Аннотация - Development of an algorithm for remote control of a painting robots

Аннотация. В данной статье рассматриваются вопросы управления
роботами-манипуляторами, используемыми для покраски. Разработаны
аппликаторы, схемы управления и алгоритмы, используемые в процессе окраски.
Ключевые слова. Покраска кузовов, Покрасочные роботы, Наружные
поверхности, Труднодоступные места, Первые серийные покрасочные роботы,
Роботизированная система Trallfa ABB, I/P преобразователь, Распылитель,
Блок распределения сжатого воздуха, Блок смешивания краски, Насосы, Блок
управления, Пневматические краскопульты,
It is common practice in the European automotive industry to use conventional
automatic spray and bell machines for painting car bodies [1-3]. Painting robots are
mainly used for indoor areas, such as interior, engine compartment, trunk, doorways
and doorways. In some paint lines, areas on the outer surface of the car that are
inaccessible to external machines are subsequently painted by paint robots.
And in 1969, the first serial painting robots came out of the conveyor. Later
company Trallfa was purchased by company ABB and it has six products with the best
decorative system. Figure 1 shows an example of a robotic robotic system. And the
following elements are used in the system: I/P converter, atomizer, compressed air
distribution unit, paint mixing unit, pumps and their control unit [4-5].
The trend in the Japanese automotive industry is also towards the use of paint
robots to cover exterior surfaces. In Europe, the first company to do this was Peugeot,
where pneumatic spray guns apply a second coat of metallic paint.
FAN, JAMIYAT VA INNOVATSIYALAR
VOLUME-1 ISSUE-1 IYUN 2023
www.michascience.com
- 5 -
Fig. 1. IPS with pump and robot IRB5400.
Today, there are new signs of an upwards trend, partly due to productivity and
quality improvement programmes that are being introduced in the industry. Recent
investments at Mercedes-Benz and BMW reflect this situation.
A look at the development of robot technology in the last ten years allows a
comparison of several key parameters and shows clearly how the versatility of the
machines has improved. Electrically driven paint robots, which operate with much
higher availability and require less costly maintenance, are now used exclusively. In
addition, the painting speed has been increased by about 50 percent, while the dynamic
accuracy of the path tracking and the absolute accuracy (referred to the target
coordinates) have also improved (Table 1).
The process of cleaning with an auxiliary sprayer is based on the standard sorting
system management [6-8]. The setting of each system affects the final painting process
and, in addition, the quality of the paint application. In practice, fine-tuning the painting
process by selecting the correct system control parameters is one of the most difficult
painting disciplines.
FAN, JAMIYAT VA INNOVATSIYALAR
VOLUME-1 ISSUE-1 IYUN 2023
www.michascience.com
- 6 -
The air management system, which regulates the required air flow and the
applicator. A color management system that regulates the desired flow of color to the
applicator. The high voltage control system regulates the voltage of the electrostatic
applicator.
Integrated Process System (IPS), which governs the entire system, consists of
closed control loops. High speed system of control by applicator, precisely
synchronized with two robots. The short scheme shows all the systems in the following
figure.
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