移动悬挂箱体喷涂机器人编程技术研究

Research on robot programming technology of the spraying movable hanging boxes

介绍一款专门用于移动悬挂箱体喷涂系统的工业机器人自动离线编程软件,对软件的构成、核心原理及其实现的功能进行说明,着重介绍在轨迹规划中遇到的机器人运动奇点问题及其解决方案,并依据实际喷涂效果提出相关建议和展望。此项自动离线编程技术不仅可以用于规划机器人的运动轨迹,开发出可自动生成机器人作业程序的计算机软件,还可以利用仿真软件来验证整个喷涂过程的合理性,进而修正出最优化的程序结构,有效避免机器人运动奇点问题的发生。软件的使用可避免现场对机器人的人工示教和离线编程时的图形操作,最大限度减少人为介入,具有较高的推广应用价值。

This paper introduces an automatic offline programming software for industrial robot which is used in the spraying system for movable hanging box, explains the stnwture, the core principle and realized function of the software, emphatically introduces the singularity problems in robot trajectory planning and solutions, and according to the actual spraying effect, related suggestions and prospects are proposed. This automatic off-line programming technology, not only can be used for robot trajectory planning, the development of a computer software that can automatically generate robot operation program, can also verify the rationality of the spraying process by using the sinmlation software, and then modify the program structure to achieve optimization, effectively avoids the singularity problem of robot motion. The use of software can avoid the manual operation of robot and graphic operation in off-line programming, and minimize human intervention. It has high value of popularization and application.