CN116460708A - Polishing and spraying integrated ship plate spraying robot and ship plate spraying method - Google Patents
Polishing and spraying integrated ship plate spraying robot and ship plate spraying method Download PDFInfo
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- CN116460708A CN116460708A CN202310277126.2A CN202310277126A CN116460708A CN 116460708 A CN116460708 A CN 116460708A CN 202310277126 A CN202310277126 A CN 202310277126A CN 116460708 A CN116460708 A CN 116460708A
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- 238000005507 spraying Methods 0.000 title claims abstract description 170
- 238000005498 polishing Methods 0.000 title claims abstract description 73
- 230000007246 mechanism Effects 0.000 claims abstract description 64
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- 230000007547 defect Effects 0.000 claims abstract description 57
- 239000007921 spray Substances 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 238000000227 grinding Methods 0.000 claims abstract description 20
- 238000000576 coating method Methods 0.000 claims abstract description 18
- 239000003973 paint Substances 0.000 claims abstract description 18
- 239000011248 coating agent Substances 0.000 claims abstract description 16
- 238000001179 sorption measurement Methods 0.000 claims description 42
- 238000012546 transfer Methods 0.000 claims description 30
- 238000001035 drying Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 9
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- 230000033001 locomotion Effects 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims description 3
- 238000010422 painting Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
- B05B16/20—Arrangements for spraying in combination with other operations, e.g. drying; Arrangements enabling a combination of spraying operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
- B05D3/02—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials by baking
- B05D3/0254—After-treatment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0007—Movable machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Spray Control Apparatus (AREA)
Abstract
A polishing and spraying integrated ship plate spraying robot and a ship plate spraying method relate to the field of ship manufacturing. The polishing and spraying integrated ship plate spraying robot comprises a wall climbing robot and a moving vehicle, wherein the wall climbing robot comprises a wall climbing chassis capable of being adsorbed and moving along the surface of a ship plate, a carrying platform, a three-degree-of-freedom guide rail for driving the carrying platform to move, a polishing mechanism, a spraying mechanism and a detecting mechanism, wherein the polishing mechanism comprises a laser radar for detecting the surface defect of the ship plate and a grinding wheel for polishing the surface defect of the ship plate; the spraying mechanism comprises a spray gun which can rotate to spray the surface of the ship plate; the detection mechanism comprises a film thickness measuring instrument for measuring the thickness of the coating on the surface of the ship plate and a scanning electron microscope for analyzing whether the surface of the ship plate has defects; the cart includes a delivery pump and a bowl for delivering paint to the spray gun. The polishing and spraying integrated ship plate spraying robot and the spraying method improve the quality of ship plate coatings by detecting and polishing the surface defects of the ship plate before and after spraying.
Description
Technical Field
The application relates to the field of ship manufacturing, in particular to a polishing and spraying integrated ship plate spraying robot and a ship plate spraying method.
Background
Automation, mechanization and tooling are the main development directions of shipyard equipment in China at present, and along with the fact that intelligent manufacturing becomes a hot spot in recent years, each shipyard equipment presents a development trend in the direction of taking the mechanized equipment as a main part, the automated equipment as an auxiliary part and the tooling equipment as a supplementary part and the intelligent equipment as an attack direction.
The coating of the inner plate and the outer plate of the dock is the last procedure of the whole ship coating, and the hull surface paint is sprayed before the ship is launched, so that the space is relatively narrow and compact due to the construction in the dock, the operation height is as high as tens of meters, the workers are required to operate the overhead hand-held spray gun for a long time, and a plurality of problems such as safety risks, physiological hazards, environmental pollution and the like exist.
At present, although some wall climbing robots for spraying ship outer plates exist, the number of the wall climbing robots capable of realizing polishing, spraying and detecting integrated operation is small.
Disclosure of Invention
The utility model aims to provide a spraying integration ship board spraying robot and ship board spraying method of polishing, it can discern the defect on ship board surface and polish the back spraying to detect and polish the processing to spraying back coating thickness, thereby improve ship board coating processingquality.
The application is realized in such a way that:
the application provides a spraying integration ship board spraying robot of polishing, it includes wall climbing robot and is located the locomotive of wall climbing robot below, wall climbing robot includes:
a wall-climbing chassis configured to be adsorbable and movable along a deck surface;
the displacement mechanism comprises a carrying platform and three-degree-of-freedom guide rails which are respectively connected with the carrying platform and the wall climbing chassis, wherein the three-degree-of-freedom guide rails are used for driving the carrying platform to move along the X direction, the Y direction and the Z direction, and the Z direction is the direction close to or far from the ship plate;
the polishing mechanism is connected to the carrying platform and comprises a laser radar for detecting the surface defects of the ship plate and a grinding wheel capable of rotating to polish the surface defects of the ship plate;
the spraying mechanism is connected to the carrying platform and comprises a spraying pipe extending along the Z direction, two spray guns arranged on two sides of the spraying pipe in parallel, a rotator used for driving the spraying pipe to rotate, a transfer pipe communicated with the spraying pipe and an electromagnetic valve used for communicating or cutting off the transfer pipe, wherein the spray guns are communicated with the spraying pipe;
the detection mechanism is connected to the carrying platform and comprises a film thickness measuring instrument for measuring the dry film thickness of the surface of the ship plate and a scanning electron microscope for analyzing whether the surface of the ship plate has defects;
the mobile vehicle comprises a movable frame, a conveying pump and a charging basket, wherein the conveying pump and the charging basket are arranged on the frame, and the conveying pump is connected with the charging basket and the transfer pipe through conveying hoses respectively.
