The Off-line Demonstration Simulation Technology Of Glazing Robot

Glazing of the ceramics technology is an important process in the sanitary producing. Artificial glazing is difficult to ensure the quality, and the hostile environment is seriously harmed to the workers. Robot glazing has been applied in the glazing industry. But the robot trajectory of glazing access has been a bottleneck for the robot glazing. Therefore, finding a new reasonable teaching method is of a great significance for the development of the domestic sanitary ware.A simulation system for off-line teaching is designed, which based on the situation of the glazing robot in Tangshan Huida Ceramic Group. It combines hands-on teaching with the off-line teaching and establishes a teaching institution. It teaches by using the hands-on teaching institutions tracing the workpiece. The entire process of the teaching will reappear in a virtual environment and adjust the teaching track according to the glaze slip distribution of the workpiece surface in the virtual environment. And then download the eventually reasonable path to the actual teaching robot to cover the actual glazing.The teaching institution is designed based on the actual glazing robot mechanism designing, as the same degree of freedom, institutional size and the actual working space like the actual glazing robot. The teaching institution uses the pulse encoder to measure the joint angle in the joint instead of the drive motor and reducer. And a data acquisition card is used for data collection in order to obtain the teaching trajectory. The teaching institutions is analyzed on the issue of static equilibrium and presented a method of spring balance plus the friction torque. And a positive solution is given for teaching institutions providing a theoretical basis for teaching certification tracks. Due to the model of the workpiece complex, it can not get their CAD models by the forward design. So the laser scanner can be used to scan parts of the workpiece, and get the point cloud data. Then point cloud data is taken, just like de-noising, streamlining and alignment. At the end the final surface model is gotten, provided the original model for the establishment of virtual environments.