Automatic Planning Of Spray Trajectory For Special Surface Of Toilet

In recent years,with the continuous improvement of living standards,people are no longer satisfied with the functions of products,but pay more attention to the appearance design of various products.Therefore,in recent years,more and more products adopt the design of complex free-form surfaces.Aiming at the problem that the manual spraying operation of complex surfaces can not guarantee the consistency of product spraying quality,a method of automatically generating robot spraying trajectory by tool method is proposed to improve the efficiency of surface spraying trajectory planning and surface spraying quality.In this paper,three aspects of in-depth research are mainly carried out to optimize the spraying process parameters of the coating thickness distribution model,and the CAD model automatically obtains the spraying trajectory and the optimization of the spraying trajectory.(1)Study on optimization of spraying process parameters.According to plane,cylinder and small curvature surfaces,different coating thickness accumulation models are established.Taking the uniformity of coating thickness as the optimization goal,the spacing between two adjacent spraying tracks of different surfaces is optimized,and the spraying track spacing with the best uniformity of coating thickness is solved.(2)Acquisition of spraying trajectory based on CAD model.The model is divided according to the working range of the robot,and then subdivided into patches with smaller curvature.Each patch is milled by a multi axis machine tool using the CAM module.According to the similarity between cutting and spraying,the points of the processing path are extracted and the attitude angle is solved to obtain the spraying processing path.(3)Optimization of trajectory.Taking the uniformity of the surface coating as the optimization goal,the trajectory generated by the tool method has the advantages of high trajectory accuracy and good model fitting,but there is a problem of poor uniformity of the coating thickness at the edge of the spraying surface in the process of generating the spraying trajectory by the tool method.Aiming at this problem,a method for optimizing the spraying trajectory generated by the tool method is proposed;In glaze application,there is no high requirement on the fitness with the track,so the track is redundant and optimized.Taking the toilet as the simulation and experiment object,the robot spray trajectory motion simulation is carried out.The spray film thickness of the model surface is numerically simulated using Matlab to verify the spray trajectory planning and optimization algorithm.