The rapid development of the modern automobile industry has led to rapid changes in vehicle models and continuous adjustment of the car body design. Only robots can adapt to such frequently changing production requirements. The robot is used instead of the spraying machine to automatically spray the surface of the workpiece. The robot controls the spray gun to maintain the correct angle and constant distance from the sprayed surface during the spraying process. The three-dimensional model of the sprayed object is processed by special software. Determine the path of the gun and the corresponding spray parameters. The robotic automatic spraying line enables precise spraying and environmentally friendly coating. The Haima Zhengzhou No. 2 factory painting workshop is equipped with the advanced YXKAWA EPX-2900 explosion-proof painting robot. The robot elbow is equipped with the French SAMES high-speed cup type electrostatic automatic spraying system. Paint supply and color change system consists of pneumatic control cabinet, color change valve, gear pump motor and gear pump, electrostatic spray cup (spray gun), paint, solvent and air supply line, flow, atomization pressure, forming air pressure, high voltage Adjust the system composition. Each set of robots has invested more than one million yuan, and there have been many robot collision events in actual production, resulting in more serious economic losses. 1. Classification of robot collisions The current robot collision events encountered at the scene are mainly divided into the following types: 1.1 Collision between robot bodies 1.2 Collision between the robot and the spray booth chamber 1.3 Collision between the robot and the object to be sprayed 2. Analysis of the cause of collision 2.1 Collision between robot bodies. Such collisions are generally rare. This happens when the painting robot introduces a new model. The cause of the collision is also relatively simple. That is, when a new car model is taught, the spray path is unreasonably set. 2.2 Collision between the robot and the chamber of the paint booth. This type of collision is similar to the previous type of collision, and the causes are basically the same. 2.3 Collision between the robot and the object to be sprayed. This type of collision is the most common type of robotic electrostatic spray system. The main reasons for this type of collision are the following: 2.2.1 Deviation teaching action path setting deviation. When the new model is introduced, the robot is usually modeled according to the actual robot position on the current profile teaching software, and the digital model of the new model is imported into the project file for offline simulation. After that, the copy teaching program is imported into each robot control cabinet in the field. Manually run the action and fine tune it according to the actual body position. If the amount of fine adjustment is large and valid verification is not possible. Then there will be a collision when the robot automatically moves. 2.2.2 The shape of the object to be sprayed is greatly deformed. The robot automatically performs the process according to the motion path of the profiling during the automatic spraying process on site. When the object to be sprayed is deformed more seriously, the robot cannot automatically recognize the actual state of the object to be sprayed, and still operates according to the original action path. Collisions are thus produced. 2.2.3 The location of the object to be sprayed produces a more serious deviation. European Socket Connector,Straight Needle European Socket Connector,Waterproof European Socket Connector,Vertical Straight European Socket Connector Shenzhen Jinyicheng Electronci Technology Co.,Ltd. , https://www.jycconnectors.com