CN107380449A - A kind of shipbuilding steel plate unmanned plane spray robot system - Google Patents
A kind of shipbuilding steel plate unmanned plane spray robot system Download PDFInfo
- Publication number
- CN107380449A CN107380449A CN201710755529.8A CN201710755529A CN107380449A CN 107380449 A CN107380449 A CN 107380449A CN 201710755529 A CN201710755529 A CN 201710755529A CN 107380449 A CN107380449 A CN 107380449A
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- CN
- China
- Prior art keywords
- unmanned plane
- spray
- spraying
- steel plate
- robot system
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses a kind of shipbuilding steel plate unmanned plane spray robot system, including：Unmanned plane (1), spray gun (2), feeding device (3) and control device (4), wherein, the spray gun (2) is installed on the foot stool (11) of the unmanned plane (1)；Feeding device (3) includes ground feed tank (31) and feeder sleeve (32)；Control device (4) includes, and ultrasonic detector (41), panorama are as monitor (42) and ground controller (43)；The unmanned plane spray robot system only needs spray coating operations, and person carries out ground control, the spraying operation in high-altitude is carried out in plateau without standing again, the operation intensity for the person that not only greatly reduces spray coating operations, and danger coefficient is substantially reduced, while also improve spray efficiency.In addition, unmanned plane in spray robot system is simple in construction, space is unrestricted, mobility is good, without airfield runway, can remote control, be applicable to various spraying operating modes.
Description
Technical field
The present invention discloses the technical field for being related to coating spraying, more particularly to a kind of shipbuilding steel plate unmanned plane spraying robot
People's system.
Background technology
, it is necessary to carry out spray treatment to marine surface, boat segmental surface and corner etc. during shipbuilding, lead to
Artificial treatment is carried out frequently with man-hour manually hand-held spray gun, the spraying of particularly ship outer surface needs worker to open overhead vehicle high-altitude work
Industry, the pistol operation in the action bar of overhead vehicle of workers with long time station, height vertigo, operation intensity height and setting be present
Closely spraying operation easily causes the danger of poisoning.
The climbing robot researched and developed at present, though traditional manpower, the complex-curved surface adaptability of its hull can be replaced
It is poor, larger curved surface obstacle detouring be present, fall equivalent risk, and climbing robot translational speed be present and its operating efficiency is limited etc.
Problem.
Therefore, a kind of new paint finishing how is researched and developed, to solve operating efficiency well, mitigate worker's work by force
The problems such as degree, reduction work high above the ground risk and coating endanger risk, turns into people's urgent problem to be solved.
The content of the invention
In consideration of it, the present disclosure provides a kind of shipbuilding steel plate unmanned plane spray robot system, at least to solve
The problems such as operating efficiency is low, and hand labor intensity is high, danger coefficient is big be present in conventional spray equipment.
Technical scheme provided by the invention, specifically, a kind of shipbuilding steel plate unmanned plane spray robot system, the spraying
Robot system includes：Unmanned plane 1, spray gun 2, feeding device 3 and control device 4；
The spray gun 2 is installed on the foot stool 11 of the unmanned plane 1；
The feeding device 3 includes ground feed tank 31 and feeder sleeve 32；
The discharging opening of the ground feed tank 31 connects with the charging aperture of the feeder sleeve 32；
The discharging opening of the feeder sleeve 32 connects with the charging aperture of the spray gun 2；
The control device 4 includes, and ultrasonic detector 41, panorama are as monitor 42 and ground controller 43；
The ultrasonic detector 41 is fixedly installed in the spray gun 2, for detecting the spray gun 2 apart from pre- spray
Apply the distance of the shipbuilding steel plate；
The panorama is as on monitor 42 the is fixedly installed in unmanned plane 1；
The input of the ground controller 43 output end with the ultrasonic detector 41 and the panorama picture respectively
The output end connection of monitor 42, the output end of the ground controller 43 control terminal with the unmanned plane 1 and institute respectively
State the control terminal connection of spray gun 2.
It is preferred that the shipbuilding steel plate unmanned plane spray robot system also includes：Spray detector；
The spraying detector is fixedly installed on the unmanned plane 1, for detecting the shipbuilding steel plate spraying area
Coating quality；
The output end of the spraying detector is connected with the input of the ground controller 43.
Further preferably, stabilization head is provided with the foot stool 11 of the unmanned plane 1, the spray gun 2 is installed on described
On stabilization head on foot stool 11.
