Research And Development Of Key Technologies For Teaching Spraying Robots In Hanging Production Lines

With the development of robots and more and more application scenarios,vario us industries have gradually adopted robots to replace artificial labor.Spraying is an important part of the product manufacturing process.By spraying the product,the appearance and protection of the product surface can be improved.At present,the widespread application of automated spraying is mainly in the mass spraying industry such as automobiles,and the traditional manual spraying method is used in other industr ies.Traditional manual spraying is not only inefficient,but also harmful to the human body,spray automation is the future development demand.Unlike mass production,small and medium-sized enterprises are in the production of multiple varieties and small batches.The general programming teaching robot is complicated and troublesome because it is not suitable for rapid production change.In order to make the painting robot easy to use,the intelligent,efficient,and low-cost spraying of robots is of great significance for the application of painting robots in enterprises.This paper is based on the self-developed embedded robot controller.The robot teaches painting by direct drag and drop.This paper focuses on the requirements for painting spraying robots in continuous hanging production lines and the key technolo gies for application research and development.Firstly,the kinematics of the spraying robot is analyzed.By establishing a robot coordinate system,the robot linkage transformation model is obtained,and the robot's positive and inverse kinematics are solved.Prepare for subsequent robot related calculations.Aiming at the problem of acceleration and deceleration of spraying robot,a flexib le acceleration and deceleration algorithm based on the fifth-order polynomial is proposed.The simulation and comparison of traditional acceleration and deceleration algorit hms verify that the proposed acceleration/decele ration algorithm has better acceleration/deceleration performance and can be effective.Reduce the impact and ensure the smooth movement of the robot.For the teaching process,due to the inevitable external factors,the speed of the robot obtained by teaching is fluctuating and unstable.A post data processing method based on Kalman filter is proposed.This method can effectively reduce the interference caused by the external environment,reduce the fluctuation of the teaching speed,and the impact on the robot joint movement.The smooth movement of the teaching trajectory is obtained,make the robot reproduction movement more stable.For the spraying and hanging production line to follow,according to the needs of the company's production,as well as the adjustment of the production process,the operating speed of the hanging production line needs to be constantly adjusted.For this purpose,the robot spray rate needs to be adjusted in real time to follow the line speed.Therefore,this paper proposes a calibration method to obtain the real-time speed of the production line.By calculating the relationship between the robot spraying speed and the production line speed,synchronization between the hanging production line movement and the robot spraying is realized.For the problem of robotic spray trajectory reconstruction,this paper proposes a visual method to obtain the position of the sprayed product,and dynamic a ll y adjusts the spray trajectory to achieve the follow-up of the hanging position of the production line,ensuring the synchronization of the robot spray trajectory and the product pose.Finally,the spraying production was carried out on the production site of the company.The results show that the control method proposed in this paper can effect i ve l y improve the spraying efficiency and spraying efficiency of the spraying robot.It is of great significance for the promotion and application of spraying robot spraying technology in the enterprise.At present,the painting robot has been applied in many companies.