CN103400016A - A Fast Spraying Path Generation Method for Small Batches of Structured Workpieces - Google Patents

Abstract

The invention discloses a rapid spraying path generation method for small batches of structured workpieces. Firstly, by importing a CAD model of the structured workpiece and extracting its geometric features for analysis, the surface of the structured workpiece is divided into several simple standardized sub-workpieces; Secondly, the coating accumulation rate of the free workpiece surface is modeled, and on this basis, the spraying model for typical standard structured workpieces is derived; then, with the expected coating thickness and coating uniformity as the optimization goals, a model for standard workpieces is established. The coating optimization model and solve the corresponding optimized path parameters; finally, according to various standardized workpieces and their corresponding geometric characteristic parameters, the surface optimized spraying path is automatically generated. The invention can realize rapid spraying production for small batches of structured workpieces, save working time and cost, and ensure spraying quality, thereby helping to improve the production efficiency and economic benefits of the spraying manufacturing industry.

Description

A kind of fast spraying path generating method for short run structuring workpiece

Technical field

The present invention relates to the advanced manufacturing industry technical field of spray robot, particularly relate to a kind of fast spraying path generating method for short run structuring workpiece.

Background technology

Industrial robot formerly system is made in field and is just played an increasingly important role, and has greatly changed the looks of traditional manufacturing.With traditional spraying manufacturings such as household electrical appliances, machinery, automobile, shipbuilding, mainly to complete by hand spray, the method of work cost of this backwardness is high, production efficiency is low, and the quality of production depends critically upon workman's knowhow, thereby industry is considered as the application of spray robot the key point that improves the industry production rate, reduces costs, promotes profit.And, along with the transition requirement of China to the manufacturing industry mode of production in recent years, make the application of this type of spraying industrial robot become one of growing point that relevant spraying manufacturing technology is new.

The intellectuality equipment that spray robot combines with spraying coating process as a kind of Industrial Robot Technology, congenital undoubtedly some advantages that possessed industrial robot, for example coating quality is stable, also possesses simultaneously programmability, spraying of different workpieces be can programme it, thereby spray efficiency and coating quality greatly improved.Present spray robot application has developed into new off-line programing mode gradually from the conventional operation mode of " teaching-reproduction " type especially, namely by computer software and hardware Combining with technology of virtual reality, in the situation that do not need actual robot to participate in, can automatically generate the spraying profile of optimization, reach best spraying effect, and can carry out precise evaluation to corresponding spraying property.The mode of production of this novelty has been subject to the extensive concern of domestic and international manufacturing enterprise and research institution

Yet, because being conceived to certain concrete spraying mostly, existing various spraying off-line programings and method for planning track manufacture production application, often can not be applied to other spraying manufacture field, namely do not possess versatility, need to generate corresponding optimization track for different application redesigns, thereby restrict its application in actual production.Especially for current take short run, many kinds as the modern production manufacture of characteristics for, the workload of Optimal design of trajectory is large, the content complexity, competency profiling to operating personnel is high, finally force general domestic manufacturer still can only adopt " teaching-reproduction " mode to produce, even for specific production application meeting, return back to the hand spray mode, these unfavorable factors become the further key factor of application of restriction spray robot.

Summary of the invention

the objective of the invention is in order to overcome above-mentioned the deficiencies in the prior art, a kind of fast spraying path generating method for short run structuring workpiece is provided, the method provides for by various standardization workpiece (plane, the face of cylinder, circular conical surface, sphere etc.) spraying workpiece generates the technological process algorithm of optimizing spraying profile automatically, has stronger adaptability, can adopt for the geometric properties of different structuring workpiece the mode of templating programming to generate fast the optimization spraying profile that meets certain expectation thickness and uniformity index, thereby improve coating quality and the production efficiency of complex part.

