A fully automatic electroplating spraying process for automotive interior parts

Abstract

A fully automatic electroplating spraying process for automobile interior parts includes the following steps: S1 preliminary preparation: pre-planning environmental parameters and process parameters to prepare for spraying; S2 pretreatment: cleaning and degreasing the surface of the automobile interior parts to be sprayed to avoid affecting the adhesion of the paint; S3 spraying: the spraying workshop adopts a motion platform to hang a mechanical arm upside down, and the end effector of the mechanical arm adopts an automatic spray gun to spray the automobile interior parts to be sprayed; S4 drying: after the spraying work is completed, the automobile interior parts are left to flash dry and then dried. The fully automatic electroplating spraying process for automobile interior parts described in the present invention adopts the collaborative operation of the motion platform and the mechanical arm, has efficient space utilization and high operational flexibility, combines the high-speed motion capability of the mechanical arm with the efficient spraying performance of the automatic spray gun, can accurately spray and control, adapt to various shapes of interior parts, is easy to integrate with the automatic control system, and has broad application prospects.

Description

Technical Field

[0001] The invention belongs to the technical field of spraying, and in particular relates to a fully automatic electroplating-simulating spraying process for automobile interior decoration parts. Background Art

[0002] With the development of the automobile industry, consumers have higher requirements for the aesthetics, luxury and functionality of automobile interiors. The electroplating process can give parts a bright, metallic appearance, but traditional electroplating has problems such as high cost and high pollution. Imitation electroplating technology has emerged as the times require. It can simulate the appearance of electroplating at a lower cost and meet environmental protection requirements to meet the decorative needs of automobile interior parts.

[0003] At present, the electroplating imitation coating of automobile interior parts (such as primer, electroplating imitation layer, topcoat) is often carried out by spraying. Spraying has the advantages of good uniformity, strong adaptability, high efficiency and high appearance quality.

[0004] There are two common spraying methods: one is traditional manual spraying and the other is assembly line spraying. Domestic large-scale auto parts manufacturers have adopted fully automatic intelligent spraying assembly lines, and the same model of workpieces to be sprayed arrive at the designated position along the production line for spraying. With the popularization of industrial intelligence, small and medium-sized enterprises are no longer limited to traditional manual spraying, which is more harmful to the body, and have begun to try to choose to purchase and cooperate in the development of intelligent equipment to improve spraying quality and efficiency.

[0005] The present invention is based on the current demand of enterprises to improve the level of automation to replace manual spraying operations. Under the premise of ensuring safety and improving quality, a fully automatic spraying process for imitating electroplating of automotive interior decoration parts is designed, which has the characteristics of low cost, short R&D time and high practicality. Summary of the invention

[0006] Purpose of the invention: In order to overcome the above shortcomings, the purpose of the present invention is to provide a fully automatic spraying process for imitating electroplating of automotive interior decoration parts, which has a reasonable design, adopts the collaborative operation of a motion platform and a robotic arm, has efficient space utilization and high operational flexibility, combines the high-speed movement capability of the robotic arm with the efficient spraying performance of the automatic spray gun, can accurately control the spraying and adapt to a variety of interior decoration parts shapes, has the characteristics of low cost, short R&D time and high practicality, and is easy to integrate with an automated control system, with broad application prospects.

[0007] The objective of the present invention is achieved through the following technical solutions: A fully automatic electroplating spraying process for automobile interior parts, comprising the following steps: S1 Preliminary preparation: Plan the environmental parameters and process parameters in advance to prepare for the spraying work; S2 pretreatment: clean and degrease the surface of the automotive interior parts to be sprayed to avoid affecting the adhesion of the paint; S3 spraying: The spraying workshop uses a motion platform with an inverted robotic arm, and the end effector of the robotic arm uses an automatic spray gun to spray the automotive interior parts to be sprayed; S4 Drying: After the spraying work is completed, the automotive interior parts are left to stand for flash drying, and then dried. The drying temperature and time are determined according to the performance of the paint to ensure that the paint surface is completely dry and cured.

[0008] The fully automatic electroplating spraying process for automobile interior parts of the present invention adopts the coordinated operation of the motion platform and the mechanical arm. In the mass production of automobile interior parts, this combination can quickly switch between different interior parts and spray according to the preset program, and the high-speed motion capability of the mechanical arm and the efficient spraying performance of the automatic spray gun are combined to complete the spraying task of an interior part in a short time. The automatic spray gun can spray paint continuously and stably, and the mechanical arm can quickly and accurately move the spray gun to each part that needs to be sprayed, thereby shortening the spraying cycle of a single interior part.

