Intelligent Painting Of Electroplating Workpiece Resist Coating Based On Machine Vision Production Line

With the rapid development of the domestic automobile industry,the demand for interior and exterior trim parts on automobiles is increasing,and the trim parts after injection molding need to be electroplated.The trim strip after electroplating will become hard and brittle,and it is difficult to assemble with other parts of the car.Therefore,it is necessary to apply resist paint to the position where the trim strip and other accessories are assembled for resist plating before electroplating.For the painting of workpieces,most of the current market is manual painting,and a small number of manufacturers use three-axis industrial robots for painting.However,when the workpiece is a spatial structure or the workpiece is offset,the three-axis industrial robot cannot operate.Therefore,the market of intelligent production lines that realize automatic painting of workpieces by introducing machine vision systems is particularly impressive.This topic starts from the actual situation of the cooperative manufacturers and develops a six-axis industrial robot painting production line based on machine vision according to the technical index requirements of the manufacturers.The main research contents are as follows:(1)System design.Based on the needs of cooperative manufacturers,understand the development status of related fields at home and abroad,comprehensively consider the research objects and the corresponding environment,develop an intelligent production line system that conforms to the actual situation,complete the selection of hardware and the structure of software,and realize the three-station Automatic painting of various types of workpieces.(2)Visual platform construction.He studied the imaging principle of industrial cameras,established the relationship between the pixel coordinate system of industrial cameras and the world coordinate system by deriving the relationship between the four coordinate systems of industrial cameras,and proposed linear and nonlinear model parameter solutions.Camera calibration.Grayscale,filter and denoise the image collected by the industrial camera to enhance the important information in the image.By comparing different edge detection methods,the Canny operator with the best detection effect is selected for target detection,and finally the Hough transform is used to detect the workpiece.Extract the information of the two lines above.(3)Hand-eye calibration and control programming of robot.The tool coordinate system of FANUC six-axis industrial robot is established,and the hand-eye calibration of "eye-on-hand" method is completed by nine-point calibration method.Master the programming language of the FANUC robot,establish the simulation environment of the robot’s motion trajectory,and complete the teaching work of the robot painting the workpiece.The TCP/IP industrial communication protocol is established by using Socket,and the mutual communication between PLC,robot,upper computer and industrial camera is completed.(4)Production line construction and experiment.The entire intelligent production line was built,the calibration of the three-station two-dimensional plane of the production line was completed,and the painting speed of the robot when painting different types of workpieces was debugged,so that the paint surface path was regular and smooth.The reason for the inaccuracy of the automatic painting path is analyzed,and the matrix transformation between the camera and the robot is used to correct the deviation,and finally a workpiece that meets the manufacturer’s process requirements is obtained.