In some alternative embodiments, the wall climbing chassis comprises a movable frame, four first Mecanum wheels respectively connected to two sides of two ends of the movable frame, and first motors respectively used for driving the first Mecanum wheels to rotate, wherein variable magnetic force magnetic adsorption devices used for adsorbing the surfaces of ship plates are respectively arranged below two ends of the movable frame, and the movable frame is respectively connected with two adsorption adjusting devices used for driving the variable magnetic force magnetic adsorption devices to move along the Z direction.
In some alternative embodiments, two sides of two ends of the movable frame are respectively connected with a buffer device, the buffer device comprises a support rod and a fixed rod which are connected with the movable frame, the fixed rod is connected with a buffer plate which is sleeved on the support rod in a sliding way, springs with two ends respectively propping against the movable frame and the buffer plate are sleeved on the support rod, and two adsorption adjusting devices at two ends of the movable frame are respectively connected with the buffer plates of two buffer devices at corresponding ends.
In some alternative embodiments, the three-degree-of-freedom guide rail comprises two X-direction guide rails which are arranged on the moving frame in parallel, a Y-direction guide rail with two ends respectively arranged on the two X-direction guide rails in a sliding way, a sliding block which is sleeved on the Y-direction guide rail in a sliding way, an X-direction driving device for driving the Y-direction guide rail to move along the X-direction guide rail, and a Y-direction driving device for driving the sliding block to move along the Y-direction guide rail, wherein the sliding block is connected with a Z-direction driving device for driving the carrying platform to move along the Z-direction; the sliding block is connected with two sliding grooves extending along the Z direction, and sliding blocks which are arranged in the two sliding grooves in a sliding manner are respectively arranged at two ends of the carrying platform.
In some alternative embodiments, at least one vacuum pump is provided on the side of the X-direction guide rail, and at least one filter in communication with the corresponding vacuum pump is provided on the bottom of the X-direction guide rail.
In some optional embodiments, the mobile vehicle is further connected with a comprehensive management platform, and the comprehensive management platform comprises an equipment management module, a man-machine interaction module and an information storage module;
the equipment management module comprises a main controller, a driving slave control module, an adsorption slave control module, a polishing and spraying slave control module, a moving vehicle slave control module and a sensor module, wherein the sensor module comprises a laser sensor for determining position information of the wall climbing robot and the moving vehicle, a pose sensor for determining displacement and direction of each movement point of the wall climbing robot, a stress sensor for determining the elastic force of a spring and the adsorption force provided by a variable magnetic force magnetic adsorption device, a proximity switch for providing distance information of a spray gun and a ship plate wall surface, and a piezoelectric sensor for judging the pressure of a grinding wheel to the ship plate wall surface;
the man-machine interaction module comprises a display screen for displaying the real-time pressure of the wall climbing robot on the wall surface of the ship plate, the real-time spring force of the spring, the real-time distance between the variable magnetic force magnetic adsorption device and the wall surface of the ship plate and the real-time total adsorption force.
In some alternative embodiments, the inspection mechanism further comprises an inspection camera for viewing the boat deck surface coating.
In some alternative embodiments, the wall-climbing chassis is further connected with a drying device for drying the ship board surface paint.
In some alternative embodiments, the two sides of the two ends of the frame are respectively connected with a second Mecanum wheel and a second motor for driving the second Mecanum wheels to rotate, and the frame is connected with at least one illuminating lamp and at least one image acquisition device.
The application also provides a ship plate spraying method, which is carried out by using the polishing and spraying integrated ship plate spraying robot and comprises the following steps of:
adsorbing a wall-climbing chassis of the wall-climbing robot on the surface of the ship plate and moving along the surface of the ship plate;
detecting whether defects exist in a preset area on the surface of the ship plate by using a laser radar connected with a carrying platform, polishing the defects by using a grinding wheel if the defects exist, controlling an electromagnetic valve to be communicated with a transfer pipe if the defects do not exist, conveying paint in a charging basket to the transfer pipe by using a conveying pump on a moving vehicle, spraying the preset area by using a spray gun, analyzing whether the thickness of the coating on the surface of the preset area exists or not by using a scanning electron microscope, polishing the defects by using the grinding wheel if the defects exist, and repeating the operation flow for the next preset area if the defects do not exist.