Further preferably, the spray gun 2 is universal spray gun.
Further preferably, be mounted in can be along the reciprocating movement arm of the length direction of foot stool 11 for the spray gun 2；
Or the spray gun 2 is mounted on 360 ° of mechanical arms.
Further preferably, the feeding device 3 also includes：Spraying box 33；
The spraying box 33 is fixedly mounted on the foot stool 11, and the discharging opening of the spraying box 33 and the spray gun
2 charging aperture connection.
Shipbuilding steel plate provided by the invention unmanned plane spray robot system, mainly filled by unmanned plane, spray gun, feed
Put and control device is formed, wherein, spray robot system provided by the invention installs spray gun using unmanned plane as carrier
On unmanned plane, motion flight can be carried out with unmanned plane, and the supply of the coating of spray gun is provided by feeding device, feed dress
Install and be placed on ground, can not only provide coating to spray gun, but also the supporting power of unmanned plane will not be increased, and control dress
The work for being mainly used in the flight and spray gun for controlling unmanned plane is put, wherein, the control device is mainly by ultrasonic detector
The distance of shipbuilding steel plate is preliminarily sprayed in detection spray gun distance, and by panorama as monitor detection unmanned plane present position, and ground is controlled
Device processed controls the flight of unmanned plane and spray gun according to ultrasonic detector and panorama as the data that monitor conveying comes
Work.It was found from above-mentioned spray robot system, the spray robot system only needs spray coating operations, and person carries out ground control,
Carry out the spraying operation in high-altitude in plateau without standing again, the operation intensity for the person that not only greatly reduces spray coating operations, and
Danger coefficient is greatly reduced, while also improves spray efficiency.In addition, the unmanned plane structure letter in spray robot system
It is single, space is unrestricted, mobility is good, without airfield runway, can remote control, be applicable to various spraying operating modes.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the present invention
Example, and for explaining principle of the invention together with specification.
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is that a kind of structure for shipbuilding steel plate unmanned plane spray robot system that the present invention discloses embodiment offer is shown
It is intended to, wherein, A represents that shipbuilding steel plate is preliminarily sprayed；
Fig. 2 is the signal for unmanned plane spray robot system be segmented top spray using shipbuilding steel plate provided by the invention
Figure, B represent ship segmentation top section；
Fig. 3 is the signal for unmanned plane spray robot system be segmented spray of bowing using shipbuilding steel plate provided by the invention
Figure, C represent ship segmentation bottom section；
Fig. 4 is the flow chart sprayed using shipbuilding steel plate provided by the invention with unmanned plane spray robot system.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent device of some aspects being described in detail in claims, of the invention.
It is a kind of shipbuilding steel plate unmanned plane spray robot system referring to Fig. 1, the spray robot system is mainly by nothing
Man-machine 1, spray gun 2, feeding device 3 and control device 4 are formed, wherein, the structure of unmanned plane 1 and traditional unmanned plane structure phase
Same or similar, the unmanned plane 1 is provided with foot stool 11, unmanned machine frame 12 and unmanned plane rotor 13 etc., and spray gun 2 is installed on
On the foot stool 11 of unmanned plane 1；Feeding device 3 is mainly made up of ground feed tank 31 and feeder sleeve 32, ground feed tank 31
Discharging opening connects with the charging aperture of feeder sleeve 32, and the discharging opening of feeder sleeve 32 connects with the charging aperture of spray gun 2；Control device 4
Mainly it is made up of ultrasonic detector 41, panorama as monitor 42 and ground controller 43, and ultrasonic detector 41 is fixed
It is installed in spray gun 2, the distance of shipbuilding steel plate is preliminarily sprayed for detecting the distance of spray gun 2, panorama is fixed as monitor 42 pacifies
Loaded on unmanned plane 1, the input of ground controller 43 respectively the output end and panorama with ultrasonic detector 41 as monitor
42 output end connection, the output end of ground controller 43 connect with the control terminal of unmanned plane 1 and the control terminal of spray gun 2 respectively
Connect.
Above-mentioned shipbuilding steel plate is with the specific work process of unmanned plane spray robot system：
According to the working region with spraying, unmanned plane during flying is controlled to target operation region by ground controller, and lead to
The picture signal that panorama returns as monitor is crossed, judges whether to reach predetermined target location, when the predetermined target location of arrival
Afterwards, the distance of shipbuilding steel plate is preliminarily sprayed according to ultrasonic detector detection detection spray gun distance, nothing is controlled by ground controller
Shipbuilding steel plate man-machine remote or at assigned target position, until reaching requirement, opened by ground controller control spray gun
It is dynamic to carry out spray coating operations, while ground controller also controls unmanned plane to be flown, and unmanned plane is generally controlled in spraying process
Moved according to the motion path in arch spraying coating process, until spraying operation terminates.
