CN107051779A - The spray painting wall climbing vehicle device and method of work that need not be turned around suitable for ship hull surface - Google Patents
The spray painting wall climbing vehicle device and method of work that need not be turned around suitable for ship hull surface Download PDFInfo
- Publication number
- CN107051779A CN107051779A CN201611225880.8A CN201611225880A CN107051779A CN 107051779 A CN107051779 A CN 107051779A CN 201611225880 A CN201611225880 A CN 201611225880A CN 107051779 A CN107051779 A CN 107051779A
- Authority
- CN
- China
- Prior art keywords
- wall climbing
- climbing vehicle
- sensor
- spray painting
- ship hull
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
A kind of spray painting wall climbing vehicle device that need not be turned around suitable for ship hull surface and method of work, belong to Naval Architecture and Ocean Engineering, and robot lacquering technologies field.The device is main to be made up of spray painting and retracting device, walking framework, magnetic force adsorption apparatus, control device and framework hinge.The present invention can effectively cancel out the influence due to the Curvature varying at hull head and the tail to wall climbing vehicle operation of painting with Hinge, and robot frame is deformed with the fluctuating of ship hull surface plate, it is ensured that robot spray apparatus running parameter is fluctuated in OK range.An absorption affinity part is provided by magnet base in wall climbing vehicle, and another part is provided by permanent magnet.Wall climbing vehicle be moved through it is mounted thereto can controlled steering driving wheel drive, so as to realize its operational method that need not be turned around.Such ship hull plate spray painting operation flow can significantly reduce the working strength of workman, improve the security of workman's operation and improve its operating efficiency.
Description
Technical field
The present invention relates to a kind of spray painting wall climbing vehicle device that need not be turned around suitable for ship hull surface and method of work, belong to ship
The robot lacquering technologies field of oceangoing ship and ocean engineering.
Background technology
Hull just will carry out outside plate spraying operation after the completion of closing up in dock, and present shipyard outside plate spraying operation is basic
Spraying operation is carried out on overhead vehicle for workman station, because Ship's Dimension is big, ship side plate moldeed depth is big, so this part work
Work belongs to work high above the ground and easily caused danger.And because hull first buttock planking is generally curved slab, workman makees at station on overhead vehicle
During industry due to overhead vehicle move unstability be prone to collision so as to workman's personal safety produce harm and may be to
The coating completed through spraying operation causes damage.Because these reasons workman efficiency meeting when outside plate initial and tail sections carry out spraying operation
Reduction is many.The present existing robot that can carry out climbing wall spraying operation on ship hull plate substantially can not be with certain
Spraying operation is carried out on the outside plate of curvature.It is achieved that ship hull plate curved slab high-efficient automatic spraying operation is urgently to be resolved hurrily
Problem, to reduce ship plank spraying shared duration and protection workmen.
The content of the invention
It is an object of the invention to provide a kind of spray painting wall climbing vehicle device that need not be turned around suitable for ship hull surface and work side
Method, the spray painting wall climbing vehicle device should free spray painting operation workman from the line of spraying operation one, while being filled with other wall climbing vehicles
Unlike putting, the wall climbing vehicle can have in hull initial and tail sections etc. carries out spraying operation on the outside plate of curvature, increases wall climbing vehicle work
The scope of application of work, so as to improve the efficiency of ship plank spraying operation.
The technical solution adopted by the present invention is：The spray painting wall climbing vehicle device that need not be turned around suitable for ship hull surface, it includes
Magnet base, coating cloud retracting device and anti-fall Kuai Xi mechanisms, it also includes on two wall climbing vehicle frameworks, the wall climbing vehicle framework and carried
The support frame for being provided with coating cloud retracting device, paint feeder sleeve and coating cloud recovery tube；Hinge is distributed in two wall climbing vehicles
Between framework；Coating cloud retracting device is connected with outside paint mist treatment system, and paint feeder sleeve is connected with charging pump；Magnet base
Position of the wall climbing vehicle framework close to ship hull plate side is uniformly arranged on permanent magnet；In each wall climbing vehicle framework close to outside plate
Side be respectively mounted it is appropriate number of can controlled steering driving wheel, and the driven pulley that freely turns to is installed in needed position；Climbing
Wall frame is provided with signal processing controller, attitude transducer, signal-transmitting cable, path view planning away from outside plate side
Sensor, environment monitoring sensor；Coating quality vision sensor and film thickness sensor are installed on coating cloud retracting device；Entirely
Spray painting wall climbing vehicle device type of attachment be：Two wall climbing vehicle frameworks pass through multiple gemel connections；Attitude transducer, path vision
Planning sensor, environment monitoring sensor, coating quality vision sensor, film thickness sensor are connected with signal processing controller
Connect, signal processing controller with it is controlled steering driving wheel be connected, synchronous signal processing controller connect signal-transmitting cable with
External control devices is connected.
