CN111438637A - Automatic rust removing method for large splicing seam of hull plate - Google Patents
Automatic rust removing method for large splicing seam of hull plate Download PDFInfo
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- CN111438637A CN111438637A CN202010258215.9A CN202010258215A CN111438637A CN 111438637 A CN111438637 A CN 111438637A CN 202010258215 A CN202010258215 A CN 202010258215A CN 111438637 A CN111438637 A CN 111438637A
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- sand blasting
- wall
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- seam
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
- B24C1/086—Descaling; Removing coating films
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C5/00—Devices or accessories for generating abrasive blasts
- B24C5/02—Blast guns, e.g. for generating high velocity abrasive fluid jets for cutting materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C5/00—Devices or accessories for generating abrasive blasts
- B24C5/02—Blast guns, e.g. for generating high velocity abrasive fluid jets for cutting materials
- B24C5/04—Nozzles therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Mechanical Engineering (AREA)
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- Cleaning In General (AREA)
Abstract
The invention discloses an automatic rust removing method for a large splicing seam of a hull plate, which comprises the following steps: measuring the shape, the length and the width of a splicing welding seam to be subjected to sand blasting; step two, installing a wall-climbing robot and a sand blasting gun, and installing a visual camera on the wall-climbing robot; step three, arranging links along two sides of a splicing welding seam of the hull plate, and connecting chain wheels on two sides of the wall climbing robot with the links in a meshing manner; and step four, connecting the vision camera to an intelligent control system, and in step five, while the wall-climbing robot climbs, swinging the sand-blasting gun in a certain angle range in a reciprocating manner to perform sand blasting and rust removal on the spliced seam. The invention adopts a visual feedback mode to replace the traditional high-altitude operation vehicle to regulate and control the process parameters and modify the motion path of the robot in a matching way, thereby greatly reducing the labor cost, improving the efficiency, the safety and the convenience of the operation, the accessibility and the convenience, the novelty and the accuracy of the remote and accurate regulation and control of the process parameters and the motion path.
Description
Technical Field
The invention belongs to the technical field of ship coating and manufacturing, and particularly relates to an automatic rust removing method for a large splicing seam of a hull plate.
Background
The coating work of the ship body sections can be carried out in a workshop, but after the ship body sections are spliced and welded, coating can be carried out only on a dock site due to the large size, and a large number of spliced and welded seams need to be subjected to surface treatment before coating, so that the rust removal is realized, and the surface reaches certain roughness. At present, the surface is cleaned by adopting a manual sand blasting mode, but the welding line of the hull section general assembly is very long, the sand blasting workload is large, the efficiency is lower, the manual labor intensity is high, the working condition is severe, and the dust and the noise of the ship greatly influence the health of people. In addition, the dust after manual polishing is not recycled and directly falls into a dock to be discharged into the sea, and serious pollution is caused to the environment. The method is seriously inconsistent with the current concept of green shipbuilding and environmental protection shipbuilding.
Meanwhile, with the development of economy, the Chinese population is gradually reduced in dividend, the labor cost is increased, and skilled workers are scarce. Under such background, propose to adopt automatic derusting to replace artifical sandblast rust cleaning, advocate the science and technology shipbuilding, it is very significant to have the reality. Not only can gradually reduce the dependence on people and improve the shipbuilding efficiency and quality, but also reduces the pollution to the human body and the environment.
