Design And Analysis Of Omnidirectional Automatic Spraying Device

Based on the problems of low efficiency,unsafe coating,and low coating quality of large-scale indoor and outdoor ground coatings,this paper studies an all-round automatic spraying device that integrates feeding,mixing,discharging,and spraying.This article studies from four aspects of the all-round walking automatic spraying device:Firstly,the overall structural scheme of the omnidirectional walking automatic spraying device is designed.A new type of six-wheeled omnidirectional automatic walking platform is designed by combining the Mecanum wheel and the universal wheel in accordance with the large load state of the omnidirectional automatic walking platform.,Used to solve the problem of insufficient bearing capacity of the four-wheel system platform.And using Pro / E three-dimensional drawing software to draw the general assembly drawing of the omnidirectional walking automatic spraying device and the assembly drawing of each device,introduced the function of each component of each device,the cooperation between each component,and each device Ways of working with each other.Secondly,in order to study the rationality of the structural design and the reliability of the work,a kinematic analysis of the omnidirectional automatic walking platform of the six-wheel system was carried out.By correlating the local coordinate system of each wheel system with the generalized coordinate system related to the centroid of the omnidirectional automatic platform The kinematics model of the six-wheel omnidirectional automatic walking platform was established.Based on the ADAMS software,the lateral movement,longitudinal movement,diagonal movement and centroid rotation simulation analysis were carried out to verify the rationality of the structural design.In order to achieve long-distance operation,the volume of the mixing device is large,and the uniformity of the material mixing under the large volume directly affects the coating effect.According to the nature of the material,a mathematical model of fluid motion is established.First,the effects of the distribution of the double-layer agitating paddle on the material flow field under the two conditionsof 200 rpm and 250 rpm are studied.Then,the fluid simulation analysis of the stirring device models of different distribution groups of the established stirring paddles is carried out.The different distribution of the stirring paddles,the rotation speed and the distribution law of the material velocity and flow field are studied.Finally,in order to study the driving stability of the omnidirectional automatic spraying device,this paper uses the Lagrange equation to derive the vibration mechanical equations of the omnidirectional automatic spraying device system;further deduces the state equation and input equation in its state space model;And MATLAB was used to simulate and analyze the established state equations and input equations under different sinusoidal pavement excitations,and the effect of running speed on the stability of the all-round walking automatic spraying device was studied.In this paper,the research on the kinematics of the six-wheel system all-round automatic walking platform,the mixing paddle distribution of the stirring device,and the stability of the all-round walking automatic spraying device is a comprehensive all-round walking automatic spraying that integrates feeding,mixing,unloading and spraying The design and manufacture of the device provide theoretical guidance and technical support.