Researh On Painting Mechanism For Tank Wall-climbing Robot

Now, the spraying-paint for antisepsis for larger storage tank in our country useprimarily the traditional way, but its engineering quality is worse, working efficiency is lowerand working especially environment is harder, Therefore, the study of larger storage tankautomated painting equipment is imperative. A dual-nozzle painting mechanism which wasinstalled on wall-climbing robot was studied.The Painting mechanism can finish Z-shapedspray trajectory and obtain good painting result. The mechanism can adjust the squirt height,distance between two squirts and the injecting angle. The model of Painting mechanism hadbeen bulit by the3D Pro/E software. Combined with D-H method, the robot kinematics modelwas set up and the Jacobian matrix of the spraying mechanism was inferred, whichestablished the linear mapping relationship between robot operating space velocity and thejoint space velocity. With the data exchange interface, the model of the wall climbing Paintingmechanism was impoted into ADAMS and the virtual prototype model of the system had beenformed after appropriate edit. While the kinematics simulation of the virtual prototype hadbeen studied, the motion characteristic curve of displacement, velocity,acceleration andimportant joints force curves were available. According to simulation data, the structural staticanalysis and the curves of the displacement, stress and force had been finished with ANSYS,which would be the bases of the modifying design. With the model analysis, the naturalfrequencies and mode shapes of the horizontal cradle were calculated, and the bendingrigidity and the torsional rigidity were supported. When transient dynamic analysis had beencompleted on horizontal guide rod, the displacement of horizontal guide rod were available inthe Dynamic loads incentive. Finally,the spraying path planning of robot on storage tank hadbeen programmed, further improving the construction efficiency of spraying-paint robot.