文档介绍：五自由度喷涂机器人控制系统
摘要
随着建筑行业的发展,门框类产品需求日益广泛,消费者对于门框类产品喷涂质量的指标也越来越高。目前国内对于门框类工件的喷涂作业,主要以人工喷涂和机器人喷涂为主。在人工喷涂过程中,工作环境对喷涂作业人员身体造成严重伤害,而且由于人工操作的局限性,难以完成喷涂质量高指标、喷涂作业强度大的喷涂作业。而机器人喷涂多以离线编程喷涂轨迹规划方法为主,该喷涂方法需重复编程,无法满足当前门框类工件更新速度快的形势。因此,需要研究一种高效的替代人工操作的机器人来满足门框类工件的喷涂需求。
本文旨在开发一款满足门框类工件喷涂轨迹自动规划的五自由度喷涂机器人。基于喷涂对象的控制特点和实际需求,本文所研究的机器人喷涂控制系统分为硬件系统和软件系统两部分。硬件部分主要以CX2020倍福控制器为核心,选择SGD7S-120A00A002、SGD7S-5R5A00A002和SGD7S-1R6A00A002型号伺服驱动器控制机器人五个轴的移动,通过通用型显示器实现人机通讯,完成了五自由度机器人喷涂控制系统的硬件系统的设计;软件部分主要完成了复位喷涂模块、起喷点定位模块和喷涂模块的设计。根据机器人五自由度的特性,采用物理追踪算法实现了上位机喷涂仿真轨迹的生成。控制器通过RS485通讯方式实现了测量数据的传输,倍福控制器与下位机通过ADS通讯方式完成了喷枪喷涂轨迹的自动生成。在人机交互界面设计中,实现了喷枪喷涂轨迹的图形化显示。
通过搭建喷涂对象实验平台,进行门框工件的喷涂实验,对本文设计的机器人喷涂控制系统进行了验证。实验表明:本文所述控制系统可以完成工件的整个喷涂流程;可以完成工件的检测和检测数据的传输,且对工件的最大检测数据误差为3mm,在工程允许误差范围内;在给定加工条件的前提下,本文研究的轨迹规划算法与传统Z型往复式喷涂方式相比,缩短了喷涂时间,减少了空枪移动的距离,提高了喷涂利用率,验证了本文所述控制算法的有效性。
关键词机器人喷涂;五自由度;控制系统;
Five degrees of freedom spray robot control system
Abstract
With the development of the construction industry, the demand for door frame products is more and more extensive, and consumers are more and more higher in the quality of door painted products. At present, the domestic spray work for door frame workpieces mainly consists of artificial spraying and robot spraying. In the manual spraying process, work environment causing serious damage to spray the body of workers, but because of the limitations of manual operation, it is difficult plete the quality of spraying spraying operation strength of high index and operation. However, robot spraying is mostly based on off-line programming and spraying trajectory planning method. The spraying method needs repeated programming and can not meet the current situation of fast updating of door frame workpieces. Therefore, it is necessary to study an efficient robot instead of manual operation to meet the demand of door like workpiece spraying.
This paper aims to develop a five degree of freedom spraying robot for automatic planning of spraying trajectory of door frame workpieces. Based