CN206982464U - One kind is used for body section shot peening intelligent robot integrated system - Google Patents
One kind is used for body section shot peening intelligent robot integrated system Download PDFInfo
- Publication number
- CN206982464U CN206982464U CN201720904666.9U CN201720904666U CN206982464U CN 206982464 U CN206982464 U CN 206982464U CN 201720904666 U CN201720904666 U CN 201720904666U CN 206982464 U CN206982464 U CN 206982464U
- Authority
- CN
- China
- Prior art keywords
- shot peening
- body section
- shot
- robot
- integrated system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of body section shot peening intelligent robot integrated system,Using body section shot peening intelligent Robotic Car motion path XYZ coordinate information and motion path platform frock,Utilize the computer general control system or computer control system of the unmanned body section Painting Shop system of intelligent robot,According to body section shot peening intelligent Robotic Car motion path XYZ coordinate and body section shot peening technique and standard,Control body section shot peening intelligent Robotic Car,Being moved in motion path platform frock needs position of derusting,Body section shot peening is completed by vision system control machinery hands movement again,Solves current shipbuilding,Ocean engineering,Bridge steel structure,Steel building,The problem of application of the heavy-duty machinery manufacturing such as chemical machinery and hoisting machinery is rarely employed or can not apply shot peening machine people.
Description
Technical field
The present invention relates to mechanical manufacturing field, is used for body section shot peening intelligence machine more particularly, to one kind
People's integrated system.
Background technology
Ship and marine engineering equipment manufacture, it is exactly to need to its body section and extra large work mould to have a critically important process
Block carries out etch-proof painting work.Same steel structure bridge, steel building, large-size chemical machinery and large scale hoisting machinery etc.
Heavy-duty machinery manufacture is also required to carry out etch-proof painting work.Painting work mainly sprays shot derusting and spray antifouling paint.
At present, the painting work in Painting Shop mainly carries out spraying shot derusting and spray antiseptic oil by manual operation
Paint.Due to producing substantial amounts of harmful dust when spraying shot derusting, and the coating cloud being pernicious to people can be also produced in spray paint
With organic solvent smell, so painter, which wants whole body to wear, labour protection clothes and puts on abundant protective mask.Therefore exist
Worked under this arduous and rugged environment, be ready that the people for doing this painter is fewer and fewer.
In addition, because the robot of shot peening typically now relies primarily on teaching programming, most of is using solid
Determine manipulator and using frock clamp, deflection machine etc., apply on the product manufacturing produced in enormous quantities in few kind, so hardware adds
The industry such as the light industry household electrical appliances of the primary structural components such as work, motorcycle, automobile processing and automobile making uses more.Due to ship and ocean work
Journey equipment manufacture industry, and the heavy-duty machinery such as steel structure bridge, steel building, large-size chemical machinery and large scale hoisting machinery
Manufacturing is all small lot multi items, and one is that product design is complicated, and it is curved that outer surface has plenty of irregular complexity
Curved surface, internal structure have plenty of semiclosed or totally enclosed cabin spaces labyrinth；Second, product structure appearance and size is big, weight
Amount weight.So make the application of robot seldom.
Further, since body section and extra large work inside modules structure have plenty of semiclosed or totally enclosed cabin spaces complexity
Structure, some rib plate of ship body or wall panel structure are only out manhole, and people will bend over across leg just to pass through over.This semiclosed or
It is very arduous work that application worker, which will carry out shot peening, in totally enclosed spatial complex structure, and existing shot peening
Robot does not apply to, and to develop the robot of this height intelligence and height human simulation, first, do not have also, second, exploitation into
This and this manufacturing can not afford.Therefore need to open for this semiclosed or totally enclosed spatial complex structure
It is not only simple but also practical to send out a kind of, cost is not high, portable, miniaturization, movable-type intelligent shot peening machine people's integrated system.Allow
Robot makees this arduous onerous toil of shot peening instead of people, and people only makees some easily back works.