The technical solution used in the present invention is: a kind of fast spraying path generating method for short run structuring workpiece, at first by guiding structure chemical industry spare cad model and extract its geometric properties and analyze, the structuring surface of the work is divided into to some simple standard beggar's workpiece; Secondly the coating cumulative speed of free curve surface of workpiece carried out to modeling, derive on this basis the spraying model for typical normal structure chemical industry spare (as plane, the face of cylinder, circular conical surface, sphere etc.); Then take coating expectation thickness and coating uniformity as optimization aim, set up for the coating Optimized model of standard workpiece and solve corresponding path optimizing parameter; Finally, for various standardization workpiece and corresponding geometrical characteristic parameter thereof, automatically generate surface optimization spraying path.Its concrete steps comprise:

(1) importing of structuring workpiece cad model and cutting apart: guiding structure chemical industry spare cad model at first, secondly according to the triangle gridding data characteristics of STL model, extract its geometric properties, then according to the characteristics that deviate from angle, triangle area, adjacent edge length, normal vector etc. of adjacent triangular plate in structuring workpiece cad model, the structuring part model is cut apart, burst is some simple standardization workpiece, such as plane, the face of cylinder, circular conical surface, sphere etc., and the geometric parameter of each standardization workpiece of extraction represents after burst.

(2) the spraying modeling of standardization workpiece: according to the in-situ spraying experimental data that gathers, adopt NUMERICAL MATCH METHOD FOR to set up corresponding plane coating cumulative speed model, by plane, spray model on this basis and according to infinitesimal geometry area amplification principle, obtain the spraying model of the coating cumulative thickness of free form surface, then derive for other each standardization workpiece (face of cylinder, circular conical surface, sphere etc.) spraying model.

(3) Optimization Solution of standardization Workpiece painting parameter: on the basis that obtains each standard workpiece spraying model, take coating, expect that thickness and coating uniformity are as the hybrid optimization target, set up the spraying Optimized model, then adopt golden section search to solve and obtain the crucial spraying parameter such as spraying rate and stroke spacing.

(4) the spraying path in standard beggar workpiece generates: in optimization, obtain on the basis of the crucial spray parameters such as spraying rate and stroke spacing, geometric classfication and corresponding geometric parameter according to each sub-workpiece, employing face cutting method obtains spraying profile point in the sub-sheet of optimizing, and connects to obtain final optimization spraying profile to it.

beneficial effect: compared with prior art, the invention has the beneficial effects as follows and provide for current common short run on the market, many kinds are the modernization spraying coating process solution of the spraying manufacturing of characteristics, this scheme takes full advantage of the achievement of spray robot and the relevant software and hardware technology of computing machine, can adopt for the characteristics of various structuring workpiece the mode of templating programming to generate fast the optimization spraying profile, realize the efficient spraying of spray robot and save coating and cost of labor, guarantee the coating quality of spray robot, adapted to current short run, the Production requirement of many kind spraying manufacturings.

The accompanying drawing explanation

Fig. 1 is: structuring Workpiece painting method for planning track schematic flow sheet;

Fig. 2-3 are: the coating cumulative thickness schematic diagram of plane and free form surface;

Fig. 4-7 are: the spraying process modeling schematic diagram of each standardization surface of the work;

Fig. 8-11 are: the STL model feature schematic diagram of each standardization workpiece;

Figure 12 is: multiple-pass spraying schematic diagram;

Figure 13 is: Fibonacci method solves optimum travel parameters process flow diagram;

Figure 14 is: panel path generates schematic diagram;

Figure 15 is: path, the face of cylinder generates schematic diagram;

Figure 16 is: the circular conical surface path generates schematic diagram;

Figure 17 is: the sphere path generates schematic diagram;

Embodiment

The present invention will be further described below in conjunction with the drawings and specific embodiments.

As shown in Figure 1, according to spraying profile planing method of the present invention, comprise the following steps:

1, the importing of structuring workpiece cad model and cutting apart

Cad model by guiding structure chemical industry spare STL form, according to its triangle gridding data characteristics, extract geometric properties, the geometric properties that deviates from angle, triangle area, adjacent edge length, normal vector etc. of adjacent triangular plate particularly, then according to these geometric properties, the structuring part model is cut apart, by its burst, be some simple standardization workpiece (as plane, the face of cylinder, circular conical surface, sphere etc.), and the geometric parameter of each standardization workpiece of extraction represent after burst.Concrete steps are as follows:

The first step: import the STL triangle gridding model of workpiece, namely surface to be sprayed adopts spatial triangle to be similar to, and each triangle obtains its three summits, and calculates thus its normal vector.

