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根据现有油罐喷涂机器人存在的喷涂效率低、不能适应各尺寸的油罐、不能满足喷砂、喷漆都能使用的要求等问题,并且结合应用现场的实际需要,设计了模块化油罐智能喷涂机器人。对该机器人总体结构与关键部件进行了描述,设计的机器人能够通过机器视觉检测、智能判断,实现自动升降、回转、喷涂小车的运动、喷枪的调节、视觉反馈等功能,同时能通过调整吊臂及固定立柱模块,适应各尺寸的油罐;既能用于喷砂也能进行喷漆。并针对机器人的关键结构吊臂与固定立柱,进行了建数学建模和振动分析,结果表明在工作过程中关键结构不会产生共振。
According to the existing spray painting robot has low spray efficiency, can not adapt to the size of the tank, can not meet the requirements of sandblasting, painting can be used and other issues, and the actual needs of the application site, designed a modular tank smart Spraying robot. The robot’s overall structure and key components are described. The designed robot can detect, intelligently judge by machine vision to realize the functions of automatic lifting, slewing, spraying car movement, spray gun adjustment, visual feedback and the like, And fixed column module, to adapt to the size of the tank; both for sandblasting can also be painted. Aiming at the key structure of the robot, the boom and the fixed column, mathematical modeling and vibration analysis are done. The results show that the key structure will not resonate during the working process.