Design Of Control System For Three-axis Spray Painting Robot Based On PLC

At present,the majority of domestic small and medium enterprises coating production operations are still made by manual operation.However,with continuous development of China's economy,labor shortage and so on in various industrial parks appear constantly.Spraying robots,as one of the most common industrial robots,have become a normal approach to upgrade the coating industry.However,the common spray robots on the market are dominated by general-purpose multi-joint industrial robots,which are expensive and technical,therefore it is difficult to be accepted by most small and medium-sized micro-enterprises.The purpose of this thesis is to develop a low-cost,economical universal spray robot to meet the needs of small and medium-sized micro-enterprises to spray ordinary metal components.the design of spray robots is mainly composed of three aspects,the robot hardware platform,PLC control system and the host computer software,The specific design work is as follows:In the aspect of robot hardware platform,this thesis analyzed the advantages and disadvantages of the traditional spraying mode according to the characteristics of the sprayed workpiece analysis and control,and a scheme of synchronous tracking spraying is put forward in this thesis.According to the design requirements of the spray robot as well as the enterprise cost requirements and the difficulty of development,the three-degree-of-freedom robot body mechanism is used to analyze the key components,controller and the driving system,of the spray robot.Finally,the overall design of the spray robot was completed.In the PLC control system,in allusion to the demand of control system and spraying the robot's operating process,we made a selection of PLC and I/O points are allocated reasonably.In this thesis the design of the workpiece to be sprayed is completed,which includes the current three-axis home position reset,synchronous tracking spray,spray from the location and reciprocating spray control procedures.And the sensor detection system is designed on the basis of this.At the same time,the parameters of the sprayed object which are desired for the robot are measured by the workpiece data acquisition system.On the basis above,the design of the control system of the spray robot based on PLC is realized.In the upper computer software,the spray robot software to achieve the overall program is put forward.On the VS2015 development platform,a more humanized PC software graphical interface,based on the use of object-oriented technology and MFC,is developed.The control parameters are transmitted to the PLC control system through the serial port,which realized the function of the host computer software to the control system for parameter setting and monitoring displaying.