Second step: the Extraction of Geometrical Features of model and analysis.The geometric properties of required extraction mainly comprises the area that deviates from angle, each adjacent sub-sheet between adjacent sub-sheet, the length of adjacent sub-sheet common edge, the normal vector of sub-sheet etc.

The 3rd step: according to the geometric properties relation of each adjacent sub-sheet, the antithetical phrase sheet adopts the mode of region growing to make up, thereby original structure chemical industry spare is divided into to some single standard beggar's workpiece, in conjunction with the mode of man-machine interactively, segmentation result is done further to revise simultaneously.

Concrete cutting procedure need to carry out according to the resemblance of standardization workpiece to be determined, as shown in Fig. 8-11, the triangle grid model that forms the standardization workpiece shapes such as plane, the face of cylinder, circular conical surface and sphere differs from one another: the leg-of-mutton normal vector of each of plane is all substantially equal, and its error should be within certain scope; A triangular plate on the face of cylinder only has two adjacent triangular plates, and the area approximation of each triangular plate equates, the normal vector angle of arbitrary neighborhood triangular plate equates and all perpendicular to cylinder axis; Circular conical surface is as a special case on the face of cylinder, and triangular plate only has two adjacent triangular plates, and the area of adjacent triangular plate is unequal but equate with the area every a triangular plate, and the normal vector angle of arbitrary neighborhood triangular plate equates but out of plumb and circular cone axis; The Gaussian curvature of sphere any point all equates and is 1/R ², R is spherical radius.

The 4th step: extract the geometries characteristic of the standardization workpiece that burst obtains, as the length on plane and wide, the radius on the face of cylinder and height, the height of circular conical surface, spherical radius.This process can adopt NUMERICAL MATCH METHOD FOR to carry out.

2, the spraying modeling of standardization workpiece

Plane spraying experimental data according to collection in worksite, employing is set up corresponding plane coating cumulative speed model based on the NUMERICAL MATCH METHOD FOR of L-M algorithm, according to infinitesimal geometry area amplification principle, obtain on this basis the spraying model of the coating cumulative thickness of free form surface, then derive for other each standardization workpiece (face of cylinder, circular conical surface, sphere etc.) spraying model, complete the coating distribution modeling process of standardization workpiece.

(1) plane spraying experiment, obtain the coating distributed data

In the process of reality spraying, the distribution effect of coating is relevant with many factors.At first the spraying model that the present invention sets up has guaranteed to be set by the expert from parameters such as spray gun structure, coating characteristic, coating concentration, atomization air pressure, spraying swath air pressure, in spraying process, remains unchanged; The height h of spray gun takes the optimized parameter of recommending in the spray gun instructions; The direction of spray gun is perpendicular to the spraying surface of the work.Thus externally under the condition of ambient stable, the distribution situation of coating can be similar to be considered as constant.As shown in Figure 2, S is the coating distributed areas, is generally oval circular.Concrete steps are as follows:

The first step: be ready to plane steel plate, its light plate needs removing rust to process to guarantee to have an even surface smooth and dry;

Second step: allocate paint vehicle by the expert, and corresponding spray parameters is set, comprise fan-shaped control air pressure, atomization air pressure, spraying swath air pressure etc.;

The 3rd step: the examination spray guarantees that spray channel is unobstructed;

The 4th step: formal spraying.In experiment, by PLC, control the switching time of spray gun, carried out the repeatedly spraying experiment at different time interval;

The 5th step: coated and dried prevents sagging;

The 6th step: the distribution range (being the radius R of circular spraying area S) of determining coating;

The 7th step: adopt the rasterizing method divide and sample the coating distribution range, utilize contactless layer thickness gauge measurement to obtain the thickness profile data of each Grid Sampling point.

