The Motion Control And Off-line Programming Technology Research Of A Spraying Robot

The surface coating of aircraft is a vital step in aircraft manufacturing. It is particularlyimportant for the aircraft with stealth performance, whose coating thickness and uniformityare directly related to operational performance of the plane. Currently, most planes in theworld are sprayed in the original manual method with low efficiency, no ensuring the qualityof coating, but also harmful to human body. The development of digital painting technology isthe inevitable trend in the digital aircraft manufacturing at home and abroad, also is inevitablechoice to promote China’s aircraft manufacturing technology.In this paper, the structure of spraying robot has carried on the simple introduction, usingsimulation module of CATIA DMU to have a simulation analysis for the simple structure ofthree degrees of freedom for spraying robot and working principle, realizing its movementprinciple and some structure design for key parts.Combining with the conditions of the coating both at home and abroad, the inletstructure and coating performance requirements, through the relevant research relatedtrajectory planning and spraying way, in this paper, based on the way that CATIA platformuses VC++technology to develop the module of off-line programming system, in CATIAinterface implementing the trajectory planning on the surface of the spraying workpiece andautomatical generate of spray gun track points,and forming3D coordinate documents ofspraying gun track points which is what a robot off-line need to spray and then through thewireless network transmission to spraying robot controller, performing spraying operations.Determine the robot spraying solution based on industrial controller and PLC, realize thestructure design of spraying cantilever robot, electrical circuit design, PLC input and outputand internal program design and plouffe visualization program design digital display screen.Solve the problems of electric and pneumatic work during the coating process, and completethe overall design of the entire spraying control system.This paper completed the motive trajectory planning of the inlet spraying gun head,development of off-line programming system module, spraying machine cantilever handmodel and the whole design work of the spraying control system, achieved the function ofoff-line programming system simulation and actual spraying cantilever manipulator controloperation, and based on this, spraying experiment was carried out, collected some spraying data of relevant samples,providing some theoretical basis for further practical spray and eventhe whole plane coating, and promoting the development and progress of digital aircraftmanufacturing technology.