面向喷釉工艺过程的机器人成套系统设计

本文研究工业机器人喷釉工艺过程,从喷釉生产线机械结构系统设计、喷釉生产线电气控制系统设计,到机器人喷釉系统人机交互界面设计,进行成套系统设计.本文使用的埃夫特智能装备股份有限公司自主研发的无动力示教关节臂,可以方便工人记录喷釉轨迹、釉料参数,该数据可在其他工业机器人喷釉单元上再现.本研究电气控制系统和人机交互的工作方式,减轻了喷釉工人的工作量,机器人操作人员只需通过触摸屏,就可以实现全自动机器人喷釉单元的自动化作业,解决了人工施釉方法存在生产效率不够稳定、喷釉质量波动大、不利于集中除尘作业、对工人身体健康造成影响等问题,降低了釉料的浪费率,实现了喷釉工艺的自动化模式生产.     

机器人喷涂过程中的喷炬建模及仿真研究

本文在研究了喷涂机器人的喷炬特性后，根据物理模型采用了一种简化的数学模型来 描述在喷炬流场中的涂料流量分布函数．并从上述函数出发，进一步得到了喷涂的涂料沉积 方程．根据仿真实验与实际喷涂的数据进行比较，证明了模型的正确性．这一喷炬模型是喷 涂机器人离线编程系统的重要组成部分．     

基于CAD模型的鞋底喷胶轨迹生成方法

针对数字化制鞋生产的需要,提出一种自动生成鞋底喷胶轨迹的方法．该方法首先从三维鞋楦CAD模型中提取鞋底轮廓线,计算其在鞋底曲面的偏置曲线作为轨迹曲线,采用等参数方法对轨迹曲线进行采样得到机器人喷胶轨迹上的目标点并计算出其方向．最后通过机器人喷胶试验验证了该方法的可行性和有效性．     

Eppm系列移动龙门式仿形喷涂机

为了满足国内涂装行业需要,替代进口产品,北京机械工业自动化所机器人中心研制开发了国内第一台EPPM-400移动龙门仿形喷涂设备(下称仿形喷).仿形喷是根据     

基于压电陶瓷驱动的腹腔手术微型机器人

本文简要介绍了一个基于压电陶瓷驱动的腹腔手术用微型机器人系统，重点叙述了 微型机器人关节驱动部件的结构设计方案及其实现，对所设计的柔性铰链进行了定量力学分 析，并通过实验证明采用柔性铰链来实现驱动位移的放大是确实可行的．     

机器人专利技术（连载）

知识就是力量。伴随着我国科学技术的进步与发展，知识产权日益受到人们重视，专利越来越多地走进人们的视野。据国家知识产权局的统计数据，截至2010年11月底，我国受理的国内申请人专利申请量达N585．2万件，授权量331．9万件：国外申请人在华专利申请量102．7万件，授权量50．8万件。 正在兴起的机器人技术，专利无疑不可缺漏。为促进国内的机器人技术发展，帮助业内人士了解国际国内的机器人技术专利情况，本刊将连续刊登相关文章，报道机器人领域的相关技术专利现状。本期主要介绍国际机器人领域的专利概况。     

面向金属模具快速制造的机器人成型加工系统

建立了一个七轴工业机器人成形加工系统，并在此基础上开发了工业机器人熔射快速制造金属模具的新工艺．该工艺可直接由机器人铣削制造高精度、耐高温、可分离的陶瓷原型．在该原型表面熔射高熔点耐磨合金后，通过对熔射层背衬补强、并将原型与熔射层分离以及后处理，即可制得高精度耐久金属模具．与现有的熔射快速制模工艺相比，该工艺不仅缩短了工艺流程和加工时间，还提高了制模精度．     

高性能机器人控制系统的研究

本文介绍了高性能机器人控制器的研制情况．该系统具有较高的控制精度，可 完成对机器人和多个外部轴的协调控制．为便于国内用户使用，实现了中文界面功能键驱动 的汉字编程示教盒．为适应机器人生产线的需要，提供了丰富的联网功能和生产线监控诊断 功能．目前该系统已用于新松公司的6kg工业机器人产品中．     

面向对象的高压带电机器人可视化控制系统研制

本文提出了高压作业机器人控制系统的设计方案，该设计方案是以面向对象的方 法给出的，该方法提高了高压带电作业机器人主从控制的实时性，增强了该控制系统的可扩 展性、移植性，填补了国内高压带电作业机器人领域的空白，经过实验证实该控制方法能够 很好地实现机器人的作业功能．     

随市场而动——访上海FANUC机器人一般产业事业部部长刘尧

上海FANUC机器人有限公司成立于1997年,是上海电气集团与FANUC株式会社在国内成立的合资企业,能够提供高品质的机器人及自动化生产系统,是国内优秀自动化生产系统供应商之一.2007年机器人销量以迅猛的势头高速发展.截至2008年6月,受全球工业良好发展势头的影响,FANUC机器人产量已高达20万台.     

