Study On Spray Model And Path Planning Of Inner Glass-lined Agitating Reactor

In this paper,a large-scale equipment manufacturing company in Beijing to face the product coating process transformation and upgrading as the background,launched a large glass-lined reactor surface automatic spraying equipment,a series of research work,including in-depth first-line production research,for large particles spraying particles Plane,surface and intersecting line area spraying model analysis;spray gun trajectory planning,design spray test and verify the reliability of the theoretical derivation.In this paper,the plane spraying model and the surface spraying model were established from the deposition model of sprayed particles,and the key factors affecting the spraying effect were analyzed.According to the above theoretical basis,the optimal trajectory of the automatic spraying equipment is designed,and the multi-objective programming function with the shortest dosage of paint,the shortest spraying time and the shortest spraying path is established,and the shortest path algorithm is used to solve the problem.Finally,the validity of the above theoretical model and the validity of the trajectory planning are verified by a series of experiments.The main work and related research results are as follows:1.After the field research in the enterprise,detailed grasp of the enterprise production of the main reactor type size and reactor manufacturing process.To understand the actual difficulties faced by the production and the need to take automatic spraying equipment instead of artificial spraying the details of the need to explore the artificially sprayed glass-lined reactor in the process of prone to defects and spray failure reasons for the subsequent spraying of automatic spraying equipment The experimental platform is designed to lay the foundation.2.The double-? model is used to construct the plane accumulation model of large granular glaze,and the optimum spraying distance,optimum spraying pressure and optimum spraying speed are obtained.The uniformity of the key parameters in the gun determines the uniformity of the spray effect.Thus,the unity of the key parameters and the uniformity of the spray effect constitute a pair of incompatibility problems.The use of extension theory in the expansion,additions and deletions and replacement transformation method to solve the incompatibility problem.The use of other parameters to replace the key parameters and reduce the number of key parameters in the final spray theory model,simplifying the control of automatic spraying equipment to be considered when the relevant factors.Because the actual working environment is the inner surface of the reactor,the cumulative model of the thickness of the surface coating and the coating thickness accumulation model of the intersecting line area are deduced from the cylindrical arc surface and the spherical inner surface according to the plane spraying model.Good spray distance,gun angle and the best curvature of the cylindrical surface and other key parameters.In order to plan the best spraying path of the spray gun,the objective function and the path constraint model are established by multiobjective programming method.The multi-objective programming function is solved by Floyd shortest path model.According to the theoretical parameters obtained by the spray coating thickness accumulation model,and the inner surface of the reactor to be sprayed is divided into 25 dough pieces,the path between the dough pieces is transformed into undirected graph,Patch as a convertible patch position.The initial feasible path table is obtained by iteration and the shortest path initial solution is generated.Combined with the structure of the sprayed experimental platform,the optimal path is obtained from the initial solution,and the actual spraying path of the inner surface of the reactor is traced back by reverse tracing method.4.Designed to build a spray test platform,by calculating the spray gun of the best theoretical spray pressure,predict the spray gun in the spraying process of the reaction arm of the reaction force,and then design and check the experimental platform mechanical structure.The size and intensity of the structure support of the spray test platform are determined by the torque balance equation.The speed and motion of the motor are determined by the moving speed of the gun.The designed spray test platform can move in six directions before and after,Experiments were carried out on the surface spraying experiment,the surface spraying experiment,the spraying experiment of different cylindrical curvature reactor,the accumulation of the spray coating thickness when the spray gun had the angle of deviation and the optimal walking path of the spray gun.Based on the experimental data,Analyze the accuracy of the theoretical derivation results and the feasibility of the trajectory planning in the relevant data verification papers.