Research And Application On Robot Spray Painting System

In the first part of the thesis, the development of paint coating technology is reviewed briefly. In the following part, four design tasks make up the main content of the thesis, which include system scheme, robot vision, robot system and central control. The software and hardware are implemented for the tasks. Finally, some issues are discussed about the robot off-line programming system.The research content in the thesis involves many problems in the engineering of robot application, which include the robot programming, the communication between robot and peripheral equipments, robot vision servo technology, configuration of the robot sensors and the design of the running flow of the robot system. The research results of the thesis may increase the application of robot in the automatic product lines and accelerate the development of robot technology.In the design of the system scheme, there are three differences from the former product lines. First, the rotating of the ceramic manufactures is not uniform speed. They rotate with intermittence. Second, the visual sensor is added to measure the position of the ceramic manufactures. Third, the device used to control the robot is not PLC (Programmable Logic Controller) but an industrial computer.In the design of robot system and rotate table, the methods of programming and robot control are discussed in detail. In order to decrease the difficulty of programming and shorten the time of teaching robot, the laser range finder is used to help the workers. In order to control robot effectively, the RS232 communication is used. Pulse clusters generator and the RS232 communication are used simultaneously to accomplish the closed control of the rotate table.In the design of robot vision servo module, a look-and-move system based on image is implemented. This system uses a fixed camera on the top of workspace. The system includes camera calibration, picture collection, filter of noise in working environment, image processing, position error calculation and adjusting.In the design of central control module, IPC5375 is used to control the running of the product line, and IPC5386 is used to control the rotation of the servo electromotor. Both of them provide interface of language C, which is helpful for programming. In order to increase the real-time and control performance of the system, multithread technology is used in the software. Multi document-view structure is used to realize the main control software, which integrates the control of product line and robot, robot vision servo and project management of production.About the robot off-line programming, the possible problems and research methods are discussed for the spray painting system. Some important aspects like modeling of spray gun, 3D modeling of ceramic, robot spray path planning and simulation of off-line programming are specially researched.