The beneficial effects of this application are: the polishing and spraying integrated ship plate spraying robot comprises a wall climbing robot and a moving vehicle positioned below the wall climbing robot, wherein the wall climbing robot comprises a wall climbing chassis capable of being adsorbed and moving along the surface of a ship plate, a carrying platform, a three-degree-of-freedom guide rail for driving the carrying platform to move along the X direction, the Y direction and the Z direction, a polishing mechanism, a spraying mechanism and a detection mechanism, wherein the polishing mechanism comprises a laser radar for detecting the surface defect of the ship plate and a grinding wheel capable of rotating to polish the surface defect of the ship plate; the spraying mechanism comprises a spraying pipe extending along the Z direction, two spray guns arranged on two sides of the spraying pipe in parallel, a rotator for driving the spraying pipe to rotate, a transfer pipe communicated with the spraying pipe and an electromagnetic valve for communicating or cutting off the transfer pipe, wherein the spray guns are communicated with the spraying pipe; the detection mechanism comprises a film thickness measuring instrument for measuring the dry film thickness of the surface of the ship plate and a scanning electron microscope for analyzing whether the surface of the ship plate has defects; the mobile vehicle comprises a movable frame, a conveying pump and a charging basket, wherein the conveying pump and the charging basket are arranged on the frame, and the conveying pump is connected with the charging basket and the transfer pipe through conveying hoses respectively. According to the polishing and spraying integrated ship plate spraying robot and the spraying method, the defects on the surface of the ship plate can be detected and polished before and after spraying, and the processing quality of the ship plate coating can be effectively improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a polishing and spraying integrated ship plate spraying robot provided in an embodiment of the present application when working on the outer wall of a ship plate;
fig. 2 is a schematic structural diagram of a wall climbing robot of a polishing and spraying integrated ship plate spraying robot according to an embodiment of the present application;
fig. 3 is a schematic diagram of a partial structure of a wall climbing robot of a polishing and spraying integrated ship plate spraying robot according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of connection among a displacement mechanism, a polishing mechanism, a spraying mechanism and a detection mechanism of a polishing and spraying integrated ship plate spraying robot provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of connection of an X-direction motor, a transmission gear and an X-direction rack in the polishing and spraying integrated boat plate spraying robot provided in the embodiment of the application.
Fig. 6 is a schematic structural diagram of connection between an X-directional guide rail and a vacuum pump, and a filter of the polishing and spraying integrated ship plate spraying robot provided in an embodiment of the present application;
fig. 7 is a schematic structural diagram of a connection between a carrying platform of a polishing and spraying integrated ship plate spraying robot and a polishing mechanism, a spraying mechanism and a detection mechanism according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of connection between a variable magnetic force magnetic adsorption device and an adsorption adjustment device of a polishing and spraying integrated ship plate spraying robot according to an embodiment of the present application;
fig. 9 is a schematic structural view of a first view angle of a mobile cart of a polishing and spraying integrated ship plate spraying robot according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a second view angle of a mobile cart of a polishing and spraying integrated ship plate spraying robot according to an embodiment of the present application, after omitting a conveying pump, a charging bucket and a conveying hose;
fig. 11 is a schematic diagram of a full flow of a ship plate spraying method according to an embodiment of the present application;
FIG. 12 is a schematic flow chart of a preparation before a ship plate spraying method according to an embodiment of the present application;
FIG. 13 is a schematic flow chart of a post-preparation work of the ship plate spraying method according to the embodiment of the present application;
fig. 14 is a schematic view of spatial position distribution of polishing, spraying and quality detecting operations of the ship plate spraying method according to the embodiment of the present application;
fig. 15 is a schematic flow chart of a flow painting operation of a polishing operation of the ship plate painting method according to the embodiment of the present application;
fig. 16 is a schematic flow chart of a quality detection operation of the ship plate spraying method according to the embodiment of the present application;
fig. 17 is a flowchart of a coating defect recognition algorithm of the ship plate spraying method according to the embodiment of the present application;
fig. 18 is a schematic diagram of information transmission of a ship plate spraying method according to an embodiment of the present application.
In the figure: 100. wall climbing robot; 110. a wall climbing chassis; 111. a moving rack; 112. a first Mecanum wheel; 113. a first motor; 114. a variable magnetic force magnetic adsorption device; 115. an adsorption adjustment device; 116. a support rod; 117. a fixed rod; 118. a buffer plate; 119. a spring; 120. a displacement mechanism; 121. a carrying platform; 122. an X-direction guide rail; 123. a Y-direction guide rail; 124. a slide block; 125. a chute; 126. a sliding block; 127. a vacuum pump; 128. a filter; 129. a drying device; 130. a polishing mechanism; 131. a laser radar; 132. grinding wheel; 133. polishing a motor; 140. a spraying mechanism; 141. a spray pipe; 142. a spray gun; 143. a rotator; 144. a transfer pipe; 145. an electromagnetic valve; 150. a detection mechanism; 151. a film thickness measuring instrument; 152. scanning electron microscope; 153. detecting a camera; 160. a connecting seat; 170. an X-direction motor; 171. a transmission gear; 172. an X-direction rack; 200. a moving vehicle; 210. a frame; 220. a transfer pump; 230. a charging barrel; 240. a conveying hose; 250. a second Mecanum wheel; 260. a second motor; 270. a lighting lamp; 280. an image acquisition device; 300. and (5) a ship board.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships that are conventionally put in use of the product of the application, are merely for convenience of description of the present application and simplification of description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
In this application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The features and performance of the sanding and spraying integrated boat deck spraying robot and boat deck spraying method of the present application are described in further detail below in connection with the examples.