A kind of method of work of described spray painting wall climbing vehicle device that need not be turned around suitable for ship hull surface, the wall climbing vehicle
The combining structure of framework and hinge is when hull has and is operated on the outside plate of small curvature by the rotation of hinge so that climb wall
Frame can carry out spraying operation with the suitable spacing of ship plank and angle all the time with coating cloud retracting device；Wall is climbed in spray painting
Car operationally judges the location of oneself, Ran Hou by signal processing controller passage path view planning sensor
The final position of wall scroll track spraying adjust the driving wheel direction of controlled steering move in parallel on next spraying track after
Continuous spraying operation, realizes the function that need not be turned around.
Above-mentioned technical proposal further illustrates, wall climbing vehicle using two section material frameworks as wall climbing vehicle main body, close
The framework for the spray painting pipe that wall climbing vehicle side is stretched out for supporting is installed on one section material framework of wall climbing vehicle end, and stretched
Coating cloud retracting device is installed above the spray painting pipe gone out.Spray painting pipe and the related pipeline of coating cloud retracting device pass through the another of framework respectively
One end is connected with feeding system and coating cloud retracting device respectively.It is attached between wall climbing vehicle section material framework by hinge, hinge
Rotation enable to it is in a certain angle with ship plank of fitting between two section material frameworks.
It is provided with each section material framework bottom of wall climbing vehicle device and is capable of the driving wheel of the independently-controlled steering and is responsible for
The mobile offer power of wall climbing vehicle and the direction of travel for adjusting wall climbing vehicle device.In addition being provided near section material framework can
The driven pulley of rotation, is that wall climbing vehicle section bar is provided a supporting role.
An absorption affinity part for wall climbing vehicle device and ship hull plate is provided by the permanent magnet of wall climbing vehicle section bar bottom, another portion
Divide and provided by the magnet base on wall climbing vehicle device frame.The magnetic force of magnet base can adjust magnetic force by switching, with
Wall climbing vehicle is facilitated to be taken off after the completion of being worked from ship hull plate.And the frictional force of wall climbing vehicle device and ship hull plate just by this two
Partial suction is produced.The anti-fall fast suction module of magnetic force is installed in each section bar correct position simultaneously to send out in accidental falling
Urgent ejection absorption is on ship hull plate when raw.
Wall climbing vehicle reclaims closure assembly both sides and is mounted on thickness detector, can gather spray at different spraying directions
Apply thickness parameter.Can be same with ambient condition by coating quality with reference to the ambient condition monitoring sensor installed on wall climbing vehicle device
When record, after being improve spray parameters accumulation data.Reclaim and coating quality vision sensor is installed above cover system.
Path planning vision sensor is installed on the wall climbing vehicle section bar where reclaiming closure assembly, is responsible for the road of collection wall climbing vehicle movement
Footpath visual signal.Wall climbing vehicle walking posture sensor is also equipped with section bar to monitor wall climbing vehicle device movement posture.More than
Adjustment is sent signals to actively by processor after treatment in signal processor in the incoming wall climbing vehicle of the signal of sensor
The moving direction and translational speed of wheel and then the walking path for controlling wall climbing vehicle.At the same time the signal in wall climbing vehicle can also
By being controlled in the incoming wall climbing vehicle controller of cable for the monitoring of spraying operation controllers and in time intervention.
