The Research For Painting Spraying Robot Model And Key Techniques Of Off-line Programming

The coating process is the significant link in the passenger car production process, which have played an important role in protection and decoration for the products.The vehicle spraying process requires high spraying efficiency, good control precision, and the relatively complex and dangerous operation environment.In order to obtain the good coating quality during the vehicle spraying process, it is currently widely used spraying robot with high voltage electrostatic spraying process for passenger car spraying link. The high voltage electrostatic spraying process is very different from the air spraying process.This means that the modeling method of air spray paint film accumulation model does not apply to electrostatic spraying. On the other hand, as the vehicle models updates faster and faster, the traditional robot teaching system on-line programming and debugging method is hard to meet the needs of actual production. The robot off-line programming technology is becoming the mainstream of the whole industrial robot research direction.To sum up, in this paper, we will focus on the following aspects:(1) The main steps of passenger car coating process are analyzed, with the application of virtual plant technology, to construct the realistic robot off-line control environment.(2) Combining with the visual C++ programming technology on Matlab2012 platform, design an application software platform, which can be directly used on engineering to construct the model of the electrostatic coating film. The software platform is a combination of CAD model reconstruction, digital image processing,matrix analysis and fast data processing technology, etc. It just needs a small amount of production site initial data to forecast the results of the coating spraying efficiently.It gives the rational robot estimated parameters, which is the reference for the subsequent robot off-line programming.(3) Combining with the robot control parameters of the above software platform,research the off-line programming key technology of the ABB IRB5500 coating robot under the ABB RobStudio environment.It is mainly from the aspects including robotFrame system, RAPID control programming language, static Conveyor robot and motion transmission device the synchronization between static robot and motion conveyor, multi-robot cooperation. And applied the research results to the test a production vehicle model of Chongqing automobile companies.It takes the simulation test for the software platform and provides it to the cooperative enterprises to maintain and extend the function modules of the software platform through combining with the simulation results and feedback information The simulation and actual test results show that the software platform is easy to use,flexible calls of software modules, and time efficient. The robot off-line test in the actual production presents that the robot mechanical control is stable, good operation performance, and high precision of the robot movement, which is greatly increasing the efficiency of off-line programming and debugging. The various indexes totally meet the demands of the actual vehicle coating production.