徐海岩　任广通　牛广飞　谢东廷

摘 要：追踪式擦净设备具有耦合运动的特点，运动路径复杂，易发生碰撞或干涉，本文基于汽车涂装的追踪式擦净设备，研究其防碰撞系统。利用编码器计算车体理论移动位置，与实际进行比对自动判定其碰撞概率并给出警告。利用光电传感器检测设备与车身之间距离，距离过小时及时停止系统运行，解决汽车涂裝的追踪式擦净设备与车体发生碰撞的难题。

关键词：汽车涂装 追踪式 碰撞系统

Design and Implementation of Anti-collision System for Tracking Cleaning Equipment Based on Automobile Coating

Xu Haiyan，Ren Guangtong，Niu Guangfei，Xie Dongting

Abstract：The tracking type cleaning equipment has the characteristics of coupled motion， the movement path is complicated， and it is prone to collision or interference. This article is based on the tracking type cleaning equipment of automobile coating to study its anti-collision system. The encoder is used to calculate the theoretical moving position of the car body， and comparing it with the actual situation to automatically determines its collision probability and gives a warning. The photoelectric sensor is used to detect the distance between the equipment and the car body， and the system will be stopped in time when the distance is too small to solve the problem of collision between the tracking type cleaning equipment of the car painting and the car body.

Key words：car painting， tracking， collision system

1 引言

涂装车间面漆工艺前需要对车体进行擦净处理，最大程度减少后续喷涂工艺可能产生的喷涂缺陷[1]。在喷涂工艺前，车身输送过程中的工艺、环境等各种因素会对车身造成污染，车身大多存在油污、铁屑、打磨灰等杂质。喷涂工艺要求车身具有较高的洁净度，任何污染或杂质可能会造成车身缩孔、漆渣、不沾漆等质量缺陷，严重时甚至造成车身报废。对车身擦净是避免喷涂质量缺陷的重要方式，原始的擦净方式是人工进行擦净，人工擦净的车身洁净度不高，目前已经被自动化的擦净设备取代[2]。追踪式擦净设备是在车身前进不停的情况下对车身进行擦净，在提升洁净度的同时还满足了高产量的需求。但是需要擦净设备和车身运动的高度配合，一旦出现微小差异擦净设备就会偏摆超限，与车身碰撞而致使车体损伤甚至报废，因此需要设计一款防撞系统规避此现象。

2 系统组成及原理

2.1 光感防撞系统