The content of the invention
The present invention is solution current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and crane
The problem of application of the heavy-duty machinery manufacturing such as tool is rarely employed or can not apply shot peening machine people, proposes a kind of hull
Section shot peening intelligent robot integrated system.Using body section shot peening intelligent Robotic Car motion path XYZ
Coordinate information and motion path platform frock, the computer using the unmanned body section Painting Shop system of intelligent robot are total
Control system or computer control system, according to body section shot peening intelligent Robotic Car motion path XYZ coordinate, control
Body section shot peening intelligent Robotic Car processed, being moved in motion path platform frock needs shot peening position,
Body section is completed by vision system control machinery hands movement again to derust.
In order to solve the above technical problems, technical scheme is as follows：
One kind is used for body section shot peening intelligent robot integrated system, including robot car, manipulator, vision
Detection device, shot spray gun, air compressor, robot car motion platform frock and computer；Described manipulator peace
Mounted in the top of robot car；Described visual detection equipment is arranged on the anterior position of manipulator base；Described shot
The front end that spray gun is arranged on manipulator is connected to form a complete shot peening equipment by pipeline cable and air compressor；
Described computer and robot car, manipulator, visual detection equipment, shot peening equipment and robot car motion are flat
Platform frock electrically connects；Described computer-controlled robot's dolly moves to reach in platform frock needs shot peening position,
According to the position before visual detection equipment identification shot peening and after shot peening and scope and robot measurement and by shot-peening
The distance on derusting thing surface, the movement locus of manipulator is generated according to the requirement of shot peening technique and standard, passes through manipulator
Motion control shot peening equipment is derusted.
In a kind of preferable scheme, described robot car be by a kind of wheeled of servomotor tape drive mechanism or
Crawler type rolls dolly.By computer control system according to the derusting motion path XYZ coordinate planned in advance, control machine people
Dolly moves to reach in platform frock needs position of derusting.
In a kind of preferable scheme, described manipulator radius is about 0.6 meter, miniaturization, lightweight.Installed in machine
On people's dolly, the body section shot peening intelligence small machine people of a packaged type is formed, human hand can carry.
In a kind of preferable scheme, described visual detection equipment includes image acquiring device, image storage apparatus, number
According to processor and software equipment.
In a kind of preferable scheme, described shot peening equipment includes air compressor, gas tank, shot hopper, pipe
Cable, shot spray gun, it is automatically controlled by a computer shot peening equipment and carries out shot peening.
In a kind of preferable scheme, described robot car motion platform frock is by the one of hardware assembling
The individual access platform frock for robot car movement.Platform frock has polytype, such as in general platform frock：It is long（2 meters, 1
Rice, 0.8 meter, 0.4 meter of plurality of specifications）, it is wide 0.3 meter, it is highly manually adjustable；Can automatic lifting platform frock：Long 0.5 meter,
It is wide 0.3 meter, highly can automatic lifting；Can sidesway platform frock：It is long 0.5 meter, wide 0.3 meter, can leftward or rightward sidesway.
In a kind of preferable scheme, described computer includes robot car digital control system and robot movement controls
System.According to the shot peening motion path XYZ coordinate planned in advance, control machine people dolly is moved in platform frock
Up to needing shot peening position.
Compared with prior art, the beneficial effect of technical solution of the present invention is：A kind of body section shot peening intelligent machine
Device people's integrated system, using body section shot peening intelligent Robotic Car motion path XYZ coordinate information and motion path
Platform frock, computer general control system or computer control using the unmanned body section Painting Shop system of intelligent robot
System processed, according to body section shot peening intelligent Robotic Car motion path XYZ coordinate, control body section shot peening
Intelligent Robotic Car, being moved in motion path platform frock needs shot peening position, then is controlled by vision system
Robot movement completes body section shot peening, solves current shipbuilding, ocean engineering, bridge steel structure, steel building, change
The application of the heavy-duty machinery manufacturing such as work machinery and hoisting machinery is rarely employed or can not apply asking for shot peening machine people
Topic.
