CN106362897B - A kind of spraying path planning algorithm of automatic spraying system integration spraying process - Google Patents
A kind of spraying path planning algorithm of automatic spraying system integration spraying process Download PDFInfo
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- CN106362897B CN106362897B CN201611049007.8A CN201611049007A CN106362897B CN 106362897 B CN106362897 B CN 106362897B CN 201611049007 A CN201611049007 A CN 201611049007A CN 106362897 B CN106362897 B CN 106362897B
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- 238000005507 spraying Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000010354 integration Effects 0.000 title claims abstract description 10
- 239000007921 spray Substances 0.000 claims abstract description 39
- 230000008676 import Effects 0.000 claims abstract description 5
- 229910002056 binary alloy Inorganic materials 0.000 claims 1
- 238000013178 mathematical model Methods 0.000 abstract 1
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
The present invention relates to a kind of spraying path planning algorithm of automatic spraying system integration spraying process, steps：Generated three-dimensional part model to be sprayed is imported, and imports the threedimensional model；The tri patch information of STL format mathematical models is read, and shows the threedimensional model of part to be sprayed；Judge part feature to be sprayed, provide the scanning direction, initial position and sweep span of the plane of scanning motion automatically according to integrated technological principle, generates the equidistant plane of scanning motion of cluster；The intersection line segment of the plane of scanning motion and each tri patch is calculated, is linked in sequence to obtain track line strip into spraying profile；Judge part feature and spray gun type provide automatically spray gun to sprayed surface distance；Obtain the track of spray gun center；Judge part feature to be sprayed, provides the movement speed on sprayed surface automatically according to integrated technological principle；Calculate movement velocity of the spray gun along spray gun center track；Spraying operation NC instruction is generated, trajectory planning is completed.
Description
Technical field
The present invention relates to a kind of automatic spraying system regions, being suitable for automatic spraying system collection especially with regard to one kind
At the spraying path planning algorithm of spraying process.
Background technology
The surface automatic spraying operation of complex curved surface parts promotes spray efficiency efficiency to ensure coating quality, real
Existing spray automation needs to develop the trajectory planning algorithm suitable for automatic spraying system.
The path planning of spray robot mostly uses greatly artificial method for planning track in the past, is shown according to hand spray track
Religion, obtains by worker's experience and many experiments, and spraying effect is largely dependent upon the level of worker, it is more difficult to reach very high
Coating quality, it is difficult to meet the spraying needs of complex parts；Or the artificial sampling site from sprayed surface, spend the time long, effect
Rate is low.Automation paths planning method at present is suitable for being sprayed based on parametric surface, is not suitable for complex free song mostly
Face sprays.
Invention content
In view of the above-mentioned problems, the object of the present invention is to provide a kind of spraying roads of automatic spraying system integration spraying process
Diameter planning algorithm can guarantee coating quality, effectively promote spray efficiency, shorten the spraying path planning time.
To achieve the above object, the present invention takes following technical scheme：A kind of automatic spraying system integration spraying process
Spraying path planning algorithm, which is characterized in that the algorithm includes the following steps：1) the three of generated part to be sprayed is imported
STL models are tieed up, judge that three-dimensional S TL models are binary format or ASCII fromat when importing, and import the three-dimensional mould
Type, importing is successfully entered in next step, otherwise imports three-dimensional part model to be sprayed again；2) triangle of three-dimensional S TL models is read
Dough sheet information, preserves the point face information and normal information of tri patch, and shows the threedimensional model of part to be sprayed；3) judge
Part feature to be sprayed provides the scanning direction of the plane of scanning motion, initial position according to existing integrated technological principle and sweeps automatically
Spacing is retouched, automatically generates the equidistant plane of scanning motion of cluster on this basis；4) plane of scanning motion is intersected with each tri patch, is counted
Calculation obtains the intersection line segment of the plane of scanning motion and each tri patch, and the intersection line segment under the same plane of scanning motion is linked in sequence to obtain
Track lines form spraying profile on piece surface to be sprayed；5) part feature and spray gun type are judged, according to integrated technique
Principle provides spray gun to the distance of sprayed surface automatically；6) normal vector of the spraying profile in step 2) on piece surface to be sprayed
Direction biases the distance in step 5), obtains the track of spray gun center, spray gun posture is consistent with the direction of normal vector；7) sentence
Break part feature to be sprayed, provides the movement speed on sprayed surface automatically according to integrated technological principle；8) according to step 7)
In movement speed, calculate spray gun along spray gun center track movement velocity；9) according to the specific topology knot of spray robot
Structure and size execute postpositive disposal, generate spraying operation NC instruction, complete trajectory planning.
