CN108970868A - A kind of ship super span spraying profile planing method of rope parallel robot - Google Patents

A kind of ship super span spraying profile planing method of rope parallel robot Download PDF

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Publication number
CN108970868A
CN108970868A CN201810900558.3A CN201810900558A CN108970868A CN 108970868 A CN108970868 A CN 108970868A CN 201810900558 A CN201810900558 A CN 201810900558A CN 108970868 A CN108970868 A CN 108970868A
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CN
China
Prior art keywords
rope
amplitude
max
effector
ship
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Granted
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CN201810900558.3A
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Chinese (zh)
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CN108970868B (en
Inventor
邓豪
邵珠峰
尤政
张兆坤
彭发忠
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Tsinghua University
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Tsinghua University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0405Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
    • B05B13/041Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/70Arrangements for moving spray heads automatically to or from the working position

Abstract

The invention discloses a kind of ship super span spraying profile planing methods of rope parallel robot, include the following steps: to configure rope parallel robot on the ship face being preliminarily sprayed, the spray head of spray painting is fixed on end effector, spray head persistently paints in end effector motion process, the constant flow rate of spray head spray painting;End effector is controlled by rope, and the different multiple groups reciprocating motion of amplitude is done at a certain height;Then end effector is raised or lowered at another height;Continue to do the different multiple groups reciprocating motion of amplitude;It repeats above-mentioned until complete height of Control During Paint Spraying by Robot;The present invention is used for the automatic spraying of argosy external surface, and is painted using the movement of the super span of rope parallel robot, is low in cost, and can guarantee that painting thickness is uniform.

