Research On Spray Gun Parameters And Drive Unit Of Circular Syphon Spraying Robot

As a kind of common material transport means, piping occupies an important position in the national production. It is an important process that execute spraying operation to the inner wall of the pipe of pipe manufacturing. It has the characteristics of good coating quality, high spraying efficiency and environmental protection etc, that using the pipeline spraying robots replace artificial to spray the inner wall of the pipe. However, the existing pipeline spraying parameters setting and spraying robot have great limitations, and it cannot complete automatic spraying work well. Therefore, the research of spraying parameters’ setting and itself of the pipeline spraying robot is an important premise to improve the quality of spraying.The paper is based on the national natural science fund project "The key technology research of spray gun trajectory optimization of pipeline spraying robot which for large curvature complex free surface"(no. 51165022) and natural science fund item of Gansu province "The research of spraying robot trajectory optimization that based on hybrid intelligent algorithm "(no. 145 RJZA028).The paper studies parameter setting of the spray gun,the driven property of the drive unit and the ability of passing syphon of pipeline spraying robot.For the coating uniformity problem when the pipeline spraying robot sprays the inner wall of the circular syphon, a kind of parameters optimization method of spray gun is presented. Based on the mathematical mode that suit the distribution of elliptic double β of the spray gun,sheet metal unfolding principle is used to patch division of the circular syphon. Further, the variation of the width of the surface patch is derived, and the theory that the moving speed of the spray gun should maintain a certain inverse relationship with the width of the surface patch when spray the circular syphon is proposed, furthermore, the feasibility of the fragmentation algorithm is validated from the flow conservation principle and numerical simulation.According to the requirement of the spray gun parameters on the drive unit, the robot introduces the radial radiation support model, makes use of the parallelogram to form the walk unit of the robot, three independent drive wheels are fixed on the three mechanism separately, the three parallelogram distribute equally on a circle. The size requirements when passing the circular syphon of the drive unit is analyzed to ensure the rationality of the design of size. Two kinds of speed parameter control method of the driving wheel are proposed and the automatic tri-axial differential function of piperobot is achieved to ensure the steady running in the circular syphon. Finally, the paper makes use of the dummy model design software ADAMS build up a digital mode of the pipeline spraying robot’s drive unit, and simulation about traction and syphon adaptability of the drive unit is implemented to validate the rationality of the structure design and the speed control of the drive unit.