Through analysis and search of the prior art, the Chinese patent with the patent number of CN201610532170.3 discloses a surface rust removal system for a ship hull outer plate, and the invention patent adopts a sand blasting mode to remove rust, but the system is only suitable for sand blasting rust removal on the shape of a single welding seam, and has poor universality. In addition, when the existing wall climbing robot carries out high-altitude rust removal operation on the large splicing seam of the hull plate, an operator usually needs to ride an overhead working truck to move along with the wall climbing robot, and observe the rust removal effect and whether the motion path of the existing robot deviates from the position of the welding seam through naked eyes, so that the rust removal process parameters can be regulated and controlled in time, and the motion path of the wall climbing robot can be corrected. The high-altitude operation vehicle is matched with the wall-climbing robot to remove rust, and 2-3 people are usually matched, so that on one hand, the labor cost is obviously increased, the labor efficiency is reduced, and certain potential safety hazards exist. In addition, the phenomenon that the high-altitude operation vehicle cannot be used for short-distance observation exists; the high-altitude operation vehicle is difficult to reach the operation height of 30 m; the high-altitude operation vehicle cannot reach the problems under the working conditions of unstructured complex space curved surfaces such as the bottom outside the ship body, the bow and the stern and the like.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatic rust removing method for a large splicing seam of a hull plate, which can flexibly select a sand blasting gun motion mode according to the width, the position, the corrosion degree and the number of the welding seams of the large splicing seam of the hull plate, solves the defect that the scanning width of the original sand blasting gun cannot be adjusted, and improves the rust removing effect and the rust removing efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an automatic rust removing method for a large splicing seam of a hull plate, which comprises the following steps:
measuring the shape, the length and the width of a splicing welding seam to be subjected to sand blasting;
step two, installing a wall-climbing robot and a sand blasting gun, wherein the sand blasting gun is installed at the edge of a rotating disc, the middle part of the rotating disc is connected with a shaft of the wall-climbing robot, the rotating disc is driven by a rotating motor, the rotating motor is installed on the wall-climbing robot, and a visual camera is installed on the wall-climbing robot;
step three, arranging links along two sides of a spliced welding seam of the hull plate, wherein chain wheels on two sides of the wall climbing robot are meshed with the links, the wall climbing robot is driven by a driving motor, and a spray head of a sand blasting gun faces the welding seam;
connecting the rotating motor, the driving motor and the vision camera to an intelligent control system, wherein the intelligent control system is used for controlling the rotating angle of the rotating motor, the moving speed of the driving motor and the image monitoring of the front vision camera and the rear vision camera;
and step five, driving the motor to drive the wall climbing robot to climb, and simultaneously driving the rotating disc to further drive the sand blasting gun to reciprocate and swing within a certain angle range by the rotating motor, and performing sand blasting and rust removal on the spliced seam.
Preferably, the number of the sand blasting guns is 1, and the movement modes of the sand blasting guns are circular movement, reciprocating swing of the upper side or the lower side in the advancing direction, and reciprocating swing of the left side or the right side in the advancing direction.
In the second step, 2 sand blasting guns are symmetrically arranged on the rotating disc, the motion mode of the sand blasting guns is double-gun circular motion, and the sand blasting guns are in reciprocating swing on the upper side and the lower side in the advancing direction, reciprocating swing on the left side and the right side in the advancing direction, reciprocating swing on the upper side and the lower side in the advancing direction and reciprocating swing on the upper side and the lower side in the advancing direction.
As a preferable technical solution, in the second step, the distance between the nozzle of the sand blasting gun and the center of the rotating disc is 100-150 mm.
In the third step, the sand inlet pipe joint of the sand blasting gun is connected with a sand conveying system.
In the third step, the blasting diameter of the sand blasting gun is 30-80 mm.
In the fifth step, the rotation angle of the sand blasting gun is 0-180 degrees.
As a preferred technical scheme, an included angle between the rotating center line of the sand blasting gun and the splicing seam is 0-90 degrees.
As a preferable technical scheme, in the second step, 2 visual cameras are arranged and symmetrically arranged at the upper end and the lower end of the wall-climbing robot.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention selects the movement mode of the sand-blasting gun according to the width, the position, the corrosion degree and the number of welding seams of the large splicing seam of the hull plate, solves the defect that the scanning width of the original sand-blasting gun can not be adjusted, and improves the derusting effect and the derusting efficiency.
(2) The visual camera at the upper end of the rust removing device feeds back the rust condition of the current large splicing seam, and the camera at the lower end feeds back the current rust removing effect, so that an operator can remotely and accurately correct the rust removing process parameters on the ground without the need of high-altitude operation to follow the wall climbing robot, and the current rust removing effect and quality are accurately regulated and controlled.
