A Research On Application Technology Of Electrostatic Spraying Robot On Spraying Production Line

In recent years,the popularity of automobiles in people's lives has been increasing,which has led to the continuous improvement of the appearance and performance of automobiles.In order to reduce production costs and improve production efficiency,major automobile manufacturers have begun to reform the traditional spraying production line.The birth of spraying robot and the application of spraying technology have played an important role in automobile spraying production line.In this paper,the off-line simulation software RobotStudio developed by ABB is used to simulate the spraying production line.At the same time,the repetitive positioning accuracy and color change cleaning of the robot are explored.Finally,the simulation results of RobotStudio and the spraying experiment results are analyzed and compared.This paper comes from Jiangsu Science and Technology Achievement Conversion Project "Research and Development of Flexible and Intelligent Coating Production Line for Energy Saving and Environmental Protection of High-end Passenger Vehicles"(BA2014079).The research focuses are as follows:Firstly,in this paper,the function,history and industrial process of spraying production line are described.The development history of industrial robots,the characteristics,research background and significance of electrostatic spraying robots are analysed.The hardware structure,color changing and cleaning principle of the color changing system of spraying robot are analyzed.The problems caused by color changing and cleaning and various factors affecting the paint rate are analyzed.The software design of the pre-painting marshalling is completed.In this paper,the phenomena of paint film defects,such as flowing paint and pinholes,which may be caused by robotic spraying operation are studied.The corresponding causes are analyzed and the solutions are given.At the same time,the effects of various spraying parameters(such as electrostatic voltage,shaping air,etc.)on the spraying quality were also studied.Secondly,the reproducibility and accuracy of position and posture of the robot are also explored in the paper.The Jacobian matrix is introduced to represent the relationship between the angular velocity and the motion speed of each joint axis of the robot.The mathematical model of precision analysis and three kinds of comprehensive evaluation functions of precision are also constructed,and the optimization method is selected to optimize the results.An example of optimization and synthesis of repetitive positioning accuracy is given.At the same time,this paper introduces the development status of off-line programming technology,expounds the functions of each module and interface of robot off-line programming system,puts forward the overall design scheme of off-line programming.Finally,this paper introduces RobotStudio simulation software,which is used to complete the layout of the workstation of painting production line in the paper.The coordinate system of robot workpiece,tool coordinate system,off-line conveying system module and spraying model copying module are created.Variable spraying technology was used to optimize the trajectory of some parts of the coated body,and the analysis of the simulation results and the test results were completed.