(2) based on L-M algorithm match coating cumulative speed model

For plane spray-on coating Accumulation Model, the present invention adopts the oval gaussian sum model description that following precision is higher:

$\frac{\mathrm{dq}(s,t)}{\mathrm{dt}}=f\left(p\right)={\mathrm{<figure-callout\; id="1"\; label="q"\; filenames="HDA0000366926850000021.png"\; state="\{\{state\}\}">q</figure-callout>}}_1\exp (-{\left(\frac{x}{{\mathrm{\&sigma;}}_{1x}^2}\right)}^2-{\left(\frac{y}{{\mathrm{\&sigma;}}_{1y}^2}\right)}^2)+{\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA0000366926850000021.png"\; state="\{\{state\}\}">q</figure-callout>}}_2\exp (-{\left(\frac{x}{{\mathrm{\&sigma;}}_{2x}^2}\right)}^2-{\left(\frac{y}{{\mathrm{\&sigma;}}_{2y}^2}\right)}^2)---\left(1\right)$

P=[q wherein ₁, σ _1x, σ _1y, q ₂, σ _2x, σ _2y] ^TFor treating the model parameter vectors of match.According to experimental data, adopt the nonlinear least square method based on L-M to carry out iterative fitting to following formula, to obtain the identification result of model parameter, concrete iterative step is as follows:

The first step: the initial value of p is set, calculates initial matrix Z;

Second step: the mould F of error of calculation matrix f, Jacobin matrix J and error matrix;

The 3rd step: calculate Hessian matrix H and gradient g;

The 4th step: calculate step-length H_lm, and judge that whether F is less than convergency value ε;

The 5th step: calculate p_new=p+H_lm, and calculated gains compares ρ;

The 6th step: judge that whether ρ is greater than 0, and upgrade iterative value;

The 7th step: judge that whether F is less than convergency value ε, if meet the iteration end, otherwise return to the 4th step, and upgrade coefficient u, v and H_lm.

(3) modeling of standardization Workpiece painting model

The present invention has mainly considered the spraying problem of three kinds of standardization workpiece such as the face of cylinder, circular conical surface and sphere, on the basis of above-mentioned areal model, adopt differential geometric area amplification principle further to derive and obtain the coating cumulative speed model of these three kinds of standardization workpiece, thereby provide foundation for the parametric programming technique of standardization workpiece.

As shown in Figure 3, s is the arbitrfary point on free form surface, plane P ₁For the reference planes of a certain spray gun vertical incidence, plane P ₂For crossing s point and and plane P ₁Parallel plane, h and h _sBe respectively the s o'clock vertical height to two planes; Define four small planes, c ₁For spray site and s point line and P ₁The small plane at the intersection point place on plane, c ₂For P ₂On plane, cross the small plane that s order, the small section that c3 and c4 cross respectively s point and order with mistake s on the vertical plane of s point injection direction with spray gun, c ₂With c ₃Angle is θ, c ₃With c ₄The angle on plane is γ; q _i(i=1,2,3,4) are respectively small plane c _iUpper coating cumulative thickness; Lance ejection is put the distance that s orders and is l _s.According to constant hypothesis and the area amplification principle of paint flux, can obtain s point coating cumulative thickness

$q_s=q_1{\left(\frac{h}{l_s}\right)}^2\frac{\cos \mathrm{\&gamma;}}{{\cos }^3\mathrm{\&theta;}}---\left(2\right)$

1) the coating cumulative speed model on the face of cylinder

As shown in Figure 5, Q _cThe point on cylinder, Q _fThe point on the plane tangent with the face of cylinder, Q _cQ _fAt subpoint, f _c, f _fRepresent respectively Q _c, Q _fThe coating thickness of 2.In the present invention, set up coordinate system as shown in Figure 4, x _cAxle is the direction along the face of cylinder, y _cIt is the generatrix direction of cylinder.The note spray gun is to height h and the cylindrical radius R on the face of cylinder _cRatio be η=h/R _c.According to the geometrical property of cylinder and the position relationship on plane, obtain Q _fCoordinate (x _f, y _f).According to formula (2), can calculate Q _cThe coating cumulative speed is:

$f_c=f_f\frac{{\mathrm{\&eta;}}^2(-1+\cos \frac{x_c}{R_c}+\mathrm{\&eta;}\cos \frac{x_c}{R_c})}{{(1+\mathrm{\&eta;}-\cos \frac{x_c}{R_c})}^3}---\left(3\right)$

2) the coating cumulative speed model of circular conical surface

As shown in Figure 6, on circular conical surface, spray the spraying model foundation that model can be similar to the face of cylinder.The model of setting up and formula (3) are similar, repeat no more here.

