Research On Control Technology Of Automatic Spraying Equipment Applied In Large Workpiece

Aerospace equipment manufacturing industry is of great significance in improving the development of science and technology and national defense strength in our country. This paper carries out research on large workpiece automatic spraying equipment control system based on the space large workpiece insulation layer automatic spraying operations as the research background. The Research mainly contains system design, workpiece surface reconstruction, spraying trajectory planning, software system development and spraying technology study. Based on the research, a set of scaled spraying equipment is developed and a series of eperiment is carried out to validate the proposed scheme and algorithm.This paper first introduced that the automatic spraying system consists mechanical system, control system, detecting system and software system based on the workpiece characteristics and spraying requirement. Mechanical system mainly consists of spraying robot which has five degrees of freedom, the axis design and motor selection is completed. The control system adopts the composition of EPC+ACR9000motion controller, the detecting system adopts the CAS ATI GT60-12S laser sensor to collect point cloud.In the workpiece surface reconstruction, the related NURBS basic knowledge is introduced, a detailed NURBS curve and surface interpolation algorithm is studied and the steps of workpiece surface reconstruction is given.In the spraying trajectory planning, use the D-H method to model the spraying robot, deduce the spraying robot forward and backward kinematics equation, and then according to the workpiece characteristics, adopt the Z-shape spraying method, the trajectory planning process is discussed in detail.The software system contains five parts of motion control, surface reconstruction, spraying control,3D display and thickness analysis.Use the Qt library to develop, use the OpenGL graphics library to realize3D visualization of workpiece, use SQLite to store the workpiece model and spraying parameters.At last, spraying technology research is carried out on the developed spraying equipment. By fixed-point spraying, the spraying spot model(cumulative growth rate model) is obtained and experiment on the three spraying factor of spraying distance, spraying rate and spraying gap is carried out. Based on this, the workpiece is sprayed, ther results show that the spraying effect is good, the error is within the specified range and meets the project requirements.The research work of this paper achieves the desired effect which provides theoretical basis and experimental data for the development of large workpiece automatic spraying equipment.