基于悬链涂装线自动上、下工件的研究

Research on Loading or Unloading Automatically Workpiece on Catenary Suspension Painting Line

本文讨论了涂装线上工件的输送形式,以及悬链涂装线上工件的悬挂形式,分析了悬链涂装线上自动上、下工件的设备工作原理,提出了采用关节坐标机器人进行上、下工件,讨论了机器人上、下工件应具有的自由度数。

This paper discusses the conveying method of the workpiece on painting line and the hanging form of the workpiece on catenary suspension painting line,analyzes the operation principle of equipment that loads or unloads automatically workpiece on catenary suspension painting line,proposes that joint coordinate robot loads or unloads workpiece,discusses freedoms of motion that robot loads or unloads workpiece.