PJ-1喷漆机器人的微机控制

本文介绍了我国第一台微型机控制的多关节,电液伺服型喷漆机器人 PJ-1 的计算机控制系统的原理及软件。该系统以一台八位通用微型机为基础构成控制器。在单用户、多任务实时操作系统的支持下,采用软磁盘作为作业内容存储器,并把绝对位置量和采样间隔内的位移量进行组合存储。从根本上解决了喷漆机器人因作业记忆容量大带来的存储限制、     

Transformative CAD based industrial robot program generation

Industrial robots are widely used in various processes of surface manufacturing, such as spray painting, spray forming, rapid tooling, spray coating, and polishing. Robot programming for these applications is still time consuming and costly. Typical teaching methods are not cost effective and efficient. There are many off-line programming methods developed to reduce the robot programming effort. However, these methods suffer many practical issues, such as cable/hose tangling, robot configuration, collision, and reachability. To solve these problems, this paper discusses a new method to generate robot programs. Since industrial robots have been used in production for decades, there are many robot programs for different parts generated by the robot programmers. These robot programs, which contain not only the robot paths, but also the programmers' knowledge and process parameters, can be transformed to generate new robot programs for similar parts. In this paper, a transformative robot program generation method is developed based on the existing ones in the database. Experiments were performed to validate the developed methodology. The results are very promising in reducing the programming efforts in surface manufacturing.     

保有安全性的现场总线喷涂控制系统

由于喷涂具有污染空气、易燃易爆的特点,设计了现线总线喷涂控制系统。它既能减少对外界的污染,又可节约大量的生产成本,最大程度地减少了不安全因素。喷涂现场总线控制系统采用CNA现场总线流量计和阀岛,结合PLC控制器使整个系统安全可靠,具有较高的实用性。设计的现场总线喷涂控制系统结构包括先进的流量控制器、现场总线阀岛和现场总线流量计。由于采用总线传输信号,系统安全可靠,具有防爆的特点,该系统已在手机喷涂中得到应用。     

Process modeling,simulation, and paint thickness measurement for robotic spray painting

An algorithm and a computer program are developed for modeling of the spray painting process, simulation of robotic spray painting, and off‐line programming of industrial robots for painting of curved surfaces. The computer program enables the user to determine the painting strategies, parameters, and paths which will give the desired paint thickness. Surface models of the parts that are to be painted are obtained by using a computer‐assisted design (CAS) software. Models of relatively simple surfaces are formed by using the surface generation tools of the CAD software. For parts with more complex surfaces, point data related to the part is collected by using a laser scanner, and this data is used to form the CAD model of the part surface. The surface is then divided into small triangular elements and centroid coordinates, and unit normals of the elements are determined. Surface data together with the spray distance, painting velocity, and paint flow rate flux are used for simulation of the process and paint thickness analysis. Paint flow rate flux is determined experimentally by using different spray gun settings and painting parameters. During the experiments flat surfaces are painted by using a single painting stroke of the gun. Then, paint thickness measurements are made on the surfaces. It is observed that besides the technical specifications of the spray gun, air and paint nozzles, and paint needle, basic settings like paint tank pressure, spray air pressure, and gun needle‐valve position affect paint cone angle and paint flow rate, which finally characterize the spray painting process. For that reason, settings and parameters should be changed and the painting process should be simulated until an acceptable paint thickness distribution is obtained for the part that is going to be painted. The robot program is then generated in the robot's programming language. Paint thickness distribution on the painted surface is determined by measuring the thicknesses using the robot and the CAD model of the part surface. The thicknesses are measured at the centroids of the surface elements. A measurement probe of the coating thickness measurement gauge is attached to the wrist of the robot by using a feedback/safety adapter designed and manufactured for this purpose. © 2000 John Wiley & Sons, Inc.     

