CN206733016U - A kind of robot for marine surface patching coating - Google Patents
A kind of robot for marine surface patching coating Download PDFInfo
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- CN206733016U CN206733016U CN201621395726.0U CN201621395726U CN206733016U CN 206733016 U CN206733016 U CN 206733016U CN 201621395726 U CN201621395726 U CN 201621395726U CN 206733016 U CN206733016 U CN 206733016U
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Abstract
A kind of robot for marine surface patching coating of the utility model, is related to robotic technology field.Run using the track of magnetic gap formula permanent magnetic suck as major way, including X-axis module, Y-axis module and camera support, main body and control system are formed.Hull surface is adsorbed in, there are more than 2 frees degree relative to surface in ship surface general work.Voluntarily detection record crator size positions shape.Voluntarily detect spraying area.Ensure that the overlapping region of adjacent figure layer reaches spraying coating process demand.System operational security is reliable, has explosion-proof, antistatic, anti electromagnet interference function；Corrosion with resistance to incendiary agent and oxidant etc.；With the measure for preventing machinery, electric misoperation.In abnormal cases, manual intervention is permitted.The hull surface solved the problems, such as at up to more than ten meters moves freely.Robot architecture is compact, easy for installation.WIFI communication coverage is remote between upper and lower computer, and data packetloss rate is low, substantially increases the precision of robot work.
Description
Technical field
Robotic technology field is the utility model is related to, refers specifically to a kind of robot for marine surface patching coating.
Background technology
The manufacture of large ship is all that segmentation is carried out, and building berth progress is transported after the completion of dock builds various pieces
Docking, joint can be welded during docking.Welding is first to be carried out on the inside of hull, can be first by multistage when inner side is welded
Angle steel is welded on joint in a manner of vertical with weld, and shell is fixed, and so ensuring that will not when inner side is welded
Because welding impact causes shell bias effect welding effect.After the completion of the welding of inner side, multistage angle steel is cut with cutting machine, then
Cut place and weld seam are polished into polishing with angle grinder, finally fill paint in cut place and commissure.
With the development of robot technology, many dangerous work can be completed by robot instead of the mankind, explore profit
It is a research very with realistic meaning to be automatically performed the work of hull touch-up paint with robot.The machine of existing welding polishing class
Most of device people is all based on the mechanical arms such as abb, kuka, is adapted to the less article of polishing, can not be at up to more than ten meters even
Tens meters of hull surface carries out large-scale operation.
Utility model content
The purpose of this utility model is to overcome the existing missing of prior art and deficiency, there is provided one kind is used for marine surface
The robot of patching coating.
A kind of robot for marine surface patching coating, its feature is using the track of magnetic gap formula permanent magnetic suck as mainly
Mode is run, including X-axis module, Y-axis module and camera support, and main body and control system are formed.Wherein,
The Y-axis module, by Y-axis guide rail 21, Y-axis drive component 22, positive and negative travel switch 23 and travel switch block 24
Composition.
The X-axis module, it is made up of timing belt guide rail 31, cable protection chain 32, workbench 33 and travel switch 34.
The camera support, identify that camera 41, aluminium section bar support 42, process monitoring camera 43 and device are pacified by holiday
Loading board 44 is formed.
The main body by the guide rail of vertical direction and the belt pulley of horizontal direction, in a vertical two dimensional surface from
By moving.
The control system is sent control instruction to slave computer, slave computer and passed through by the human-computer interaction interface of host computer
Motion controller conversion and control instructs, and control machine people carries out the collection of image, the splicing of image, picked up at profile boundary image
Reason, according to processing acquired results, defect position is analyzed, then robot successively polishes marine surface automatically, crisperding
Paint a series of repairing measures.
By wifi communication links between the upper and lower computer of the robot, pass through between slave computer and motion controller
Pci bus couples.
The robot can realize following functions：
(1) carrier can be adsorbed in hull surface, have more than 2 freely relative to surface in ship surface general work
Degree, including parallel with surface 2 one-movement-freedom-degrees.
(2) detection zone is set according to physical condition automatically, establishes area coordinate, coordinate mapping is carried out with physical location.
(3) voluntarily detection record crator size positions shape, control system according to testing result design planning operating path,
Control instrument works along path and eliminates crator, possesses the ability of process monitoring.
