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为了提高产品的质量和性能,往往需要在许多产品表面涂覆一层均匀涂层。该文针对自由曲面的均匀喷涂问题,研究了喷涂机器人喷枪的路径规划与速度优化。首先利用数控加工过程与喷涂作业过程的相似性,提出一种利用数控刀位轨迹生成喷枪路径的方法。该方法具有计算速度快、易于实现的优点。以提高涂层的均匀度为目标,对喷枪的变速喷涂进行研究,给出了一种优化喷枪速度的方法。该方法在保证喷枪速度满足要求的同时,使涂层的厚度方差最小。仿真计算结果表明:该喷枪路径规划与速度优化方法是有效的。
In order to improve the quality and performance of the product, it is often necessary to coat the surface of many products with a uniform coating. In order to solve the problem of uniform spraying of freeform surfaces, the path planning and speed optimization of spray gun robots are studied. First of all, by using the similarity of CNC machining process and spraying process, a method of generating gun path by NC tool path is proposed. The method has the advantages of fast calculation and easy implementation. In order to improve the uniformity of the coating, the research of variable speed spray gun is given, and a method to optimize the spray gun speed is given. The method to ensure that the gun speed to meet the requirements at the same time, the thickness of the coating to minimize variance. The simulation results show that the method of gun path planning and speed optimization is effective.