, can be in shipbuilding steel plate as the improvement of technical scheme in order to ensure the coating quality of the spray robot system
Spraying detector is provided with unmanned plane spray robot system, the spraying detector is fixedly installed on unmanned plane 1, is used for
The coating quality of shipbuilding steel plate spraying area is detected, the output end for spraying detector is connected with the input of ground controller 43.
By the increase of the spraying detector, spray robot system also carries out quality inspection in spraying process to spraying area
Survey, if coating quality is qualified, the spraying operation of subsequent region can be continued, if coating quality is unqualified, carried out
Again the repairing for spraying or spraying.
It is respectively to carry out being segmented top spray respectively using above-mentioned spray robot system and be segmented showing for spray of bowing referring to Fig. 2, Fig. 3
Meaning.
In order to further improve the quality of spraying, as the improvement of technical scheme, can be set on the foot stool 11 of unmanned plane 1
There is stabilization head, and spray gun 2 is installed on the stabilization head on foot stool 11, by the setting of the stabilization head, can be avoided
Spray gun is caused the situation of spray gun shake due to the motion of unmanned plane, causes the coating of sprayed coating not in spraying process
, the problem of causing coating quality difference.
In order to expand the spraying area of spray gun, spray efficiency is improved, the improvement spray gun 2 as scheme can select ten thousand
To spray gun, i.e. spray nozzle is connected by universal joint with gun body, wherein, nozzle can be one or more.
In order to adapt to different working environments, such as when carrying out the spraying in dock, spray gun 2 can select to be mounted in can
Along along the reciprocating movement arm of the length direction of foot stool 11, by the motion of the reciprocating motion arm, spray gun can be adjusted
Distance apart from coating objective position；And during several progress body section workshops sprayings, it is rotatable that spray gun 2 is mounted in 360 ° of machines
On tool arm, the position of spray gun and the regulation of angle can be achieved.It is according to the operating mode of reality referring to Fig. 4, controls ship steel
The flow that plate is operated with unmanned plane spray robot system.
In order to facilitate the spray coating operations in cell portion domain, such as boat segmental and corner Deng little surfaces operating area, once
Property with paint amount it is little in the case of, using unmanned plane carry paint can be fed mode, be not required to ground feeding device, that is, be provided with spray
Case 33 is applied, the spraying box 33 is fixedly mounted on foot stool 11, and the discharging opening of spraying box 33 connects with the charging aperture of spray gun 2.
Unmanned plane in above-mentioned each embodiment, in ship outer surface during large area spraying operation, ground can be used
Continued power mode；In the small surface spraying operation such as boat segmental and corner, you can using surface power supply mode, can also use
Storage battery power supply mode.
Wherein, shipbuilding steel plate is set with the important technological parameters of unmanned plane spray robot system in above-mentioned each embodiment
Fixed following (can according to user it needs to be determined that)：
Critical altitude (m)：It is unlimited；
Minimum working height (m)：＞ 0.10m；
Unmanned plane spraying reciprocal horizontal displacement (m)：It can need to set according to operation field；
The adjustable height (mm) of nozzle distance ship plank:200~500；
Nozzle spraying radius (m)：1~1.5；
Gait of march (m/s) above and below unmanned plane：＞ 0.15；
Unmanned plane load weight (kg)：About 25kg；
Spraying box volume (L)：20L；
Unmanned plane outside plate working space appearance and size (wide mm × long mm × high mm):800×800×600.
Shipbuilding steel plate provided by the invention unmanned plane spray robot system, the small volume of unmanned plane executing agency, spirit
It is active high, it is practical using simple, take into full account practical implementation requirement and economy, novelty simple in construction, function
It is perfect, it is easy to operate, using large scale ship plank surface and body section surface, make worker avoid coating cloud dirty away from setting
Dye and overhead danger, have the advantages that spray efficiency is high, safe and reliable, great engineering application value.Beneficial effects of the present invention
It is mainly manifested in：By unmanned plane spraying operation intellectualized operation, spray efficiency is improved, makes worker from the risk of work high above the ground
Free, protection worker is with the harm away from coating.