Further, in the step 5), the distance of spray gun to sprayed surface can be modified according to actual demand.
Further, in the step 7), the movement speed on sprayed surface can modify according to actual demand.
The invention adopts the above technical scheme, which has the following advantages：The present invention can be effectively completed and freely be answered
Miscellaneous curved surface spraying trajectory planning has interactive mode, and visualization, planning speed is fast, can facilitate and realize in spraying profile planning process
Spraying process integrates feature, can be obviously improved spray efficiency.The present invention can answer in automatic spraying system regions extensively
With.
Description of the drawings
Fig. 1 is the overall flow schematic diagram of the present invention.
Specific implementation mode
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the present invention provides a kind of spraying path planning algorithm of automatic spraying system integration spraying process,
It includes the following steps：
1) the three-dimensional S TL models for importing generated part to be sprayed, judge when importing three-dimensional S TL models be two into
Format or ASCII fromat processed, and the threedimensional model is imported, importing is successfully entered in next step, otherwise imports to be sprayed zero again
Part threedimensional model；
2) the tri patch information for reading three-dimensional S TL models, preserves the point face information and normal information of tri patch, and
Show the threedimensional model of part to be sprayed；
3) judge part feature to be sprayed, provide the scanning side of the plane of scanning motion automatically according to existing integrated technological principle
The equidistant plane of scanning motion of cluster is automatically generated to, initial position and sweep span on this basis；
4) plane of scanning motion is intersected with each tri patch, obtains the intersection line segment of the plane of scanning motion and each tri patch, it will be same
Intersection line segment under one plane of scanning motion is linked in sequence to obtain track lines, forms spraying profile on piece surface to be sprayed；
5) judge part feature and spray gun type, according to integrated technological principle provide automatically spray gun to sprayed surface away from
From；The distance can also modify according to actual demand；
6) distance on piece surface to be sprayed in normal vector direction biasing step 5) of the spraying profile in step 2), obtains
To the track of spray gun center, spray gun posture is consistent with the direction of normal vector；
7) judge part feature to be sprayed, provide the movement speed on sprayed surface automatically according to integrated technological principle；
Wherein, which can also modify according to actual demand；
8) according to the movement speed in step 7), movement velocity of the spray gun along spray gun center track is calculated；
9) according to the specific topological structure of spray robot and size, postpositive disposal is executed, generates spraying operation NC instruction,
Complete trajectory planning.
In above steps, scanning direction, initial position and the sweep span of the plane of scanning motion, spray gun with spraying piece surface
Distance, the technological principle that movement speed on sprayed surface is in accordance with the system integration automatically analyzes and provides, and user can be with
It is modified to above-mentioned parameter according to actual demand.
In above steps, can also artificially according to different parts be arranged the scanning direction of the plane of scanning motion, initial position and
Sweep span, spray gun is at a distance from spraying piece surface, the basic spray parameters such as movement speed on sprayed surface, wherein scanning
The scanning direction and initial position of plane determine spray gun prime direction, including spray gun posture and moving direction.
In conclusion in the use of the present invention, based on the actual application requirements, can effectively complete to complex free curved surface
Spraying profile interacts formula planning and visual simulating.The various embodiments described above are merely to illustrate the present invention, part to be sprayed
Structure and size, initial position and shape may be changed, based on the technical solution of the present invention, all according to this
The improvement and equivalents that inventive principle carries out individual part, should not exclude except protection scope of the present invention.
