| There are some shortcomings for painting in reproducing of toner cartridge such as big labor-intensive, low productivity, quality assurance difficult, and a poisoning effect on the human body. To these shortcomings, automatic controlling painting process by using PLC (Programmable Logic Controller) is put forward in this paper, and an automatic painting robot——4-DOF (degree of freedom) manipulator has been designed and developed. The paper work done and the results obtained are as follows:(1) Overall design of manipulator. Total structure of manipulator has been analyzed, drive proposal, transmission proposal and total proposal of control system have been determined according to task demands and technical parameter of manipulator.(2) Mechanical system design of manipulator. Mechanical structure of manipulator has been designed and three-dimensional model has been built in SolidWorks according to modularized design method. The manipulator has four structure modules: pedestal, upright post, arm and paw (nozzle).(3) Hardware design and software design of control system by PLC.The key point of this paper is control system design of manipulator. Control system adopts a distribute control system and contains two parts of field control system and PC monitor system. Field control system adopts PLC and PC as industry computer. It allocates PLC I/O points from hardware and compiles the manual and automatic ladder program from software. A simple and practical monitor system has been developed by configuration software (Force Control) and remote operating the manipulator has been realized. |
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