Aiming at the situation that the domestic small and medium-sized enterprises generally use manual to spray large workpieces,which makes it difficult to ensure product quality and makes workers’〖KG-*3〗health endangered by the harsh production environment,a drag teaching automatic spraying system was developed.The hardware layout and operation mode of the automatic spraying system jointly operated by two drag teaching robots and a mobile trolley were described.Based on EtherCAT technology,the hardware platform and software architecture of the robot control system were designed,and the drag teaching and track reproduction functions of the robot were realized.Combined with the running characteristics of the robot,the drag teaching and reproduction functions of a whole composed of dual robots and mobile trolley were realized,and the operation process of spraying teaching and automatic spraying of the system was designed.According to the production demand of the enterprise,an automatic spraying system for large bathtub was built and put into the workshop for spraying production.The results show that the performance of the system is reliable and the quality of spraying products is good and stable.