Design Of Intelligent Control System For Painting Production Line Based On 3D Laser Scanning Technique

Problems such as harsh working environment,heavy and complicated work tasks and low spraying efficiency have always existed in conventional spraying operations.With the development of intelligent robot industry,more and more research on the application of robots in the spraying industry has been carried out.Most of the current spraying robots are only capable of spraying products with single model and large production volume,and they cannot be well applied in industries with high customization needs.Therefore,this research takes the automatic spraying project of the plate parts of Guangdong Shunde Difeng Machinery Co.,Ltd.as the setting to design a set of intelligent control system of robot painting production line based on 3D laser scanning.The system functions designed in this paper mainly include three major parts:plate transport control,trajectory generation to meet different coating process requirements and automatic robot coating.The plate transport part uses Mitsubishi PLC as the control core and combines external sensors such as photoelectric switches and encoders to realize the control of plate transport.It includes transporting the plates to complete 3D laser scanning,transporting the plates to the designated coating position and transporting the finished plates to the designated area.The trajectory generation part uses the 3D laser scanner to collect the workpiece surface data,extract the workpiece features according to the surface data,and then combine with the coating process requirements set by the host computer to generate a coating trajectory program that meets the coating process requirements.The spraying process setting interface can set different spraying parameters such as spraying height,spraying speed and spraying margin for different features,and also can add,delete and adjust the spraying process according to the spraying requirements.The robot spraying part executes the corresponding spraying program and completes the spraying work after controlling the robot arm in position.The whole control system is mainly compiled in VB.NET language.The serial communication is used between the IPC and Mitsubishi PLC,and the instant status and control instructions are transmitted between the IPC and the robot arm through socket communication,and the robot arm spraying program is transmitted through FTP protocol.The internal program of Mitsubishi PLC is compiled in the form of a ladder diagram using GX Works2 software,while the internal program of the robot arm is developed in C language based on MotoPlusIDE software provided by Yaskawa and the corresponding coding library.The test results show that the system can generate the trajectory according to the surface information of the board,and complete the spraying according to the process requirements,which has certain practical and reference value.