Description

A kind of ship super span spraying profile planing method of rope parallel robot
Technical field
The invention belongs to machinery fields, the in particular to super span spraying profile planing method of rope parallel robot.
Background technique
Exploration and utilization with the mankind to Yu Haiyang, ship play important in exploration, transport, exploitation, military affairs Role, and corroding is to influence one of ship and the biggest factor in Offshore Units service life.Common anti-corrosion method is in hull Surface coats one layer of coating with the specific functions such as anti-corrosion, antistatic, insulation, heat absorption.Therefore the spray treatment of hull surface is One of indispensable important link in shipbuilding assembly.
Spray robot is a kind of the degree of automation and the higher advanced spraying equipment of integrated level, hand spray technology Through becoming the new focus of people under mature background.Its advantage has the following aspects: (1) flexible big, working range Greatly;(2) coating quality and spray efficiency are greatly improved;(3) preferable operability, maintenance is simple, can be real with teaching or off-line programing Existing more complicated spraying profile, shortens the field adjustable time;(4) manual labor is liberated, the health and safety of worker obtains It ensures.So being widely used in many industry such as manufacture assembly using the automatic spraying system of spray robot In field.Common automobile manufacture and small workpiece are produced, people in addition to it there are certain requirements to anti-corrosion, functionality, spray painting The feature of environmental protection, the factors such as aesthetics of shell coating are even more important evaluation criterions.However the spraying of marine surface is then to coating Quality, if thickness and the uniformity propose more harsh requirement, current manual's operation carries out vessel coating, although can be basic Realize that spraying requires, but since human factor prevents coating quality from accurately being guaranteed, and manual work time length, Heavy workload, bad environments all restrict the development of shipping industry.And if robot stabilized working performance can be utilized, Including accurately position with good spraying profile, just can guarantee better coating layer thickness and uniformity index request, while Avoid influence of the painting environments for workers ' health of paint splash.It can be said that traditional utilizes scaffold, high-altitude operation vehicle Or climbing robot, the problem of there are still Health cost, high altitude operation or coating efficiencies.
Summary of the invention
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide a kind of ship rope parallel robots Super span spraying profile planing method.
To achieve the goals above, the technical solution adopted by the present invention is that:
A kind of ship super span spraying profile planing method of rope parallel robot, it is characterised in that include the following steps: (a) rope parallel robot is configured on the ship spray-coating surface being preliminarily sprayed;Robot includes driving device, and pulley, rope, end is held Row device;The driving device is provided with multiple groups;Each group includes motor, shaft coupling, retarder and roller;One end of the rope It is connected on end effector, the other end is connected on the roller of a driving device, drives rolling by the work of motor The rotation of cylinder, and then drive elongating or shortening for corresponding rope;End effector is by the common pulling motion of rope, end effector (4) spray head of spray painting is consolidated on, spray head persistently paints in end effector motion process, and the flow velocity of spray head spray painting is permanent It is fixed;(b) end effector is controlled by rope and does the different multiple groups reciprocating motion of amplitude at a certain height;(c) pass through rope Control end effector is raised or lowered at another height;(d) end effector is controlled by rope to continue to do amplitude difference Multiple groups move back and forth;(e) step c and step d is repeated until the complete setting ship spray-coating surface of Control During Paint Spraying by Robot;(f) rope is shifted simultaneously Connection robot continues to spray to next spray-coating surface.
As an improvement of the present invention, wherein step (b) moves back and forth specifically with the different multiple groups of amplitude of doing described in (d) It include: (b1) setting peak swing rmaxWith minimum amplitude rmin;(b2) end effector is controlled by rope to move back and forth, And end effector is controlled from midpoint to one end setting in motion by rope, it is equal to minimum amplitude r by oneminDistance After return to midpoint, then again toward another end motion, be equal to minimum amplitude r by oneminDistance after turn again to midpoint Place, to complete primary move back and forth;(b3) end effector is controlled by rope to continue to move back and forth, and gradually increase The amplitude r of reciprocating motion, until reaching peak swing rmax;(b4) end effector is controlled by rope to continue back and forth to transport It is dynamic, and the amplitude r of reciprocating motion is gradually reduced, until reaching minimum amplitude rmin, complete amplitude and be equal to minimum amplitude rminIt is past After multiple movement, end effector returns to midpoint;
As an improvement of the present invention, during the amplitude r for gradually increasing reciprocating motion, amplitude is followed successively by 0.1rmax, 0.3rmax, 0.5rmax, rmax;During the amplitude r for gradually reducing reciprocating motion, amplitude is followed successively by 0.5rmax, 0.3rmax, 0.1rmax
As an improvement of the present invention, during the amplitude r for gradually increasing reciprocating motion, amplitude is followed successively by 0.2rmax, 0.4rmax, 0.6rmax, 0.8rmax, rmax;During the amplitude r for gradually reducing reciprocating motion, amplitude is successively For 0.8rmax, 0.4rmax, 0.4rmax, 0.2rmax
As an improvement of the present invention, reciprocating motion function described in step b uses sinusoidal cycles function or high-order moment letter Number, is zero in the speed for having moved not-go-end, and the speed of track interlude is maximum;And it requires track position, speed, acceleration and adds The equal continuous equilibrium of acceleration, to reduce the vibration of terminal.
As an improvement of the present invention, the complete ship spray-coating surface process of Control During Paint Spraying by Robot described in step e can be from top to down The process for reducing height, is also possible to the process of lifting height from below to up.
As an improvement of the present invention, end effector is controlled by rope described in step c and rises or falls certain distance h To at another height, 0 < h < R, wherein R is the radius R that spray head forms spraying circle on ship face.
The present invention has the following technical effect that
(1) present invention is used for the automatic spraying of argosy external surface, and is moved using the super span of rope parallel robot It paints, is low in cost.
