Tsinghua University
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Abstract

The invention discloses a spray gun track planning method for a free-form surface spraying robot. According to the spray gun track planning method disclosed by the invention, the characteristic that a numerical control processing process is very similar to the spaying process is utilized, so that the motion track of a spray gun can be obtained by little calculation on the basis of the tool path. The method comprises the following steps of: firstly, dividing the sprayed surface in three-dimensional modeling software into a plurality of areas with regular shape, generating m equidistant tool paths and deriving the equidistant tool paths into standard APT (Automatic Programming Tools) files by using a five-axis numerical control machining method; extracting tool motion information contained in the APT files, extending the obtained tool points, processing the corner parts into circular arc transition to generate a spray gun path point sequence and then solving a spray gun posture sequence on the path point sequence; and interpolating the spray gun posture sequence to generate a complete motion track of the spray gun. According to the spray gun track planning method disclosed by the invention, accurate control over the track of the spray gun can be realized and the high praying quality is ensured; and the spray gun track planning method is simple in calculation process and calculation amount.

Description

The spray gun method for planning track of a kind of free curved surface spraying robot
Technical field
The present invention relates to the planing method of free curved surface spraying robot spray gun track, belong to the Robotics field
Background technology
Robot automatically spraying is good because of system has a coating quality, and advantages such as operating efficiency height have begun to be applied in many painting operations with complex-curved product such as aircraft, automobile.The spray gun trajectory planning is one of key technology in the robot automatic spraying system, and it not only directly influences the spraying effects such as uniformity of coating, also is to carry out the preceding necessary link of joint of robot trajectory planning.The spray gun trajectory planning also need be considered constraintss such as coating layer thickness and deviation requirement, spray distance, spray gun translational speed, spraying direction except will considering surface of the work cad model and spray gun coating sedimentation model.In general, carry out to carry out following two work before the spray gun trajectory planning: at first be to utilize CAD modeling or the data message of measuring acquisition spraying workpiece in kind, and surface of the work is divided into the zone of some simple shape by certain rule; Secondly confirm spray gun coating sedimentation model through theory analysis and combination experiment.The spray gun trajectory planning is exactly the process that comprehensive surface of the work cad model, spray gun coating sedimentation model and other constraints generate the spray gun movement locus.
At present, the planing method of spray gun track has the tri patch method and puts the cloud microtomy on the free form surface.The tri patch method is that the surface of the work cad model is resolved into numerous little tri patch; Obtain the method vector of each tri patch; Intersect with the family of planes and the surface to be sprayed of a series of equidistance then; Obtain the intersection point of family of planes and tri patch and the method vector on the intersection point, connect the gained intersection point and try to achieve center path at the bottom of the jet cone; Point cloud microtomy be with the some cloud slice of data model of workpiece through simplifying, trying to achieve the method vector on a series of path points and the each point after sampling and the smoothing processing, connect these path points and try to achieve center path at the bottom of the jet cone.The shortcoming of these two kinds of methods is: there is ambiguity problem in calculating path point when going up the method vector, and the method vector of trying to achieve maybe and be not orthogonal to surface of the work, in addition; Because need handle the surface of the work cad model again, thereby have to handle a large amount of existence redundancies and the data of noise, amount of calculation is big; Calculate length consuming time; Cause the trajectory planning link of robot of long duration, efficient is low, is unfavorable for bringing into play the high characteristics of robot automation's degree, therefore; It is little to press for a kind of amount of calculation of proposition, the simple spray gun method for planning track of computational process.
Summary of the invention
For achieving the above object, it is little to the invention provides a kind of amount of calculation, and the spray gun method for planning track of the simple free curved surface spraying of computational process robot satisfies the spray gun operation track of technological requirement with generation.
Technical scheme of the present invention is following:
S1) in 3D sculpting software, workpiece is divided into the zone of several regular shape by sprayed surface, utilizes numerical-control processing method to generate the equidistant cutter spacing track of m bar, and the cutter spacing track is exported as standard A PT file in each region surface, m=1 wherein, 2,
S2) extraction is included in cutter location and the generating tool axis vector in the APT file, the cutter location that obtains is extended, and corner is processed into the arc transition that radius is r, sets the shooting point and closes the rifle point, obtains orderly path point sequence P 1, P 2..., P i..., P n, point add up to n, n=1,2 ..., note P iPoint coordinates is [x iy iz i], P iThe generating tool axis vector at some place Claim that being positioned at the path point that obtains through extension and arc transition between adjacent two trajectories pass rifle point and shooting point is changeover portion path point;
S3) at path point P iThe place sets up the local coordinate system be cemented in center at the bottom of the jet cone
Figure BDA0000139533950000022
Be P iThe generating tool axis vector at some place, note P iThe order of trajectory in m bar track at some place is k, k ∈ [1,2 ..., m];
Try to achieve through following steps
Figure BDA0000139533950000023
: the structure auxiliary vector
Figure BDA0000139533950000024
, as 1＜i＜n, P iWhen the trajectory k at place is odd number,
Figure BDA0000139533950000025
P iWhen the trajectory k at place is even number,
Figure BDA0000139533950000026
Work as P iDuring for changeover portion path point,
Figure BDA0000139533950000027
All identical with pass rifle point place auxiliary vector; When i=n,
Figure BDA0000139533950000028
At P i,
Figure BDA0000139533950000029
With
Figure BDA00001395339500000210
Try to achieve in the plane that constitutes with
Figure BDA00001395339500000211
Vertical and with Angle is the vector of acute angle
Figure BDA00001395339500000213
Note
Order x ‾ i = y ‾ i × z ‾ i , Note x ‾ i = [ e i f i g i ] ;
Remember that the spray gun pose sequence of representing with Eulerian angles on the point sequence of above-mentioned path does
Figure BDA00001395339500000217
Figure BDA00001395339500000218
