Research On Automatic Spraying Technology Of Complex Blade Robots For Large Wind Turbines

The wind turbine blade is one of the core components of the wind turbine.Reasonable structure,advanced materials and manufacturing processes are the guarantee for its safe and reliable work.In this paper,the main technology of robotic blade spraying for wind turbines is studied.The research contents include: automatic spray workstation design,blade surface model reconstruction,spray trajectory planning,research on important parameters of spray process,conversion of trajectory points to robotic joints,and off-line spraying.Based on the non-metallic material and irregular appearance of blades,a robot automatic spraying equipment scheme was proposed,and the feasibility was verified by matlab simulation software.Offline trajectory planning was then performed by Robotstudio software,and the last chapter was scaled by the same ratio.The six-degree-of-freedom rotational articulated robotic spraying experiment with wooden panels and speeds is easy to control to provide support for the speed,height,and spacing parameters required for the fourth chapter of the simulation process,and also provides reference for the painting work in the real environment.Chapter 2 This robotic spray equipment scheme simplifies the redundancy of the motion process and reduces the amount of calculation of the motion process.For the complex external appearance of the blade,Chapter 3 uses two methods that are suitable for different occasions to complete the trajectory extraction.The fourth chapter is to realize trajectory control from the perspective of robot kinematics.In the last chapter,the important process parameters required for spraying were obtained through the test method.Assuming that the non-main factors remained unchanged,the spraying distance,spray rate,and spacing between the trajectory lines were constrained to complete the thickness of the paint film.Impact.Finally,the data and the frame-type structure of the robot model into Robotstudio,to complete the final simulation of the painting work,to illustrate the design of the blade spraying station in the work efficiency,work quality advantages.The oil film thickness meter used here measures the thickness of the front and rear blades to complete the setting and optimization of parameters such as spraying distance,interval,and speed,and establishes and fits the spray rate accumulation curve equation through fixed point spraying.The research work and demonstration results of the article provide reference value for the research and development of wind turbines' complex blade robotic spray equipment.