一种混凝土管道喷涂机器人设计与轨迹规划  

Configuration and Trajectory Planning of a Concrete Pipe Spraying Robot

作　　者：崔国华 王立卿 马良 冯晓 CUI Guo-hua;WANG Li-qing;MA Liang;FENG Xiao(College of Mechanical and Equipment Engineering,Hebei University of Engineering,Hebei Handan056038,China;College of Materials Science and Engineering,Hebei University of Engineering,Hebei Handan 056038,China)

机构地区：[1]河北工程大学机械与装备工程学院,河北邯郸056038 [2]河北工程大学材料科学与工程学院,河北邯郸056038

出　　处：《机械设计与制造》2020年第3期159-162,166,共5页Machinery Design & Manufacture

基　　金：河北省自然科学基金(E2015402130);国家自然科学基金(51775165)。

摘　　要：针对大型预应力钢筒混凝土管道外表面喷涂作业任务需求,设计了一种自行走式宏-微运动结合的5自由度喷涂作业机器人装备。对其进行构型与结构设计;建立涂层厚度数学模型,优化喷涂轨迹重叠距离,确定最优的喷涂轨迹间距;针对不同的喷涂轨迹喷涂单个管道所需的时间来选出最优的轨迹。结果表明:当喷涂轨迹间距取最优值,喷涂路径为螺旋型时,所用时间最短,喷涂质量最佳。现场试验验证,该结构类型的喷涂机器人可以有效高质的完成大型管道外表面的喷涂作业且安全可靠。A 5-DOF spray robot with self-propelled macro-micro-motion was designed for the task of spraying the outer surface of large-scale prestressed concrete cylinder pipe. The task requirements and function analysis of the spray robots are described,and the configuration and structure design are completed. Taking the trajectory overlap distance as the working parameters of the two parallel adjacent trajectories in the spraying path,the mathematic model of the coating thickness is established and the overlapping rate of the spray trajectory is optimized,which makes the optimal spray trajectory spacing.The results show that the spray trajectory spacing is the best and the spraying time is the shortest. Field test to verify that the structure of the type of spray robot can be effective high-quality to finish on the outer surface of large-scale pipe spraying operations,safe and reliable work.

关 键 词：混联机器人 机构设计 轨迹重叠距离 喷涂路径 

分 类 号：TH16[机械工程—机械制造及自动化] TH122