大直径弯管自动喷砂机器人控制系统研究  

Study on the Control System of the Automatic Abrasive Blasting Robot for the Large Diameter Bend Pipe

作　　者：岳龙旺[1] 刘保国[1] 陈兴洲[1] 王宗才[1] YUE Long-wang;LIU Bao-guo;CHEN Xing-zhou;WANG Zong-cai(School of Mechanical and Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China)

机构地区：[1]河南工业大学机电工程学院

出　　处：《控制工程》2019年第12期2278-2283,共6页Control Engineering of China

基　　金：国家自然科学基金项目(51541508,51407062);河南省自然科学基金资助项目(182300410286)

摘　　要：自动喷砂系统是实现钢管自动喷砂作业的重要装备,喷砂质量和效率是自动喷砂系统的重要特征。针对大直径弯管自动喷砂过程中存在的喷枪与弯管曲面的跟踪问题,进行了大直径弯管自动喷砂机器人的控制系统研究。根据所设计的直角坐标式5自由度喷枪执行机构,设计了以PLC为主控制器的自动控制系统;构建了基于红外传感器测距的曲面跟随模型;利用基于最小二乘法的二阶线性拟合方法对红外传感器组进行标定,并通过实验进行了验证。该研究对于提高大直径弯管的喷砂质量和效率、减轻劳动强度、改善工作环境有重要意义。Automatic abrasive blasting system is an important equipment to realize automatic abrasive blasting of steel pipe, and the quality and efficiency are important features of the system. Focused on surface tracking problem of automatic blasting of pipe bends, the control system of the automatic abrasive blasting robot for large diameter bend pipes was studied. According to the 5-DOF abrasive blasting robot of orthogonal coordinates, the control system was designed with PLC as the main controller;the model of the surface tracking was constructed based on the infrared range sensors;based on the least square method, the second order linear fitting method was used to calibrate the infrared range sensors, and the verification experiment was made. This study is of great significance to raise the quality and efficiency of the abrasive blasting, reduce the labor intensity and improve the working environment.

关 键 词：自动喷砂 控制系统 曲面跟随 姿态调节 最小二乘法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]