Static Structure Design And Topology Optimization Of Automotive Spraying Robot

Spraying robots are widely used in the spraying process of automobile,engineering machinery,sanitary ceramics,furniture and other production processes due to high spraying quality,good production flexibility and high work efficiency.So far,the domestically used painting robots are almost all foreign brands,and there are few domestic brands.The reason is that in addition to the core technology of off-line programming,the ontology design technology needs to be further improved to ensure that the robot has excellent performance indicators.Spraying robots,especially automotive painting robots,have large arm extensions,require hollow explosion-proof,and have high requirements on the deformation and power consumption of the whole machine,which is a big challenge for designers.Considering that the load of the painting robot is relatively small and the movement speed is not changed sharply,this paper will use the self-developed 7R6-DOF painting robot as the object,and mainly carry out the static structure optimization design for the wall installation method.In order to reasonably determine the worst working condition,firstly,according to the bending/torsion force state of each rod of the robot,the painted area of the car is regarded as a hexahedron,and each vertex is selected as the representative posture,for a total of 8 typical pose points;The finite element analysis software ABAQUS was used to calculate the end deformation of the whole machine at eight pose points.The worst case condition was determined by quantitative and qualitative analysis.Then the deformation of each part under the dangerous condition was analyzed.The deformation contribution rate determines whether the components need to be appropriately increased or reduced in the subsequent topology optimization.According to the equal deformation contribution rate,the stiffness of the whole machine is distributed,and the requirements of displacement and deformation of each component are obtained.The goal of topology optimization of each component is determined.Considering that the rear rod is the load of the front rod,the arm-level structure optimization of the arm,the boom,the waist and the base is performed in reverse order.After obtaining the conceptual model of each member,a reasonable interpretation was made to determine the optimized structure.Then,the finite element analysis was carried out on the reconstructed model,and the results before and after the optimization were compared and analyzed.Finally,the optimized components were reassembled,and the static analysis of the whole machine was carried out by ABAQUS,which verified the effectiveness and advancement of the proposed method.