• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2022, Vol. 58 ›› Issue (7): 53-74.doi: 10.3901/JME.2022.07.053

• 机器人及机构学 • 上一篇    下一篇

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智能喷涂机器人关键技术研究现状及进展

刘亚军1, 訾斌1, 王正雨1, 游玮2, 郑磊3   

  1. 1. 合肥工业大学机械工程学院 合肥 230009;2. 埃夫特智能装备股份有限公司 芜湖 241007;3. 希美埃(芜湖)机器人技术有限公司 芜湖 241007
  • 收稿日期:2021-04-24 修回日期:2021-07-20 出版日期:2022-05-20 发布日期:2022-05-20
  • 通讯作者: 訾斌(通信作者),男,1975年出生,博士,教授。主要研究方向为柔性驱动机器人理论、技术与装备,智能制造系统控制与自动化,机电液装备系统集成技术及应用。E-mail:zibinhfut@163.com
  • 作者简介:刘亚军,男,1991年出生,博士研究生。主要研究方向为智能喷涂机器人技术。E-mail:liuyajun0803@163.com;王正雨,男,1987年出生,博士,副教授。主要研究方向为机器人技术与智能控制,智能喷涂机器人系统,柔性驱动手术机器人等;游玮,男,1983年出生,博士,埃夫特智能装备股份有限公司总经理兼总工程师。主要研究方向为机器人本体正向设计,机器人控制算法。
  • 基金资助:
    国家重点研发计划(2017YFB1303900)和国家自然科学基金(51925502)资助项目。

Research Progress and Trend of Key Technology of Intelligent Spraying Robot

LIU Yajun1, ZI Bin1, WANG Zhengyu1, YOU Wei2, ZHENG Lei3   

  1. 1. School of Mechanical Engineering, Hefei University of Technology, Hefei 230009;2. EFORT Intelligent Equipment Co., Ltd., Wuhu 241007;3. CMA (WUHU) Robotics Co., Ltd., Wuhu 241007
  • Received:2021-04-24 Revised:2021-07-20 Online:2022-05-20 Published:2022-05-20

摘要: 喷涂作为现代产品制造工艺中的一个重要环节,不仅起到美观、防护以及其他特殊作用,也日益成为产品价值的重要组成部分,在家具、航空航天、军工等领域中占据着重要地位。智能喷涂机器人是由计算机、传感、视觉、智能控制等多学科技术交叉综合而构成的复杂机电系统。智能喷涂机器人作为智能喷涂技术的核心,其发展与新材料、新设计和新方法的应用密不可分。针对智能喷涂机器人关键技术研究的共性问题,从喷涂机器人机构设计、喷涂系统动态性能监控、喷涂轨迹自动规划、喷涂质量检测方面综述了当前取得的研究成果;而后针对喷涂系统智能化进程中在机器人机构设计和柔性喷涂系统集成研究面临的挑战进行了分析和讨论;最后,对智能喷涂机器人关键技术研究方面未来的发展方向进行了展望和总结,为喷涂机器人发展方向与关键技术性能提升提供参考,推动喷涂技术全面进入智能化。

关键词: 智能喷涂机器人, 机构设计, 动态性能监控, 轨迹规划, 质量检测

Abstract: Spray painting as an important part of the modern product manufacturing process, not only plays a beautiful, protective, and other special role, but also increasingly become an important part of the product value. In the furniture, aerospace, military industry, and other fields occupy an important position. The intelligent spraying robot is a complex electromechanical system composed of computer, sensor, vision and intelligent control technology. As the core of intelligent spray-painting technology, the development of intelligent spraying robot is closely related to the application of new materials, new designs, and new methods. Aiming at the common problems of key technology research of intelligent spraying robot, the current research achievements are summarized from the aspects of the mechanism design of spraying robot, dynamic performance monitoring of spraying system, automatic planning of spraying trajectory, and spraying quality inspection. Then the challenges of robot mechanism design and flexible spraying system integration in the process of intelligent spraying system are analyzed and discussed. Finally, the future development direction of key technology research of intelligent spraying robot is prospected and summarized, which provides a reference for the development direction of spraying robot and the improvement of key technology performance, and promotes the overall intelligent spraying technology.

Key words: intelligent spraying robot, mechanism design, dynamic performance monitoring, trajectory planning, quality inspection

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