As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8 and 9, the embodiment of the present application provides a polishing and spraying integrated ship board spraying robot, which includes a wall climbing robot 100 and a moving vehicle 200 located below the wall climbing robot 100, wherein the wall climbing robot 100 includes a wall climbing chassis 110 that can be adsorbed and move along the surface of a ship board 300, a displacement mechanism 120 connected to the wall climbing chassis 110, a polishing mechanism 130, a spraying mechanism 140 and a detection mechanism 150;
the wall climbing chassis 110 includes a moving frame 111, four first mecanum wheels 112 respectively connected to two sides of two ends of the moving frame 111, and four first motors 113 respectively used for driving the first mecanum wheels 112 to rotate, variable magnetic force magnetic adsorption devices 114 used for adsorbing the surface of the ship plate 300 are respectively arranged below two ends of the moving frame 111, two adsorption adjusting devices 115 used for driving the variable magnetic force magnetic adsorption devices 114 to move along the Z direction are respectively connected to two ends of the moving frame 111 through connecting seats 160, and the adsorption adjusting devices 115 are motor screw mechanisms in the embodiment.
The displacement mechanism 120 comprises a three-degree-of-freedom guide rail connected to the moving frame 111 and a carrying platform 121 connected with the three-degree-of-freedom guide rail, wherein the three-degree-of-freedom guide rail is used for driving the carrying platform 121 to move along an X direction, a Y direction and a Z direction, and the Z direction is a direction approaching to or away from the ship plate 300; the three-degree-of-freedom guide rail comprises two X-direction guide rails 122 which are arranged on the moving frame 111 in parallel, Y-direction guide rails 123 which are respectively arranged on the two X-direction guide rails 122 in a sliding manner at two ends, sliding blocks 124 which are arranged on the Y-direction guide rails 123 in a sliding manner in a sleeved manner, X-direction driving devices which are used for driving the Y-direction guide rails 123 to move along the X-direction guide rails 122, and Y-direction driving devices which are used for driving the sliding blocks 124 to move along the Y-direction guide rails 123, wherein the sliding blocks 124 are connected with Z-direction driving devices which are used for driving the carrying platform 121 to move along the Z direction, the sliding blocks 125 which extend along the Z direction are connected with the sliding blocks 124, sliding blocks 126 which are arranged in the two sliding manners 125 are respectively arranged at two ends of the carrying platform 121, eleven vacuum pumps 127 which are used for absorbing dust particles and paint mist particles in the air are arranged at the side parts of each X-direction guide rail 122, five filters 128 which are communicated with the corresponding vacuum pumps 127 are arranged at the bottom of each X-direction guide rail 122, and the vacuum pumps 127 are miniature vacuum pumps 128 are paint mist filters. In this embodiment, the X-direction driving device and the Y-direction driving device are both motor rack and pinion mechanisms, the Z-direction driving device is a motor screw mechanism, and the X-direction driving device is illustrated as an example and includes an X-direction motor 170, a transmission gear 171 connected to an output shaft of the X-direction motor 170, and an X-direction rack 172 connected to the X-direction rail 122, where the transmission gear 171 is meshed with the X-direction rack 172. The two sides of the two ends of the movable frame 111 are respectively connected with a buffer device, the buffer device comprises a support rod 116 and a fixed rod 117 which are connected with the movable frame 111, the fixed rod 117 is connected with a buffer plate 118 which is sleeved on the support rod 116 in a sliding way, the support rod 116 is sleeved with springs 119, the two ends of which respectively press the movable frame 111 and the buffer plate 118, and two connecting seats 160 at the two ends of the movable frame 111 are respectively connected with the buffer plates 118 of the two buffer devices at the corresponding ends; the two connection bases 160 and the carrying platform 121 are respectively connected with a drying device 129, and the drying device 129 is an illumination heating lamp.
The polishing mechanism 130 is connected to the carrying platform 121, the polishing mechanism 130 comprises a laser radar 131 for detecting surface defects of the ship plate 300, a grinding wheel 132 for polishing the surface defects of the ship plate 300 during rotation, and a polishing motor 133 for driving the grinding wheel 132 to rotate, wherein the grinding wheel 132 is a vertical kiloleaf grinding wheel;
the spraying mechanism 140 is connected to the carrying platform 121, the spraying mechanism 140 comprises a spraying pipe 141 extending along the Z direction, two spray guns 142 arranged on two sides of the spraying pipe 141 in parallel, a rotator 143 for driving the spraying pipe 141 to rotate, a transfer pipe 144 communicated with the spraying pipe 141 and an electromagnetic valve 145 for communicating or cutting off the transfer pipe 144, and the spray guns 142 are communicated with the spraying pipe 141;
the detection mechanism 150 is connected to the mounting platform 121, and includes a film thickness measuring instrument 151 for measuring a dry film thickness of the surface of the boat deck 300, a scanning electron microscope 152 for analyzing whether a defect exists on the surface of the boat deck 300, and a detection camera 153 for checking a coating on the surface of the boat deck 300, where the scanning electron microscope 152 is a tungsten filament scanning electron microscope. The laser radar 131, the grinding wheel 132, the detection camera 153 and the spraying pipe 141 are arranged at intervals along the length direction of the carrying platform 121, and the scanning electron microscope 152, the detection camera 153 and the film thickness measuring instrument 151 are arranged at intervals along the width direction of the carrying platform 121;
the mobile vehicle 200 comprises a movable frame 210, a conveying pump 220 and a charging basket 230 which are arranged on the frame 210, wherein the conveying pump 220 is respectively connected with the charging basket 230 and the transfer pipe 144 through conveying hoses 240, two sides of two ends of the frame 210 are respectively connected with second Mecanum wheels 250 and second motors 260 which are respectively used for driving the second Mecanum wheels 250 to rotate, the frame 210 is connected with eight illuminating lamps 270 and two image acquisition devices 280, the image acquisition devices 280 are cameras, and the mobile vehicle 200 is also provided with a comprehensive management platform.
