智能喷涂机器人毕业设计.doc

摘　　要 喷涂是生产制造行业中的一个重要环节，在传统的喷涂工艺方面，一般都是手工喷涂，很难保证喷涂质量的稳定。同时，喷涂采用的材料多数包含有害物资，对工人和环境都造成一定的危害，因此利用高新技术对传统喷涂工艺进行改造是十分必要的，采用机器人喷涂是提高产品质量，实现生产自动化，改善劳动条件的一种有效手段。它是一种模仿人体上肢的部分功能，按照预定要求对工件进行喷涂操作的自动化技术装备。此外，它能在高温、低温、放射性或其它污染环境条件下进行操作，更显示其优越性，有着广阔的发展前途。 本设计以汽车车身的喷涂机器人为研究对象，喷涂机器人本体构采用关节式结构，从自动喷涂工艺要求出发，设计合理的控制方案，采用PLC控制器优化出合适的喷涂轨迹，实现对喷涂机器人的运动控制，智能小车的平移，转台的旋转控制，喷枪压力调节与控制。 关键词：机器人；结构；PLC Abstract Spraying is an important part of the manufacturing industry。 In the traditional spraying process， it is usually manual spraying， it is difficult to ensure the stability of the spray quality。 At the same time， most of the materials used in spraying contain harmful materials， which cause some harm to the workers and the environment。 Therefore， it is necessary to use high and new technology to reconstruct the traditional spraying process。 The application of robot spraying is an effective means to improve the quality of products， realize production automation and improve the working conditions。 It is a kind of automatic technology and equipment that imitates part of the human upper limbs and performs spraying operation according to the predetermined requirements。 In addition， it can operate under high temperature， low temperature， radioactivity or other polluted environment， showing its superiority and wide development prospects。 In this paper， the painting robot of automobile body is taken as the research object。 The body of the spray painting robot adopts the free degree joint structure。 From the requirements of the automatic spraying process， a reasonable control scheme is designed。 The PLC controller is used to optimize the suitable spraying trajectory， so as to realize the motion control of the spraying robot and the translation of the intelligent car。 The rotation control of the turntable， the pressure adjustment and control of the spray gun。 Key words: robot； structure； PLC目录 4 1.1 课题研究的背景及意义 4 1.2喷涂机器人的特点及其发展现状 4 第2章 喷涂机器人整体方案设计 6 2.1喷涂机器人整体的设计要求 6 2.2喷涂机器人整体方案的确定 6 2.2.1喷涂机器