Design And Optimization Of H1D1 Locomotive Bogie Spraying Robot And Its Spraying Process Parameters

Aiming at the problems of low digitalization,long manufacturing cycle and high production efficiency in the maintenance process of bogies in domestic locomotive enterprises,this paper presents a design scheme of automatic spraying system for steering gear based on industrial robot,and focuses on the attitude and spraying process of spraying robot.Through experiments and simulation It is really suitable for the technical parameters of the bogie spray.In general,the spraying scheme uses industrial robots instead of manual work,which can realize spraying operation over 95% of the bogie complex surface;secondly,it uses automatic control technology to replace spraying,spraying and drying processes of bogie spraying operation,and realizes automatic transfer between processes,as well as equipment status and operation.The main parameters such as quality and operation efficiency are monitored in real time.Finally,the production line is applied to actual production,which can effectively improve the bogie painting quality and production efficiency.Bogie spraying system involves many related technologies and content,the most important is the selection and design of spraying robot and spraying process,especially the spraying process needs to be combined with customer requirements and system hardware conditions,design spraying process parameters,build experimental platform to verify process parameters to meet customer quality requirements,through Ro BOT studio or other simulation software verifies that the process parameters can meet customer coverage and rhythm requirements.Based on this,the main research contents are as follows:1)the situation of automatic spraying technology and equipment at home and abroad;2)introduction of locomotive bogie system and key technologies and hardware related to process design.3)The kinematics model of the spraying robot with 6 axes in series is established.The relationship between the kinematics parameters of each joint and the pose of the spraying robot is solved.The kinematics equation is verified by kinematics simulation.The velocity Jacob of the spraying robot is deduced from the kinematics equation of the spraying robot.Specific matrix;4)The main parameters affecting robot spraying are analyzed,and the flow,spraying and speed of the main three parameters in the process of production and commissioning are designed and verified.The spraying parameters of bogie are obtained through the model experiment.5)Robot Studio simulation software is used to simulate the validated process parameters and verify the system's accessibility and rhythm under this process parameters.6)introduce the construction and application of the first bogie system in cooperation with Guang Ji company.