The comprehensive management platform comprises an equipment management module, a man-machine interaction module and an information storage module;
the equipment management module comprises a main controller, a driving slave control module, an adsorption slave control module, a polishing spraying slave control module, a moving vehicle slave control module and a sensor module, wherein the sensor module comprises a laser sensor for determining position information of the wall climbing robot 100 and the moving vehicle 200, a pose sensor for determining displacement and direction of each movement point of the wall climbing robot 100, a stress sensor for determining elastic force of a spring 119 and adsorption force provided by a variable magnetic adsorption device 114, a proximity switch for providing distance information between a spray gun 142 and the wall surface of a ship plate 300, a zero position switch for judging the starting or stopping of a motor in an X-direction driving device, a Y-direction driving device and a Z-direction driving device, and a piezoelectric sensor for judging the pressure of a grinding wheel 132 of a polishing mechanism 130 on the wall surface of the ship plate 300, and the robot can realize automatic operation by controlling the above modules through the main controller;
as shown in fig. 11, the man-machine interaction module includes a real-time information plate and a spray visualization plate. The real-time information plate comprises an adsorption information plate, a driving information plate and a spraying information plate, wherein the adsorption information plate is a display screen capable of displaying the real-time pressure of the wall climbing robot 100 on the wall surface of the ship plate 300, the real-time spring force of the spring 119, the real-time distance between the variable magnetic force magnetic adsorption device 114 and the wall surface of the ship plate 300 and the real-time total adsorption force, the driving information plate is a display screen capable of displaying the real-time rotating speeds of the four first motors 113, and the spraying information plate is a display screen capable of displaying the spraying position, the real-time distance between the spray gun 142 and the wall surface of the ship plate 300 and the real-time image of spraying operation; the spraying visual plate is a display screen capable of displaying the motion path of the wall climbing robot 100 and the moving vehicle 200, the real-time path of a spraying execution tool and the predicted and displayed spraying effect;
the information storage board may display the stored information of the ongoing job and the stored information of the completed job.
The polishing and spraying integrated ship plate spraying robot provided by the embodiment of the application further comprises a laser sensor, a temperature sensor, a camera and an air humidity sensor which are arranged on the periphery of the ship plate 300, wherein the laser sensor, the temperature sensor, the camera and the air humidity sensor are respectively used for detecting the periphery obstacle, the distance, the temperature and the humidity of the ship plate 300, and the ship plate 300 in the embodiment is a ship outer plate.
As shown in fig. 12, 13, 14, 15, 16, 17 and 18, the present application further provides a ship plate spraying method, which is performed by using the above polishing and spraying integrated ship plate spraying robot, comprising the following steps:
performing preparation work, namely using laser sensors, temperature sensors, cameras and air humidity sensors which are arranged on the periphery of the ship plate 300 to detect obstacles, distance, temperature and humidity around the ship plate 300 respectively, removing the obstacles, preparing paint to be put into a charging bucket 230 on the mobile vehicle 200, controlling an electromagnetic valve 145 to cut off a transfer pipe 144, and starting a transfer pump 220 to transfer the paint in the charging bucket 230 to the transfer pipe 144 for standby through a transfer hose 240;
finding a preset point and a preset sprayed area which are lower in position and provided with straight walls and curvature and are used for setting equipment debugging at the outer wall of the ship plate 300, detecting whether each component part works normally or not in the working process, if not, preliminarily judging a problem part or structure according to data transmitted by each sensor of the robot, then manually checking and repairing, then retrying, and if so, importing a planned robot working path, and then enabling the robot to reach a preset initial position according to the planned path and preparing to start working;
the wall-climbing chassis 110 of the wall-climbing robot 100 is adsorbed to the surface of the ship plate 300 and moves along the surface of the ship plate 300; specifically, the moving frame 111 of the wall climbing chassis 110 is placed on the surface of the ship plate 300, the adsorption adjusting devices 115 at two ends of the moving frame 111 are controlled to respectively drive the two variable magnetic force magnetic adsorption devices 114 to move along the Z direction, so that the two variable magnetic force magnetic adsorption devices 114 move to be attached to the outer wall of the ship plate 300, the two variable magnetic force magnetic adsorption devices 114 are controlled to be adsorbed on the outer wall of the ship plate 300, and the first motors 113 connected with two sides of the two ends of the moving frame 111 are controlled to start to drive the four first mecanum wheels 112 to rotate so as to drive the wall climbing chassis 110 to move to a preset area along the outer wall of the ship plate 300;
when the wall climbing robot 100 is adsorbed on the surface of the ship plate 300 and moves to a preset area along the surface of the ship plate 300, the drying device 129 connected with the two connecting seats 160 and the carrying platform 121 on the wall climbing robot 100 is controlled to be started, the three-degree-of-freedom guide rail connected with the moving frame 111 is used for driving the carrying platform 121 to move along the X direction, the Y direction and the Z direction to adjust the relative positions of the polishing mechanism 130, the spraying mechanism 140 and the detecting mechanism 150 and the ship plate 300 so as to facilitate spraying, polishing and defect detection operation, specifically, the corresponding transmission gear 171 is driven to rotate by controlling the X-direction motor 170 of the X-direction driving device, so that the transmission gear 171 is driven to move along the meshed X-direction rack 172 to drive the Y-direction guide rail 123 to move along the two X-direction guide rails 122, meanwhile, the Y-direction driving device is used for driving the sliding block 124 to move along the Y-direction guide rail 123 to move along the Z direction, and the carrying platform 121 is adjusted to move along the X direction, the X-direction, Y direction and Z direction is used for adjusting the relative positions of the polishing mechanism 130, the spraying mechanism 140 and the detecting mechanism 150 and the ship plate 300 to proper positions, namely spraying, polishing, defect detection operation and defect detection operation can be carried out.
