CN108970868B - Ultra-span spraying track planning method for cable parallel robot for ship - Google Patents
Ultra-span spraying track planning method for cable parallel robot for ship Download PDFInfo
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- CN108970868B CN108970868B CN201810900558.3A CN201810900558A CN108970868B CN 108970868 B CN108970868 B CN 108970868B CN 201810900558 A CN201810900558 A CN 201810900558A CN 108970868 B CN108970868 B CN 108970868B
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- 238000005507 spraying Methods 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 46
- 239000012636 effector Substances 0.000 claims abstract description 44
- 239000007921 spray Substances 0.000 claims abstract description 28
- 239000003973 paint Substances 0.000 claims abstract description 26
- 230000008569 process Effects 0.000 claims abstract description 22
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- 230000006872 improvement Effects 0.000 description 6
- 238000000576 coating method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 4
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- 230000006378 damage Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000010422 painting Methods 0.000 description 2
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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
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means 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
- B05B13/0431—Means 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
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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
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means 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
- B05B13/0405—Means 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
- B05B13/041—Means 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
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a method for planning a super-span spraying track of a cable parallel robot for a ship, which comprises the following steps: configuring a cable parallel robot on the surface of a pre-sprayed ship, fixing a spray head for spraying paint on an end effector, continuously spraying paint by the spray head in the movement process of the end effector, and keeping the flow rate of the spray head for spraying paint constant; the end effector is controlled by the rope to do a plurality of groups of reciprocating motions with different amplitudes at a certain height; then the end effector is raised or lowered to another height; continuously making a plurality of groups of reciprocating motions with different amplitudes; repeating the steps until the robot sprays the whole height; the invention is used for automatically spraying the outer surface of the large ship body, and paint is sprayed by utilizing the super-span movement of the cable parallel robot, so that the cost is low, and the paint spraying thickness can be ensured to be uniform.
Description
Technical Field
The invention belongs to the field of machinery, and particularly relates to a cable parallel robot ultra-span spraying track planning method.
Background
With the exploration and utilization of the sea by human beings, ships play an important role in exploration, transportation, exploitation and military, and corrosion is one of the biggest factors affecting the life of ships and offshore facilities. The common anticorrosion method is to coat a layer of paint with special functions of anticorrosion, antistatic, insulation, heat absorption and the like on the surface of the ship body. Therefore, the spraying treatment of the surface of the ship body is one of the essential important links in the ship manufacturing and assembling.
The spraying robot is an advanced spraying device with higher automation degree and integration level, and becomes a new concern of people under the background that the manual spraying technology is mature. Its advantages include the following: (1) the flexibility is large, and the working range is large; (2) the spraying quality and the spraying efficiency are greatly improved; (3) the operation is better, the maintenance is simple, the more complex spraying track can be realized by teaching or off-line programming, and the field debugging time is shortened; (4) the manual labor force is liberated, and the health and the safety of workers are guaranteed. Therefore, the automated painting system using the painting robot has been widely used in many industrial fields such as manufacturing and assembling. For common automobile manufacturing and small workpiece production, people have certain requirements on corrosion resistance and functionality, and factors such as the environmental protection property of spray paint, the aesthetic property of shell coatings and the like are more important evaluation standards. However, spraying on the surface of a ship puts more severe requirements on the quality, such as thickness and uniformity, of a coating, and the current manual operation for ship coating can basically meet the spraying requirements, but the spraying quality cannot be accurately guaranteed due to human factors, and the development of the ship manufacturing industry is restricted by long manual operation time, large workload and severe environment. And if the stable working performance of the robot can be utilized, including accurate positioning and good spraying track, the requirements of better coating thickness and uniformity index can be ensured, and the influence of the spraying environment of paint splashing on the health of workers is also avoided. It can be said that the traditional scaffold, overhead working truck or wall climbing robot has the problems of health damage, overhead working or coating efficiency.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a method for planning the over-span spraying track of a ship cable parallel robot.
In order to achieve the purpose, the invention adopts the technical scheme that:
a method for planning a super-span spraying track of a ship cable parallel robot is characterized by comprising the following steps: (a) configuring a cable parallel robot on a spraying surface of the pre-sprayed ship; the robot comprises a driving device, a pulley, a rope and an end effector; the driving device is provided with a plurality of groups; each group comprises a motor, a coupling, a speed reducer and a roller; one end of each rope is connected to the end effector, the other end of each rope is connected to a roller of one driving device, and the rollers are driven to rotate through the work of the motors so as to drive the corresponding ropes to extend or shorten; the end effectors are dragged to move together by a rope, a spray nozzle for spraying paint is fixedly connected to the end effectors (4), the spray nozzle continuously sprays paint in the moving process of the end effectors, and the flow rate of the spray nozzle spraying paint is constant; (b) the end effector is controlled by the rope to do a plurality of groups of reciprocating motions with different amplitudes at a certain height; (c) controlling the end effector to ascend or descend to another height through a rope; (d) the end effector is controlled by the rope to continue to do a plurality of groups of reciprocating motions with different amplitudes; (e) repeating the step c and the step d until the robot finishes spraying the set ship spraying surface; (f) and transferring the cable parallel robot to the next spraying surface for continuous spraying.