(3) According to the invention, a single-gun mode or a double-gun mode is flexibly selected according to the granularity and fineness of the abrasive, the material of the hull plate and the thickness of the hull plate, so that the adaptability of the system to different sand blasting requirements is ensured.
(4) The visual camera is adopted to monitor the rust removing path in real time, so that the operation of operators can be corrected in time or the movement direction can be adjusted in time according to whether the welding seam is finished, and the rust removing effect of different positions of the welding seam can be evaluated and the quality can be traced on line or off line.
(5) The invention adopts a visual feedback mode to replace the traditional high-altitude operation vehicle to regulate and control the process parameters and modify the motion path of the robot in a matching way, thereby greatly reducing the labor cost, improving the efficiency, the safety and the convenience of the operation, the accessibility and the convenience, the novelty and the accuracy of the remote and accurate regulation and control of the process parameters and the motion path.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of an installation structure of the wall-climbing robot and the sand blasting gun of the present invention.
Fig. 2 is a schematic diagram of a sand blasting mode of a double-sand-blasting rust removing gun in embodiment 1 of the invention.
Fig. 3 is a schematic diagram of a sand blasting mode of a double-sand-blasting rust removing gun in embodiment 2 of the invention.
Fig. 4 is a schematic diagram of a sand blasting mode of a double-sand-blasting rust removing gun in embodiment 3 of the invention.
Fig. 5 is a schematic diagram of a sand blasting mode of a single-sand-blasting rust removing gun in embodiment 4 of the invention.
Fig. 6 is a schematic diagram of a sand blasting mode of a single-sand-blasting rust removal gun in embodiment 5 of the invention.
Fig. 7 is a schematic diagram of a sand blasting mode of a single-sand-blasting rust removing gun in embodiment 6 of the invention.
Wherein the reference numerals are specified as follows: wall climbing robot 1, rotary disk 2, sand blasting gun 3, concatenation seam 4, sprocket 5, vision camera 6, rotation center 7.
Detailed Description
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
As shown in figure 1, the invention provides a device for automatically removing rust of a large splicing seam of a ship hull, which comprises a wall-climbing robot 1, a rotating disk 2 and a sand-blasting gun 3, wherein the middle part of the rotating disk 2 is connected with the wall-climbing robot 1 through a shaft, the rotating disk 2 is driven by an optional motor, the fixed end of the rotating motor is installed on the wall-climbing robot 1, visual cameras 6 are installed at the upper end and the lower end of the wall-climbing robot 1, one or two sand-blasting guns 3 are arranged according to actual use requirements, the sand-blasting gun 3 is used for blasting sand to the splicing seam 4 for removing rust, and the sand-blasting gun 3 is installed at a position, close to the edge, of. In order to further meet the requirement of green environmental protection, the sand blasting sealing cover is arranged outside the sand blasting gun 3 and used for collecting sand materials.
Example 1
As shown in fig. 2, the present embodiment provides an automatic rust removing method for a large splicing seam of an outer hull plate, including the following steps:
step one, measuring the shape, the length and the width of a splicing seam to be subjected to sand blasting, wherein the number of the splicing seams 4 is 1, the width of each splicing seam 4 is 300mm, and the length of each splicing seam 4 is 30 m.
And step two, installing the wall-climbing robot 1 and the sand blasting guns 3, wherein the sand blasting guns 3 are installed on the edge of the rotating disc 2, two sand blasting guns 3 are symmetrically arranged, the middle part of the rotating disc 2 is connected with the shaft of the wall-climbing robot 1, the sand inlet pipe joints of the sand blasting guns 3 are connected with a sand material conveying system, the sand blasting diameter of the sand blasting guns 3 is 30-80mm, and the distance between the spray heads of the sand blasting guns 3 and the center of the rotating disc 2 is 150 mm. The rotary disk 2 is driven by a rotary motor, the rotary motor is arranged on the wall-climbing robot 1, and the upper end and the lower end of the wall-climbing robot 1 are both provided with a vision camera 6.