Controlling the wall climbing robot 100 to move along a preset area, detecting whether defects such as welding lines, rust, primer damage and the like exist in the preset area on the surface of the ship plate 300 by using a laser radar 131 connected with a carrying platform 121, controlling a polishing motor 133 to drive a grinding wheel 132 to rotate if the defects exist, enabling the grinding wheel 132 to polish and remove the defects on the surface of the ship plate 300 until no defects exist in the preset area are detected, controlling the wall climbing robot 100 to return to an initial position and move along the preset area again when the defects are detected to be absent, controlling an electromagnetic valve 145 to be communicated with a transfer pipe 144, conveying paint in a material barrel 230 to the transfer pipe 144 by using a conveying pump 220 on a movable vehicle 200, spraying the preset area by using a spray gun 142 until all the preset areas are completely sprayed, then controlling the wall climbing robot 100 to return to the initial position and move along the preset area again, analyzing whether the thickness of the coating on the surface of the preset area meets requirements by using a film thickness measuring instrument 151, polishing the grinding wheel 132 to reach the required thickness if the defects exist and carrying the required thickness are carried out again when the defects exist and the thickness is small, and controlling the wall climbing robot to move to the preset area until the required thickness is repeatedly performed by the preset area and the defect detection flow is detected if the defects do not exist;
when the wall climbing robot 100 moves to a preset area for spraying, polishing and defect detection, each second motor 260 of the mobile carriage 200 is controlled to drive the corresponding second Mecanum wheel 250 to rotate, so that the mobile carriage 200 moves along with the wall climbing robot 100, and the conveying pump 220 on the mobile carriage 200 is ensured to convey the paint in the paint bucket 230 to the transfer tube 144 through the conveying hose 240 for spraying through the spray gun 142.
The ship plate spraying method integrating polishing and spraying provided by the embodiment of the application further comprises a coating defect identification method: which comprises the following steps:
when the laser radar 131 connected with the carrying platform 121 is used for detecting whether weld, rust and primer damage defects exist in a preset area on the surface of the ship plate 300, defect classification is performed on existing ship plate 300 surface defect images, each defect image is divided into a training sample, a verification sample and a test sample, a neural network is used for training, verifying and testing each defect image of each type of defect until the required defect identification rate is met, and then the images acquired by the detection cameras 153 are identified by using the neural network.
According to the polishing and spraying integrated ship plate spraying robot and the ship plate spraying method, the wall climbing robot 100 and the moving vehicle 200 positioned below the wall climbing robot 100 are matched with each other, the wall climbing robot 100 can be used for adsorbing and moving along the surface of the ship plate 300, and then the polishing mechanism 130, the spraying mechanism 140 and the detecting mechanism 150 connected with the wall climbing robot 100 are used for defect detection, defect polishing removal and spraying operation on the ship plate 300, and the moving vehicle 200 is used for providing paint for the spraying mechanism 140, so that the processing quality of ship plate coatings is effectively improved.
The two sides of two ends of the moving frame 111 are respectively connected with a buffer device, the buffer device comprises a supporting rod 116 and a fixing rod 117 which are connected to the moving frame 111, the fixing rod 117 is connected with a buffer plate 118 which is sleeved on the supporting rod 116 in a sliding way, springs 119 with two ends respectively propping against the moving frame 111 and the buffer plate 118 are sleeved on the supporting rod 116, two connecting seats 160 at two ends of the moving frame 111 are respectively connected with the buffer plates 118 of two buffer devices at corresponding ends, when the wall climbing robot 100 moves to the curved surface of the ship plate 300, the wall climbing robot 100 is adsorbed and fixed on the curved surface by using the variable magnetic adsorption device 114, and the adsorption adjustment device 115 drives the variable magnetic adsorption device 114 to move along the Z direction, so that the adsorption adjustment device 115 drives the buffer plates 118 of the two buffer devices to move towards the direction close to the ship plate 300 and further compress the springs 119, and the moving frame 111 is pushed to move towards the surface of the ship plate 300 by the elasticity of the springs 119, so that the moving frame 111 can adapt to the curved surface of the ship plate 300, and the polishing mechanism 130, the spraying mechanism 140 and the detection mechanism 150 connected by the moving frame 111 can conveniently detect and remove defects of the ship plate 300. The two connecting seats 160 and the carrying platform 121 are respectively connected with a drying device 129, and the drying device 129 can ensure that the wall climbing robot 100 can normally operate under the condition of insufficient brightness for the illumination heating lamp and accelerate drying of the coating during spraying operation.