The beneficial effects of the invention are as follows：Different frame sets is together as to the walking mechanism master of wall climbing vehicle using hinge
Body so that wall climbing vehicle can fit ship hull plate constantly to carry out spraying operation, so as to ensure coating quality and spray can be reduced
Apply the working strength of workman.It can carry out spraying operation on flat board and small curvature curved slab and overcome part spraying simultaneously
Robot can not carry out the shortcoming of spraying operation on curved slab, improve operating efficiency.Workman close to paint without that can reduce
The spraying operation harm healthy to workman.
Brief description of the drawings
Fig. 1 applies to the three-dimensional view for the spray painting wall climbing vehicle device that ship hull surface need not turn around.
Fig. 2 applies to the upward view for the spray painting wall climbing vehicle device that ship hull surface need not turn around.
Fig. 3 is the working state schematic representation of spray painting wall climbing vehicle device.
Fig. 4 is the direction controlling FB(flow block) of spray painting wall climbing vehicle device.
Fig. 5 is the operating path schematic diagram of spray painting wall climbing vehicle device.
In figure：1st, magnet base, 2, controlled steering driving wheel, 3, permanent magnet, 4, wall climbing vehicle framework, 5, anti-fall Kuai Xi mechanisms,
6th, hinge, 7, signal processing controller, 8, attitude transducer, 9, signal-transmitting cable, 10, coating cloud recovery tube, 11, paint feed
Pipe, 12, path planning vision sensor, 13, support frame, 14, coating cloud retracting device, 15, coating quality vision sensor,
16th, film thickness sensor, 17, environment monitoring sensor, 18, driven pulley, 19, paint spray nozzle.
Specific implementation method
Fig. 1,2 show a kind of structure chart for the spray painting wall climbing vehicle device that need not be turned around suitable for ship hull surface.It is this suitable in figure
The spray painting wall climbing vehicle device that need not be turned around for hull simple surface includes magnet base 1, coating cloud retracting device 14, anti-fall fast suction machine
Carry on structure 5 and two wall climbing vehicle frameworks 4, wall climbing vehicle framework 4 be provided with coating cloud retracting device 14, paint feeder sleeve 11 and
The support frame 13 of coating cloud recovery tube 10.Hinge 6 is distributed between two wall climbing vehicle frameworks 4；Coating cloud retracting device 14 and outside
Paint mist treatment system is connected, and paint feeder sleeve 11 is connected with charging pump.Magnet base 1 and permanent magnet 3, which are uniformly arranged on, climbs wall
Frame 4 is respectively mounted appropriate number of close to the position of ship hull plate side in each wall climbing vehicle framework 4 close to outside plate side
Driving wheel 2 controlled can be turned to, and the driven pulley 18 freely turned to is installed in needed position.In wall climbing vehicle framework away from outside plate one
Side is provided with signal processing controller 7, attitude transducer 8, signal-transmitting cable 9, path view planning sensor 12, environment prison
Survey sensor 17.Coating quality vision sensor 15 and film thickness sensor 16 are installed on coating cloud retracting device 14.Whole spray painting
The type of attachment of wall climbing vehicle device is：Two wall climbing vehicle frameworks 4 are connected by multiple hinges 6.Attitude transducer 8, path vision
Plan that sensor 12, environment monitoring sensor 17, coating quality vision sensor 15, film thickness sensor 16 are controlled with signal transacting
Device 7 is connected, and signal processing controller 7 is connected with controlled steering driving wheel 2, and synchronous signal processing controller 7 connects signal
Transmission cable 9 is connected with external control devices.
When starting working, wall climbing vehicle framework 4 is placed on ship hull plate, part is produced first by permanent magnet 3 and inhales
Attached power, and then opens all device of magnet base 1 switches, and so whole wall climbing vehicle device is just adsorbed in ship hull plate completely
On.Next painter's expects pipe 11 and coating cloud recovery tube 10 can be connected respectively at feeding system and coating cloud recovery system,
Signal-transmitting cable 9 is also connected with operative's controller.The preparation of so wall climbing vehicle device spraying operation is just completed
.
