基于点云的复杂工件机器人喷涂方法OA

To solve the problem of poor adaptability of teaching spraying robots for multiple varieties and small batches of workpieces,the robot spraying method for complex workpieces based on model parameterized reconstruction by 3D point cloud was investigated.The line laser vision sensor was used to scan the workpiece and obtain 3D point cloud,and the background and hooks were removed from the point cloud to segment the point cloud of workpiece.The size of workpiece was obtained by projecting and slicing in the main vector direction of the point cloud of workpiece,and the parametric modeling of workpiece was conducted.Based on the type of feature surface,the concave surface and the surface with complex connected areas were decomposed into closed and convex surfaces.The scanning line method was used to generate the spraying path and carry out robot trajectory planning,and the robot spraying system was built.The multiple test results show that the system can reconstruct 3D models and plan robot trajectories based on the point cloud of workpiece.The robot can move along the planned trajectory and is not sensitive to the requirements of suspension posture,which meets the actual needs of spraying.