Research And Development Of Fully Automatic Spraying Equipment For EPS Line

As the scale of domestic building materials market is constantly expanding,the new wall decorative component EPS lines are favored and recognized by more and more people.The spraying of workpiece is an significant step of line generation.And the traditional spraying method mostly adopts manual spraying,which has serious pollution,poor uniformity of coating and other problems,and is difficult to meet the qualified standard.In order to meet the rapid development needs of the domestic EPS line industry,this project has carried out research on the EPS line spraying device.The horizontal rotary single-axis positioner is used as the conveying tool outside the spraying room,and the six-axis mechanical arm is used as the spraying tool inside the spraying room.The spraying control system is designed.Control the positioner and the manipulator to assist synchronously to realize the automatic spraying of the working surface of the workpiece,thus reducing the number of operators and environmental pollution hazards,and improving the automation level of EPS line spraying.The main contents are as follows:First of all,the overall scheme of the fully automatic EPS line spraying equipment is designed.The workpiece is transported by a horizontal rotary positioner outside the spraying room environment,and the workpiece is sprayed by a six-axis mechanical arm inside the spraying room environment.The connecting rod coordinate is established by the manipulator,and the D-H method is infered to derive motion model.The relationship between six joint angles of the mechanical arm and end posture is derived by forward kinematics,and that the forward kinematics algorithm is verified.The abnormal situation that may occur during the spraying process of the mechanical arm is analyzed.Then the expression between end posture is derived by inverse kinematics.The optimal solution is found and verified.Secondly,the key algorithm of robot arm path planning is studied,which is used to interpolate the joint angles of each motion,reduce the energy impact and split the workpiece,select one of the spraying areas to establish the robot arm motion path model,and use the S-type interpolation algorithm to plan and feedback joint motion characteristic parameters.Then,the control algorithm of coating thickness uniformity is proposed.Establish the cumulative distribution model of single linear trajectory coating on factors affecting coating quality,and the model is verified.The control model of multiple spraying trajectory spacing is further deduced,and the optimal distance of adjacent spraying trajectory is determined by trial spraying and fine division.Thirdly,QT and Open Inventor are used to design the control software of spraying device,and the 3D visualization module,collision free motion path simulation module,robot command format conversion module,network communication function and database function are designed respectively.Finally,set up an experimental environment for on-site experiments.Test the coating coverage of the selected area of the workpiece,and then test the uniformity of the coating thickness,and analyze the experimental data.The results show that the designed control software combined with the spraying device can achieve the qualified spraying of the line.