The Design And Analysis Of An Automatic Spraying Equipment With Huge Workspace

Based on the engineering application background of the thermal insulation layer spraying of large special workpieces, this paper conducts a study on an automatic equipment used for workpiece surface spraying. Firstly, according to the requirements of workpiece spraying principle scheme, analyzes the functions of the spraying equipment and determines the principle schemes and basic compositions of this automatic spraying equipment; Then based on the structure design, kinematics simulation analysis and the finite element analysis of the key component of the robot, determines the structure size of the spraying robot body; Lastly, a reduced-scale model of spraying robot prototype is built and related experiments are finished based on the design requirements and the test requirements and design results. The theoretical analysis and experimental results demonstrate that the proposed design can satisfy the requirement of spraying on the large special workpiece and the requirements of the trajectory planning, spraying efficiency and structure strength; What is more, this design can provide evidence to support the design of the real prototypes. This design has important theoretical significance and practical application value.The main contents of this paper are summarized as follows:(1) After taking full considerations of the requirements of spraying on this large-sized workpiece, determines the basic compositions of the automatic spraying equipment, then configuration design becomes the focal point of the work, and then comparative analysis of several kinds of design schemes are carried out, followed by the selection of the frame type spraying robot configuration.(2) This paper presents the structure design of the spraying robot. Three move axis and two attitude axis are disposed to satisfy the status and attitude requirements of the spray gun in the space, detailed design and calculation of the transmission section, guide rail structure and servo motors are finished, and then build the3D virtual prototype mode.(3) The kinematical model of the robot is established using the D-H method and the analytical solutions are obtained with the help of the software Mathematica; The trajectory planning of the spraying robot is finished, according to the results of spray path planning, kinematics simulation analysis of the institution is made in ADAMS, simulation demonstrate that the robot design can satisfy the requirement of spraying on the large special workpiece and the requirement of the trajectory planning. (4) In consideration of the characteristics of huge workspace automatic spraying robot, the structure statics analysis and modal analysis of the Y axis beams groups by using ANSYS Workbench is presented check the structural strength of spraying robot beam group, the analysis results demonstrate that the physical design can satisfy strength and stiffness requirements.(5) According to the results of analysis, this paper develops a set of reduced-scale, experiment principle model, write programs after installation and debugging for spraying experiments of spray path and motion parameter, the experimental results demonstrate that the robot designed can satisfy the technical requirement.