| This topic comes from Tianjin science and technology major special projects and engineering projects: industrial(automobile)spraying robot research and development(no.: 15ZXZNGX00200).Automobile spraying robot is a combination of robot technology and spraying technology.This paper studies the key technologies of offline programming of electrostatic bell spraying robot,such as spraying model,brush table and retractable spraying track,etc.,which lays a foundation for putting forward an advanced and feasible off-line programming method for automobile surface painting.In this paper,the working principle of electrostatic rotary bell is studied,and the influence of process parameters on spraying is analyzed.According to the merits and demerits of static deposition model,a dynamic model of electrostatic spiral bell is proposed.On this basis,the static model of the bell is solved to meet the requirements of different trajectory simulation.In view of the characteristics of electrostatic rotary bell spraying model,a new fitting function,quad-offset gaussian model function,was proposed to improve the fitting accuracy and lay a foundation for improving the spraying simulation accuracy.The composition of the brush table is analyzed,and the establishment method of the brush table is given.The influence of automobile annual output,automobile coating and automobile surface was considered.Through the example analysis,completes to the automobile surface partition,and completes certain automobile solvent type surface paint part brush table establishment.A new kind of retrace track,trapezoid retrace track,is proposed for parallel linear spraying on flat workpiece surface to improve spraying efficiency and uniformity.CREO and MATLAB were used to build the paint film thickness simulation system,which could simulate the paint film thickness of the workpiece surface and visually display the spraying effect in the form of cloud map.The spraying effect can be evaluated accurately and visually by the system. |
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