Intelligent Flexible Glue Spraying System For Rail Passenger Interior Panels

With the With the continuous improvement of environmental protection awareness,enterprises in the field of rail transit are facing severe tests in the glue spraying process.In the process of producing rail passenger interior panels,manual bonding is usually used,which is not only inefficient,but also has poor bonding quality,and is accompanied by the volatilization of a large amount of toxic and harmful substances.In order to solve this problem,this paper designs a set of intelligent flexible glue spraying system according to the status quo of rail transit enterprises to replace the traditional manual glue application method.The main researches in this paper are as follows:(1)Build the intelligent flexible glue spraying system according to the production environment and related data of the enterprise,select the key hardware of the system through actual analysis,including glue spraying robot,industrial camera and lens,and complete the control system design of the glue spraying robot,build the glue spray model and get the best glue spray height and air pressure through analysis;(2)Design the visual inspection system,analyze the coordinate conversion principle of the visual inspection system and solve the conversion relationship between the pixel coordinate system and the robot coordinate system,and establish a visual inspection algorithm for extracting the profile information of the plate,which includes the area of interest Through the analysis and comparison of different image processing methods,the detection algorithm with the highest accuracy is obtained.In order to obtain the glue spraying path of the rectangular plate,a visual inspection of the plate size is designed.detection algorithm;(3)Based on the D-H parameter method,the kinematics of the glue-spraying robot is analyzed,and the pose of the glue-spraying gun is calculated through the variables of each joint.The size of the glue-spraying surface is constrained by the motion range of each joint.The edge contour is extracted again by the ORB algorithm,and the cubic B-spline curve method is used to perform curve fitting according to the contour points.The glue spraying path of the rectangular plate adopts a reciprocating method;(4)Build the experimental platform of the intelligent flexible glue spraying system,use Python to design the software of the glue spraying system,and design the human-computer interaction interface based on Py Qt,and expound the basic process of the glue spraying experimental platform,based on the glue spraying platform The effective verification experiment of this system is carried out,and the experimental results show that the thickness of the glue sprayed on the interior panels of different shapes,sizes and sizes can meet the requirements.