Start to spray coating cloud after spraying operation from paint spray nozzle 19, spraying operation starts film thickness sensor 16 simultaneously and started
The quality of institute's sprayed coating is monitored, coating quality vision sensor 15 checks that institute's sprayed coating completes covering for coating with adjacent sprayed
Lid ratio, attitude transducer 8 by check wall climbing vehicle moving direction and gravity direction angle, path planning vision sensor 12
It will be supported by the position of outside plate where visual inspection wall climbing vehicle to determine that steering opportunity provides signal.Four kinds of sensors of the above
Signal input signal processing controller 7 come judge spraying process coating quality so that control it is controlled turn to driving wheel 2 movement
Speed adjusts the motion track of wall climbing vehicle with angle, and the control flow schematic diagram of wall climbing vehicle device whole system is as shown in Figure 4.
Environment monitoring sensor 17 is intended to monitoring surrounding environment and provides data support for adjustment coating quality during whole spraying operation.
When being moved on the outside plate with simple curvature, wall climbing vehicle framework 4 adjusts the shape of itself by hinge 6, protects
The permanent magnet 3 and magnet base 1 installed on card wall climbing vehicle framework 4 can provide enough absorption affinities and enable wall climbing vehicle mechanism tight
Tightly adsorb on ship plank, working condition such as Fig. 3 signals.And be fixed on the coating cloud retracting device 14 in support frame 13 and
Its internal paint spray nozzle 19 can keep suitable spacing and angle with ship plank all the time.
When occurring accidental falling situation, the signal input signal that will be fallen processing is controlled by attitude transducer 8
Device 7, signal processing controller 7 sends control signal to anti-fall Kuai Xi mechanisms 5 so that the device can rapidly be ejected and tightly adsorbed
Danger of falling is avoided on ship hull plate.
The motion track of wall climbing vehicle is walked according to method as shown in Figure 5, when wall climbing vehicle runs to outside plate border,
Path planning vision sensor 12 detects boundary line and then transmits a signal to signal processing controller 7, controlled steering driving wheel 2
Deflect an angle of 90 degrees under the control of signal processing controller 7, to body side it is traversing one spraying track width distance, during band
Dynamic driven pulley 18 is rotated, and then the controlled driving wheel 2 that turns to is further continued for deflecting the spraying operation that an angle of 90 degrees continues next track.Two
Certain repetition Spray Application can be ensured between secondary spraying operation track to ensure that outside plate will not be omitted.
After the completion of spraying operation, by closing opening for magnet base 1 when wall climbing vehicle device needs to unload from ship plank
Close, the absorption affinity between reduction wall climbing vehicle device and ship plank facilitates workman to move.
Claims (2)
1. the spray painting wall climbing vehicle device that need not be turned around suitable for ship hull surface, it includes magnet base（1）, coating cloud retracting device（14）
With anti-fall Kuai Xi mechanisms（5）, it is characterised in that：It is also comprising two wall climbing vehicle frameworks（4）, the wall climbing vehicle framework（4）On hold
Carry and coating cloud retracting device is installed（14）, paint feeder sleeve（11）And coating cloud recovery tube（10）Support frame（13）；Close
Page（6）It is distributed in two wall climbing vehicle frameworks（4）Between；Coating cloud retracting device（14）It is connected with outside paint mist treatment system, oil
Paint feeder sleeve（11）It is connected with charging pump；Magnet base（1）And permanent magnet（3）Uniformly it is arranged on wall climbing vehicle framework（4）Close to ship
The position of external plate side；In each wall climbing vehicle framework（4）Close to outside plate side be respectively mounted it is appropriate number of can be controlled turn
To driving wheel（2）, and the driven pulley freely turned to is installed in needed position（18）；Installed in wall climbing vehicle framework away from outside plate side
There is signal processing controller（7）, attitude transducer（8）, signal-transmitting cable（9）, path view planning sensor（12）, environment
Monitor sensor（17）；Coating cloud retracting device（14）On coating quality vision sensor is installed（15）And film thickness sensor
（16）；Entirely the type of attachment of spray painting wall climbing vehicle device is：Two wall climbing vehicle frameworks（4）Pass through multiple hinges（6）Connection；Posture
Sensor（8）, path view planning sensor（12）, environment monitoring sensor（17）, coating quality vision sensor（15）, film
Thick sensor（16）With signal processing controller（7）It is connected, signal processing controller（7）With controlled steering driving wheel（2）Phase
Connection, synchronous signal processing controller（7）Connect signal-transmitting cable（9）It is connected with external control devices.