As an improvement of the present invention, the steps (b) and (d) of performing multiple sets of reciprocating motions with different amplitudes specifically include: (b1) setting the maximum amplitude rmaxAnd minimum amplitude rmin(ii) a (b2) The end effector is controlled by a cable to reciprocate and to move from a midpoint to an end through the cable, through an amplitude r equal to a minimum amplitudeminBack to the midpoint and then moves toward the other end through a distance equal to the minimum amplitude rminThen, the distance is returned to the middle point again, thereby completing one reciprocating motion; (b3) the end effector is controlled by the rope to continue reciprocating, and the amplitude r of the reciprocating motion is gradually increased until the maximum amplitude r is reachedmax(ii) a (b4) The end effector is controlled by the rope to continue reciprocating, and the amplitude r of the reciprocating motion is gradually reduced until the minimum amplitude r is reachedminThe finished amplitude is equal to the minimum amplitude rminAfter reciprocating, the end effector returns to the midpoint;
as an improvement of the invention, in the process of gradually increasing the amplitude r of the reciprocating motion, the amplitude is 0.1rmax，0.3rmax，0.5rmax，rmax(ii) a In the process of gradually reducing the amplitude r of the reciprocating motion, the amplitude is 0.5r in sequencemax，0.3rmax，0.1rmax。
As an improvement of the invention, in the process of gradually increasing the amplitude r of the reciprocating motion, the amplitude is 0.2rmax，0.4rmax，0.6rmax，0.8rmax，rmax(ii) a In the process of gradually reducing the amplitude r of the reciprocating motion, the amplitude is 0.8rmax，0.4rmax，0.4rmax，0.2rmax。
As an improvement of the invention, the reciprocating motion function in the step b adopts a sine periodic function or a high-order polynomial function, the speed at the starting and stopping end of the motion is zero, and the speed at the middle section of the track is maximum; and requires that the track position, velocity, acceleration and jerk are continuously balanced to reduce vibration of the terminal.
As an improvement of the present invention, the process of spraying the ship spraying surface by the robot in step e may be a process of lowering the height from top to bottom, or a process of raising the height from bottom to top.
As an improvement of the invention, the end effector is controlled by the rope to ascend or descend a certain distance h to another height, 0< h < R, wherein R is the radius R of the spraying circle formed on the ship surface by the spray head.
The invention has the following technical effects:
(1) the invention is used for automatically spraying the outer surface of the large ship body, and paint is sprayed by utilizing the super-span movement of the cable parallel robot, so that the cost is low.
(2) The automatic spraying device solves the automatic spraying problem of the outer surface of the large ship body, overcomes the defects of low spraying efficiency, large influence of staff on the spraying quality, harm of the spraying environment to the human body and the like existing in the spraying of the outer surface of the large ship body, is simple and easy to construct, and has high spraying efficiency
(3) Through the amplitude control to the spraying orbit, do the multiunit reciprocating motion that the amplitude is different promptly in a certain height department, can guarantee that the shower nozzle sprays paint under the velocity of flow invariant operating mode and spray paint thickness even.
Drawings
FIG. 1 is a flow chart of a method for planning a super-span spraying track of a cable parallel robot for a ship.
Fig. 2 is a schematic structural diagram of a cable parallel robot for a ship according to the present invention.
FIG. 3 is a schematic diagram of a spraying track of a ship cable parallel robot according to the present invention.
FIG. 4 is a schematic diagram of adjustment of spraying radius and height of a spray head of a cable parallel robot for a ship according to the present invention.
FIG. 5 is a schematic diagram of adjustment of spraying radius and height of a spray head of a cable parallel robot for a ship according to the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the drawings and examples.