(4) spraying area is voluntarily detected, control system controls instrument along road according to testing result design planning operating path
Footpath work is completed limes marginis and sprayed with region, possesses the ability of process monitoring.
(5) ensure that the overlapping region of adjacent figure layer reaches spraying coating process demand, the spray coating operations of moving area will not be stayed
Lower blank.
(6) safety and reliability：System operational security is reliable, has the functions such as explosion-proof, antistatic, anti-electromagnetic interference；
Machinery, electric operation process should have the measure for preventing maloperation；Control software should meet that engineering requires, having prevents program
It is absorbed in endless loop or runs winged measure；In abnormal cases, manual intervention is permitted；Anti-corrosion performance：It is resistant to incendiary agent and oxidant
Corrosion.
In summary, a kind of robot for marine surface patching coating of the utility model, inhaled based on guide tracked magnetic gap
Attached robot, the hull surface solved the problems, such as at up to more than ten meters move freely.Robot body structure is compact, handling
It is convenient.WIFI communication coverage is remote between upper and lower computer, and data packetloss rate is low, substantially increases the precision of robot work.
Brief description of the drawings
Fig. 1 is the utility model robot general structure schematic diagram；
Fig. 2 is the utility model Y-axis modular structure schematic diagram；
Fig. 3 is the utility model X-axis modular structure schematic diagram；
Fig. 4 is the utility model camera support structural representation；
Fig. 5 is that the utility model control system connects block diagram；
Fig. 6 is the utility model mounting robot FB(flow block).
Embodiment
The utility model is further described below in conjunction with drawings and examples
A kind of robot (as shown in Figure 1) for marine surface patching coating, with the track of magnetic gap formula permanent magnetic suck
As the main method of operation, including X-axis module, Y-axis module and camera support, main body and control system are formed.
Wherein, the Y-axis module is by Y-axis guide rail 21, Y-axis drive component 22, positive and negative travel switch 23 and travel switch gear
Block 24 forms.
The X-axis module is made up of timing belt guide rail 31, cable protection chain 32, workbench 33 and travel switch 34.
The camera support identifies that camera 41, aluminium section bar support 42, process monitoring camera 43 and device are pacified by holiday
Loading board 44 forms.
Further, the Y-axis modular structure
The structure (as shown in Figure 2) of Y-axis module, timing belt guide rail 21, Y-axis drive component 22, positive and negative travel switch 23,
Travel switch block 24.
The Y-axis guide rail 21 by the controllable magnet sucking disc absorption of magnetic in hull surface, when the switch on magnet sucking disc
When being placed in ON, magnet sucking disc is magnetic；, now can be by guide rail from ship conversely, switch, when being placed in OFF, magnet sucking disc does not have magnetic
Body surface is unloaded down on face, and such design make it that the handling of guide rail are more convenient.
Y-axis drive component 22 is mainly by servomotor, driver, planetary reduction gear, fixed connecting base, mode-gear, twin shaft
Heart sliding block and gear elastic tension mechanism composition.Servomotor connects planetary reduction gear, and the end of decelerator is provided with mode-gear,
Gear engages under the auxiliary of fixed connecting base and Double-axis slide block with the mould rack of guide rail surface, and the size of engagement force passes through tooth
It is adjustable to take turns elastic tension mechanism.
Robot sets two root architecture same rails of left and right, ensures that two gears in left and right can be synchronous by motion controller
Operation, the up and down motion of such robot in the vertical direction can be just achieved by rack pinion.In guide rail most
Upper end is respectively provided with travel switch block with bottom, when the travel switch in robot touches block, will open automatically
Spacing alarm is opened, allows the robot to brake hard, this design can greatly improve robot security in use.
The structure (as shown in Figure 3) of the X-axis module, by timing belt guide rail 31, cable protection chain 32, workbench
33, travel switch 34 is formed.
Timing belt guide rail 31 is by optical axis and axle neck, mobile platform, servomotor, reductor, driving shaft, V-shape belt and
Driven shaft forms.
Wherein, servomotor is arranged on the left end of X-axis, and servomotor connects a reductor, the end connection of reductor
Belt pulley, the installation of V-shape belt is parallel with X-axis, and mobile platform is fixed with V-shape belt.
The end connection belt pulley of reductor, the installation of V-shape belt is parallel with X-axis, is fixed with V-shape belt mobile flat
Platform, so, when motor starts to rotate, belt pulley also begins to rotate, by belt wheel transmission, the mobile flat rubber belting being fixed on belt
With regard to moving left and right in horizontal direction can be made.
