Development Of Six Degrees Of Freedom Offset Wrist Explosion-proof Spraying Robot

Compared with traditional industrial robots,the spraying robot system has higher technological and functional requirements,and it should be able to replace people to complete spraying tasks in a harsher working area.In view of the small area is not easy to spray,spraying operation is easy to explode and other problems,but also so as to realize and improve the new functions of the robot in the spraying operation,this paper mainly studies the following work:In the aspect of mechanical body development of spraying robot,mainly by the research and development of the offset wrist,six degrees of freedom of each axis joint transmission device research and development,and the design of the drag teaching structure.The important castings are checked,and the dynamic performance is simulated in the software,which provides the basis for the selection of core parts in the design stage.The explosion-proof scheme of the robot in the spraying application environment is designed and studied,and the specific idea of multiple protection type of positive pressure ventilation is put forward to effectively prevent the failure of the system,The explosion-proof,explosion-proof control and scavenging aspects of the body are designed,and completes the test requirements in accordance with the standard.In the study of kinematics and dynamics,the forward and inverse equations of kinematics with the offset wrist are created and derived.After software simulation,the accuracy of the above equations is checked.Based on the inverse solution,the calibration points are selected to shorten the time of calibration test and the repeated positioning accuracy is tested,which meet the design requirements.In terms of dynamics,the dynamic equation with external force is deduced,which provided a foundation for the study of drag teaching.In terms of the functional demand of the market for the spraying robot,the following functions are developed: The collision detection function is based on the model of torque change,which effectively protects the safety of operators and equipment.In the aspect of drag teaching function,a scheme based on balancer and no torque sensor is proposed,and the drag teaching equation is deduced.This function reduces the teaching time for complex spraying objects.Adapt to the new technology of coating industry and functional demand trends,through the research of this paper,relevant advanced technology and the new function of spraying robot has made preliminary research and development,and achieved some results,in the actual engineering application,improves the precision,effectively prevent the security hidden danger,operators use robots more easily.