Numerical Painting Application and Control for NC Painting Robot.
Numerical Painting Application and Control for NC Painting Robot.
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数控涂装机器人数值涂装应用与控制。
DOI：
10.1299/kikaic.65.361
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
H. Okubo
中科院分区：
文献类型：
--
作者：
K. Miyawaki;Yukio Saito;Y. Hirai;T. Miyazaki;H. Okubo
本研究的最终目标是建立大型钢铁产品涂装过程的CIM。为此，本研究的目的是获得涂装应用的数值条件，并将其应用于机器人的控制。首先，明确了喷涂距离、喷涂速度和喷枪方位是机器人涂装的基本条件。在此基础上，通过实验方程建立了应用条件与膜厚数值关系的模拟方法。该方法是离线编程系统中机器人运行数据生成的关键。我们还开发了用于动态绘画应用的新的控制方法。即主动控制涂装路径起始段和结束段的膜厚变化，意味着涂装机器人获得了属于涂装工人的涂装技能。
Ultimate goal of this study is making up CIM of painting process for large scale steel product. For the purpose of it, the study aims at obtaining numerical conditions of painting application and applying them to the control of robot. First, we made it clear that spray distance, painting velocity and orientation of spray gun are basic conditions of painting application for robot. Then we have developed the method of simulation of numerical relationship between application condition and film thickness through experimental equation. This method is essential for generating operation data for robot in the offline programming system. We have also developed the new control method for dynamic painting application. That is the active control of film thickness change at the start and end section of painting path, which means that painting robot have obtained the skill of painting belonging to painting worker.