Abstract: The article expounds the problems encountered by the spraying robots in the self-profiling and debugging process of the new vehicle model at the auto-coating factory and its corresponding solutions. It focused on solving the problems such as substandard spray amplitude overlap rate, robot limit position (dead axis), color difference and robot collision when it is without adding the spray robot, other equipment and reducing the production cycle and ensuring the normal production of the production line. The methods of optimizing the profiling trajectory, robot posture, changing the spraying speed, adjusting the film thickness, solid content and the secondary film-forming ratio of color paint were used to make the appearance quality of new vehicle model meet the standard, and finally ensured the successful production of new vehicle model in the automobile coating plant.

Key words: Spraying robot; New vehicle model; Autonomous profiling debugging; Production cycle; Spraying overlap rate; Limit position

摘要： 文章阐述了汽车涂装厂喷涂机器人在新车型自主仿形调试过程中所遇到的问题及相应的解 决方案。重点介绍了在不新增喷涂机器人及其他设备、不降低生产节拍、保证生产线正常生产的 前提下，为解决喷幅重叠率不达标、机器人极限位（死轴）、出现色差及机器人碰撞等问题，采用 了优化仿形轨迹、机器人姿态和改变喷涂速度、调整膜厚、固体份及色漆二次成膜比例等方法， 使得新车型油漆外观质量达标，最终保证了自主完成汽车涂装厂新增车型的顺利投产。

关键词: 喷涂机器人；新增车型；自主仿形调试；生产节拍；喷幅重叠率；极限位