Those skilled in the art will readily occur to the present invention its after considering specification and putting into practice invention disclosed herein
Its embodiment.The application be intended to the present invention any modification, purposes or adaptations, these modifications, purposes or
Person's adaptations follow the general principle of the present invention and including undocumented common knowledges in the art of the invention
Or conventional techniques.Description and embodiments be considered only as it is exemplary, true scope and spirit of the invention by right will
Ask and point out.
It should be appreciated that the invention is not limited in the precision architecture for being described above and being shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present invention is only limited by appended claim.
Claims (6)
- A kind of 1. shipbuilding steel plate unmanned plane spray robot system, it is characterised in that including：Unmanned plane (1), spray gun (2), Feeding device (3) and control device (4)；The spray gun (2) is installed on the foot stool (11) of the unmanned plane (1)；The feeding device (3) includes ground feed tank (31) and feeder sleeve (32)；The discharging opening of the ground feed tank (31) connects with the charging aperture of the feeder sleeve (32)；The discharging opening of the feeder sleeve (32) connects with the charging aperture of the spray gun (2)；The control device (4) includes, and ultrasonic detector (41), panorama are as monitor (42) and ground controller (43)；The ultrasonic detector (41) is fixedly installed in the spray gun (2), pre- for detecting the spray gun (2) distance Spray the distance of the shipbuilding steel plate；The panorama is fixedly installed on the unmanned plane (1) as monitor (42)；The input of the ground controller (43) output end with the ultrasonic detector (41) and the panorama picture respectively The output end connection of monitor (42), the output end of the ground controller (43) control terminal with the unmanned plane (1) respectively And the control terminal connection of the spray gun (2).
- 2. shipbuilding steel plate unmanned plane spray robot system according to claim 1, it is characterised in that also include：Spraying Detector；The spraying detector is fixedly installed on the unmanned plane (1), for detecting the spray of the shipbuilding steel plate spraying area Apply quality；The output end of the spraying detector is connected with the input of the ground controller (43).
- 3. shipbuilding steel plate unmanned plane spray robot system according to claim 1, it is characterised in that the unmanned plane (1) stabilization head is provided with foot stool (11), the spray gun (2) is installed on the stabilization head on the foot stool (11).
- 4. according to the shipbuilding steel plate of claim 1 or 3 unmanned plane spray robot system, it is characterised in that the spraying Rifle (2) is universal spray gun.
- 5. according to the shipbuilding steel plate of claim 1 or 3 unmanned plane spray robot system, it is characterised in that the spraying Rifle (2) is mounted in can be along the reciprocating movement arm of the foot stool (11) length direction；Or the spray gun (2) is mounted on 360 ° of mechanical arms.
- 6. shipbuilding steel plate unmanned plane spray robot system according to claim 1, it is characterised in that the feeding device (3) also include：Spraying box (33)；The spraying box (33) is fixedly mounted on the foot stool (11), and the discharging opening of the spraying box (33) and the spraying The charging aperture connection of rifle (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710755529.8A CN107380449A (en) | 2017-08-29 | 2017-08-29 | A kind of shipbuilding steel plate unmanned plane spray robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710755529.8A CN107380449A (en) | 2017-08-29 | 2017-08-29 | A kind of shipbuilding steel plate unmanned plane spray robot system |
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| CN107380449A true CN107380449A (en) | 2017-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710755529.8A Pending CN107380449A (en) | 2017-08-29 | 2017-08-29 | A kind of shipbuilding steel plate unmanned plane spray robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408047A (en) * | 2018-01-17 | 2018-08-17 | 广东电网有限责任公司茂名供电局 | A kind of multi-rotor unmanned aerial vehicle to print for stockbridge damper |
| CN111287411A (en) * | 2020-03-03 | 2020-06-16 | 西南交通大学 | Aerial spraying system based on unmanned aerial vehicle flight platform |
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2017
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| CN203620847U (en) * | 2013-08-29 | 2014-06-04 | 程涛 | Rotorcraft-based aerial spraying system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108408047A (en) * | 2018-01-17 | 2018-08-17 | 广东电网有限责任公司茂名供电局 | A kind of multi-rotor unmanned aerial vehicle to print for stockbridge damper |
| CN111287411A (en) * | 2020-03-03 | 2020-06-16 | 西南交通大学 | Aerial spraying system based on unmanned aerial vehicle flight platform |
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