Step three, links are arranged along two sides of the spliced welding seam of the hull plate, two chain wheels 5 are respectively arranged on two sides of the wall-climbing robot 1, the chain wheels 5 are connected with the links in a meshed mode, the wall-climbing robot 1 is driven by a driving motor, and a spray head of the sand blasting gun 3 faces the welding seam.
Connecting the rotating motor, the driving motor and the vision camera 6 to an intelligent control system, wherein the intelligent control system is used for controlling the rotating angle of the rotating motor, the moving speed of the driving motor and the image monitoring of the front vision camera 6 and the rear vision camera 6;
and fifthly, the rotating center 7 of the rotating disc 2 is located on the center line of the splicing seam 4, the included angle between the rotating center 7 line of the sand blasting gun 3 and the center line of the splicing seam 4 is 90 degrees, the driving motor drives the wall-climbing robot 1 to climb, and meanwhile, the rotating motor drives the rotating disc 2 to further drive the sand blasting gun 3 to reciprocate and swing within the range of 180 degrees, and sand blasting and rust removal are carried out on the splicing seam 4.
Example 2
As shown in fig. 3, the present embodiment provides an automatic rust removing method for a large splicing seam of an outer hull plate, including the following steps:
step one, measuring the shape, the length and the width of a splicing seam to be subjected to sand blasting, wherein the number of the splicing seams 4 is 1, the width of each splicing seam 4 is 180mm, and the length of each splicing seam 4 is 30 m.
And step two, installing the wall-climbing robot 1 and the sand blasting guns 3, wherein the sand blasting guns 3 are installed on the edge of the rotating disc 2, two sand blasting guns 3 are symmetrically arranged, the middle part of the rotating disc 2 is connected with the shaft of the wall-climbing robot 1, the sand inlet pipe joints of the sand blasting guns 3 are connected with a sand material conveying system, the sand blasting diameter of the sand blasting guns 3 is 30-80mm, and the distance between the spray heads of the sand blasting guns 3 and the center of the rotating disc 2 is 150 mm. The rotary disk 2 is driven by a rotary motor, the rotary motor is arranged on the wall-climbing robot 1, and the upper end and the lower end of the wall-climbing robot 1 are both provided with a vision camera 6.
Step three, links are arranged along two sides of the spliced welding seam of the hull plate, two chain wheels 5 are respectively arranged on two sides of the wall-climbing robot 1, the chain wheels 5 are connected with the links in a meshed mode, the wall-climbing robot 1 is driven by a driving motor, and a spray head of the sand blasting gun 3 faces the welding seam.
Connecting the rotating motor, the driving motor and the vision camera 6 to an intelligent control system, wherein the intelligent control system is used for controlling the rotating angle of the rotating motor, the moving speed of the driving motor and the image monitoring of the front vision camera 6 and the rear vision camera 6;
and fifthly, the rotating center 7 of the rotating disc 2 is located on the center line of the splicing seam 4, the included angle between the rotating center 7 line of the sand blasting gun 3 and the center line of the splicing seam 4 is 0 degree, the driving motor drives the wall-climbing robot 1 to climb, and meanwhile, the rotating motor drives the rotating disc 2 to further drive the sand blasting gun 3 to reciprocate in a 120-degree range, and sand blasting and rust removal are carried out on the splicing seam 4.
Example 3
As shown in fig. 4, the present embodiment provides an automatic rust removing method for a large splicing seam of an outer hull plate, including the following steps:
step one, measuring the shape, the length and the width of a splicing seam to be subjected to sand blasting, wherein 2 splicing seams 4 are arranged in the embodiment, the width of each splicing seam 4 is 60mm, and the length of each splicing seam 4 is 30 m.
