基于涂层厚度模型的机器人喷涂轨迹规划研究  

Research on Trajectory Planning of Spraying Robot Based on Coating Thickness Model

作　　者：齐淑林 郑权 赵晨辉[3] 孙禹 夏海渤 姜代荀 QI Shulin;ZHENG Quan;ZHAO Chenhui;SUN Yu;XIA Haibo;JIANG Daixun(CRRC Qingdao Sifang Co.,Ltd.,Qingdao Shandong 266000,China;Wuxi CRRC Times Intelligent Equipment Research Institute Co.,Ltd.,Wuxi Jiangsu 214000,China;Huazhong University of Science and Technology,Wuhan Hubei 430074,China)

机构地区：[1]中车青岛四方机车车辆股份有限公司,山东青岛266000 [2]无锡中车时代智能装备研究院有限公司,江苏无锡214000 [3]华中科技大学,湖北武汉430074

出　　处：《机床与液压》2023年第15期88-94,共7页Machine Tool & Hydraulics

摘　　要：为了实现大型复杂曲面的喷涂轨迹规划,提出一种基于涂层厚度模型的高铁白车身机器人喷涂轨迹规划方法。基于静态涂层厚度的椭圆双β分布模型,分析喷涂的累计涂层厚度分布规律,提出一种用于评估相对不均匀性的指标RU,并基于RU指标,通过轨迹重叠的方式保证了涂层厚度的一致性。通过曲曲面的分割与合并,实现了喷涂区域的划分,同时基于包围盒法确定了机器人喷涂路径点空间坐标信息。实验结果表明:基于涂层厚度模型的轨迹规划方法能够有效保证喷涂效果的均匀性,并成功应用于高铁白车身的机器人喷涂加工,显著提升了喷涂质量与效率。In order to achieve large complex surface spraying trajectory planning,a coating thickness model-based spray trajectory planning method for high-speed railway car-body-in-white robot was proposed.Based on the elliptic doubleβdistribution model of static coating thickness,the distribution rule of the cumulative coating thickness was analyzed,and a new index RU for evaluating the relative inhomogeneity was proposed.Based on RU index,the consistency of coating thickness was ensured by the way of track overlap.Then,the division of spraying area was realized through the segmentation and merging of curved surface.At the same time,the robot spraying path point space coordinate information was determined based on the bounding box method.The experimental results show that the trajectory planning method based on the coating thickness model can effectively guarantee the uniformity of the spraying effect.It is successfully applied to the robot spraying process of high-speed railway body,the spraying quality and efficiency are greatly improved.

关 键 词：机器人喷涂 轨迹规划 曲面分割 涂层厚度模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]