(2) it solves the problems, such as the automatic spraying of argosy external surface, solves existing for the spraying of argosy external surface The deficiencies of spray efficiency is low, coating quality is larger by employee influence, painting environments are endangered caused by human body, and spray equipment letter Single easily building, spray efficiency are high
(3) by the amplitude controlling to spraying profile, i.e., the different multiple groups of amplitude are done at a certain height and are moved back and forth, energy Enough guarantee that painting thickness is uniform under spray head spray painting constant flow rate operating condition.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the super span spraying profile planing method of ship rope parallel robot of the present invention.
Fig. 2 is a kind of structural schematic diagram of ship rope parallel robot of the present invention.
Fig. 3 is a kind of ship rope parallel robot spraying profile schematic diagram of the present invention.
Fig. 4 is that a kind of ship rope parallel robot spray head of the present invention sprays radius and height adjustment schematic diagram.
Fig. 5 is that a kind of ship rope parallel robot spray head of the present invention sprays radius and height adjustment schematic diagram.
Specific embodiment
The embodiment that the present invention will be described in detail with reference to the accompanying drawings and examples.
As illustrated in fig. 1 and 2, a kind of ship super span spraying profile planing method of rope parallel robot, it is characterised in that Include the following steps:
(a) rope parallel robot is configured on the ship spray-coating surface 100 being preliminarily sprayed;Robot includes driving device 1, pulley 2, rope 3, end effector 4;The driving device 1 is provided with multiple groups;Multiple groups have can be set in driving device, can be two Group, three groups, four groups, illustrate three groups by five groups etc. in figure, driving device, which is save, in Fig. 3-5 does not draw;Each group includes motor, shaft coupling Device, retarder and roller;One end of the rope 3 is connected on end effector 4, and the other end is connected to a driving dress It sets on 1 roller, the rotation of roller is driven by the work of motor, and then drive elongating or shortening for corresponding rope 3;It holds end Row device 4 is consolidated with the spray head of spray painting by the common pulling motion of rope 3 on end effector 4, spray head is transported in end effector 4 Lasting spray painting during dynamic, the constant flow rate of spray head spray painting;
(b) end effector 4 is controlled by rope 3 and does the different multiple groups reciprocating motion of amplitude at a certain height;It is described The lopcus function of reciprocating motion uses sinusoidal cycles function or high-order moment function, is zero in the speed for having moved not-go-end, rail The speed of mark interlude is maximum;And track position, speed, acceleration and the equal continuous equilibrium of acceleration are required, to reduce terminal Vibration.
(c) end effector 4 is controlled by rope 3 to be raised or lowered at another height;The distance h risen or fallen (41) meet 0 < h < R, wherein R is that spray head forms the radius R for spraying circle (42) on ship face.(d) end is controlled by rope 3 Actuator 4 continues to do the different multiple groups reciprocating motion of amplitude;
(e) step c and step d is repeated until the complete setting ship spray-coating surface 100 of Control During Paint Spraying by Robot;Machine described in step e People, which has sprayed 100 process of ship spray-coating surface, can be the process for reducing height from top to down, be also possible to upper raising from below to up The process of degree.
(f) as shown in figure 5, transfer rope parallel robot continues to spray to next spray-coating surface 101.Next spraying Face 101 can be overlapping or nonoverlapping relationship with spray-coating surface 100, determine with specific reference to working condition.
The present invention is used for the automatic spraying of argosy external surface, and moves spray using the super span of rope parallel robot It paints, is low in cost.It solves the problems, such as the automatic spraying of argosy external surface, solves existing for the spraying of argosy external surface The deficiencies of spray efficiency is low, coating quality is larger by employee influence, painting environments are endangered caused by human body, and spray equipment letter Single easily building, spray efficiency are high.By the amplitude controlling to spraying profile, i.e., it is past that the different multiple groups of amplitude are done at a certain height Multiple movement can guarantee that painting thickness is uniform under spray head spray painting constant flow rate operating condition.
As shown in Figures 3 and 4, the different multiple groups reciprocating motion of amplitude is done described in step b and d to specifically include: (b1) is set Determine peak swing rmaxWith minimum amplitude rmin;The length of peak swing r and span, the ship entire spray-coating surface to be sprayed is related;
(b2) by rope 3 control end effector 4 move back and forth, and by rope 3 control end effector 4 from To one end setting in motion at midpoint 40, it is equal to minimum amplitude r by oneminDistance after return at midpoint 40, then again toward another One end motion is equal to minimum amplitude r by oneminDistance after turn again at midpoint 40, to complete primary reciprocal fortune It is dynamic;
(b3) end effector 4 is controlled by rope 3 to continue to move back and forth, and gradually increase the amplitude of reciprocating motion R, until reaching peak swing rmax
(b4) end effector 4 is controlled by rope 3 to continue to move back and forth, and gradually reduce the amplitude of reciprocating motion R, until reaching minimum amplitude rmin, complete amplitude and be equal to minimum amplitude rminReciprocating motion after, end effector 4 returns to midpoint At 40;
Due to the constant flow rate of spray painting, local painting thickness wants smaller to natural spray head speed faster, and the present embodiment passes through The design that amplitude r is gradually adjusted, it is ensured that the generally uniform property of painting thickness, specific Adjusted Option can also be according to work Condition condition carries out specific calculate and determines.
As specific embodiment, during the amplitude r for gradually increasing reciprocating motion, amplitude is followed successively by 0.1rmax, 0.3rmax, 0.5rmax, rmax;During the amplitude r for gradually reducing reciprocating motion, amplitude is followed successively by 0.5rmax, 0.3rmax, 0.1rmax.As another specific embodiment, during the amplitude r for gradually increasing reciprocating motion, amplitude is followed successively by 0.2rmax, 0.4rmax, 0.6rmax, 0.8rmax, rmax;During the amplitude r for gradually reducing reciprocating motion, amplitude is successively For 0.8rmax, 0.4rmax, 0.4rmax, 0.2rmax
Above embodiments are only the descriptions to the preferred embodiment of the present invention, are not acted as a limitation of the scope of the invention, On the basis of not departing from design spirit of the present invention, to various modifications and transformation that technical solution of the present invention is made, it should all fall into In the protection scope that claims of the present invention determines.