And step two, installing the wall-climbing robot 1 and the sand blasting guns 3, wherein the sand blasting guns 3 are installed on the edge of the rotating disc 2, two sand blasting guns 3 are symmetrically arranged, the middle part of the rotating disc 2 is connected with the shaft of the wall-climbing robot 1, the sand inlet pipe joints of the sand blasting guns 3 are connected with a sand material conveying system, the sand blasting diameter of the sand blasting guns 3 is 30-80mm, and the distance between the spray heads of the sand blasting guns 3 and the center of the rotating disc 2 is 150 mm. The rotary disk 2 is driven by a rotary motor, the rotary motor is arranged on the wall-climbing robot 1, and the upper end and the lower end of the wall-climbing robot 1 are both provided with a vision camera 6.
Step three, links are arranged along two sides of the spliced welding seam of the hull plate, two chain wheels 5 are respectively arranged on two sides of the wall-climbing robot 1, the chain wheels 5 are connected with the links in a meshed mode, the wall-climbing robot 1 is driven by a driving motor, and a spray head of the sand blasting gun 3 faces the welding seam.
Connecting the rotating motor, the driving motor and the vision camera 6 to an intelligent control system, wherein the intelligent control system is used for controlling the rotating angle of the rotating motor, the moving speed of the driving motor and the image monitoring of the front vision camera 6 and the rear vision camera 6;
and fifthly, the rotating center 7 of the rotating disk 2 is positioned between the two splicing seams 4, the included angle between the line of the rotating center 7 of the sand-blasting gun 3 and the line of the splicing seams 4 is 45 degrees, and when the driving motor drives the wall-climbing robot 1 to climb, the rotating motor drives the rotating disk 2 to further drive the sand-blasting gun 3 to reciprocate in the range of 45 degrees, so that sand blasting and rust removal are performed on the splicing seams 4.
Example 4
As shown in fig. 5, the present embodiment provides an automatic rust removing method for a large splicing seam of an outer hull plate, including the following steps:
step one, measuring the shape, the length and the width of a splicing seam to be subjected to sand blasting, wherein the number of the splicing seams 4 is 1, the width of each splicing seam 4 is 300mm, and the length of each splicing seam 4 is 30 m.
And step two, installing the wall-climbing robot 1 and the sand blasting gun 3, installing the sand blasting gun 3 at the edge of the rotating disk 2, arranging one sand blasting gun 3, connecting the middle part of the rotating disk 2 with the shaft of the wall-climbing robot 1, and connecting a sand inlet pipe joint of the sand blasting gun 3 with a sand material conveying system, wherein the sand blasting diameter of the sand blasting gun 3 is 30-80mm, and the distance between a spray head of the sand blasting gun 3 and the center of the rotating disk 2 is 150 mm. The rotary disk 2 is driven by a rotary motor, the rotary motor is arranged on the wall-climbing robot 1, and the upper end and the lower end of the wall-climbing robot 1 are both provided with a vision camera 6.
Step three, links are arranged along two sides of the spliced welding seam of the hull plate, two chain wheels 5 are respectively arranged on two sides of the wall-climbing robot 1, the chain wheels 5 are connected with the links in a meshed mode, the wall-climbing robot 1 is driven by a driving motor, and a spray head of the sand blasting gun 3 faces the welding seam.
Connecting the rotating motor, the driving motor and the vision camera 6 to an intelligent control system, wherein the intelligent control system is used for controlling the rotating angle of the rotating motor, the moving speed of the driving motor and the image monitoring of the front vision camera 6 and the rear vision camera 6;
and fifthly, the rotating center 7 of the rotating disc 2 is positioned on the center line of the splicing seam 4, the driving motor drives the wall-climbing robot 1 to climb, and meanwhile, the rotating motor drives the rotating disc 2 to further drive the sand-blasting gun 3 to swing in a reciprocating manner within the range of 360 degrees, and sand blasting and rust removal are carried out on the splicing seam 4.
Example 5
As shown in fig. 6, the present embodiment provides an automatic rust removing method for a large splicing seam of an outer hull plate, including the following steps:
step one, measuring the shape, the length and the width of a splicing seam to be subjected to sand blasting, wherein the number of the splicing seams 4 is 1, the width of each splicing seam 4 is 300mm, and the length of each splicing seam 4 is 30 m.
