针对框架类工件的喷涂在线检测及轨迹规划  

Spray on Line Detection and Trajectory Planning for Frame Class Artifacts

作　　者：李光新[1] 许家忠[1] 杨海[1] 田建德 LI Guang-xin;XU Jia-zhong;YANG Hai;TIAN Jian-de(School of Automation, Harbin University of Science and Technology, Heilongjiang Harbin 150080, China;Rubber Technology Inc in Hengshui, Hebei Hengshui 053000, China)

机构地区：[1]哈尔滨理工大学自动化学院,黑龙江哈尔滨150080 [2]衡橡科技股份有限公司,河北衡水053000

出　　处：《机械设计与制造》2019年第4期90-93,共4页Machinery Design & Manufacture

基　　金：黑龙江省自然科学基金(E201301);哈尔滨市优秀学科带头人项目(2015RAXXJ013)

摘　　要：针对任意框架类工件喷涂轨迹规划重复建立模型以及喷漆利用率低的问题,设计出一套深度优先搜索算法。该算法利用现有双喷枪模型,研究了工件和喷枪运动速度之间的关系,确保喷枪与工件在喷涂过程中始终保持相对匀速运动状态。运用改变喷枪在工件拐角处的加速度的方法来实现工件的跟踪喷涂,在喷枪间断次数最少的基础上,得到了喷枪轨迹的生成方法。该算法简化了喷涂轨迹规划流程,可以缩短空枪移动距离,克服了传统轨迹规划算法重复输入的局限性。最后进行了门框工件的喷涂实验,验证了该算法的有效性。A set of depth-first search algorithm is designed for the problem of repeated model building and low paint penetration rate for any frame class workpiece sputtering planning. The algorithm uses the existing dual gun model to study the relationship between the workpiece and the gun movement speed, to ensure that the gun and the workpiece in the spraying process has always maintained a relatively uniform motion.By using the method of changing the acceleration of the gun at the corner of the workpiece to realize the tracking spraying of the workpiece, the method of generating the gun trajectory is obtained on the basis of the minimum number of spray guns. The algorithm simplifies the spray trajectory planning process, shortens the distance of the empty gun, and overcomes the limitation of the traditional trajectory planning algorithm. Finally, the experiment of the door frame workpiece is carried out to verify the effectiveness of the algorithm.

关 键 词：喷涂 匀速 轨迹规划 框架类工件 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]