Uniform-stress spraying device for Mecanum wheel gate panel and control method

Abstract

The invention provides a uniform-stress spraying device for a Mecanum wheel gate panel and a control method. The uniform-stress spraying device comprises a moving system, a sand blasting system, a surface roughness detector, a spraying system and a positioning and guiding system; the moving system comprises a moving device chassis; a driving device is arranged on the moving device chassis and used for driving a Mecanum wheel to rotate; a magnet attraction device is arranged at the bottom of the moving device chassis; a spray head support is arranged on the moving device chassis; a sand blasting head of the sand blasting system and a coating spray head of the spraying system are fixed to the spray head support; and the surface roughness detector and the positioning and guiding system are mounted on the moving device chassis. The uniform-stress spraying device is used for corrosion prevention spraying of large metal structure gates of water conservancy and hydropower engineering and other places with severe working environments, the operation efficiency is improved, and the safety of operators is guaranteed.

Description

technical field [0001] The invention belongs to the technical field of metal structures of water conservancy and hydropower projects, and in particular relates to a spraying device and a control method for a uniformly stressed Mecanum wheel gate panel. Background technique [0002] The hydraulic gate is a control facility for opening and closing the discharge channel, and is an important part of the hydraulic structure. Because the facing surface is soaked in water for a long time, it needs to be treated regularly for anti-corrosion. The existing anti-corrosion treatment is mainly based on manual operation of sandblasting and spraying equipment. For large gates, auxiliary facilities such as scaffolding need to be erected. Due to the harsh working environment of sandblasting and spraying, it is more harmful to people, so a more automated one is required. High automatic spraying device for anti-corrosion work. [0003] The spraying method disclosed in the patent documents CN2...

AI Technical Summary

Problems solved by technology

The existing anti-corrosion treatment is mainly based on manual operation of sandblasting and spraying equipment. For large gates, auxiliary facilities such as scaffolding need to be erected. Due to the harsh working environment of sandblasting and spraying, it is more harmful to people, so a more automated one is required. High automatic spraying device for anti-corrosion work

[0003] The spraying method disclosed in the patent documents CN209753184U and CN213161408U is: the spraying work of different heights is carried out by installing an electric push rod or a lifting platform on the ground spraying device to move up and down, and still needs personnel to control in the spraying area. The effective height of the lifting platform is limited by the site and safety, which cannot solve the problem of spraying for particularly high gates

The spraying method disclosed in the patent document CN111958504A is: add a sandblasting head, a thermal spray gun, a surface roughness detector, and a surface temperature detection module on the six-axis manipulator to use a computer to intelligently control the spraying, because the size of the manipulator limits the gate. The size of the large gate needs to be equipped with a large manipulator, and the trajectory of the gate panel with different surfaces needs to be re-edited, thus limiting the versatility of the equipment

[0004] At present, the design of the roller bracket and the large wheel hub of the mecanum wheel are all one-piece torsion design, the stress on the torsion part is poor, and cracks are prone to occur, and the preset angle is mostly fixed, thus reducing the flexibility of application, such as the patent CN108521771B

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