As shown in fig. 1 and 2, a method for planning an overspan spraying track of a ship cable parallel robot is characterized by comprising the following steps:
(a) arranging a cable parallel robot on a spraying surface 100 of the pre-sprayed ship; the robot comprises a driving device 1, a pulley 2, a rope 3 and an end effector 4; the driving device 1 is provided with a plurality of groups; the driving device can be provided with a plurality of groups, two groups, three groups, four groups, five groups and the like, wherein three groups are illustrated in the figure, and the driving device in the figures 3-5 is omitted and not shown; each group comprises a motor, a coupling, a speed reducer and a roller; one end of each rope 3 is connected to the end effector 4, the other end of each rope is connected to a roller of the driving device 1, and the rollers are driven to rotate through the work of the motors, so that the corresponding ropes 3 are driven to extend or shorten; the end effector 4 is dragged by the rope 3 together to move, a spray nozzle for spraying paint is fixedly connected to the end effector 4, the spray nozzle continuously sprays paint in the moving process of the end effector 4, and the flow rate of the spray nozzle spraying paint is constant;
(b) the end effector 4 is controlled by the rope 3 to do a plurality of groups of reciprocating motions with different amplitudes at a certain height; the track function of the reciprocating motion adopts a sine periodic function or a high-order polynomial function, the speed at the starting end and the stopping end of the motion is zero, and the speed at the middle section of the track is maximum; and requires that the track position, velocity, acceleration and jerk are continuously balanced to reduce vibration of the terminal.
(c) The end effector 4 is controlled by the rope 3 to ascend or descend to another height; the distance h (41) of the rise or fall satisfies 0< h < R, where R is the radius R of the spray head forming a spray circle (42) on the vessel surface. (d) The end effector 4 is controlled by the rope 3 to continue to do a plurality of groups of reciprocating motions with different amplitudes;
(e) repeating the step c and the step d until the robot finishes spraying the set ship spraying surface 100; the process of finishing spraying the ship spraying surface 100 by the robot in the step e may be a process of lowering the height from top to bottom, or a process of raising the height from bottom to top.
(f) As shown in fig. 5, the cable parallel robot is transferred to the next spraying surface 101 to continue spraying. The next spray face 101 may be in overlapping or non-overlapping relationship with the spray face 100, depending on operating conditions.
The invention is used for automatically spraying the outer surface of the large ship body, and paint is sprayed by utilizing the super-span movement of the cable parallel robot, so that the cost is low. The automatic spraying device solves the problem of automatic spraying of the outer surface of a large ship body, overcomes the defects that the spraying efficiency is low, the spraying quality is greatly influenced by staff, and the harm of the spraying environment to a human body is low in the spraying of the outer surface of the large ship body, and is simple and easy to construct, and high in spraying efficiency. Through the amplitude control to the spraying orbit, do the multiunit reciprocating motion that the amplitude is different promptly in a certain height department, can guarantee that the shower nozzle sprays paint under the velocity of flow invariant operating mode and spray paint thickness even.
As shown in fig. 3 and 4, the steps b and d of making multiple sets of reciprocating motions with different amplitudes specifically include: (b1) setting the maximum amplitude rmaxAnd minimum amplitude rmin(ii) a The maximum amplitude r is related to the span, the length of the whole spraying surface to be sprayed by the ship;
(b2) the end effector 4 is controlled by the cable 3 to perform a reciprocating movement and the end effector 4 is controlled by the cable 3 to start from the midpoint 40 to one end, passing an amplitude r equal to the minimum amplitudeminBack to the midpoint 40 and then moves toward the other end through a distance equal to the minimum amplitude rminThen again back to the midpoint 40, thereby completing a reciprocating motion;
(b3) the end effector 4 is controlled by the rope 3 to continue reciprocating, and the amplitude r of the reciprocating motion is gradually increased until the maximum amplitude r is reachedmax；
(b4) The end effector 4 is controlled by the rope 3 to continue reciprocating and gradually reduce the amplitude r of the reciprocating until a minimum amplitude r is reachedminThe finished amplitude is equal to the minimum amplitude rminAfter reciprocating, the end effector 4 returns to the midpoint 40;
because the velocity of flow of spraying paint is invariable, the thickness of spraying paint will be less in the place that natural nozzle speed is faster, and this embodiment can guarantee the approximate homogeneity of thickness of spraying paint through the design of carrying out gradual adjustment to amplitude r, and concrete adjustment scheme also can carry out concrete calculation according to the operating mode condition and confirms.
As a specific embodiment, in the process of gradually increasing the amplitude r of the reciprocating motion, the amplitude is 0.1rmax，0.3rmax，0.5rmax，rmax(ii) a In the process of gradually reducing the amplitude r of the reciprocating motion, the amplitude is 0.5r in sequencemax，0.3rmax，0.1rmax. As another embodiment, the amplitude of the reciprocating motion r is gradually increased to 0.2rmax，0.4rmax，0.6rmax，0.8rmax，rmax(ii) a In the process of gradually reducing the amplitude r of the reciprocating motion, the amplitude is 0.8rmax，0.4rmax，0.4rmax，0.2rmax。
The above examples are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and alterations made to the technical solution of the present invention without departing from the spirit of the present invention are intended to fall within the protection scope defined by the claims of the present invention.