The workbench 33 is mainly double by gun stand, automatic spray gun, electro spindle, angle fixed plate, angle adjustment plate
Coating when axle center sliding block, mobile platform, twin shaft cylinder and Double-axis guide rail and the coating for being easy to precipitate using metallicity can follow
Ring structure forms.
Wherein, electro spindle adjusts rotating speed by frequency converter, passes through electric drill corner grinding machine selector bar connection polishing, polishing
Corresponding external member；Polishing welding seams crator by cubic boron nitride abrasive wheel, try to get to the heart of a matter the sticking self-adhesion in face by polishing, paint plucking use
Disk, scab paper.
Further, the angle of electro spindle is adjusted by angle adjustment plate, and angle adjustment plate is provided with angle retaining mechanism；
Twin shaft cylinder control electro spindle extends and retracts；Electric Proportion valve adjusts the admission pressure of twin shaft cylinder；By motion controller
The aperture of the analog signalses regulation proportioning valve of output.
The automatic spray gun uses center air and angle air each independent control, long-range to change spraying swath size.
Workbench 33 is mainly by gun stand, automatic spray gun, electro spindle, angle fixed plate, angle adjustment plate, Double-axis
Sliding block, mobile platform, twin shaft cylinder and Double-axis guide rail composition.Electro spindle can use frequency converter regulation rotating speed, use now
Electric drill corner grinding machine selector bar connection polishing, the corresponding external member of polishing.Polishing welding seams crator uses cubic boron nitride abrasive wheel, throws
Light, paint plucking are used and sticked to the pan (face toughness of trying to get to the heart of a matter, can be with scab paper) certainly.The angle of electro spindle can pass through angle adjustment plate
Regulation, is locked after having adjusted in angle fixed plate.Extending and retracting for electro spindle is completed by twin shaft cylinder, twin shaft cylinder
Pressure of admission pressure when also cylinder being stretched out adjusted by an electric Proportion valve, and the aperture of proportioning valve is by motion control
The analog signalses regulation of device output, it is achieved thereby that polishing pressure regulation.Automatic spray gun feature is to use center air and angle
The respective independent control of air, can remotely change spraying swath size.When being easy to the coating of precipitation using metallic paints etc., using coating
Recyclable structure.
Due to thering is many electric wires, tracheae to make high-speed motion with the motion of workbench on workbench 33, so
A cable protection chain 32 is devised to lay those electric wires, to prevent unnecessary interference occurs when platform moves.Equally, X
Axle both ends are provided with travel switch block, and when platform moves to extreme position, the travel switch at platform both ends will be sprayed onto
Block, alarm signal of setting out, make X-axis stop motion, so can both protect the personal safety of operator, machine can also be protected
The safety of device people in itself.
The structure of camera support
The structure (as shown in Figure 4) of the camera support, camera 41, aluminium section bar support 42, process are identified by holiday
Monitoring camera 43, device mounting board 44 are formed.
The holiday identification camera 41 for being used to shoot hull surface photo, at the top of aluminium section bar support 42,
The process monitoring camera 43 for being clearly captured the overall process of robot manipulating task is arranged on the bottom of aluminium section bar support 42.
Holiday identification camera 41 is used for the photo for shooting hull surface, and the installation site of camera is in Y direction and Z axis
All it is adjustable on direction, can so avoids trouble caused by the interference and focusing of workbench.
Process monitoring camera 43 can be clearly captured the process of robot manipulating task, the worker of operation robot is stood
Ground can grasps the working condition of more than ten meters high of opening position robot, to make manual intervention in time.
The device mounting board 44 on the both sides of aluminium section bar support 42 is mainly used to install slave computer, motion controller, motor driving
The devices such as device, air switch, frequency converter.Such design can avoid tediously long electric wire, and caused by long-distance transmissions
Data degradation, improve the operating accuracy of robot.
Robot control system
The robot control system is determined that robot body needs to do the up and down motion on vertical direction by structure design
With the side-to-side movement in horizontal direction, while also camera is controlled to shoot, the spray painting of grinder buffing and spray gun.