θ iAnd ψ iBe respectively local coordinate system Yaw angle, the angle of pitch and roll angle in base coordinate system, try to achieve the spray gun pose and be:
Figure BDA00001395339500000220
Figure BDA00001395339500000221
Figure BDA00001395339500000222
S4) combine in the spraying coating process requirement to spray gun speed;
Figure BDA00001395339500000223
carries out interpolation to spray gun pose sequence, generates complete spray gun track.
Wherein, 3D sculpting software can be CATIA, and correspondingly, numerical-control processing method can be five processing methods such as parameter line (Isoparametric Machining) such as grade.
Wherein, tool motion information is corresponding to the GOTO movement instruction sequence in the APT file, and the form of GOTO movement instruction is GOTO/XYZIJK, X wherein, and Y, Z are the point of a knife point coordinates, I, J, K are generating tool axis vector.
Adopt above technical scheme to have following advantage:
1.. scheme of the present invention is based on primary cad model; Need not carry out tri patchization or carry out a cloud processing the workpiece cad model, only need calculate a spot of path point, computational process be simple; Amount of calculation is little; And it is convenient to revise, and helps shortening the robot planning time, increases work efficiency;
2.. the cutter spacing track that the ripe preposition calculation procedure of numerical control of scheme utilization of the present invention generates calculates the spray gun track, but strict guarantee spray gun axis normal helps improving coating quality in surface of the work;
3.. scheme accuracy of the present invention is high, can realize high coating quality, and is even like coating layer thickness.
Description of drawings
Fig. 1 is a planing method flow chart according to the invention.
Fig. 2 is the spray gun track sketch map on the free form surface zone of embodiment of the present invention.
Wherein, 1-spray gun track starting point, 2-spray gun track, the 3-point of shooting, the 4-jet cone, 5-spray gun direction of advance, 6-closes rifle point, 7-spraying profile terminal point.
The specific embodiment
Usually during the spray robot operation, the spraying path is made up of the path-line of a series of equidistance, require the axis of spray gun vertical with surface of the work all the time and and surface of the work between keep constant spray distance, spray gun is taken jet cone and is moved back and forth along spraying the path.Regard the integral body of spray gun and jet cone formation as in the digital control processing cutter, point of a knife is regarded at the center as at the bottom of the jet cone, and then tool motion is very similar in spray gun motion and the digital control processing.The difference of tool motion and spray gun motion is, sees from the angle of the free degree, and five-shaft numerical control adds the man-hour cutter except can be around generating tool axis vector is rotated, and remaining five free degree all has been defined; For satisfying the spraying coating process requirement, the six-freedom degree of spray gun all has been defined.If adopt the processing method such as parameter line such as grade of five-shaft numerical control processing, make generating tool axis vector all the time perpendicular to surface of the work, the spray gun track can be tried to achieve through suitable expansion on the basis of cutter spacing track so.
Below in conjunction with accompanying drawing and embodiment, specific embodiments of the invention describes in further detail.Following examples are used to explain the present invention, but are not used for limiting scope of the present invention.
Fig. 1 is the method flow diagram of embodiment of the present invention, and Fig. 2 is the spray gun track sketch map of embodiment of the present invention.As depicted in figs. 1 and 2, foundation free curved surface spraying of the present invention robot spray gun planing method may further comprise the steps:
S1); In the Generative of 3D sculpting software such as CATIA Shape Design module, be written into the spraying part model; According to the restrictive conditions such as working space of robot surface of the work is divided into the zone of several regular shape, the border of each area to be sprayed as shown in Figure 2 is 4 sideline AB, BC; CD, DA constitutes; In the Advanced of CATIA machining module, select five-axle number control machine tool for use, parameter line processing methods (Isoparametric Machining) such as employing; According to technological parameter (like overlap distance h etc.), generate the equidistant cutter spacing track of m bar, wherein m=1 in each region surface; 2, The cutter spacing track is exported as standard A PT file; M=4 in this instance, h=140mm;
S2), extract and be included in cutter location and the generating tool axis vector in the APT file, the cutter location that obtains is extended apart from l outward, and corner is processed into the arc transition that radius is r; Set shooting point 3 and close rifle point 6, obtain orderly path point sequence P 1, P 2..., P i..., P n, point add up to n, n=1,2 ..., note P iPoint coordinates is [x iy iz i], P iThe generating tool axis vector at some place
Figure BDA0000139533950000031
Claiming to be positioned at adjacent two trajectories pass rifle point 6 and shooting 3 path points that obtain through extension and arc transition is changeover portion path point; L=120mm in this instance, r=50mm, n=332;
S3), at path point P iThe place sets up the local coordinate system that is cemented in center, 4 end of jet cone Be P iThe generating tool axis vector at some place, note P iThe order of trajectory in m bar track at some place is k, k ∈ [1,2 ..., m];
Try to achieve through following steps
Figure BDA0000139533950000033
The structure auxiliary vector
Figure BDA0000139533950000034
As 1＜i＜n, P iWhen the trajectory k at place is odd number,
Figure BDA0000139533950000035
When the trajectory k at place is even number,
Figure BDA0000139533950000036
Work as P iDuring for changeover portion path point,
Figure BDA0000139533950000037
All to put 6 place's auxiliary vector identical with closing rifle; When i=n,
Figure BDA0000139533950000038
Figure BDA0000139533950000039
With
Figure BDA00001395339500000310
Try to achieve in the plane that constitutes with
Figure BDA00001395339500000311
Vertical and with
Figure BDA00001395339500000312
Angle is the vector of acute angle
Figure BDA00001395339500000313
Note
Figure BDA00001395339500000314
Make
Figure BDA00001395339500000315
Remember that the spray gun pose sequence of representing with Eulerian angles on the point sequence of above-mentioned path does
Figure BDA00001395339500000317
θ iAnd ψ iBe respectively local coordinate system
Figure BDA00001395339500000318
Yaw angle, the angle of pitch and roll angle in base coordinate system, try to achieve the spray gun pose and be:
Figure BDA00001395339500000319
Figure BDA0000139533950000041
Figure BDA0000139533950000042
S4); In conjunction with in the spraying coating process to the requirement of spray gun speed; Adopt 3 battens that spray gun pose sequence
Figure BDA0000139533950000043
is carried out interpolation, generate complete spray gun track 2.
Through above-mentioned steps, a kind of free curved surface spraying robot spray gun method for planning track is provided, this method can realize the accurate control of spray gun track, guarantees high coating quality, and computational process is simple, and amount of calculation is little.