Claims (3)
1. a kind of spraying path planning algorithm of automatic spraying system integration spraying process, which is characterized in that the algorithm includes
Following steps：
1) the three-dimensional S TL models for importing generated part to be sprayed, judge that three-dimensional S TL models are binary system lattice when importing
Formula or ASCII fromat, and three-dimensional S TL models are imported, importing is successfully entered in next step, otherwise imports part to be sprayed again
Three-dimensional S TL models；
2) the tri patch information for reading three-dimensional S TL models, preserves the point face information and normal information of tri patch, and show
The three-dimensional S TL models of part to be sprayed；
3) judge part feature to be sprayed, the scanning direction of the plane of scanning motion is provided according to existing integrated technological principle automatically, is risen
Beginning position and sweep span, automatically generates the equidistant plane of scanning motion of cluster on this basis；
4) plane of scanning motion is intersected with each tri patch, the intersection line segment of the plane of scanning motion and each tri patch is calculated, it will be same
Intersection line segment under one plane of scanning motion is linked in sequence to obtain track lines, forms spraying profile on piece surface to be sprayed；
5) judge part feature and spray gun type, according to integrated technological principle provide automatically spray gun to sprayed surface distance；
6) distance on piece surface to be sprayed in normal vector direction biasing step 5) of the spraying profile in step 2), is sprayed
The track of rifle center, spray gun posture are consistent with the direction of normal vector；
7) judge part feature to be sprayed, provide the movement speed on sprayed surface automatically according to integrated technological principle；
8) according to the movement speed in step 7), movement velocity of the spray gun along spray gun center track is calculated；
9) according to the specific topological structure of spray robot and size, postpositive disposal is executed, generates spraying operation NC instruction, is completed
Trajectory planning.
2. a kind of spraying path planning algorithm of automatic spraying system integration spraying process as described in claim 1, special
Sign is：In the step 5), the distance of spray gun to sprayed surface can be modified according to actual demand.
3. a kind of spraying path planning algorithm of automatic spraying system integration spraying process as described in claim 1, special
Sign is：In the step 7), the movement speed on sprayed surface can modify according to actual demand.
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| CN201611049007.8A CN106362897B (en) | 2016-11-23 | 2016-11-23 | A kind of spraying path planning algorithm of automatic spraying system integration spraying process |
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| CN201611049007.8A CN106362897B (en) | 2016-11-23 | 2016-11-23 | A kind of spraying path planning algorithm of automatic spraying system integration spraying process |
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| CN106362897B true CN106362897B (en) | 2018-10-16 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107214024B (en) * | 2017-06-16 | 2020-01-21 | 深圳市鹏创达自动化有限公司 | Ink jetting method and device for substrate and computer readable storage medium |
| CN108789426A (en) * | 2017-12-29 | 2018-11-13 | 金门工程建设有限公司 | The mechanical people of surface treatment |
| CN108508846B (en) * | 2018-05-09 | 2020-04-03 | 清华大学 | Curved surface spraying track planning method |
| CN111266272B (en) * | 2018-12-05 | 2022-12-23 | 广州中国科学院先进技术研究所 | Multi-robot-based collaborative spraying method and system |
| CN109876968B (en) * | 2019-03-22 | 2021-11-12 | 希美埃（芜湖）机器人技术有限公司 | Automatic path planning method for steel structure robot spraying |
| CN112156915B (en) * | 2020-09-18 | 2021-04-06 | 清华大学 | Spraying robot installation position determining method and device based on joint driving load |
| CN112861307B (en) * | 2020-12-31 | 2022-04-05 | 博迈科海洋工程股份有限公司 | Method for determining track space of spray head of oil platform structure pipeline spraying robot |
| CN113158269B (en) * | 2021-01-29 | 2022-08-02 | 哈尔滨工业大学 | Space STL curved surface equidistant path planning method in curved surface layered additive manufacturing |
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| US7716024B2 (en) * | 2002-04-29 | 2010-05-11 | Geodigm Corporation | Method and apparatus for electronically generating a color dental occlusion map within electronic model images |
| JP5790265B2 (en) * | 2011-08-02 | 2015-10-07 | マツダ株式会社 | Pre-verification method and system for sealer application work |
| JP2013034934A (en) * | 2011-08-05 | 2013-02-21 | Tsubakimoto Chain Co | Computer program, spray control method, and spray control device |
| CN102500498B (en) * | 2011-11-11 | 2014-06-04 | 江苏科技大学 | Optimization method for spray gun track of spraying robot on irregular polyhedron |
| CN102831306B (en) * | 2012-08-13 | 2015-10-07 | 东南大学 | A kind of layering spraying profile planing method for spray robot |
| CN103394430B (en) * | 2013-08-15 | 2015-12-09 | 东南大学 | A kind of complex-curved even application manufacture method based on blind area Optimization Technology between sheet |
| CN103495516B (en) * | 2013-09-24 | 2015-12-02 | 盐城工学院 | A kind of complex-curved twice automatic coating track optimizing method |
| CN105381912B (en) * | 2015-10-15 | 2017-10-03 | 东南大学 | A kind of spray robot automatic path generation method based on surface curvature |
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