Claims (6)
1. A method for planning a super-span spraying track of a ship cable parallel robot is characterized by comprising the following steps:
(a) arranging a cable parallel robot on a spraying surface (100) of the pre-sprayed ship; the robot comprises a driving device (1), a pulley (2), a rope (3) and an end effector (4); the driving device (1) is provided with a plurality of groups; each group comprises a motor, a coupling, a speed reducer and a roller; one end of each rope (3) is connected to the end effector (4), the other end of each rope is connected to a roller of the driving device (1), and the rollers are driven to rotate through the work of the motors, so that the corresponding ropes (3) are driven to extend or shorten; the end effector (4) is dragged by the rope (3) together to move, a spray nozzle for spraying paint is fixedly connected to the end effector (4), the spray nozzle continuously sprays paint in the moving process of the end effector (4), and the flow rate of the spray nozzle spraying paint is constant;
(b) the end effector (4) is controlled by the rope (3) to do a plurality of groups of reciprocating motions with different amplitudes at a certain height;
(c) the end effector (4) is controlled by the rope (3) to ascend or descend to another height;
(d) the end effector (4) is controlled by the rope (3) to continue to do a plurality of groups of reciprocating motions with different amplitudes;
(e) repeating the step c and the step d until the robot finishes spraying the set ship spraying surface (100);
(f) transferring the cable parallel robot to the next spraying surface (101) for continuous spraying;
the plurality of groups of reciprocating motions with different amplitudes in the steps b and d specifically comprise:
(b1) setting the maximum amplitude rmaxAnd minimum amplitude rmin；
(b2) The end effector (4) is controlled by the rope (3) to reciprocate, and the end effector (4) is controlled by the rope (3) to move from the midpoint (40) to one end and pass through a minimum amplitude rminBack to the midpoint (40) and then moves toward the other end through a distance equal to the minimum amplitude rminThen returns to the midpoint (40) again, thereby completing a reciprocating motion;
(b3) the end effector (4) is controlled by the rope (3) to continue reciprocating, and the amplitude r of the reciprocating motion is gradually increased until the maximum amplitude r is reachedmax；
(b4) The end effector (4) is controlled by the rope (3) to continue reciprocating motion, and the amplitude r of the reciprocating motion is gradually reduced until the minimum amplitude r is reachedminThe finished amplitude is equal to the minimum amplitude rminAfter the reciprocating motion, the end effector (4) returns to the midpoint (40).
2. The method for planning the overspan spraying trajectory of the ship cable parallel robot as claimed in claim 1, wherein the amplitude r of the reciprocating motion is gradually increasedIs 0.1r in sequencemax，0.3rmax，0.5rmax，rmax(ii) a In the process of gradually reducing the amplitude r of the reciprocating motion, the amplitude is 0.5r in sequencemax，0.3rmax，0.1rmax。
3. The method for planning the overspan spraying trajectory of the ship cable parallel robot as claimed in claim 2, wherein the amplitude of the reciprocating motion is gradually increased to 0.2r in sequence during the process of gradually increasing the amplitude r of the reciprocating motionmax，0.4rmax，0.6rmax，0.8rmax，rmax(ii) a In the process of gradually reducing the amplitude r of the reciprocating motion, the amplitude is 0.8rmax，0.4rmax，0.4rmax，0.2rmax。
4. The method for planning the overspan spraying track of the ship cable parallel robot according to any one of claims 1 to 3, wherein the track function of the reciprocating motion in the step b is a sine periodic function or a high-order polynomial function, the speed at the starting end and the stopping end of the motion is zero, and the speed in the middle section of the track is maximum; and requires that the track position, velocity, acceleration and jerk are continuously balanced to reduce vibration of the terminal.
5. The method for planning the over-span spraying trajectory of the ship cable parallel robot according to any one of claims 1 to 3, wherein the step e of completely spraying the set spraying surface (100) of the ship can be a process of lowering the height from top to bottom or a process of raising the height from bottom to top.
6. The method for planning the overspan spraying trajectory of the ship rope parallel robot according to any one of claims 1 to 3, wherein the end effector (4) is controlled by the rope (3) to ascend or descend a certain distance h (41) to another height in the step c, wherein 0< h < R, and R is the radius R of the spraying head forming the spraying circle (42) on the ship surface.
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| 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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| 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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| 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 |
| CN112619933B (en) * | 2020-12-11 | 2022-02-22 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Spraying method and spraying system of glue spreader |
| CN114670177B (en) * | 2022-05-09 | 2024-03-01 | 浙江工业大学 | Gesture planning method for two-to-one-movement parallel robot |
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| US9048779B2 (en) * | 2013-04-19 | 2015-06-02 | Randall Lee Szarzynski | Multi-dimensional positioning of an object |
| US8889222B1 (en) * | 2013-12-03 | 2014-11-18 | Advenira Enterprises, Inc. | 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 |
| CN105364911B (en) * | 2015-11-23 | 2017-03-22 | 清华大学 | Top-supported type over-span space robot with four ropes |
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