In modern industrial production, spraying operation is a key link in the manufacturing process of many products. With the continuous development of technology, industrial six axis spraying robots have gradually become the core equipment in the field of spraying. With high precision, high efficiency, and high flexibility, they greatly improve the quality and production efficiency of spraying. This article will delve into the relevant technologies of industrial six axis spraying robots.
2、 Six axis structure and kinematic principles
（1） Six axis design
Industrial six axis spraying robots typically consist of six rotating joints, each of which can rotate around a specific axis. These six axes are responsible for the movement of the robot in different directions, starting from the base and sequentially transmitting motion to the end effector (nozzle). This multi axis design endows the robot with extremely high flexibility, enabling it to achieve complex trajectory movements in three-dimensional space to meet the spraying needs of workpieces of various shapes and sizes.
（2） Kinematic model
In order to accurately control the motion of the robot, it is necessary to establish its kinematic model. Through forward kinematics, the position and orientation of the end effector in space can be calculated based on the angle values of each joint. Reverse kinematics, on the other hand, solves the angles of each joint based on the known position and posture of the end effector target. This is crucial for path planning and programming of robots, and commonly used solving methods include analytical methods and numerical iteration methods, which provide theoretical basis for precise spraying of robots.
3、 Spray system technology
（1） Spray nozzle technology
The nozzle is one of the key components of the spraying robot. Modern spraying robot nozzles have high-precision flow control and atomization functions. For example, advanced pneumatic or electric atomization technology can evenly atomize the coating into small particles, ensuring the quality of the coating. At the same time, the nozzle can be replaced or adjusted according to different spraying processes and coating types to meet diverse production needs.
（2） Paint supply and delivery system
Stable coating supply and precise delivery are crucial for the spraying effect. The paint supply system includes paint storage tanks, pressure regulating devices, etc. By precise pressure control and flow sensors, it can be ensured that the coating is delivered to the nozzle at a stable flow rate. In addition, it is necessary to consider issues such as filtering and stirring of the coating to prevent impurities in the coating from affecting the spraying quality and maintain the uniformity of the coating.
4、 Control System Technology
（1） Programming and Path Planning
Programming method
There are various programming methods for industrial six axis spraying robots. Traditional demonstration programming guides robot movements manually, recording the motion trajectories and parameters of each joint. This method is simple and intuitive, but it has low programming efficiency for complex shaped workpieces. With the development of technology, offline programming technology is gradually becoming popular. It uses computer-aided design (CAD) and computer-aided manufacturing (CAM) software to program and plan the path of robots in a virtual environment, greatly improving programming efficiency and accuracy.
Path planning algorithm
In order to achieve efficient and uniform spraying, path planning algorithm is one of the core contents of the control system. Common path planning algorithms include equidistant path planning, spiral path planning, etc. These algorithms take into account factors such as the shape of the workpiece, spray width, overlap rate, etc., to ensure uniform coverage of the coating on the surface of the workpiece and reduce coating waste.
（2） Sensor Technology and Feedback Control
vision sensor
Visual sensors are widely used in spray painting robots. It can identify and locate workpieces, obtaining their shape, size, and position information. By combining with the path planning system, visual sensors can adjust the robot's motion trajectory in real time to ensure the accuracy of spraying. In addition, visual sensors can also detect the thickness and quality of coatings, achieving quality monitoring of the spraying process.
Other sensors
In addition to visual sensors, distance sensors, pressure sensors, etc. will also be used. The distance sensor can monitor the distance between the nozzle and the workpiece in real time, ensuring the stability of the spraying distance. The pressure sensor monitors and provides feedback on the pressure in the paint delivery system to ensure the stability of the paint delivery. These sensors combined with the control system form a closed-loop feedback control, improving the accuracy and stability of robot spraying.
5、 Security technology
（1） Protective device
Industrial six axis spraying robots are usually equipped with comprehensive protective devices. For example, setting up safety fences around the robot to prevent personnel from entering dangerous areas while the robot is running. There are safety light curtains and other equipment installed on the fence. Once personnel come into contact with the light curtains, the robot will immediately stop running to ensure personnel safety.
（2） Electrical safety and explosion-proof design
Due to the possibility of flammable and explosive coatings and gases during spraying operations, the electrical system of robots needs to have good explosion-proof performance. Adopting explosion-proof motors, sealed electrical control cabinets, and strict requirements for grounding and static elimination measures of robots to prevent safety accidents caused by electrical sparks.
The technology of industrial six axis spraying robots covers multiple aspects such as mechanical structure, spraying system, control system, and safety technology. With the continuous improvement of spraying quality and efficiency requirements in industrial production, these technologies are also constantly developing and innovating. In the future, we can look forward to more advanced robot technology, such as smarter path planning algorithms, more accurate sensor technology, and safer and more reliable protective measures, to further promote the development of the spraying industry.
Post time: Nov-13-2024
