| The environment of paint work is very harsh; paint dose harm to human bodies.Therefore, in order to protect workers’ health, improve the quality of paint and laborproductivity, the painting automation should be realized. The subject research contents andachievements are as follows:The paper researched a painting scheme which could adapt to the requirementscombined with the actual situation of a certain corporate. This painting scheme includedthe process design of the painting system, the scheme design of painting system and theoptimization of painting system. In accordance with the requirements of the paintingsystem, we improved the conveyor chain for the proper improvement, the spray paintingrobot haved completed one surface of workpiece which faced the robot, the workpiece canbe automatically rotated180degrees.According to the painting robots of the paper, the paper have established connectingrod transformation matrix based on D-H representation, and calculated the kinematics. Thepaper analysed the range of movement of each joint of the robot and drawed the workspace of the robot combined with spraying robot mechanical structure. Then the paperanalysed the robot workspace and maked the painting robots farthest used the space tocomplete painting task.Firstly, the paper designed image acquisition module according to the actual situationat the scene. And then the paper processed of the original image of the workpiece, includedof the workpiece denoising, image enhancement, edge sharpening, binarization processing,image segmentation and image template matching. We selected the better method of imageprocessing to identify the type of workpiece in a variety of the experimental comparison ofthe algorithm.The paper maked fully use of the advantages of the LabVIEW graphical programmingconvenience, and realized the workpiece image acquisition, preprocessing, recognition andresults output. And then automatically generate control robot automatic spraying program,and transmitted to the robot. |
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