3) the cumulative speed model of sphere

As shown in Figure 7, C ₂The point on sphere, C ₁The point on the plane tangent with sphere, C ₂C ₁At subpoint, Q _c, Q _fRepresent respectively C ₂, C ₁Coating thickness.The present invention has set up coordinate system as shown in Figure 7, and the z axle is the opposite direction of lance ejection direction, and y is the spray gun working direction.The note spray gun is that h and spherical radius are R to the height of spherical surface _c, according to the geometrical property of sphere and the position relationship on plane, obtain Q _fCoordinate (x _f, y _f, z _f).According to formula (2), derive and obtain 1 C on sphere ₁Coating cumulative speed model be

$Q_f=Q_c{\left(\frac{h}{h_s}\right)}^2\frac{\cos \mathrm{\&gamma;}}{\cos {\mathrm{\&theta;}}_s}=q_1{\left(\frac{h}{l_s}\right)}^2\frac{\cos \mathrm{\&gamma;}}{{\cos }^3{\mathrm{\&theta;}}_s}=q_1{\left(\frac{h}{l_s}\right)}^2\frac{\cos ({\mathrm{\&theta;}}_s+{\mathrm{\&beta;}}_s)}{{\cos }^3{\mathrm{\&theta;}}_s}---\left(4\right)$

Wherein ${\mathrm{\&theta;}}_s=\arctan \left(\frac{r_s}{h+R_c+z_c}\right),$ ${\mathrm{\&beta;}}_s=\arcsin \left(\frac{r_s}{R_c}\right),$ $r_s=\sqrt{{{\mathrm{<figure-callout\; id="2"\; label="x\; c"\; filenames="HDA0000366926850000021.png"\; state="\{\{state\}\}">x</figure-callout>}}_c}^2+{{\mathrm{<figure-callout\; id="2"\; label="y\; c"\; filenames="HDA0000366926850000021.png"\; state="\{\{state\}\}">y</figure-callout>}}_c}^2}.$

3, the Optimization Solution of standard workpiece spray parameters

According to above-mentioned one-way trip coating Accumulation Model, set up corresponding multiple-pass stack coating cumulative speed model.The present invention, according to general spraying production status, only considers the situation of two spraying strokes stack.After for the spraying model inference, obtaining the coating cumulative speed distributed model of multiple-pass spraying, take spraying coating process such as expectation thickness and coating uniformities, require to set up as optimization aim the spraying profile Optimized model of each standard workpiece inside, and adopt the be optimized key parameter of track of the Numerical Methods Solve such as Fibonacci method, mainly comprise spray gun travel rate v and stroke spacing d etc.

(1) derivation of multiple-pass coating cumulative speed model on plane

Multiple-pass spraying process on plane as shown in figure 12.Owing to being coated with layer model, in spraying process, be constant, the speed of spraying is also constant simultaneously, therefore on any one cross section between stroke, its coating distribution situation is also identical.Therefore can only to single cross section, discuss, the impact of x namely only is discussed.The coating thickness of arbitrfary point s between stroke, its computing formula is as follows:

$q_s\left(x\right)=\left\{\begin{array}{cc}{q}_1\left(x\right)& 0\&le;x<d-R\\ q_1\left(x\right)+q_2\left(x\right)& d-R\&le;x<R\\ q_3\left(x\right)& R\&le;x\&le;d\end{array}\right.---\left(5\right)$

Wherein,

$q_1\left(x\right)=2{\&Integral;}_0^{t_1}\stackrel{\&CenterDot;}{f}\left(r_1\right)\mathrm{dt},0\&le;x<R,q_2\left(x\right)=2{\&Integral;}_0^{t_2}\stackrel{\&CenterDot;}{f}\left(r_2\right)\mathrm{dt},d-R\&le;x<d---\left(6\right)$

T wherein ₁, t ₂Represent respectively half of spray time that two strokes are ordered at s; r ₁, r ₂Expression s point is to the distance in spray gun incident point.