The spraying mechanism 140 comprises a spraying pipe 141 extending along the Z direction, two spraying guns 142 which are arranged on two sides of the spraying pipe 141 in parallel, a rotator 143 for driving the spraying pipe 141 to rotate, a transfer pipe 144 communicated with the spraying pipe 141 and an electromagnetic valve 145 for communicating or cutting off the transfer pipe 144, wherein the spraying guns 142 are communicated with the spraying pipe 141, the conveying pump 220 conveys the paint in the charging bucket 230 to the transfer pipe 144 through the conveying hose 240, the electromagnetic valve 145 is communicated with the spraying pipe 141, the paint enters the spraying pipe 141 through the transfer pipe 144 and is sprayed out through the spraying guns 142 on two sides of the spraying pipe 141, and the rotator 143 can be controlled to drive the spraying pipe 141 to rotate when required to adjust the spraying angles of the two spraying guns 142, so that the spraying mechanism 140 can conveniently spray the ship plate 300 with complex curvature from the head to the tail of the ship body.
When the ship plate 300 is subjected to paint spraying operation, the vacuum pump 127 arranged at the side part of the X-shaped guide rail 122 can be used for adsorbing dust particles and paint mist particles in the air, and the adsorbed particles are conveyed into the filter 128 arranged at the bottom of the X-shaped guide rail 122 for storage, so that the pollution to the environment caused by the spraying operation is reduced, and the wasted paint is recovered.
The frame 210 of the mobile cart 200 is connected with eight illumination lamps 270 and two image acquisition devices 280, so that illumination can be provided by using the illumination lamps 270, and images around the mobile cart 200 are acquired by using the image acquisition devices 280, so that an operator can conveniently control the mobile cart 200 to move along with the wall climbing robot 100.
The variable magnetic force magnetic attraction device 114 in the present embodiment is a prior art, and thus the structure is not described in detail; the structure of the Y-direction driving device in this embodiment is substantially the same as that of the X-direction driving device and the structure thereof, and the structure of the blocked Y-direction driving device is not described in detail on the premise of describing the X-direction driving device in detail; the motor screw mechanism in this embodiment is an existing motor screw nut structure, and thus the structure is not described in detail. In other alternative embodiments, linear driving mechanisms such as an electric push rod, an air cylinder, an oil cylinder, etc. may be used instead of the X-direction driving device, the Y-direction driving device, the Z-direction driving device, and the adsorption adjusting device 115.
The embodiments described above are some, but not all, of the embodiments of the present application. The detailed description of the embodiments of the present application is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Claims (10)
1. The utility model provides a spraying integration ship board spraying robot of polishing, its characterized in that includes wall climbing robot and is located wall climbing robot below's carriage, wall climbing robot includes:
a wall-climbing chassis configured to be adsorbable and movable along a deck surface;
the displacement mechanism comprises a carrying platform and three-degree-of-freedom guide rails which are respectively connected with the carrying platform and the wall climbing chassis, wherein the three-degree-of-freedom guide rails are used for driving the carrying platform to move along X direction, Y direction and Z direction, and the Z direction is the direction approaching to or far from the ship plate;
the polishing mechanism is connected to the carrying platform and comprises a laser radar for detecting the surface defects of the ship plate and a grinding wheel capable of rotating to polish the surface defects of the ship plate;
the spraying mechanism is connected to the carrying platform and comprises a spraying pipe extending along the Z direction, two spray guns arranged on two sides of the spraying pipe in parallel, a rotator used for driving the spraying pipe to rotate, a transfer pipe communicated with the spraying pipe and an electromagnetic valve used for communicating or cutting off the transfer pipe, wherein the spray guns are communicated with the spraying pipe;
the detection mechanism is connected to the carrying platform and comprises a film thickness measuring instrument for measuring the dry film thickness of the surface of the ship plate and a scanning electron microscope for analyzing whether the surface of the ship plate has defects;
the mobile vehicle comprises a movable frame, a conveying pump and a charging basket, wherein the conveying pump and the charging basket are arranged on the frame, and the conveying pump is connected with the charging basket and the transfer pipe through conveying hoses respectively.
2. The polishing and spraying integrated ship plate spraying robot according to claim 1, wherein the wall climbing chassis comprises a movable frame, four first Mecanum wheels respectively connected to two sides of two ends of the movable frame and a first motor respectively used for driving the first Mecanum wheels to rotate, variable magnetic force magnetic adsorption devices used for adsorbing the surface of the ship plate are respectively arranged below two ends of the movable frame, and the movable frame is respectively connected with two adsorption adjusting devices used for driving the variable magnetic force magnetic adsorption devices to move along the Z direction.
