Research On Key Technologies Of Simulation For Robot Teaching Glaze

The glazing robot can realize continuous and efficient ceramic glazing,improve the quality of glazing products and improve the working environment of workers.In order to predict the thickness of glaze layer and optimize the uniformity of glaze layer,the key technology of robot glaze teaching simulation was studied.The main research contents are as follows:1)The glaze accumulation rate model on the plane is established,the surface model is deduced,and the algorithm of glaze thickness is obtained based on the integral principle.When calculating the thickness of glaze,the position and normal vector information of the surface and the position and attitude parameters of the spray gun are needed.2)In order to obtain the required data,the data processing method of point cloud on curved surface is studied.Based on the theory of point cloud slicing,a method of simplifying point cloud data is proposed;the normal vector of curved surface is calculated by MESHLAB software;and the offset algorithm for calculating the position and attitude parameters of spray gun is obtained.3)The simulation of surface glazing was carried out with the ideal glaze thickness of 50 microns and the allowable fluctuation range of 40-60 microns.Firstly,the trajectory optimization and glaze thickness simulation of stretching surface are studied.Obtain and process point cloud data of curved surface;set teaching trajectory to simulate the thickness of glaze,the thickness of glaze is 116.42-19.73 micron;use local extremum search method and genetic algorithm to optimize the trajectory,and simulate the thickness of glaze,the thickness of glaze is 44.68-57.34 micron.Then,the trajectory optimization and glaze thickness simulation of composite surfaces are studied.Obtain and process the point cloud data of the partial surface of the toilet;optimize the trajectory with the local extremum search method,and simulate the glaze thickness.After optimization,the glaze thickness is 42.36-57.13 um.The simulation results are in agreement with the expectation,which proves that the model and algorithm are correct and the simulation program is feasible.The uniformity of glaze thickness is improved after optimization,which proves that the trajectory optimization is effective.Figure 48;Table 2;Reference 50.