(2) Optimization Modeling of travel parameters and solving

The coating thickness of arbitrfary point s is except outside the Pass having with model itself, and is only relevant with stroke spacing d with the movement speed v of spray gun, so just can set up the optimization problem of v and d.When considering spraying effect, consider that mainly the expectation thickness of coating and coating uniformity are the optimization index, set up the optimization aim function as follows:

$\underset{d\&Element;\left(\mathrm{0,2}R\right]}{\min }E(d,v)={\&Integral;}_0^d(q_s(x,d,v)-q_{\mathrm{avg}}{)}^2\mathrm{dx})/d---\left(7\right)$

Wherein

For average thickness; q _sFor the cumulative speed of any point on coating distributes, and position x, stroke speed v, tri-relating to parameters of stroke spacing d.The related constraint condition is as follows:

v≤v _max，0≤d≤2R，q _avg=q _d (8)

Q wherein _dFor expectation thickness.After having set up optimization problem, adopt golden cut algorithm to carry out optimizing to d and v, wherein for each standardization workpiece q _sShould calculate by the corresponding coating cumulative speed of substitution formula, solve thus the spray parameters v and the d that obtain for dissimilar standardization workpiece.Concrete steps following (process flow diagram is as shown in figure 13):

The first step: initial value d is set ₁=0, d ₂=2R, wherein R is the spraying radius;

Second step: according to expectation coating thickness q _dCalculate v ₁, v ₂, and by d ₁, d ₂, v ₁, v ₂Calculation optimization target function value E ₁, E ₂

The 3rd step: use golden section to calculate d ₃, d ₄, make d ₃=d ₂-(d ₂-d ₁) * 0.618, d ₄=d ₁+ (d ₂-d ₁) * 0.618;

The 4th step: by the new d that obtains ₃, d ₄With the expectation coating thickness, calculate v ₃, v ₄, and by d ₃, d ₄, v ₃, v ₄Calculation optimization objective function E ₃, E ₄

The 5th step: compare E ₃, E ₄Size, if E ₃>=E ₄, make d ₁=d ₃, E ₁=E ₃Otherwise make d ₂=d ₄, E ₂=E ₄.

The 6th step: if | d ₁-d ₂|≤0.5, algorithm finishes, otherwise turns the 3rd step.

4, the spraying path in standard beggar workpiece generates

The crucial spray parameters v of the stroke for various criterion chemical industry spare that obtains according to optimizing and d, employing face cut-and-project method (as plane, the face of cylinder, circular conical surface, sphere) in each standard beggar sheet generates spraying profile, this algorithm is to utilize the geometric parameter of each standardization curved surface to form a series of planes to have cut trajectory planning, thereby form fast spraying process programming template, in actual use can be by input standard workpiece model to generate fast the spraying path, to guarantee coating quality, improve spraying production efficiency.

(1) plane spraying profile planning

The geometric parameter on plane has long a and wide b(a > b) as shown in figure 14.Spray gun, in the process of spraying, when needs turn round, needs acceleration-deceleration usually, this can cause the waste of energy and the decline of efficiency, and simultaneously, the coating uniformity of its spraying also will be affected when spray gun turns round, so in whole spraying process, the number of times that spray gun turns round is more few better.In order to meet this requirement, the track on plane is to carry out along length a.Concrete steps are as follows:

The first step: extract length line a and the wide line b on plane, construct first plane, do to be parallel to and through long edge and perpendicular to the plane P on plane ₁

Second step: choose P ₁For reference surface, set up cluster distance and be d(stroke spacing) parallel plane;

The 3rd step: utilize the bundle of planes and the curve surface of workpiece that generate to ask for intersection, by sampling obtains a series of sprayed surfaces path sampled point to intersection;

The 4th step: each sprayed surface sampled point can be obtained to actual spraying point position and the direction of spray gun along the normal vector direction translation h of surface of the work;

The 5th step: between each stroke, carrying out the migration path connection, thus the spraying profile of complete.

(2) face of cylinder spraying profile planning

The geometric parameter on the face of cylinder has the fan-shaped angle ψ of face of cylinder radius R, face of cylinder height h and top and bottom, as shown in figure 15.On the Zhong， face of cylinder, space, by the moving straight line that is parallel to boning out, around boning out, rotated and obtain, this boning out is axis.Foundation is around a series of planes of axis, and makes these plane cutting faces of cylinder can obtain face of cylinder track.Concrete steps are as follows:

The first step: extract the geometric properties on the face of cylinder, obtain face of cylinder radius R, face of cylinder height h and fan-shaped angle ψ, and extract straight line h, made the plane P of axis and straight line h ₁

Second step: choose P ₁For reference surface, setting up the cluster angle is the Plane of rotation of θ (θ=d/R, d are the stroke spacing), as cutting planes;

The 3rd step the～the five step is identical with (1) midplane spraying step, by cutting planes, generates the spraying path.

