全文总字数：12236字

旋耕刀表面喷涂加工轨迹规划及仿真

摘要

旋耕刀是重要的土壤工作部件，土壤中的沙石以及腐蚀性物质等是旋耕刀使用寿命的关键影响因素之一。在旋耕刀表面喷涂抗磨和抗腐蚀性的材料可有效提高旋耕刀的使用寿命和工作性能。目前，旋耕刀表面喷涂作业是大量依靠人工，一方面，喷涂的质量受喷涂工人技术水准的影响显著，另一方面，喷涂作业的环境存在一定安全风险，防护要求高。为了提高喷涂效率，减少人工因素等影响，需进行旋耕刀喷涂的自动化作业。本课题首先在文献分析的基础上，根据旋耕刀工作条件提出合适的喷涂方案；其次建立旋耕刀的几何模型，并根据旋耕刀几何特点设计轨迹规划虚拟实验平台；然后通过对旋耕刀表面复杂曲面的研究与分析，基于蚁群等先进控制算法，提出了旋耕刀与机器人复合运动的轨迹规划方法，实现了面向旋耕刀喷涂加工作业路径的有效控制；最后通过仿真来验证此方法的可行性。本文系统研究了旋耕刀喷涂作业的路径规划方法，可为旋耕刀的自动化喷涂作业提供参考。

关键词：旋耕刀，表面处理，轨迹规划，喷涂，仿真

Trajectory Planning and Simulation for Surface Spraying of Rotating Crop Knives

Abstract

The rotary cutter is an important working part of soil. The sand, gravel and corrosive substances in the soil are one of the key factors affecting the service life of the rotary cutter. Spraying wear-resistant and corrosion-resistant materials on the surface of rotary blades can effectively improve the service life and performance of rotary blades. At present, the surface spraying operation of rotary tillage knife is largely dependent on manual work. On the one hand, the quality of spraying is significantly affected by the technical level of spraying workers. On the other hand, there are certain safety risks in the environment of spraying operation, and the protection requirements are high. In order to improve the spraying efficiency and reduce the influence of artificial factors, it is necessary to automate the spraying of rotary tillage knife. Firstly, based on the literature analysis, this paper proposes a suitable spraying scheme according to the working conditions of rotary tillage knife. Secondly, the geometric model of the rotary blade was established, and a virtual experimental platform for trajectory planning was designed according to the geometric characteristics of the rotary blade. Then, based on the research and analysis of the complex surface of the rotary cutter, a trajectory planning method for the composite motion of the rotary cutter and the robot was proposed based on the ant colony and other advanced control algorithms, which realized the effective control of the spraying processing path of the rotary cutter. Finally, the feasibility of this method is verified by simulation. This paper systematically studies the path planning method of rotary blade spraying operation, which can provide a reference for automatic spraying operation of rotary blade.

Keywords: Rotary Tillage Knives, Surface Treatment, Trajectory Planning, Spraying, Simulation