第一部分关于原攻关计划的调整与技术方案的修改说明该攻关项目原方案是在用户要求下以内涂机器人系统及开门机器人都与工件在生产线上同步运动作为基础设想设计的。考虑到实际生产线运行过程中的“爬行”、“抖动”会严重影响该系统的运行可靠性。经与用户多次协商、征得同意,现以快速移动工件—工件定位—再次快速移动工件这种方式达到工件在进入和走出内涂工位前后仍与原生产线同步,只是内涂作业是在工件定位阶段完成,工 The first part of the original planning on the adjustment of the original plan and the modification of the technical description of the project the original project is based on the user’s request to paint the robot system and open the robot with the workpiece synchronization in the production line as a basic idea design. Taking into account the actual production line running “crawling”, “jitter ” will seriously affect the operational reliability of the system. After consultation with the user many times, get the consent, is to quickly move the workpiece - the workpiece positioning - again quickly move the workpiece in this way to achieve the workpiece before and after entering the coating station is still synchronized with the original production line, but the coating operation is in Workpiece positioning stage is completed, workers