Development Of The Robot For Spraying Release Agent On CRTS Ⅲ Track Plate Mold

CRTS Ⅲ ballastless track plate is an important part of high-speed railroad operation.With the development of China’s high-speed railroad industry,there are higher requirements on the production efficiency and product quality of ballastless track plate.Spraying release agent is a key process in the production of track plate.The traditional manual coating and the existing automatic coating equipment are difficult to ensure the quality of coating and the efficiency is low,in view of the above problems,this thsis combines the existing coating technology to develop a coating release agent robot for CRTS Ⅲ track plate mold.Firstly,the structural design of the spraying robot is based on the working requirements of the spraying robot,and the main structure is determined as a right-angle coordinate robot,which can drive the spray nozzle to move longitudinally from one end of the mould to the other when moving,and the spray nozzle will adjust the spraying direction according to the different objects to be sprayed,in order to spray the complex cavities of the mould comprehensively and evenly.Afterwards,the parts were modelled in 3D by Solidworks software,and the relevant components of the drive system were selected and calibrated for calculation.Secondly,in order to improve the uniformity of the coating of the release agent in the mould cavity,a dynamic coating thickness model was established by analysing the factors influencing the quality of the spraying,and the minimum variance between the simulated release agent thickness and the desired release agent thickness at any point in the spraying area was selected as an objective function,and in order to more accurately describe the uniformity of the coating,the extreme values of the release agent thickness were further optimised on the above basis by writing After the optimisation procedure,the optimal arrangement of the nozzle and the spraying parameters were determined.Again,in order to verify the rationality of the structural design,the truss structure was statically analysed under different operating conditions using Ansys Workbench finite element analysis software and a dynamic modal analysis of the truss was carried out.The results show that not only the strength and stiffness of the truss structure are improved,but also the overall mass is reduced.Finally,the overall scheme of the control system was determined based on the mechanical structure and operational requirements of the spraying robot.The controller,servo motors,servo drives and other relevant components were selected and the PLC program for the relevant motion modules was written.