2. the method for work for being applied to the spray painting wall climbing vehicle device that ship hull surface need not turn around according to claims 1,
It is characterized in that：The wall climbing vehicle framework（4）With hinge（6）Combining structure have in hull and carried out on the outside plate of simple curvature
Pass through hinge during work（6）Rotation so that wall climbing vehicle framework（4）With coating cloud retracting device（14）Can all the time with outside ship
The suitable spacing of plate carries out spraying operation with angle；Wall climbing vehicle of painting is operationally by signal processing controller（7）Pass through road
Footpath view planning sensor（12）To judge the location of oneself, the final position adjustment then sprayed in wall scroll track is controlled
The driving wheel of steering（2）Spraying operation is continued in direction to move in parallel on next spraying track, realizes the work(that need not be turned around
Energy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611225880.8A CN107051779B (en) | 2016-12-27 | 2016-12-27 | Paint spraying wall climbing vehicle device suitable for ship body curved surface without turning around and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611225880.8A CN107051779B (en) | 2016-12-27 | 2016-12-27 | Paint spraying wall climbing vehicle device suitable for ship body curved surface without turning around and working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107051779A true CN107051779A (en) | 2017-08-18 |
| CN107051779B CN107051779B (en) | 2022-06-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611225880.8A Active CN107051779B (en) | 2016-12-27 | 2016-12-27 | Paint spraying wall climbing vehicle device suitable for ship body curved surface without turning around and working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107051779B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109365164A (en) * | 2018-10-24 | 2019-02-22 | 上海外高桥造船有限公司 | Protective device |
| CN111661188A (en) * | 2020-06-04 | 2020-09-15 | 大连理工大学 | Universal translation magnetic wall-climbing robot for decontamination of hull plates and working method |
| CN111674483A (en) * | 2020-06-04 | 2020-09-18 | 大连理工大学 | Magnetic-attraction wall-climbing robot for large-curvature surface spraying and working mode |
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| CN106238247A (en) * | 2016-10-21 | 2016-12-21 | 大连理工大学 | A kind of ship hull plate being mounted on overhead vehicle sprays paint wall climbing vehicle device and method of work thereof |
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| US20120298767A1 (en) * | 2008-01-07 | 2012-11-29 | Kline David A | Methods and Apparatus for Applying Product |
| CN102556184A (en) * | 2010-12-16 | 2012-07-11 | 北京万桥兴业机械有限公司 | Straddle type passenger car |
| CN205652203U (en) * | 2016-05-27 | 2016-10-19 | 青州爱科机械科技有限公司 | Pesticide spraying trolley four wheel steering , four wheel drive mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109365164A (en) * | 2018-10-24 | 2019-02-22 | 上海外高桥造船有限公司 | Protective device |
| CN109365164B (en) * | 2018-10-24 | 2020-07-03 | 上海外高桥造船有限公司 | Protective device |
| CN111661188A (en) * | 2020-06-04 | 2020-09-15 | 大连理工大学 | Universal translation magnetic wall-climbing robot for decontamination of hull plates and working method |
| CN111674483A (en) * | 2020-06-04 | 2020-09-18 | 大连理工大学 | Magnetic-attraction wall-climbing robot for large-curvature surface spraying and working mode |
| CN111674483B (en) * | 2020-06-04 | 2022-08-16 | 大连理工大学 | Magnetic-attraction wall-climbing robot for large-curvature surface spraying and working mode |
| CN111661188B (en) * | 2020-06-04 | 2022-09-06 | 大连理工大学 | Universal translation magnetic wall-climbing robot for decontamination of hull plates and working method |
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| Publication number | Publication date |
|---|---|
| CN107051779B (en) | 2022-06-14 |
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