[0009] The above process is easy to integrate with the automatic control system. Both the robotic arm and the motion platform can be programmed to realize automatic operation. In conjunction with the automatic spray gun, a fully automated spraying production line can be constructed. Under the management of the automatic control system, different batches and types of automotive interior parts can be automatically sprayed, reducing manual intervention and improving production consistency and stability.

[0010] Furthermore, in the above-mentioned fully automatic spraying process for imitating electroplating of automobile interior parts, the motion platform is a gantry structure, comprising: The main body of the motion platform is composed of an X-axis linear motion unit and a Y-axis linear motion unit; The motion platform base consists of 4 support columns.

[0011] The motion platform adopts a gantry structure, which is compact and stable. The robotic arm is hung upside down on the motion platform, which can ensure the stability and reliability of the structure during the movement. Its end effector can reach any point in the spray workshop space, and its functions can be expanded later. At the same time, compared with the bottom surface, it is less likely to cause safety hazards.

[0012] Furthermore, in the above-mentioned fully automatic spraying process for imitating electroplating of automotive interior parts, the X-axis linear motion unit is a symmetrical beam structure, including an X-axis truss and a movable slide rail installed on the X-axis truss; the Y-axis linear motion unit is also a symmetrical beam structure, including a Y-axis truss and a movable slide rail installed on the Y-axis truss.

[0013] Furthermore, in the above-mentioned fully automatic spraying process for imitating electroplating of automobile interior parts, the X-axis linear motion unit and the X-axis linear motion unit both adopt a transmission method in which a servo motor drives a synchronous gear belt through a reducer.

[0014] The X-axis linear motion unit, the structural design of the X-axis linear motion unit and the transmission method can reduce the impact and vibration on the overall frame of the motion platform when the robotic arm moves, and avoid deformation of the motion platform.

[0015] Furthermore, in the above-mentioned fully automatic spraying process for simulating electroplating of automotive interior parts, the robotic arm is an articulated six-axis robotic arm, and the six rotating joints of the robotic arm are connected in series; the robotic arm is installed upside down on the X-axis linear motion unit.

[0016] Furthermore, in the above-mentioned fully automatic spraying process for imitating electroplating of automobile interior parts, S3 specifically includes the following contents: placing the automobile interior parts to be sprayed at the corresponding positions, firstly testing the motion trajectory of the robot arm so that it runs along the outer circle trajectory, and after multiple calibrations, matching the theoretical coordinates with the actual coordinates to see whether it can move along the expected trajectory; then checking the environmental parameters again, closing the spraying workshop, opening the air path of the automatic spray gun, and controlling the robot arm to spray the automobile interior parts to be sprayed according to a specific trajectory; during the spraying process, the end of the automatic spray gun is always perpendicular to the surface of the automobile interior parts.

[0017] Furthermore, in the above-mentioned fully automatic spraying process for imitating electroplating of automobile interior parts, in S3, the motion trajectory control of the robot arm includes the following steps: a) The motion trajectory control of the robotic arm is based on the ROS operating system. The WIFI module of the ROS operating system is turned on to provide a network environment for installing the necessary function packages for controlling the robotic arm; b) Using Secure Shell on a local computer to connect to the local area network of the robotic arm to provide data transmission and feedback for the control of the robotic arm; c) Open the car_base node, a key node for communicating with the bottom layer of the robotic arm, in the robotic arm terminal, and create car_cmd_test and arm_control_test in the catkin_ws workspace of the local computer, which are function packages for controlling the motion platform and the robotic arm respectively; d) Put the C++ programs of the NCNSZNN algorithm and the LVI-PDNN algorithm into different function packages, and then upload them to the function packages of car_cmd_test and arm_control_test through Filezilla software; e) Open the robotic arm terminal in the oryxbot_ws workspace to compile and verify the correctness of the C++ program of different algorithms; start the master node management of the ROS operating system, open a robotic arm terminal and enter the rosrunoryxbot_base oryxbot_base_node command to start the underlying communication node; use the Ctrl+Alt+T shortcut key to open 2 new robotic arm terminals, first run the rosrun arm_controller_arm_motor_demo command to move the end effector of the robotic arm to the initial position of the desired trajectory, then run the rosruncar_cmd_test car_cmd_test_node command, and finally complete the motion trajectory control of the robotic arm by running rosrun_arm_controller arm_motor_demo and rosrun car_cmd_test car_cmd_test_nod at the same time.

