A novel spray painting robotic device for the coating process in automotive industry
A novel spray painting robotic device for the coating process in automotive industry
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DOI：
10.1177/0954406214553018
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发表时间：
2015-08
期刊：
影响因子：
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通讯作者：
F. Xie;Xinjun Liu;Chao Wu;Pan Zhang
中科院分区：
文献类型：
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作者：
F. Xie;Xinjun Liu;Chao Wu;Pan Zhang
本文提出了一种新的概念，喷涂机器人设备，这是用于汽车工业的涂装过程。为了实现紧凑的设计，同时获得更好的性能，在运行速度和动态响应方面，并联运动机构（PKM）被引入到这个概念。与龙门梁配合，分配了四个独立的喷漆单元，并使用两种PKM（即3-RPS PKM和5 R对称PKM，R：转动关节; P：棱柱关节; S：球形关节）作为四个喷漆单元的执行机构。在此基础上，考虑运动/力传递性能，对该机构进行了运动学优化，推导出了机构的几何参数。在此基础上，研制了一种新型的喷涂工艺样机，并在捷达轿车和SUV轿车上进行了一系列的喷涂试验，研究了喷涂工艺的性能。成品表面在光泽、均匀性和厚度方面具有良好的质量。因此，这种新开发的喷涂机器人装置为汽车行业的涂装任务提供了更好的选择或解决方案，在该领域具有良好的应用前景。
This paper proposes a novel concept for the spray painting robotic device, which is to be used in the coating process of the automotive industry. In order to realize compact design and simultaneously get better performance in terms of running speed and dynamic response, parallel kinematic mechanisms (PKMs) are introduced in this concept. In conjunction with the gantry beam, four standalone spray painting units are assigned and two kinds of PKMs (i.e. 3-RPS PKM and 5 R symmetrical PKM, R: revolute joint; P: prismatic joint; S: spherical joint) are used as the execution mechanisms of the four spray painting units. Based on this concept design, the kinematic optimization of the device is carried out by taking the motion/force transmission performance into consideration and the geometric parameters are derived. Sequentially, a prototype is developed and its performance in the coating process is investigated by a series of spray painting experiments on a Jetta car body and a SUV car body. The finished surfaces have good quality in terms of luster, uniformity, and thickness. Thus, this newly developed spray painting robotic device provides a better choice or solution for the coating task in automotive industry, and has good application prospect in this field.