| In the field of spraying,due to the particularity of working nature and working environment,artificial spraying is gradually replaced by robot automatic spraying,and the application of electrostatic automatic spraying equipment has made the automobile middle and surface painting into automation era.However,due to the difficulty of technology and market,there are few automated devices and technologies in the field of automotive paints,and there are many problems such as health hazards,quality of paint repair,experience of workers and low efficiency of paint repair.In this paper,we focus on the local surface paint,and realize the automatic detection and automatic programming of surface painting.(1)The study of artificial paint spraying process parameters and paint related,summed up the gun height,spraying track type,gun speed and surface spraying gun pose parameters such as paint repair effect on automation spraying quality,and determined the parameters of the paint.(2)The basic theory of spraying process is studied and the simulation model of surface spraying is set up.Analysis of coating deposition rate of the existing function,the use of beta deposition rate of commonly used functions,through Matlab simulation of trajectory plane spraying and stack spacing was optimized by considering the influence of limited range;surface spraying quality multiple factor model,established the simulation model of surface coating;and the effect of spraying quality of track spacing the trajectory optimization.(3)A preliminary surface measurement scheme for automatic detection of unknown cell rate surfaces is proposed.A surface measurement scheme and a two-dimensional plane trajectory planning algorithm for non-contact three coordinate measuring principle are proposed.The surface measurement experiment is carried out by the related experimental instruments and equipment,and the 3D data of the surface is obtained and the error analysis is made.(4)The method of automatic programming for local surface patch is explored.By using the discrete 3D data point surface measurement,this paper puts forward the method of surface modeling based on moving least squares;discrete points generated by two-dimensional plane trajectory planning algorithm,using the path section method principle,and combined with the surface spray painting trajectory simulation trajectory optimization generation optimization method;proposed K-neighborhood fitting plane normal vector estimation method to estimate the trajectory of spray painting vector point method.Finally,according to the biasing formula of the three-dimensional space point,the jet space trajectory based on the workpiece coordinate system is generated with the offset distance as the offset distance.(5)The post processing method of the lacquer robot is studied and the trajectory simulation of the spray gun is carried out.A five axis linkage double pendulum head(B and C)structure paint repair robot is initially designed,and the 3D model of robot is established.The post processing method for five axis paint repair robot is studied,and the rotation angle of B and C axis in post processing is optimized.The automatic generation of standard G code for five axis robot is studied and implemented.The simulation model of five axis painting robot is built by using VERICUT software,and the simulation of spray gun is simulated.This study explored the implementation of a series of related local paint,and part of the theory have been measured and experimental verification of trajectory simulation experiments,achieving the aim of the study and provides some guidance for the local paint after work with engineering application value and theoretical significance. |
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