Design Of PU Spray With Industrial Manipulator Controlled By PLC

In the automobile spray and interior parts manufacture company,the manipulators are used in their production lines widely.We would like to research the technology of PU spraying in automotive interior parts and establish the manipulator modeling in the paper.In order to analyze the effects of different factors of spray system,we will establish an accurate mathematical spraying model.At the end we will give proposes for a reasonable spray trajectory algorithm and control strategy.Firstly,in this paper we introduce the history of manipulator,discuss the spraying industry in recent years,and emphasizes the significance of trajectory optimization of robotic arm.Then,we introduce the coordinate system of the six-axis manipulator,and establish the model of the manipulator based on the coordinate system.The kinematics equation of the six-axis manipulator and the equation of the forward and inverse kinematics equation are listed through the homogeneous change.We designed a variety of spraying nozzle shapes,and tested and optimized them through experiments.Under the control of PLC,the raw materials were mixed and opened in a fan-shaped way,and sprayed evenly on the surface of the mould.Raw material dosing system is based on PID principle and controlled by PLC.Based on the knowledge of the spraying manipulator,we will try to use normal industrial manipulator for PU spraying,the mixing and spraying of two raw materials are realized by the combination of PLC,industrial manipulator and spraying gun.Based on the above spraying system,the spraying shape and spraying effect can be optimized by some controllable parameters.In this paper,a mathematic model of spray gun trajectory production circle is established for a kind of surface coating of mould.By choosing the minimum time and coating variance as objective functions,the spray gun trajectory is constructed and optimized in the specified space path.Finally,the optimization results of spraying trajectory are simulated,at the end this method has been proved by the results from simulation.