Further, the motion controller is because of control camera, emery wheel, spray gun and motor output equipment, travel switch one
The mode of a little external signals is different, and slave computer can not realize the conversion and control of multiple control modes conversion；
Motion controller is expanded plate by controller body and I/O and formed, respectively the driver with controlled motor, switch, defeated
Go out equipment and the connection of some external signals, motion controller body are connected with slave computer by pci bus；
The host computer is the personal PC for man-machine interaction；
The slave computer is the industrial computer for being mainly used in the various mechanisms that robot function is realized in control.
The robot control system architecture (as shown in Figure 5), wherein industrial computer handle non-real time portions, in real time
Control section is undertaken by motion controller, and system has the programmability for inserting motion controller, can realize to being
The part customization for core of uniting.The robot control system that so framework comes out both had had the flexibility of industrial computer, had again special
With the stability and reliability of robot controller.Using industrial computer resource fully, friendly interface, programming it is easy, and
The features such as real-time of motion controller is good, reliability is high, computing capability is strong, it is easy to accomplish to the quick real-time stabilization control of robot
System.
Further, mounting robot workflow (as shown in Figure 6)：
1) space cleared up near hull surface, guide rail is laid, pays attention to ensuring the depth of parallelism between two guide rails.
2) robot is arranged on guide rail, starts robot, necessary setting and initialization are carried out to robot.
3) the polishing stage completely is entered.Width, height and the initial buff position of polishing are set, start milling tools, machine
Device people automatically begins to polish, and until the rectangle polishing region that pre-sets of having polished, manually unloads robot from guide rail.
4) manual zoning polishes the stage.2) worker's further layering polishing on the basis of previous step is completely ground, is repeated.
5) image acquisition phase is entered.System starts automatic running：Start camera, shoot piece image, be sent to and be used for
In the host computer of image procossing, Robot guide rail runs up a unit, stop motion, shoots again and sends image,
And so on, until having shot the image in all application regions to be repaired, camera, robot auto-returned guide rail initial bit are closed
At the zero position switch put, all images received of host computer automatic Mosaic in the process.
6) the application contour detecting stage is entered.In contour detecting algorithm parameter automatic detection image of the software according to acquiescence
Profile.
7) the spraying path planning stage is entered.Software according to the path planning parameter of the profile point that finally gives and acquiescence from
The dynamic spraying of planning in the picture path.
8) the application repairing stage is entered.Software is automatically performed the row of each motor according to the spraying path planned in image
The planning of journey, speed and acceleration, and drive Spray painting tool to spray application region to be repaired.
In summary, it is described in the utility model a kind of to carry out coating detection and repairing automatically on large ship surface
Specialized robot, body construction is compact, easy to loading and unloading.WIFI communication coverage is remote between upper and lower computer, and data packetloss rate is low,
Substantially increase the precision of robot work.Integrate hull surface painting defect Intelligent Measurement, the machine that intelligence is repaired
It people, can make to be liberated in the worker of operation under high-risk environment originally, great help is provided for the industrial upgrading of shipbuilding industry.
Claims (7)
- A kind of 1. robot for marine surface patching coating, it is characterised in that using the track of magnetic gap formula permanent magnetic suck as Major way is run, including X-axis module, Y-axis module and camera support, main body and control system composition；Wherein,The Y-axis module, by Y-axis guide rail (21), Y-axis drive component (22), positive and negative travel switch (23) and travel switch block (24) form；The X-axis module, by timing belt guide rail (31), cable protection chain (32), workbench (33) and travel switch (34) group Into；The camera support, camera (41), aluminium section bar support (42), process monitoring camera (43) and device are identified by holiday Installing plate (44) is formed.
- 2. a kind of robot for marine surface patching coating as claimed in claim 1, it is characterised in that the main body is led to The guide rail of vertical direction and the belt pulley of horizontal direction are crossed, the free movement in a vertical two dimensional surface.
- A kind of 3. robot for marine surface patching coating as claimed in claim 1, it is characterised in that the control system System sends control instruction to slave computer, slave computer and passes through motion controller conversion and control by the human-computer interaction interface of host computer Instruction, control machine people carry out the collection of image, the splicing of image, the boundary image processing of pickup profile, tied according to processing gained Fruit, defect position is analyzed, then robot successively polishes marine surface automatically, and a series of repairings of crisperding spray painting are arranged Apply；It is total by PCI between slave computer and motion controller by wifi communication links between the upper and lower computer of the robot Line couples.
