Study On The Box Shell Spray Painting Robot System Of High-voltage Capacitor

Based on practical engineering problems, this paper studies on the box shell spray painting robot system of high voltage capacitor, and the main work is as follows:1. This paper completed the design of automatic production line for box shell spray painting system of high voltage capacitor. The function and parameters of the subsystem were determined and the spray painting line has been put into practical application. The system made the selection of Yaskawa YR-PX1850-A30 robot according to the size of the box shell, along with efficiency, reliability, stability, explosion resistance, good versatile and the principle of moderate cost. The control program written for the spray painting robot system ensured the completion of the system joint debug.2. This paper set the link coordinate of the robot by using basic dynamics theory, studied the general process of dynamic modeling by using the D-H method, and established the dynamic model of Yaskawa YR-PX1850-A30 spray painting robot. Besides, this paper made brief discussion on trajectory planning of the actuator and made the derivation of the dynamic equation of Yaskawa YR-PX1850-A30 spray painting robot.3. This paper finished the CAD modeling and virtual assembly of the spray painting robot.4. This paper studied the method of importing CAD model into ADAMS and completed the design of the virtual prototype in ADAMS.5. This paper obtained relevant data of the prototype model by dynamics simulation analysis of the spray painting robot. Then compared with the data of the working range and standard size of the robot, the rationality of the painting program is determined.All the work above has proved that the painting program of the robot is stable. The parameters of the joints fulfill the standard requirements of working range and standard size of Yaskawa YR-PX1850-A30 spray painting robot. It is practically proved that the actuator of the robot is relatively stable and the lacquer surface is of high quality, which can meet the requirements of box shell painting of the high voltage capacitor.