Research On Design And Performance Of External Anti-corrosion Painting Robot For Prestressed Steel Tube Concrete Pipeline

In this paper,a self-propelled macro-micro motion combined 5-DOF spraying robot is designed to meet the task requirements of anti-corrosion automatic spraying on the external surface of pre-stressed steel tube concrete pipes.According to the technical requirements and functional analysis of anti-corrosion work on the external surface of pre-stressed concrete steel pipe concrete pipes,the process parameters of the automatic spraying process are considered.First,the system construction of the spraying operation robot equipment is first performed,and on this basis,the spray robot and the dedicated mobile lifting and transportation are respectively.The trolley is configured and the three-dimensional model of the painting robot and the special mobile lifting trolley is built by the three-dimensional modeling software,the structural design is completed,and the kinematics analysis of the spraying robot mechanism is completed based on the analysis of the configuration of the spraying robot.Performance analysis.Based on this,the accuracy analysis,spray trajectory planning and optimization of the mechanism were performed.Based on the completion of the basic design and performance analysis,the actual and theoretical mutual verification is carried out through field tests.The following is a brief discussion of the contents of the paper:Firstly,construction and structural design of robotic equipment for spraying operations.Application configuration evolution method,according to the spraying operation of the spraying mechanism for functional analysis,combined with automatic spray coating process requirements,automatic spray equipment configuration design.In the automatic spraying equipment,a two-degree-of-freedom series mechanism is used to achieve coarse positioning of the spray gun,and a three-degree-of-freedom parallel mechanism is used to realize fine-tuning positioning and attitude adjustment of the spray gun.Then the entire equipment structure design,detailed design and selection of important components,the use of SolidWorks software to establish a three-dimensional model of the device,and its working principle and work process are briefly introduced.Secondly,kinematics and Mechanism Performance Analysis of Spray Robot Mechanisms.Because the spraying robot belongs to the hybrid mechanism,the type of the hybrid mechanism is firstly analyzed,then the parameters obtained by the DH method are substituted into the formula to derive the general formula of kinematics,and then the coordinate transformation method is used to establish the kinematics of the parallel mechanism.The model derives the forward and inverse kinematics formulas of the mechanism and solves the speed Jacobian matrix.Based on the Jacobian matrix of the mechanism velocity,the evaluation indexes of kinematic and static properties of the mechanism are established.Thirdly,spraying robot position and posture fine adjustment mechanism accuracy analysis According to the inverse kinematic position of the mechanism,an analytical model and differential method are used to establish a positive solution model for posture error output.Based on the solution of the pose error output solution of the solution,the effects of pose parameters and structural parameters of the mechanism on the output errors were analyzed.The rationality of the structural parameters selection was verified by MATLAB programming simulation.Fouth,spraying robot trajectory planning and optimization.The β-distribution model was used as the coating growth rate model to establish an optimization mathematical model for the overlapping distance of spraying distance.Through MATLAB soft programming,the optimal solution was obtained when the thickness of the paint film was the most uniform and the spraying effect was the best.The surface shape of the workpiece is trajectory-planned,reasonable trajectory parameters are selected,and finally a physical prototype is built for field testing.Fifth,based on the mechanical design and performance analysis of the external anti-corrosion coating robot for pre-stressed steel tube concrete pipelines,a solid prototype of the painting robot was manufactured.A single pipe test with a zigzag trajectory and a single pipe test with multiple trajectories were performed.