Research And Application Of The Key Technology Of Flexible Automatic Spary Molding Of Thermal Insulation Layer Of Storage Tank

The cryogenic tank of carrier rocket is one of the core components of carrier rocket assembly,which is used to store the propellant fuel needed for launch.In order to reduce the heat transfer between propellant fuel and the external environment,a layer of insulated layer structure is needed to be sprayed on the storage tank during production and processing.The existing spraying operation of therm al insulation of storage tank is mainly manual spraying or semi-automatic spraying.It is difficult to guarantee the spraying quality and surface effect,and the low production and processing efficiency will affect the health of workers.To tank insulation blanket of high efficiency,high quality and flexible automation spraying engineering application,this paper has carried out the tank insulation blanket flexible automation spraying process parameters involved in the accumulation rate and coating thickness model,spraying trajectory planning,system architecture and key technical problems such as spraying process state information collection,research,the main research content is as follows:(1)This paper analyzes the process flow of insulating layer spraying in storage tank,studies the causes of spraying defects,emphatically discusses the influence of key technological parameters on spraying quality,such as spray gun height,spray speed,spray track spacing,spray gun position and spray path,and determines the value range of relevant parameters.(2)The thickness deposition rate model of plane spraying was established by introducing the elliptic double-β distribution model function,and the model parameters were determined by fitting the measured data and simulation.The path planning and optimization method of plane spraying were studied.The least square algorithm was used to obtain the optimal path spacing and spraying speed.(3)Independent automation subsystems,such as room ventilation and a ir conditioning,rotating and controllable carriage,and spraying robot,were comprehensively analyzed.Human-machine interaction control software was developed based on TCP network and OPC communication protocol to realize centralized and unified management and monitoring of field heterogeneous subsystems.(4)Based on the calculated optimal spraying process parameters,the robot spraying trajectory on the tank surface was generated by robot motion simulation software Robot Studio,and the actual spraying operation was verified.At present,four tanks have been sprayed automatically,the surface effect of spraying is significantly improved compared with manual operation,and the production cycle is shortened by one third on average.