The Structure Design Of Foam Mold Cleaning Robot And Trajectory Planning Research

For the foaming mold, traditional manual cleaning takes a lot of time. Besides, the use efficiency of cleaning agent is not high, and cleaning effect not guaranteed. Therefore, this study aims to design a robot that is able to adjust its arm poses to make the air nozzles at the end of the arms reach every corner of the mold surface. And the nozzles will blow high-speed air flow to clear all the impurities like release agent left on the foaming mold, thus realizing cleaning the foaming mold.First of all, according to the application characteristics of foaming mold cleaning robot, the concept of modular design of foaming mold cleaning robot body design was carried out.Second,In order to better study the kinematics of the foaming mold cleaning robot, parameter design is conducted according to certain requirements for the robot, and its forward and inverse kinematics are discussed. The modified D-H Method is employed to build the kinematical equation of the corresponding structure. In addition, the Robotics Toolbox module of Matlab is utilized to carry out simulation of the trajectory planning. The simulation has observed the movement of each joint of the cleaning robot, and obtained the necessary data, and verified the designed parameters, thus achieving the predetermined goal.Finally, the control of the foaming mold cleaning robot system design, PLC control technology high pressure air gun cleaning foam mould, automatic, save labor costs, in order to improve production efficiency.