Design Of Online Spraying Robot System For Frame Work Parts

With the development of the construction industry,the types of applications for windows and doors are increasingly diversified.At present,the spraying operation for windows and doors products is mainly based on artificial spraying and robot spraying.In the process of artificial spraying,the working environment causes serious injury to the spraying workers,and due to the limitation of manual operation,it is difficult to complete the spraying work with complicated spraying tracks and large spraying operation intensity.Most of the robots spray offline programming spray trajectory planning method based,the spraying method to be repeated programming,can not meet the current doors and windows products update faster situation.Therefore,it is necessary to study a spraying robot capable of collecting the workpiece model in real time and automatically completing the planning of the spraying trajectory to meet the diversified spraying requirements of the current doors and windows.The purpose of this paper is to develop an on-line coating robot control system that can collect model data of doors and windows in real time and automatically realize trajectory planning.In this paper,we use the measuring light curtain to obtain the workpiece information,and analyze the possible swaying and tilting interference factors in the information acquisition process of the workpiece,and propose the corresponding error compensation method.Edge detection is used to extract the contour information of the workpiece,the binary image of the workpiece is obtained from the host computer,and the depth-first search algorithm is used to generate the coating trajectory.This paper designed a production line control system based on Beckhoff CX2020.The hardware control system mainly completes the selection and design of Beckhoff controller,measuring light curtain and servo drive components.The software control system uses Visual Studio2010 to realize the design of the human-computer interface of the host computer.Through TwinCAT2,the whole production line's motion control,on-line real-time monitoring and control and the communication between upper and lower machine are realized.In order to ensure the effectiveness of the robot control system,the door and window as an example for spraying experiments.The experimental results show that the two-dimensional image acquired by the measuring light curtain matches with the workpiece model and the error is less than 2cm.By using the trajectory planning method described in this paper,it can be achieved on the doors and windows tracking spraying,spraying meet the requirements,verify the feasibility of the system.