| Under the background of accelerating the development of artificial intelligence technology in the new era,with the rapid development of domestic automobile industry,it also brings development opportunities to the intelligent painting technology of automobile ornaments.There are many plastic ornaments on the car,which can be decorated by electroplating process to improve hardness and wear resistance.In order to solve the problem of high labor intensity in plating resist painting,an intelligent painting production line for plating resist was developed,and automatic painting of plating resist was realized by using a manipulator.This paper mainly focuses on the robot intelligent painting operation of automobile trim parts with complex space surface,and carries out research on the control system.The specific contents include:(1)The working principle of the production line.In view of the small quantity and variety of single batch of ornaments,the production line is designed as a 3-wire parallel connection and robot circulation operation mode,that is,three wires that can be independently driven are connected in parallel,sharing a robot painting,with a loading/feeding station,painting station and drying station.The tray is installed on the feeding mechanism,and the industrial camera and painting mechanism are installed on the end effector installation surface of the mechanical arm,so as to identify and locate the painting position of the workpiece.The painted workpiece is transferred to the drying station,and then to the blanking area after drying.(2)Pneumatic system design.Design a pneumatic rapid fixture system to realize the in-plane positioning of three-dimensional complex ornaments,and cooperate with robot vision to realize the precise control of painting position;According to the different painting amount and painting speed of different types of ornaments,an automatic paint control system is designed.According to the characteristics that the plating resist paint is easy to cure and block the pipeline,an automatic gas and liquid flushing system is designed.After the pipeline circuit is cleaned by the automatic gas and liquid flushing system,the system can be shut down for a long time to ensure no blockage.(3)Kinematics analysis of robot based on.Based on the kinematics analysis of the robot,the spatial relationship among the joints,end effector,working tools and workpieces of the robot is determined,and then the trajectory planning of the robot is realized.The D-H method is used to model the frame painting platform,establish the forward kinematics equation of the painting robot,and solve the inverse kinematics,verify the kinematics model of the robot,and then analyze and simulate the workspace of the robot.Finally,polynomial algorithm is used to optimize the robot’s plane painting trajectory and surface painting trajectory.(4)Simulation experiment.Virtual simulation experiments were conducted based on Robot guide software.Combined WITH the actual production situation,using the painting robot teaching programming teaching,through the automatic generation of curve path method to improve the accuracy of painting trajectory,improve the efficiency.The experiment further verifies the effectiveness and practicability of this painting method. |
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