Claims (2)

1. the spray gun method for planning track of a free curved surface spraying robot is characterized in that this method may further comprise the steps:
S1) in 3D sculpting software, workpiece is divided into the zone of several regular shape by sprayed surface, utilizes numerical-control processing method to generate the equidistant cutter spacing track of m bar, and the cutter spacing track is exported as standard A PT file in each region surface, m=1 wherein, 2,
S2) extract be included in the APT file cutter location and generating tool axis vector, the cutter location that obtains is extended, and corner is processed into the arc transition that radius is r, set shooting point (3) and close rifle point (6), obtain orderly path point sequence P 1, P 2..., P i..., P n, point add up to n, n=1,2 ..., note P iPoint coordinates is [x iy iz i], P iThe generating tool axis vector at some place
Figure FDA0000139533940000011
Claim that being positioned at the path point that obtains through extension and arc transition between adjacent two trajectories pass rifle point (6) and shooting point (3) is changeover portion path point;
S3) at path point P iThe place sets up the local coordinate system that is cemented in jet cone (4) center, the end
Figure FDA0000139533940000012
Be P iThe generating tool axis vector at some place, note P iThe order of trajectory in m bar track at some place is k, k ∈ [1,2 ..., m];
Try to achieve through following steps
Figure FDA0000139533940000013
The structure auxiliary vector As 1＜i＜n, P iWhen the trajectory k at place is odd number,
Figure FDA0000139533940000015
P iWhen the trajectory k at place is even number,
Figure FDA0000139533940000016
Work as P iDuring for changeover portion path point, All to locate auxiliary vector identical with closing rifle point (6); When i=n, At P i,
Figure FDA0000139533940000019
With
Figure FDA00001395339400000110
Try to achieve in the plane that constitutes with
Figure FDA00001395339400000111
Vertical and with
Figure FDA00001395339400000112
Angle is the vector of acute angle
Figure FDA00001395339400000113
Note
Figure FDA00001395339400000114
The order note x ‾ i = y ‾ i × z ‾ i , x ‾ i = [ e i f i g i ] ;
Remember that the spray gun pose sequence of representing with Eulerian angles on the point sequence of above-mentioned path does
Figure FDA00001395339400000117
Figure FDA00001395339400000118
θ i, ψ iBe respectively local coordinate system
Figure FDA00001395339400000119
Yaw angle, the angle of pitch and roll angle in base coordinate system, try to achieve the spray gun pose and be:
Figure FDA00001395339400000120
Figure FDA00001395339400000121
Figure FDA00001395339400000122
S4) combine in the spraying coating process requirement to spray gun speed; carries out interpolation to spray gun pose sequence, generates complete spray gun movement locus (2).
2. the spray gun method for planning track of a kind of free curved surface spraying as claimed in claim 1 robot is characterized in that said step S1) in numerical-control processing method be five wait the parameter line processing method.
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