- 4. a kind of robot for marine surface patching coating as claimed in claim 1, it is characterised in that the Y-axis is led Rail (21) is by the controllable magnet sucking disc absorption of magnetic in hull surface, when the switch on magnet sucking disc is placed in ON, magnet suction Disk is magnetic；Conversely, when switch is placed in OFF, magnet sucking disc does not have magnetic；The Y-axis drive component (22) is mainly double by servomotor, driver, planetary reduction gear, fixed connecting base, mode-gear Axle center sliding block and gear elastic tension mechanism composition；Wherein, servomotor connection planetary reduction gear, the end of decelerator are provided with mode-gear, and gear is in fixed connecting base and double Engaged under the auxiliary of axle center sliding block with the mould rack of guide rail surface, pass through the size of the adjustable engagement force of gear elastic tension mechanism.
- A kind of 5. robot for marine surface patching coating as claimed in claim 1, it is characterised in that the timing belt Guide rail (31) is made up of optical axis and axle neck, mobile platform, servomotor, reductor, driving shaft, V-shape belt and driven shaft；Wherein, servomotor is arranged on the left end of X-axis, and servomotor connects a reductor, the end connection belt of reductor Wheel, the installation of V-shape belt is parallel with X-axis, and mobile platform is fixed with V-shape belt；The workbench (33) is mainly by gun stand, automatic spray gun, electro spindle, angle fixed plate, angle adjustment plate, twin shaft Coating when heart sliding block, mobile platform, twin shaft cylinder and Double-axis guide rail and the coating for being easy to precipitate using metallicity is recycled Structure composition；The electro spindle by frequency converter adjust rotating speed, by electric drill corner grinding machine selector bar connection polishing, polishing it is corresponding External member；By cubic boron nitride abrasive wheel, polishing, paint plucking use are tried to get to the heart of a matter, and face is sticking to be sticked to the pan polishing welding seams crator certainly, is glued Sand paper；Wherein, the angle of electro spindle is adjusted by angle adjustment plate, and angle adjustment plate is provided with angle retaining mechanism；Twin shaft gas Cylinder control electro spindle extends and retracts；Electric Proportion valve adjusts the admission pressure of twin shaft cylinder；By motion controller output Analog signalses adjust the aperture of proportioning valve；The automatic spray gun uses center air and angle air each independent control, long-range to change spraying swath size.
- 6. a kind of robot for marine surface patching coating as claimed in claim 1, it is characterised in that described to be used to clap The holiday identification camera (41) of hull surface photo is taken the photograph, at the top of aluminium section bar support (42), is clearly captured machine The process monitoring camera (43) of the overall process of device people's operation is arranged on aluminium section bar support (42) bottom；Aluminium section bar support (42) both sides are provided with for installing slave computer, motion controller, motor driver, air switch, are become The device mounting board (44) of frequency device device.
- A kind of 7. robot for marine surface patching coating as claimed in claim 3, it is characterised in that the motion control Device processed be because the mode of control camera, emery wheel, spray gun and motor output equipment, travel switch some external signals is different, Slave computer can not realize the conversion and control of multiple control modes conversion；Motion controller is expanded plate with I/O by controller body and formed, and the driver, switch, output with controlled motor are set respectively The connection of standby and some external signals, motion controller body are connected with slave computer by pci bus；The host computer is the personal PC for man-machine interaction；The slave computer is the industrial computer for being mainly used in the various mechanisms that robot function is realized in control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621395726.0U CN206733016U (en) | 2016-12-19 | 2016-12-19 | A kind of robot for marine surface patching coating |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621395726.0U CN206733016U (en) | 2016-12-19 | 2016-12-19 | A kind of robot for marine surface patching coating |