And step two, installing the wall-climbing robot 1 and the sand blasting gun 3, installing the sand blasting gun 3 at the edge of the rotating disk 2, arranging one sand blasting gun 3, connecting the middle part of the rotating disk 2 with the shaft of the wall-climbing robot 1, and connecting a sand inlet pipe joint of the sand blasting gun 3 with a sand material conveying system, wherein the sand blasting diameter of the sand blasting gun 3 is 30-80mm, and the distance between a spray head of the sand blasting gun 3 and the center of the rotating disk 2 is 150 mm. The rotary disk 2 is driven by a rotary motor, the rotary motor is arranged on the wall-climbing robot 1, and the upper end and the lower end of the wall-climbing robot 1 are both provided with a vision camera 6.
Step three, links are arranged along two sides of the spliced welding seam of the hull plate, two chain wheels 5 are respectively arranged on two sides of the wall-climbing robot 1, the chain wheels 5 are connected with the links in a meshed mode, the wall-climbing robot 1 is driven by a driving motor, and a spray head of the sand blasting gun 3 faces the welding seam.
Connecting the rotating motor, the driving motor and the vision camera 6 to an intelligent control system, wherein the intelligent control system is used for controlling the rotating angle of the rotating motor, the moving speed of the driving motor and the image monitoring of the front vision camera 6 and the rear vision camera 6;
and fifthly, the rotating center 7 of the rotating disc 2 is located on the center line of the splicing seam 4, the included angle between the rotating center 7 line of the sand blasting gun 3 and the center line of the splicing seam 4 is 0 degree, the driving motor drives the wall-climbing robot 1 to climb, and meanwhile, the rotating motor drives the rotating disc 2 to further drive the sand blasting gun 3 to reciprocate in a 120-degree range, and sand blasting and rust removal are carried out on the splicing seam 4.
Example 6
As shown in fig. 7, the present embodiment provides an automatic rust removing method for a large splicing seam of an outer hull plate, including the following steps:
step one, measuring the shape, the length and the width of a splicing seam to be subjected to sand blasting, wherein the number of the splicing seams 4 is 1, the width of each splicing seam 4 is 60mm, and the length of each splicing seam 4 is 30 m.
And step two, installing the wall-climbing robot 1 and the sand blasting gun 3, installing the sand blasting gun 3 at the edge of the rotating disk 2, arranging one sand blasting gun 3, connecting the middle part of the rotating disk 2 with the shaft of the wall-climbing robot 1, and connecting a sand inlet pipe joint of the sand blasting gun 3 with a sand material conveying system, wherein the sand blasting diameter of the sand blasting gun 3 is 30-80mm, and the distance between a spray head of the sand blasting gun 3 and the center of the rotating disk 2 is 150 mm. The rotary disk 2 is driven by a rotary motor, the rotary motor is arranged on the wall-climbing robot 1, and the upper end and the lower end of the wall-climbing robot 1 are both provided with a vision camera 6.
Step three, links are arranged along two sides of the spliced welding seam of the hull plate, two chain wheels 5 are respectively arranged on two sides of the wall-climbing robot 1, the chain wheels 5 are connected with the links in a meshed mode, the wall-climbing robot 1 is driven by a driving motor, and a spray head of the sand blasting gun 3 faces the welding seam.
Connecting the rotating motor, the driving motor and the vision camera 6 to an intelligent control system, wherein the intelligent control system is used for controlling the rotating angle of the rotating motor, the moving speed of the driving motor and the image monitoring of the front vision camera 6 and the rear vision camera 6;
and fifthly, the rotating center 7 of the rotating disc 2 is positioned on one side of the splicing seam 4, the included angle between the line of the rotating center 7 of the sand-blasting gun 3 and the line of the splicing seam 4 is 45 degrees, and when the driving motor drives the wall-climbing robot 1 to climb, the rotating motor drives the rotating disc 2 to further drive the sand-blasting gun 3 to reciprocate in the range of 45 degrees, so that sand blasting and rust removal are carried out on the splicing seam 4.