[0018] The above control method has the advantages of effectiveness, real-time performance, anti-interference and strong robustness. It better expands the feasible area of ​​the effective solution of the robot arm, improves the flexibility of the robot arm, and the robot arm can return to the starting position after completing the motion trajectory, completing the repeated motion trajectory and spraying tasks of the robot arm and the end effector.

[0019] Compared with the prior art, the present invention has the following beneficial effects: (1) The fully automatic electroplating spraying process for automotive interior parts disclosed in the present invention adopts the coordinated operation of a motion platform and a robotic arm, which has more efficient space utilization and higher operational flexibility. The high-speed motion capability of the robotic arm and the efficient spraying performance of the automatic spray gun are combined to achieve precise spraying control and adapt to various shapes of interior parts. The fully automatic spraying process has the characteristics of low cost, short R&D time and high practicality. It is also easy to integrate with an automated control system, and can realize automated spraying of different batches and types of automotive interior parts, reducing manual intervention and improving production consistency and stability. (2) The fully automatic spraying process for simulating electroplating of automotive interior parts disclosed in the present invention optimizes the control method of the robot arm and has the advantages of effectiveness, real-time performance, anti-interference and strong robustness. It better expands the feasible area of ​​the effective solution of the robot arm, improves the flexibility of the robot arm, and can better complete the repeated motion trajectory control and spraying tasks of the robot arm and the end effector. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the internal structure of a spraying workshop for a fully automatic spraying process for imitating electroplating of automotive interior decoration parts according to the present invention; In the figure: a motion platform 1, a motion platform body 11, an X-axis linear motion unit 111, a Y-axis linear motion unit 112, a movable slide rail 113, a motion platform base 12, a support column 121, and a robotic arm 2. DETAILED DESCRIPTION

[0021] The following will combine specific experimental data and attached Figure 1 , the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0022] The following embodiment 1 provides a spraying workshop design for a fully automatic spraying process for imitating electroplating of automotive interior parts.

[0023] Example 1 The spraying workshop used for the full-automatic spraying process of imitating electroplating of automobile interior decoration parts adopts a gantry-structured motion platform 1, an inverted articulated six-axis mechanical arm 2, and the end effector of the mechanical arm 2 adopts an automatic spray gun 3 to spray the automobile interior decoration parts to be sprayed.

[0024] The motion platform 1 of the gantry structure is compact and stable. The robot arm 2 is hung upside down on the motion platform 1, which can ensure the stability and reliability of the structure during the movement. Its end effector can reach any point in the spray workshop space, and its functions can be expanded later. At the same time, compared with being on the bottom surface, it is not easy to cause safety hazards.

[0025] The six rotating joints of the robot arm 2 connected in series give the robot arm extremely high flexibility. This structure enables the robot arm 2 to achieve complex motion trajectories in three-dimensional space, so that it can accurately reach various parts of the automotive interior parts for spraying. For example, for interior parts with complex shapes, various curved surfaces and grooves, the six-axis robot arm 1 can adjust the angles of each joint so that the end of the automatic spray gun 3 is always perpendicular to the surface of the automotive interior parts to ensure uniform coating.

[0026] Specifically, the motion platform 1 includes a motion platform body 11 composed of an X-axis linear motion unit 111 and a Y-axis linear motion unit 112, and a motion platform base 12 composed of four supporting columns 121. The X-axis linear motion unit 111 and the Y-axis linear motion unit 112 are both symmetrical beam structures, and a movable slide rail 113 is installed on them.

[0027] In order to reduce the impact and vibration on the overall frame of the motion platform 1 when the robot arm 2 moves and avoid deformation of the motion platform 1, the X-axis linear motion unit 111 and the X-axis linear motion unit 112 both use a servo motor to drive a synchronous gear belt through a reducer, which is lighter and more stable.

[0028] The following Example 2 provides a fully automatic electroplating-simulating spraying process for automobile interior decoration parts.

