Design And Realization Of Right-angle Coordinate Type Spray Robot Control System

The problem of “recruitment difficulties, labor expensive has become frequentand prevalent phenomenon under the development and progress of the industrial era.Every industry needs to be upgraded. Spray paint robot is one of industrial robots, thathas the special purpose. The introduction of industrial robots have become animportant means of industrial upgrading of related enterprises. However, currentlymost of spray paint robots on the market are universal and joint type robots. Theirprice is relatively expensive and lack pertinence. Therefore, this type of robot isdifficult to be accepted by the majority of small and midsize enterprises.The article aims to develop a pertinent and economic type of spray paint robot.Door, door frame of small and midsize furniture enterprises is the object that sprayrobot works. Based on the characteristics and requirements, that is from the actualcontrol of spray paint objects, this article designs the control system of spray paintrobot on the basis of the mechanical structure of five freedom degree. The core ofrobot’s control system is PLC. And the spray control parameters which robot needsare measured and recognized through screen. Contents of this article which is asfollows:First, The article illustrates the demand background current development statusof spray robot. Application of the screen measure device and the principle of screenwhich measures object is introduced.Second, The furniture door panel and the door frame as an example, this paperpresents a spray pattern of synchronous tracking movement through the analysis ofthe furniture spray paint difficulties and spray paint craft. According to therequirements of robot position control, trajectory condition of spray paint and the lowcost of overall design, the control system is established.Third, According to the scheme of control system, the controller, servo motor,screen measuring device are selected and analyzed. At the same time according to thesystem control requirements, the circuit of control and MCU system of screenmeasuring device are designed. The electric circuit of system is designed based on thepoint of view of system anti-interference circuit and protective equipment safety.Fourth, The control program is designed that spray paint robot tracks on themoving door frames and door according to the requirements of process and the quality of spray paint. The data processing program of screen measuring device of MCU thatused the recognition of artifact type and the calculation of shape feature parameters isdesigned. The solution method of the optimal operating speed and trajectory of theoverlap width is given through the analysis and calculating of the thickness of thecoating deposition model. At the same time, combined with the requirements of PLCsoftware design and the optimal gun running speed, the position of spray gun beginsto work is determined.Fifth, An experimental platform is put up that be used to hang the moving spraypaint object. The experiment that spray paint robot tracking on spray paint objectwhich is moving with constant speed. In the meantime the experiment is done that isused to recognize object type and measure length and width of object by screenmeasuring device. the error of the experiment measurement data is analyzed andsolved.