| Battery-case plays an important role in the safety and protection of AGV battery units.The surface spraying quality and spraying efficiency of battery-case are the key problems in the manufacturing process.At present,spraying robot is widely used in automatic coating production line at home and abroad to complete the spraying operation.In the present study,the spraying technology of battery-case,kinematics algorithm of spraying robot,hardware selection and trajectory planning method of spray robot control system are analyzed and studied with MOTOMAN-EPX2050 spraying robot as the research object and the spraying object of AGV vehicle battery-case.Firstly,through the analysis of the main factors affecting the spraying results in the process of spraying,the value of the process parameters suitable for the spraying of the battery-case is determined,the existing spraying model is compared and selected,and the elliptical double ? distribution model is used to design the spraying route for the battery-case.Secondly,the kinematics of the spraying robot is analyzed,the connecting rod coordinate system of the spraying robot is established based on the D-H parameter method,the positive inverse kinematics algorithm is solved and verified according to the kinematics equation of the MOTOMAN-EPX2050 spraying robot,and 16 sets of inverse solutions are obtained,and the correctness of the positive inverse kinematics solution of the spraying robot is verified.Combining with the motion control system of spraying robot,the paint supply system of spraying operation and the safety guarantee system,the hardware selection of the control system of the spraying robot is designed,which provides the hardware platform for the construction of the spraying workstation.Furthermore,the paper focuses on the rule plane and surface and the different plane junction trajectory planning methods,taking the shortest spraying time as the optimization goal,according to the spraying trajectory planning method based on the thickness of lacquer film coating,the optimal problem is solved by PSO algorithm and genetic algorithm respectively,are analyzed and discussed in MATLAB simulation environment,and the calculation results of optimization proved the rightness and feasibility of the algorithm.The comparison of the results of different algorithms shows that the PSO algorithm has high precision,although it is too long in operation execution time,it saves the spraying time,and the thickness of the paint film coating meets the spraying requirements.Finally,based on the MotoSimEG-VRC virtual simulation environment platform,combined with the actual spraying working environment,the precise control of the spraying trajectory is improved by the teaching simulation of the spraying robot,and an experimental scheme of electrostatic air spraying is designed and implemented with the battery housing as the spraying object,and the change of the thickness curve of the film at the sampling point is analyzed.The solution of spraying defects is put forward,the experimental results proved the effectiveness and practicability of the spraying process.At present,the research results of this thesis have been applied in the battery-case spraying production line of Shanghai Zhijiang Intelligent Technology Co.,Ltd. |
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