Structural Design And Control System Design And Uncertainty Analysis Of Cladding Special Machine

The source of the project is "Research of water_wall cladding special machine" scientific research of Harbin Science and Technology Bureau. Due to low pollution, circulating fluidized bed (CFB) boiler has been widely used in the fields of power plant boilers and industrial boilers as well as waste treatment. However, circulating fluidized bed (CFB) boiler has been restricted by the abrasion problem. In addition, the development of a set of allay cladding special machine can become the difficult problem that need to be solved for boiler company.Firstly, this thesis introduces the abrasion mechanism and protection approach of boiler water wall of CFB. On the foundation of the analysis of research status of cladding special machine both in China and abroad, designs a set of cladding special machine system, and of the cladding special machine the guide to conduct analysis of stress and deformation, to study spatial pose uncertainty of cladding_gun provides reference.Secondly, this thesis analyzes the spatial pose uncertainty of cladding_gun from two aspects of the space position of the cladding_gun and the end of the cladding_gun. for the uncertainty of the space position, the uncertainty elements concerned with pose of cladding special machine has been analyzed, the selection principle and the calculation formula of uncertainty element can be acquired. for the rotation uncertainty, in order to obtain length of cladding_gun and the verticality between cladding_gun and water_wall, the flat wire designed calibration method, wire T-calibration method, hemispherical tablet calibration method and hemispherical T-calibration of welded gun calibration method have been designed, through substituting it into uncertainty transform matrix, the appropriate calibration method for welded gun calibration can be obtained.Then, the melt channel of wall tube can be planned. In addition, based on the position of melt channel, the spatial position and orientation of cladding_gun can be obtained. Therefore,a set of automatic_cladding control procedure has been designed, which can include automatic downlink cladding, the center coordinate calibration of wall tube, the elbow curve model,manual debugging, automatic interpolation, stick wire detection etc, which can improve the deposition efficiency.Finally, a T type calibrator and flat calibrator have been designed, which can be used for the experiment in order to demonstrate the accuracy of the four calibration. In addition, the number of welded task and the welded channel of single tube can be set in order to demonstrate the accuracy of the automatic_cladding control procedure,which can provided the theoretical and technical foundation on the remotely cladding.