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| CN206733016U true CN206733016U (en) | 2017-12-12 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544086A (en) * | 2018-04-02 | 2018-09-18 | 方鲁华 | A kind of hull surface welding robot |
| CN109262599A (en) * | 2018-11-15 | 2019-01-25 | 湖北工业大学 | A kind of integrated form single armed multiaxis touch-up paint robot |
| CN109550650A (en) * | 2018-11-26 | 2019-04-02 | 深圳徕科技术有限公司 | A kind of piezoelectric ceramics injection valve tele-control system |
| CN109807750A (en) * | 2019-03-22 | 2019-05-28 | 燕山大学 | The automatic grinding wheel arrangement for grinding of slab based on defect recognition system |
| CN110152918A (en) * | 2019-06-21 | 2019-08-23 | 江苏科技大学 | Composite adsorption mode climbing robot for ship plank spraying |
| CN111013882A (en) * | 2018-10-09 | 2020-04-17 | 上海交通大学 | Automatic truss type spraying system for ship body segmentation |
| WO2020082156A1 (en) * | 2018-10-26 | 2020-04-30 | Sullivan Joel | Welding robot for repairing a surface defect in a press platen surface while placed in a press at operating temperature |
| CN111438581A (en) * | 2020-04-03 | 2020-07-24 | 潘苗妃 | Chemical oil and gas pipeline laying butt joint processing method |
| CN111438585A (en) * | 2020-04-03 | 2020-07-24 | 潘苗妃 | Chemical oil gas pipeline laying butt joint processing robot |
| CN112924462A (en) * | 2021-01-25 | 2021-06-08 | 上海工程技术大学 | Reflective surface defect detection device and control method |
| CN114700201A (en) * | 2022-03-22 | 2022-07-05 | 佛山市科莱机器人有限公司 | Yacht robot spraying device |
| CN114735162A (en) * | 2022-04-13 | 2022-07-12 | 滨州学院 | Automatic ship bottom surface repairing method |
| CN115007366A (en) * | 2022-06-27 | 2022-09-06 | 上海外高桥造船有限公司 | Spray coating device |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544086A (en) * | 2018-04-02 | 2018-09-18 | 方鲁华 | A kind of hull surface welding robot |
| CN111013882A (en) * | 2018-10-09 | 2020-04-17 | 上海交通大学 | Automatic truss type spraying system for ship body segmentation |
| CN111013882B (en) * | 2018-10-09 | 2022-04-05 | 上海交通大学 | Automatic truss type spraying system for ship body segmentation |
| WO2020082156A1 (en) * | 2018-10-26 | 2020-04-30 | Sullivan Joel | Welding robot for repairing a surface defect in a press platen surface while placed in a press at operating temperature |
| CN109262599B (en) * | 2018-11-15 | 2022-01-14 | 武汉唯车惠科技有限公司 | Integrated single-arm multi-shaft paint repair robot |
| CN109262599A (en) * | 2018-11-15 | 2019-01-25 | 湖北工业大学 | A kind of integrated form single armed multiaxis touch-up paint robot |
| CN109550650A (en) * | 2018-11-26 | 2019-04-02 | 深圳徕科技术有限公司 | A kind of piezoelectric ceramics injection valve tele-control system |
| CN109807750A (en) * | 2019-03-22 | 2019-05-28 | 燕山大学 | The automatic grinding wheel arrangement for grinding of slab based on defect recognition system |
| CN109807750B (en) * | 2019-03-22 | 2020-04-21 | 燕山大学 | Automatic grinding wheel grinding device for plate blank based on defect recognition system |
| CN110152918A (en) * | 2019-06-21 | 2019-08-23 | 江苏科技大学 | Composite adsorption mode climbing robot for ship plank spraying |
| CN111438585B (en) * | 2020-04-03 | 2021-08-13 | 智慧工场创新科技(东台)有限公司 | Chemical oil gas pipeline laying butt joint processing robot |
| CN111438585A (en) * | 2020-04-03 | 2020-07-24 | 潘苗妃 | Chemical oil gas pipeline laying butt joint processing robot |
| CN111438581A (en) * | 2020-04-03 | 2020-07-24 | 潘苗妃 | Chemical oil and gas pipeline laying butt joint processing method |
| CN112924462A (en) * | 2021-01-25 | 2021-06-08 | 上海工程技术大学 | Reflective surface defect detection device and control method |
| CN114700201A (en) * | 2022-03-22 | 2022-07-05 | 佛山市科莱机器人有限公司 | Yacht robot spraying device |
| CN114735162A (en) * | 2022-04-13 | 2022-07-12 | 滨州学院 | Automatic ship bottom surface repairing method |
| CN114735162B (en) * | 2022-04-13 | 2023-07-25 | 滨州学院 | Automatic repairing method for bottom surface of ship |
| CN115007366A (en) * | 2022-06-27 | 2022-09-06 | 上海外高桥造船有限公司 | Spray coating device |
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