In order to pursue higher efficiency and greater flexibility in the coating process, the automotive industry began to introduce robotics from the 1990s. The spray robot is a branch of the robot family and has developed rapidly in high-quality spray applications. The spray robot consists of three main parts: the robot body, the atomization spray system and the spray control system. The atomized spray system includes: a flow controller , an atomizer, and an air pressure regulator. The spray control system includes air pressure analog control, flow output analog control and gun signal control. Compared with traditional mechanical spraying, the use of spraying robot greatly reduces the labor intensity of manual spraying, solves the problem of uneven thickness and emotional instability of artificial spraying. The coating production line is generally continuous operation, workers may be sick, home The reason for the leave and the emotional fluctuations of the individual will affect the quality of the sprayed product. The tireless work of the robot not only saves the labor cost for the enterprise, but also improves the quality of the spray. Because the painting robot will work stably and repeatedly according to the engineer's program instructions, the spray gun and the workpiece maintain a predetermined distance and angle, the output paint amount is also set, and the atomization effect is also preset. The robot can also bring the spray gun to the difficult-to-spray area because the flexible robot is mounted in a flexible manner and can be mounted on the floor, suspended upside down on the top of the spray booth and on the side of the spray booth for painting. Not only that, because of the stability and consistency of the spray, the robot does not have over-range spray, which greatly saves paint and improves paint recovery. Safety is highly valued by the company in the spraying process. One of the great contributions of the painting robot is to replace the painter from the dangerous working environment and the boring working condition, which can reduce the company's expenditure on protective equipment and reduce it. The subsequent compensation costs and legal costs for workers' physical injuries due to work environment factors. The flexibility of the robot itself allows it to be installed in high-density production lines or spaces. It can be installed in a variety of ways, such as floors, walls, rails, ceilings, etc., and the robots are different in size, so you can choose the robot that is most suitable for the size of the spray booth. This reduces the area of ​​the spray booth and saves on site costs. The spraying environment also needs a certain amount of energy to maintain, and the reduction of space can reduce the energy consumption.
The development of the spray robot is very rapid. The early spray robot could not change the flow at any time in the middle of a spray program. Now the flow control is directly controlled in the robot's control system, making the flow control more accurate and convenient. In the explosion-proof aspect of the robot, the gas positive pressure explosion-proof method is widely used, that is, the original electrical components such as the motor on the robot arm are enclosed in the casing, and the casing is supplied with a flame-retardant gas of 25 Pa higher than the external pressure during operation to prevent the working environment. The entry of flammable gas and the real-time monitoring of the air pressure in the housing make the safety level of the painting robot very high. In order to reduce the time of on-site trajectory programming, the robot offline programming technology has been applied. The trajectory command of the computer programming software can generate the trajectory command of the robot, saving the time in the robot teaching. At the same time, the development of robot vision has brought the gospel to the enterprise. The same workpiece with machine vision does not have to worry about the inconsistency of the workpiece on the hanger. The messy workpiece can also be sprayed, because the deviation will make the robot in real time. Correct the position of your own track to give the workpiece a good spray.
Among the quality factors of robot spraying, one of the important factors is the control of the film thickness. The thickness of the dry film is F*N*M/S*W, F is the flow rate, N is the volume solid content of the paint, and M is the paint. Transfer rate, S is the gun speed, and W is the width of the spray. There are two types of flow control. One is to use a metering gear pump, that is, the volume obtained per revolution is constant. The robot quantitatively supplies paint by controlling the rotation speed of the metering pump. In this type of system, the power of the coating is used. The pressure generated by the gear pump. The second is controlled by a closed circuit system consisting of a flow meter and a throttle valve. In this type of system, the pressure of the paint is derived from the paint supply system, and the flow meter receives the flow signal and transmits it to the robot system for comparison with the calibrated value. When there is a deviation, the robot adjusts the flow rate by changing the throttle opening and closing degree. The second option is used to control the stability of the paint supply pressure. The first factor affecting the transfer rate of the coating is the choice of the spraying equipment. The ordinary air spray gun, the electrostatic air spray gun and the rotary cup have a significant difference in the transfer rate of the paint. The second factor affecting the transfer rate of the paint is static electricity. The control of the speed of the gun is also critical. In the production, the speed of the spinner is generally 600 to 1000 mm/s, and the speed of the air gun is 800 to 1500 mm/s. The last factor that affects the film thickness is the width of the spray. For air guns, the ratio of the atomizing air pressure to the fan air pressure has a linear effect on the width of the spray. Therefore, when modifying the corresponding spray flow rate, it is necessary to consider that the adjustment of the atomization and air pressure values ​​indirectly affects the width of the spray width.
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