Prototype Design Of Disc Coating Equipment And Research On Coating Trajectory

With the development of industrial automation and the progress of society,people increasingly expect automation equipment to replace themselves to complete simple and repetitive work, freeing people from the heavy labor and the harsh working environment. Therefore, this paper is about designing an automatic coating equipment for friction disks and adopting a project with 6-DOF robot holding a brush for coating. Because friction disc has various sizes, the device must be versatile and can complete coating of disks with a variety of sizes, which simplifies the structure of the equipment; Coating trajectory has a decisive influence for coating effect and the motion performance of robot, in order to coat well and run well, coating trajectory is studied.Firstly, the coating equipment is designed. In the understanding of the special coating process of disc, the paper adopts a project with 6-DOF robot holding a brush for coating. Due to the variety of the disc sizes, in the design of the disc clamping station, the station can change the clamping size to hold all the discs with a variety of sizes. Because the disc has a plurality of coating surfaces, they are divided into the tooth and non-tooth surface after the analysis of the characteristics of the coating surfaces and the coating tool are designed respectively in order to get a better effect.After the designation of structure, the actuator, sensor and controller are selected to construct the system. The equipment needs to provide two main movements of linear motion and rotary motion. Stepper motor meets the requirements.After stepper motor are selected, its actuator is chosen. In order to make the stepper motor have good performance, this paper introduces several common acceleration and deceleration control algorithms, compares them, and gives the process of program implementation. After the tooth position of the disc is determined, the tooth surface can be coated, and the tooth position is recognized by the photoelectric switch in this paper, and the identification process is given.Secondly, the coating trajectory is studied. The kinematic model of the robot is carried out, and the calibration method of the work-piece coordinate system is introduced, and eventually a fast method is used. Coating surfaces are divided into non-tooth surface and tooth surface, respectively, with a different brush to coat.When brushing the non-tooth surface, the thickness function is constructed, and the optimum parameters are obtained by genetic algorithm. When brushing the tooth surface, the parabola transition of relative velocity, the 3-order Bezier transition of the relative path, 5-order Bezier transition of the absolute track are adopted to optimize the trajectory of coating and the performance of robot is improved.Finally, relative experiments are conducted. In this paper, the steps of obtaining the required parameters of the tooth surface and the non-tooth surface are introduced.Set up the simplified disc coating equipment, and carry out the coating experiment,and good results are achieved.