Claims (7)

1. a kind of ship super span spraying profile planing method of rope parallel robot, it is characterised in that include the following steps:
(a) rope parallel robot is configured on the ship spray-coating surface (100) being preliminarily sprayed;Robot includes driving device (1), pulley (2), rope (3), end effector (4);The driving device (1) is provided with multiple groups (1);Each group include motor, shaft coupling, Retarder and roller;One end of the rope (3) is connected on end effector (4), and the other end is connected to a driving On the roller of device (1), the rotation of roller is driven by the work of motor, and then drive elongating or shortening for corresponding rope (3); End effector (4) is consolidated with the spray head of spray painting, spray head is at end by rope (3) common pulling motion on end effector (4) It persistently paints in actuator (4) motion process of end, the constant flow rate of spray head spray painting;
(b) the different multiple groups of amplitude are done at a certain height by rope (3) control end effector (4) to move back and forth;
(c) it is raised or lowered at another height by rope (3) control end effector (4);
(d) continue to do the different multiple groups reciprocating motion of amplitude by rope (3) control end effector (4);
(e) step c and step d is repeated until the complete setting ship spray-coating surface (100) of Control During Paint Spraying by Robot;
(f) transfer rope parallel robot continues to spray to next spray-coating surface (101).
2. a kind of ship super span spraying profile planing method of rope parallel robot, feature exist according to claim 1 In, wherein done described in step b and d amplitude it is different multiple groups reciprocating motion specifically include:
(b1) peak swing r is setmaxWith minimum amplitude rmin
(b2) it is moved back and forth by rope (3) control end effector (4), and controls end effector by rope (3) (4) to one end setting in motion at midpoint (40), it is equal to minimum amplitude r by oneminDistance after return at midpoint (40), Then again toward another end motion, it is equal to minimum amplitude r by oneminDistance after turn again at midpoint (40), to complete It is primary to move back and forth;
(b3) continue to move back and forth by rope (3) control end effector (4), and gradually increase the amplitude of reciprocating motion R, until reaching peak swing rmax
(b4) continue to move back and forth by rope (3) control end effector (4), and gradually reduce the amplitude of reciprocating motion R, until reaching minimum amplitude rmin, complete amplitude and be equal to minimum amplitude rminReciprocating motion after, during end effector (4) returns to At point (40).
3. a kind of ship super span spraying profile planing method of rope parallel robot as claimed in claim 2, wherein described in by During step increases the amplitude r moved back and forth, amplitude is followed successively by 0.1rmax, 0.3rmax, 0.5rmax, rmax;It is described to gradually reduce During the amplitude r of reciprocating motion, amplitude is followed successively by 0.5rmax, 0.3rmax, 0.1rmax
4. a kind of ship super span spraying profile planing method of rope parallel robot as claimed in claim 2, wherein described in by During step increases the amplitude r moved back and forth, amplitude is followed successively by 0.2rmax, 0.4rmax, 0.6rmax, 0.8rmax, rmax;It is described During the amplitude r for gradually reducing reciprocating motion, amplitude is followed successively by 0.8rmax, 0.4rmax, 0.4rmax, 0.2rmax
5. according to claim 1 to a kind of 4 any ship super span spraying profile planing methods of rope parallel robot, It is characterized in that, wherein the lopcus function of reciprocating motion described in step b uses sinusoidal cycles function or high-order moment function, The speed for having moved not-go-end is zero, and the speed of track interlude is maximum;And it requires track position, speed, acceleration and accelerates Equal continuous equilibrium is spent, to reduce the vibration of terminal.
6. according to claim 1 to a kind of 4 any ship super span spraying profile planing methods of rope parallel robot, Wherein complete ship spray-coating surface (100) process of spraying described in step e can be the process for reducing height from top to down, be also possible to The process of lifting height from below to up.
7. according to claim 1 to a kind of 4 any ship super span spraying profile planing methods of rope parallel robot, Certain distance h (41) are wherein risen or fallen to another height by rope (3) control end effector (4) described in step c Place, 0 < h < R, wherein R is that spray head forms the radius R for spraying circle (42) on ship face.
CN201810900558.3A 2018-08-09 2018-08-09 Ultra-span spraying track planning method for cable parallel robot for ship Active CN108970868B (en)