[0029] Example 2 The fully automatic electroplating spraying process for automobile interior parts comprises the following steps: S1 Preliminary preparation: Plan the environmental parameters and process parameters in advance to prepare for the spraying work; S2 pretreatment: clean and degrease the surface of the automotive interior parts to be sprayed to avoid affecting the adhesion of the paint; S3 spraying: Place the automotive interior parts to be sprayed in the corresponding positions, first test the motion trajectory of the robot arm 2, make it run along the outer circle trajectory, and after multiple calibrations, make the theoretical coordinates match the actual coordinates to check whether it can move along the expected trajectory; then check the environmental parameters again, close the spraying workshop, open the air path of the automatic spray gun 3, and control the robot arm 2 to spray the automotive interior parts to be sprayed according to a specific trajectory; during the spraying process, the end of the automatic spray gun 3 is always perpendicular to the surface of the automotive interior parts S4 Drying: After the spraying work is completed, the automotive interior parts are left to flash dry and then dried. The drying temperature and time are determined according to the properties of the paint to ensure that the paint surface is completely dried and cured. Further, in S3, the motion trajectory control of the robot 2 is based on the ROS operating system, and the motion trajectory control of the robot 2 specifically includes the following steps: a) Turn on the WIFI module of the ROS operating system to provide a network environment for installing the necessary function packages for controlling the robotic arm 2; b) Use Secure Shell on the local computer to connect to the LAN of Robot Arm 2 to provide data transmission and feedback for the control of Robot Arm 2; c) Open the key node car_base node that communicates with the bottom layer of the robotic arm 2 in the robotic arm 2 terminal, and create car_cmd_test and arm_control_test in the catkin_ws workspace of the local computer to control the function packages of the motion platform 1 and the robotic arm 2 respectively; d) Put the C++ programs of the NCNSZNN algorithm and the LVI-PDNN algorithm into different function packages, and then upload them to the function packages of car_cmd_test and arm_control_test through the Filezilla software; open the robot arm 2 terminal in the oryxbot_ws workspace to compile and verify the correctness of the C++ programs of different algorithms; start the master node management of the ROS operating system, open a robot arm 2 terminal and enter the rosrun oryxbot_base oryxbot_base_node command to start the underlying communication node; use the Ctrl+Alt+T shortcut key to open two new robot arm 2 terminals, first run the rosrun arm_controller_arm_motor_demo command to move the end effector (automatic spray gun 3) of the robot arm 2 to the initial position of the desired trajectory, then run the rosrun car_cmd_test car_cmd_test_node command, and finally complete the motion trajectory control of the robot arm 2 by running rosrun_arm_controller arm_motor_demo and rosrun car_cmd_test car_cmd_test_nod at the same time.

[0030] Effect verification: According to Example 1 and Example 2, a full-automatic spraying process test of imitating electroplating of automobile interior decoration parts was carried out, as follows: (1) Test object: Automobile center console decorative strip.

[0031] (2) Paint: Akzo Nobel Interstores Alkyd paint, viscosity adjusted to 850 MPa·s.

[0032] (3) Environmental parameters: Temperature: 25°C; Relative humidity: 60%; Wind speed: ≤0.3m / s.

[0033] (4) Process parameters: spraying height: 250mm; spraying speed: 450.00mm / s; molding air flow: 0.05Mpa; paint spraying volume: 0.15L / min.

[0034] (5) Ideal paint thickness: 25μm.

[0035] (6) Testing instrument: film thickness meter.

[0036] By observing the spraying process, it can be seen that the end of the automatic spray gun 3 is always perpendicular to the surface of the automobile center console decorative strip, and the spraying runs smoothly throughout the entire process without jitter.

[0037] 20 data points were randomly selected and marked, and the film thickness data of the measured marked points on the surface of the car center console trim strip before and after spraying were recorded and measured. All marked points were measured 5 times, and the average measured film thickness was taken as the final result. The measurement results are shown in Tables 1 and 2.

[0038] Table 1 Coating thickness at measuring points before spraying Table 2 Coating thickness at measuring points after spraying It can be seen from Tables 1 and 2 that the average film thickness at the measuring mark point fluctuates within the range of ±1μm around the ideal value of 25μm, which shows that the spraying results meet the film thickness quality requirements.

