| Nowadays,in the processing of train truck, automatic spray painting is not widely applied, especially in repairing train truck. And manual painting is very tough for the workers, yet the work is usually not well finished. So developing an automatic spray painting device is in urgent need.This paper introduces a spraying painting robot controlled by Motion Control Card embedded in Industrial Control Computer. The robot is capable of realizing movements in the directions of length, width, height and the rotation directions of the two rotary parts, completing interior and exterior spray painting of the vehicle. The 5-axis motion can meet different requirements of rough and finishing painting. And the control system can execute integrated control on the assistant devices. According to the special circumstance of spray painting, we take a series safety measures, especially in Ex. The safety performance meets the industrial demand.This paper doing the following work:According to the geometric characteristics of train truck, we decide the movements of the robot. And referring to parametric demand on the demand paper, we analyze the mechanics parts. In Pro/Engineer we build a 3D model of the whole device. With this model we can take some investigations more deeply such as mechanism analyst. We also design the control system, and develop control programs. In UG, we build the ISV (Integrated Simulation Verify) environment, with which we can simulate the spray painting process and verify the finished painting track. Finally, we analyze the safety condition and precision of the whole system.This paper investigates some key technologies on the spray painting robot. Give some ways in enhance the spray painting efficiency and improve workers work condition. |
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