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一、前言静电喷涂是一种较新型的涂漆方法。但它对几何形状复杂的工件,由于电场强弱变化大,漆膜的均匀性很差。手工操作的静电喷枪,基本能满足形状复杂的工件的喷涂要求,可是操作者手持数万伏的高压喷枪,比较危险,而且油漆挥发物对人体危害严重。鉴于上述原因,静电喷涂这种新工艺的推广,还是受到很大限制。喷涂机械手是七十年代发展起来的自动化机械,它可以模仿人手的动作去完成喷漆作业,程序可按需要变动,所以特别适用于多品种小批量生产。机械手能突破人体生
I. Introduction Electrostatic spraying is a relatively new type of painting method. However, it is difficult for the workpiece with complex geometry due to the large variation of the electric field and the poor uniformity of the paint film. Manual operation of the electrostatic spray gun, the basic shape to meet the complex shape of the workpiece coating requirements, but the operator holding tens of thousands of volts high-pressure spray gun, more dangerous, and volatile paint on the human body is seriously harmed. In view of the above reasons, electrostatic spraying of this new technology promotion, or subject to great limitations. Spraying robot is developed in the seventies automation machinery, it can imitate the human action to complete the painting job, the program can be changed as needed, it is especially suitable for small variety of varieties. Robot can break through the human body