[0039] The present invention has many specific application paths, and the above is only a preferred embodiment of the present invention. It should be pointed out that the above embodiments are only used to illustrate the present invention, and are not used to limit the protection scope of the present invention. For those of ordinary skill in the art, several improvements can be made without departing from the principle of the present invention, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. A fully automatic electroplating spraying process for automotive interior parts, characterized in that: The steps include: S1 Preliminary preparation: Plan the environmental parameters and process parameters in advance to prepare for the spraying work; S2 pretreatment: clean and degrease the surface of the automotive interior parts to be sprayed to avoid affecting the adhesion of the paint; S3 spraying: The spraying workshop uses a motion platform (1) to hang an inverted robotic arm (2), and the end effector of the robotic arm (2) uses an automatic spray gun (3) to spray the automotive interior parts to be sprayed; S4 Drying: After the spraying work is completed, the car interior parts are left to stand for flash drying, and then dried to ensure that the paint surface is completely dry and cured.

2. The fully automatic electroplating spraying process for automobile interior decoration parts according to claim 1 is characterized in that: The motion platform (1) is a gantry structure, comprising: A motion platform body (11) composed of an X-axis linear motion unit (111) and a Y-axis linear motion unit (112); A motion platform base (12) is composed of four supporting columns (121).

3. The fully automatic electroplating spraying process for automobile interior decoration parts according to claim 2 is characterized in that: The X-axis linear motion unit (111) is a symmetrical beam structure, comprising an X-axis truss and a movable slide rail (113) installed on the X-axis truss; the Y-axis linear motion unit (112) is also a symmetrical beam structure, comprising a Y-axis truss and a movable slide rail (113) installed on the Y-axis truss.

4. The fully automatic electroplating spraying process for automobile interior decoration parts according to claim 3 is characterized in that: The X-axis linear motion unit (111) and the X-axis linear motion unit (112) both adopt a transmission method in which a servo motor drives a synchronous gear belt through a reducer.

5. The fully automatic electroplating spraying process for automobile interior decoration parts according to claim 5 is characterized in that: The mechanical arm (2) is an articulated six-axis mechanical arm, and the six rotating joints of the mechanical arm (2) are connected in series; the mechanical arm (2) is mounted in an upside-down manner on an X-axis linear motion unit (111).

6. The fully automatic electroplating spraying process for automobile interior decoration parts according to claim 1 is characterized in that: The S3 specifically includes the following contents: placing the automobile interior decoration part to be sprayed at the corresponding position, firstly testing the motion trajectory of the robot arm (2) so that it moves along the outer circle trajectory, and after multiple calibrations, matching the theoretical coordinates with the actual coordinates to check whether it can move along the expected trajectory; then checking the environmental parameters again, closing the spraying workshop, opening the air path of the automatic spray gun (3), and controlling the robot arm (2) to spray the automobile interior decoration part to be sprayed according to a specific trajectory; during the spraying process, the end of the automatic spray gun (3) is always perpendicular to the surface of the automobile interior decoration part.

7. The fully automatic electroplating spraying process for automotive interior parts according to any one of claims 1 or 6, characterized in that: In S3, the motion trajectory control of the robot arm (2) comprises the following steps: (1) The motion trajectory control of the robotic arm (2) is based on the ROS operating system. The WIFI module of the ROS operating system is turned on to provide a network environment for installing the necessary function packages for controlling the robotic arm (2); (2) using Secure Shell on a local computer to connect to the local area network of the robotic arm (2) to provide data transmission and feedback for the control of the robotic arm (2); (3) opening the car_base node, a key node for communicating with the bottom layer of the robotic arm (2), at the terminal of the robotic arm (2), and creating car_cmd_test and arm_control_test in the catkin_ws workspace of the local computer, which are function packages for controlling the motion platform (1) and the robotic arm (2) respectively; (4) Put the C++ programs of the NCNSZNN algorithm and the LVI-PDNN algorithm into different function packages, and then upload them to the function packages of car_cmd_test and arm_control_test through Filezilla software; (5) Open the terminal of the robot arm (2) in the oryxbot_ws workspace to compile and verify the correctness of the C++ programs of different algorithms; start the master node management of the ROS operating system, open a terminal of the robot arm (2) and enter the rosrun oryxbot_base oryxbot_base_node command to start the underlying communication node; use the Ctrl+Alt+T shortcut key to open two new terminals of the robot arm (2), first run the rosrun arm_controller_arm_motor_demo command to move the end effector of the robot arm (2) to the initial position of the desired trajectory, then run the rosrun car_cmd_test car_cmd_test_node command, and finally complete the motion trajectory control of the robot arm (2) by running rosrun_arm_controller arm_motor_demo and rosrun car_cmd_test car_cmd_test_nod at the same time.

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