关键词: 自动喷砂, 控制系统, 曲面跟随, 姿态调节, 最小二乘法

Abstract: 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.

Key words: Automatic abrasive blasting, control system, surface tracking, attitude adjustment method, least square method