3. The polishing and spraying integrated ship plate spraying robot according to claim 2, wherein two sides of two ends of the movable frame are respectively connected with a buffer device, the buffer device comprises a support rod and a fixed rod which are connected with the movable frame, the fixed rod is connected with a buffer plate which is sleeved on the support rod in a sliding manner, springs with two ends respectively propping against the movable frame and the buffer plate are sleeved on the support rod, and two adsorption adjusting devices at two ends of the movable frame are respectively connected with the buffer plates of two buffer devices at corresponding ends.
4. The polishing and spraying integrated ship plate spraying robot according to claim 1, wherein the three-degree-of-freedom guide rail comprises two X-direction guide rails which are arranged on the moving frame in parallel, two Y-direction guide rails which are respectively arranged on the two X-direction guide rails in a sliding way, a sliding block which is arranged on the Y-direction guide rails in a sliding way in a sleeved way, an X-direction driving device for driving the Y-direction guide rails to move along the X-direction guide rails, and a Y-direction driving device for driving the sliding block to move along the Y-direction guide rails, wherein the sliding block is connected with a Z-direction driving device for driving the carrying platform to move along a Z-direction; the sliding block is connected with two sliding grooves extending along the Z direction, and sliding blocks which are arranged in the two sliding grooves in a sliding manner are respectively arranged at two ends of the carrying platform.
5. The polishing and spraying integrated boat deck spraying robot as recited in claim 4, wherein at least one vacuum pump is provided on a side portion of said X-direction guide rail, and at least one filter communicating with a corresponding said vacuum pump is provided on a bottom portion of said X-direction guide rail.
6. The polishing and spraying integrated ship plate spraying robot according to claim 3, wherein the mobile vehicle is further connected with a comprehensive management platform, and the comprehensive management platform comprises an equipment management module, a man-machine interaction module and an information storage module;
the equipment management module comprises a main controller, a driving slave control module, an adsorption slave control module, a polishing and spraying slave control module, a moving vehicle slave control module and a sensor module, wherein the sensor module comprises a laser sensor for determining position information of the wall climbing robot and the moving vehicle, a pose sensor for determining displacement and direction of each movement point of the wall climbing robot, a stress sensor for determining the elastic force of the spring and the adsorption force provided by the variable magnetic force magnetic adsorption device, a proximity switch for providing distance information of the spray gun and the wall surface of the ship plate, and a piezoelectric sensor for judging the pressure of the grinding wheel on the wall surface of the ship plate;
the man-machine interaction module comprises a display screen for displaying the real-time pressure of the wall climbing robot to the ship plate wall surface, the real-time spring force of the spring, the real-time distance between the variable magnetic force magnetic adsorption device and the ship plate wall surface and the real-time total adsorption force.
7. The integrated sanding and painting robot of claim 1, wherein the inspection mechanism further includes an inspection camera for viewing the surface coating of the boat deck.
8. The polishing and spraying integrated boat deck spraying robot as recited in claim 1, wherein said wall climbing chassis is further connected with a drying device for drying said boat deck surface coating.
9. The polishing and spraying integrated ship plate spraying robot according to claim 1, wherein two sides of two ends of the frame are respectively connected with a second Mecanum wheel and a second motor for driving the second Mecanum wheels to rotate, and the frame is connected with at least one illuminating lamp and at least one image acquisition device.
10. A ship board spray method using the polishing and spray integrated ship board spray robot as claimed in claim 1, comprising the steps of:
adsorbing a wall-climbing chassis of a wall-climbing robot on the surface of a ship plate and moving along the surface of the ship plate;
detecting whether defects exist in a preset area on the surface of the ship plate by using a laser radar connected with the carrying platform, if the defects exist, polishing the defects by using a grinding wheel, if the defects do not exist, controlling the electromagnetic valve to be communicated with the transfer pipe, conveying the paint in the charging basket to the transfer pipe by using a conveying pump on the moving vehicle, spraying the preset area by using a spray gun, analyzing whether the thickness of the surface coating of the preset area exists or not by using a scanning electron microscope, if the defects exist, polishing the defects by using the grinding wheel, and if the defects do not exist, repeating the operation flow for the next preset area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310277126.2A CN116460708A (en) | 2023-03-17 | 2023-03-17 | Polishing and spraying integrated ship plate spraying robot and ship plate spraying method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310277126.2A CN116460708A (en) | 2023-03-17 | 2023-03-17 | Polishing and spraying integrated ship plate spraying robot and ship plate spraying method |
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| Publication Number | Publication Date |
|---|---|
| CN116460708A true CN116460708A (en) | 2023-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310277126.2A Pending CN116460708A (en) | 2023-03-17 | 2023-03-17 | Polishing and spraying integrated ship plate spraying robot and ship plate spraying method |
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| Country | Link |
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| CN (1) | CN116460708A (en) |
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2023
- 2023-03-17 CN CN202310277126.2A patent/CN116460708A/en active Pending
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