Research On Spraying Device For Inner Wall Of Large Pressure Vessel

At present,the large pressure vessel wall spraying mode of operation is mainly artificial spraying.The disadvantage of manual spraying is low spray efficiency,spray quality instability and high labor costs.so it is very necessary to develop an automatic spraying equipment for the inner wall of large pressure vessels.(1)Aiming at large pressure vessel,a variety of motion programs were developed.Compared with these schemes,the tandem arm was chosen to spray the inner wall of the pressure vessel.The selected motion scheme is structured by Solid Works software.The rational transformation device can be selected through comparison and analysis of several transformation mechanisms of rotational motion and linear motion.(2)The constructed model is simplified into a kinematic sketch,and then a coordinate system is established for each joint by the D-H method.Through these coordinate systems,the positive and inverse kinematics relationships between each joint and the execution end of the coating are studied,and the kinematics formula is obtained.When studying the working space of the spray arm,we use MATLAB function to interpolate the position coordinates of the kinematics equation by using the rand function to simulate the working space of the spray arm and compare with the actual work space to see if it meets the actual work requirements.(3)The modal analysis and static analysis of the spray device were performed using ANSYS Workbench software.By analyzing test device is subjected to static stress is within a safe range,the deformation stress analysis provides apparatus for optimizing the direction.Through the modal analysis,understand the vibration mode and natural frequency of each order to prevent the resonance from damaging the device.(4)Finally,the model built by Solid Works is imported into ADAMS software,and the dynamics analysis is performed to get the velocity and acceleration curves of all joints.The analysis shows that the structural design is reasonable and the stability of system work.