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Application Number Priority Date Filing Date Title
CN201810900558.3A CN108970868B (en) 2018-08-09 2018-08-09 Ultra-span spraying track planning method for cable parallel robot for ship

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CN108970868B CN108970868B (en) 2020-11-06

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109926235A (en) * 2019-03-15 2019-06-25 上海外高桥造船有限公司 Determine the method and coating process of the Performance Influence Factor size of paint robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140312808A1 (en) * 2013-04-19 2014-10-23 Randall Lee Szarzynski Multi-dimensional positioning of an object
CN105171741A (en) * 2015-10-26 2015-12-23 清华大学 Planar two-degree-of-freedom super-span cable parallel robot structure
CN105364911A (en) * 2015-11-23 2016-03-02 清华大学 Top-supported type over-span space robot with four ropes
CN105873686A (en) * 2013-12-03 2016-08-17 阿德文尼拉企业有限公司 Coating material distribution using simultaneous rotation and vibration

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140312808A1 (en) * 2013-04-19 2014-10-23 Randall Lee Szarzynski Multi-dimensional positioning of an object
CN105873686A (en) * 2013-12-03 2016-08-17 阿德文尼拉企业有限公司 Coating material distribution using simultaneous rotation and vibration
CN105171741A (en) * 2015-10-26 2015-12-23 清华大学 Planar two-degree-of-freedom super-span cable parallel robot structure
CN105364911A (en) * 2015-11-23 2016-03-02 清华大学 Top-supported type over-span space robot with four ropes

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109926235A (en) * 2019-03-15 2019-06-25 上海外高桥造船有限公司 Determine the method and coating process of the Performance Influence Factor size of paint robot
CN109926235B (en) * 2019-03-15 2020-06-30 上海外高桥造船有限公司 Method for determining performance influence factor of coating robot and coating process

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