Design Of Control System For Driving Control Room Based On Eight-axis Sandblasting Robot

In industrial production,the treatment of metal surface is extremely important.Once the metal surface rusts,water and oxygen will continue to penetrate the rust layer,making the metal inside rust.Sand blasting is one of the important methods of metal surface treatment technology.The environment of sandblasting operation is harsh,and high-speed spraying and metal droplets will cause irreversible harm to human body.At the same time,the sandblasting operation for large-scale workpieces are heavy in workload and time-consuming and laborious by manual operation.For sandblasting operation for large-scale workpieces,manual sandblasting is gradually replaced by robot sandblasting.Therefore,it is of great significance to study the related control system of sandblasting robot.This topic takes Blastman B20 CX eight-axis sandblasting robot as the design carrier,builds a hardware experimental platform,compiles the control programs of the main controller and the motion controller,designs the upper computer software of the control system,and forms a set of control system for the driving control room of sandblasting robot.This paper mainly completes the following work:This paper summarizes the development status of sandblasting robot at home and abroad,summarizes the eight-axis sandblasting robot,and summarizes the development status of key technologies of robot control system.According to the functional requirements of the research target,the main hardware components are selected and connected by communication,and the main controller and motion controller are programmed,and the system hardware experimental platform is built.The upper computer software of the control system is developed in Python environment,and the UI interface based on Py Qt5 is designed The forward kinematics of the eight-axis sandblasting robot is solved,and the end position information of the robot is obtained by the motion information of each axis,and the trajectory curve is drawn;The three-dimensional model of each axis of the robot is drawn by Pro/Engineer,and the STL file is read by VTK to display the three-dimensional model of the robot,which realizes the real-time motion feedback of the three-dimensional model of the robot and completes the monitoring of the running state of the robot;Automatic integration of teaching data documents is realized by using API interface provided by Python for processing.xml format files,and the design of file management function is completed.Finally,the actual test was carried out in the industrial field,and the main controller of the hardware experimental platform was installed in the field electric control cabinet,and the communication was completed.The upper computer software designed in this project was run on the PC in the driving control room of the sandblasting robot,and the functions of operation control,robot status display and automatic integration of teaching point data files were completed.