Six Axis Industrial Robot Spraying Glaze And The Research And Design Of Application System

Spraying glaze is a necessary part of sanitary ware production industry,and ceramic spraying glaze is a link of easy realization.In foreign countries,the technology of using six-axis industrial robot to spray ceramic glaze has matured.While some domestic manufacturers have attempted,the success of the case is negligible.Firstly,the background and significance of the research,the present research and development status of the technology of spraying glaze industrial robot at home and abroad were expounded,and the modeling method of industrial robots has been deeply studied.The forward kinematics of the industrial robot based on the D-H model were solved and the inverse kinematics solving process has been analyzed.MD-H were introduced to solve the singular point problem effectively.A servo control simulation model of the position loop,speed loop and current loop three-ring were established.And the technology of spraying glaze,the process requirements of spraying glaze automatic production line,the process flow of spraying glaze production line and the improvement measures made to improve the relative performance of the production line were analyzed in detail.Then the paper designed the control system of the spraying glaze robot and the production line,analyzed the system composition of the whole production line,and then introduced the various parts and functions in detail.In the course of the study encountered many of the six-axis industrial robot practical field application problems.Included the design of six-axis industrial robot spraying glaze movement,sensor switch configuration and the design of spraying glaze production line action flow.We have adopted three innovative technologies.Firstly,the design of the 8KG six axis industrial robot was researched and developed independently,and the smooth realization of the robot external shaft driven spraying glaze turntable rotation,to realize the integrated control.Secondly,the identification and detection of the original ceramic billeted to increase the visual system.Thirdly,the control system of spraying glaze production line adopted Mitsubishi Series PLC,and the position deviation detection devices were added.This paper will provide important theoretical support for the future research and design of the spray glaze Industrial robot and its supporting automatic production line,and promote the application technology of six-axis industrial robot.