Technology Study On The Spraying System For A Industrial Robot Based On Machine Vision

Competition in the field of industrial spraying production is becoming increasingly fierce,and people are increasingly demanding quality in automation and optimization.The current common spraying method in the industry is that the commissioning personnel program the spraying robot's point-to-point trajectory according to the on-site installation of the workpiece to be sprayed.This method is complicated,tedious,and time-consuming,making the spraying process less efficient and requiring operators with higher professional skills.More importantly,when the type of workpiece to be sprayed is changed or the relative position between the workpiece and the robot deviates,a set of spraying trajectories needs to be taught again,which greatly reduces the efficiency of automation applications.This topic aims at the shortcomings of machine spraying in the current industrial environment.Based on the door spraying project of CMA(Wuhu)Robot Technology Co.,Ltd.,a smart spraying system based on visual scanning is proposed.This system can be implemented in complex industrial environments.The following industrial robots require intelligent spraying of sprayed workpieces.The system includes: visual scanning device,integrated industrial computer,spraying robot,and conveyor chain.The main function of the scanning device is to read the geometric data of the workpiece surface and send it to the host computer.After receiving the data from the image processing system integrated in the host computer,the redundant information is first deleted,and then the geometric features of the workpiece to be painted are extracted;The host computer uses algorithms such as preprocessing,noise removal,image sharpening,edge detection,Hough transform and other algorithms in the image processing of the workpiece surface geometric data.Subsequently,the vision system is calibrated.This paper proposes a vision-based rapid positioning method for the robot,which improves the accuracy of the robot's positioning of the workpiece and improves the work efficiency.A position sensor is provided on the spraying position of the conveyor chain to realize the function of quickly and accurately positioning the workpiece transportation in the spraying area.In the spraying process module,the spray gun part establishes a cone spraying model,and the paint part uses a pendulum tower distribution model to establish a cumulative paint model.The uniformity of the coating is used as an evaluation function according to the thickness change of the coating to ensure the system's technological level.After the image processing is completed,the robot's painting route is planned using a path planning algorithm based on plane gradients according to the processed image characteristics.The robot controller realizes the spraying trajectory with constant speed and high smoothness through the spline algorithm to ensure the smooth movement of the robot.Finally,using the Visual C++ 2013 development platform and HALCON image processing library,a machine vision inspection software is designed for this system to improve the operability and real-time performance of the system.