Workspace optimization for a planar cable-suspended direct-driven robot

The present work is inspired by an industrial task, i.e. spray painting a large area by means of a robotic system consisting in a Cable-Driven Parallel Robot (CDPR). In many cases, the area of the robot workspace is smaller than the area to be painted. For this reason, the base of the robot has to be shifted several times during the painting process. These robots are referred to as Repetitive Workspace Robots (RWR). In other words, in order to accomplish the whole task, they need to be moved after they have completed a sub-task locally. A cable suspended CDPR is an ideal candidate for such tasks; it can be thin, light, flexible and cost-efficient.The question is: which is the best shape of the local workspace in these conditions? In fact, not always a larger area of the local workspace guarantees an efficient painting process. This is because the efficiency relies mainly on the shape rather than on the local workspace area itself.In this work we employ an index [Seriani S, Gallina P, Gasparetto A, 2014] to evaluate the efficiency of the workspace of a 2-link CDPR. Finally, we show how the index value changes in relation to some geometrical parameters of the robot, thus laying the foundations for a general design methodology.     

机器人图形示教盒编程的研究

本文介绍机器人作业的图形示教盒编程.通过建立机器人的运动学和三维几何模型,采用实时动画技术,在计算机屏幕上对机器人进行图形仿真示教,文中还讨论了图形示教程序的单步执行和实时修正方法,并给出了国产 PJ-lA 机器人进行喷漆作业的图形示教盒编程的实例.结果表明:机器人的图形示教盒编程具有生动、方便的特点,为机器人的编程研究提供了适用的工具.     

Flexible telemanipulation based handy robot teaching on tape masking with complex geometry

Traditional robot teaching methods are cumbersome, tedious and difficult to scale for high-mix low-volume applications. The tape masking, a common process for surface protection before plasma spraying, spray painting and shot peening, is one of those domains where robotic automation lacks flexibility and reliability due to the complexity in task. Fortunately, it is still within the grasps of human-robot collaborative systems. This work presents a telemanipulation-based robot teaching framework that is able to let the robot manipulator cope with the taping tasks with complex workpiece geometries. The proposed framework allows quick calibration, variable motion mapping, and indexing so that the operators can easily set up and guide the robotic taping system to cover the tapes onto the layers and grooves of different workpieces. This framework enables the operators to change the motion mapping scale for both large-scale guidance and fine motion dexterous manipulation. Meanwhile, an indexing function makes it possible for the operators to re-map their poses from the edges of their comfortable regions. A portable VR system is applied in the telemanipulation system. With its six DoF motion precisely measured in real-time, the proposed motion remapping algorithms enable the operators to directly guide the robot in their selected scales. Experimental results show that the proposed framework facilitates robot programming on the manipulation of the complex workpieces that have multi-layer surfaces and grooves in between. It also reduces the teaching time comparing to other methods. This system and method improve teaching efficiency and convenience, which has potential value to be deployed in manufacturing.     

Painting robot with multi-fingered hands and stereo vision

In this paper, we describe a painting robot with multi-fingered hands and stereo vision. The goal of this study is for the robot to reproduce the whole procedure involved in human painting. A painting action is divided into three phases: obtaining a 3D model, composing a picture model, and painting by a robot. In this system, various feedback techniques including computer vision and force sensors are used. As experiments, an apple and a human silhouette are painted on a canvas using this system.     

Interactive digital graffiti canvas system

This paper presents an interactive digital painting system that allows a user to draw graffiti on a virtual 3D canvas with a digital spray can. The system visualizes a stereoscopic representation of the canvas by tracking the user's head. It also emulates real‐time spray painting by tracking the spray can in the user's hand as well as sensing the button pressure of the spray device. After painting a 3D object, the user can interact with the object on the display and see it flying in the 3D environment through a tracked head‐mounted display. As demonstrated in the results of our evaluation, we verified that the system resembles real graffiti in regard to a natural and realistic graffiti experience. Copyright © 2015 John Wiley & Sons, Ltd.     

混流多姿态工件喷漆机器人的应用工程

为了将挪威的 TR-4000 S.MK_2机器人用到长春第一汽车制造厂底盘分厂的喷漆生产线上,我们做了许多工作。本文简单叙述其中的几项。其中包括总体方案论证,工件的自动识别,工件姿态的识别,机器人与输送悬挂链的同步系统、经济效益和社会效益分析等。