Although the present invention has been described in detail with respect to the above embodiments, it will be understood by those skilled in the art that modifications or improvements based on the disclosure of the present invention may be made without departing from the spirit and scope of the invention, and these modifications and improvements are within the spirit and scope of the invention.
Claims (9)
1. An automatic rust removing method for a large splicing seam of a hull plate is characterized by comprising the following steps:
measuring the shape, the length and the width of a splicing welding seam to be subjected to sand blasting;
step two, installing a wall-climbing robot and a sand blasting gun, wherein the sand blasting gun is installed at the edge of a rotating disc, the middle part of the rotating disc is connected with a shaft of the wall-climbing robot, the rotating disc is driven by a rotating motor, the rotating motor is installed on the wall-climbing robot, and a visual camera is installed on the wall-climbing robot;
step three, arranging links along two sides of a spliced welding seam of the hull plate, wherein chain wheels on two sides of the wall climbing robot are meshed with the links, the wall climbing robot is driven by a driving motor, and a spray head of a sand blasting gun faces the welding seam;
connecting the rotating motor, the driving motor and the vision camera to an intelligent control system, wherein the intelligent control system is used for controlling the rotating angle of the rotating motor, the moving speed of the driving motor and the image monitoring of the front vision camera and the rear vision camera;
and step five, driving the motor to drive the wall climbing robot to climb, and simultaneously driving the rotating disc to further drive the sand blasting gun to reciprocate and swing within a certain angle range by the rotating motor, and performing sand blasting and rust removal on the spliced seam.
2. The automatic rust removing method for the large splicing seam of the ship hull plate as claimed in claim 1, wherein the number of the sand blasting guns is 1, and the movement modes of the sand blasting guns are circular movement, reciprocating swing of the upper side or the lower side in the advancing direction, and reciprocating swing of the left side or the right side in the advancing direction.
3. The automatic rust removing method for the large splicing seam of the ship hull plate as claimed in claim 1, wherein in the second step, 2 sand blasting guns are arranged and symmetrically installed on the rotating disc, the motion mode of the sand blasting guns is double-gun circular motion, reciprocating swing of the upper side and the lower side in the advancing direction, reciprocating swing of the left side and the right side in the advancing direction, reciprocating swing of the left upper side, the right lower side and reciprocating swing of the left lower upper side and the right upper side in the advancing direction.
4. The automatic rust removing method for the large splicing seam of the outer plate of the slipway as claimed in claim 1, wherein in the second step, the distance between the nozzle of the sand-blasting gun and the center of the rotating disc is 100-150 mm.
5. The automatic rust removing method for the large splicing seam of the ship hull plate as claimed in claim 1, wherein in the third step, a sand inlet pipe joint of a sand blasting gun is connected with a sand material conveying system.
6. The automatic rust removing method for the large splicing seam of the outer plate of the slipway as claimed in claim 1, wherein in the third step, the sand blasting diameter of the sand blasting gun is 30-80 mm.
7. The automatic rust removing method for the large splicing seam of the outer plate of the slipway as claimed in claim 1, wherein in the fifth step, the rotation angle of the sand-blasting gun is 0-180 degrees.
8. The automatic rust removing method for the large splicing seam of the outer plate of the slipway as claimed in claim 7, wherein the included angle between the rotation center line of the sand blasting gun and the splicing seam is 0-90 degrees.
9. The automatic rust removing method for the large splicing seam of the outer plate of the slipway as claimed in claim 1, wherein in the second step, 2 visual cameras are arranged and symmetrically arranged at the upper end and the lower end of the wall-climbing robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010258215.9A CN111438637A (en) | 2020-04-03 | 2020-04-03 | Automatic rust removing method for large splicing seam of hull plate |
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| CN202010258215.9A CN111438637A (en) | 2020-04-03 | 2020-04-03 | Automatic rust removing method for large splicing seam of hull plate |
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| CN202010258215.9A Pending CN111438637A (en) | 2020-04-03 | 2020-04-03 | Automatic rust removing method for large splicing seam of hull plate |
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