(3) spraying profile of circular conical surface planning

The geometric parameter of circular conical surface has bottom surface arc radius R, the fan-shaped angle ψ in bottom surface and cone height h, as shown in figure 16.With a series of spheres of plane cutting perpendicular to the circular conical surface axis.Step is as follows:

The first step: make the plane P perpendicular to axis and mistake bottom surface ₁It is main cutting planes;

Second step: in definite first plane P ₁On basis, determine plane P ₂, P ₂Establishment be by calculating spacing d and by P ₁Translation d obtains;

The 3rd step: set up by that analogy P ₃, P ₄P _i, until P _I+1With circular conical surface, there is no intersection.Note differently with the face of cylinder here, the spacing d that obtains in different circular cones position is different, need to be optimized respectively calculating, and it is not equidistant causing cutting planes.

Following step is identical with the front algorithm.

(4) spraying profile of sphere planning

The geometric parameter of sphere only has spherical radius R, and spraying method is that the parallel along sphere carries out path planning, as shown in figure 17.Step is as follows:

The first step: determine equatorial line and the axis of sphere according to spherical radius R, made the plane P of equatorial line and vertical axis ₁

Second step～the 5th step is identical with the spraying method of front, generates cutting planes bunch, and calculates the spraying path by the overlapping relation of plane and sprayed surface.But selected formation spacing d(is the cutting planes spacing, notices that d is not equivalence for spheroid, and namely cutting planes is non-isometric) different with stroke speed v.

It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.In the present embodiment not clear and definite each ingredient all available prior art realized.

Claims (5)

1. fast spraying path generating method for short run structuring workpiece is characterized in that: comprise the following steps:

(1) by guiding structure chemical industry spare cad model and extract its geometric properties and analyze, the structuring surface of the work is divided into to some simple standard beggar's workpiece;

(2) modeling is carried out in the coating cumulative speed of free curve surface of workpiece, derive on this basis the spraying model for typical normal structure chemical industry spare;

(3), take coating expectation thickness and coating uniformity as optimization aim, set up for the coating Optimized model of standard workpiece and solve corresponding path optimizing parameter;

(4), for various standardization workpiece and corresponding geometrical characteristic parameter thereof, automatically generate surface optimization spraying path.

2. a kind of fast spraying path generating method for short run structuring workpiece according to claim 1, it is characterized in that: described step (1) is specially: the STL model of guiding structure chemical industry spare CAD, according to this model, from triangular plate, extract geometric properties, it is mainly the geometric relationship of adjacent triangular plate, geometrical feature according to the extraction of structuring workpiece cad model, the structuring workpiece is cut apart, and burst is some simple standardization workpiece.

3. a kind of fast spraying path generating method for short run structuring workpiece according to claim 1, it is characterized in that: described step (2) is specially: at first adopt by the numerical fitting to the in-situ spraying data and obtain accurate plane spraying cumulative speed model, then by this model, according to differential geometric area amplification principle, derive the coating cumulative speed model for free form surface, and obtain thus the specific spray thickness cumulative speed model for each standardization workpiece.

4. a kind of fast spraying path generating method for short run structuring workpiece according to claim 1, it is characterized in that: described step (3) is specially: according to the coating cumulative speed model of the standardization workpiece of setting up, take coating, expect that thickness and coating uniformity are as the hybrid optimization target, set up corresponding Optimized model, then adopt golden section search to solve and obtain spraying rate and stroke spacing, thereby be optimized spraying parameter.

5. a kind of fast spraying path generating method for short run structuring workpiece according to claim 1, it is characterized in that: described step (4) is specially: on the basis of the path parameter that step is optimized on obtaining, for various criterion chemical industry spare, according to its geometric properties, adopt not coplanar cutting method optimization to generate spraying profile point in sub-sheet, and connect and obtain final spraying profile.

Images