Design And Research Of Automobile Intelligent Repair Spraying System

With the continuous development of China’s economy and society,China’s automobile market has transitioned from the incremental stage to the inventory stage,and the output value of the overall automotive aftermarket and repair spraying and other subdivided fields continue to increase.In the context of accelerating the implementation of China Manufacturing 2025 and promoting the implementation of the manufacturing power strategy,for the automotive repair spraying field,improving automation levels,replacing manual spraying operations,and ensuring safety,environmental protection,high efficiency and high quality requirements are the future development of automotive repair spraying field.The inevitable trend.This paper studies and designs a set of automotive intelligent repair spraying system according to a company’s automotive repair spraying operation requirements to realize the auto repair spraying operation.The main research and design contents are as follows.First,design an overall plan for the operation target and environment.In terms of overall structure,the overall structure scheme is determined according to relevant parameters.A two-axis manipulator motion platform is designed and subjected to finite element analysis.At the same time,the parameters of the manipulator are analyzed and determined.With the maximum working range as the goal,the arm length is determined using a nonlinear optimization method.distributed.In terms of vehicle 3D modeling,tilting photogrammetry and 3D modeling methods are used to build a vehicle 3D model to prepare for the trajectory planning of the robotic arm.In terms of vehicle pose calibration,a line laser-based pose calibration method is proposed,and the algorithm for analyzing the vehicle 3D model coordinate system converted to the spray system coordinate system is analyzed to prepare for the spraying operation.Secondly,according to the actual process requirements,the coating thickness and its uniformity are analyzed.Based on the analysis of various spraying models,the ellipse double β distribution model is selected,the spraying speed is introduced into the model,a linear path coating thickness distribution model is established,and the influence of the spraying speed on the coating thickness is analyzed.Based on the ellipse double β distribution model,with the minimum variance of coating thickness as the target,the effect of the overlapping distance of the spray path in the long and short axis directions on the uniformity of the coating thickness is analyzed to provide a reference for the actual spraying process.Finally,the target point cloud file is compressed to improve the trajectory planning efficiency;the local point fitting and PCA estimation method are used to solve the target point normal vector,and the Rodrigues rotation formula is used to determine the target point posture to prepare for the trajectory planning.Establish an 8-axis robot kinematics forward and inverse solution model,plan the motion of the motion platform with the minimum number of movements of the motion platform and use the exhaustive method to solve,use the shortest path to access all target points as the goal to plan the trajectory of the robot arm and use genetics Algorithmic solution.