Brief description of the drawings
Fig. 1 is that the embodiment of the present invention 1 is used for body section shot peening intelligent robot integrated system structure chart.
Fig. 2 is the steel surface corrosion character figure of the embodiment of the present invention 1.
Fig. 3 is the steel surface of the embodiment of the present invention 1 derusting characteristic pattern.
Wherein：1st, robot car；2nd, manipulator；3rd, visual detection equipment；4th, shot spray gun；5th, air compressor；6、
Robot car motion platform frock；7 computers；8 shot hoppers.
Embodiment
Accompanying drawing being given for example only property explanation, it is impossible to be interpreted as the limitation to this patent；
In order to more preferably illustrate the present embodiment, some parts of accompanying drawing have omission, zoomed in or out, and do not represent actual product
Size；
To those skilled in the art, it is to be appreciated that some known features and its explanation, which may be omitted, in accompanying drawing
's.
Technical scheme is described further with reference to the accompanying drawings and examples.
Embodiment 1
It is used for body section shot peening intelligent robot integrated system as shown in figure 1, a kind of, including robot car 1,
Manipulator 2, visual detection equipment 3, shot spray gun 4, air compressor 5, robot car motion platform frock 6, computer 7 with
And shot hopper 8；Described manipulator 2 is arranged on the top of robot car 1；Described visual detection equipment 3 is arranged on machine
The anterior position of the base of tool hand 2；Compressed by pipeline cable and air the front end that described shot spray gun 4 is arranged on manipulator 2
Machine 5 and shot hopper 8 are connected to form a complete shot peening equipment；Described computer 7 and robot car 1, machine
Tool hand 2, visual detection equipment 3, shot peening equipment and robot car motion platform frock 6 electrically connect；Described calculating
The control machine people dolly 1 of machine 7 moves to reach in platform frock needs shot peening position, is identified according to visual detection equipment 3
Position and scope and robot measurement before shot peening and after shot peening and the distance by shot peening thing surface, according to
The movement locus of the requirement generation manipulator of shot peening technique and standard, passes through the motion control shot peening equipment of manipulator 2
Carry out shot peening.
In specific implementation process, described robot car 1 be by a kind of wheeled of servomotor tape drive mechanism or
Crawler type rolls dolly.It is small according to the shot peening motion path XYZ coordinate planned in advance, control machine people by computer 7
Car 1 moves to reach in platform frock 6 needs shot peening position.
In specific implementation process, the described radius of manipulator 2 is about 0.6 meter, miniaturization, lightweight.Installed in machine
On people's dolly 1, the body section shot peening intelligence small machine people 1 of a packaged type is formed, human hand can carry.
In specific implementation process, described visual detection equipment 3 includes image acquiring device, image storage apparatus, number
According to processor and software equipment.
In specific implementation process, described shot peening equipment includes air compressor, gas tank, shot hopper, pipeline
Cable, shot spray gun 4, shot peening equipment is automatically controlled by computer 7 and derusted.
In specific implementation process, described robot car motion platform frock 6 is by the one of hardware assembling
The individual access platform frock moved for robot car 1.Platform frock has polytype, such as in general platform frock：It is long（2 meters,
1 meter, 0.8 meter, 0.4 meter of plurality of specifications）, it is wide 0.3 meter, it is highly manually adjustable；Can automatic lifting platform frock：Long 0.5 meter,
It is wide 0.3 meter, highly can automatic lifting；Can sidesway platform frock：It is long 0.5 meter, wide 0.3 meter, can leftward or rightward sidesway.
In specific implementation process, described computer 7 includes robot car digital control system and robot movement controls
System.According to the shot peening motion path XYZ coordinate planned in advance, control machine people dolly 1 moves in platform frock
Arrival needs shot peening position.
The motion path XYZ coordinate information of 7 control input body section shot peening intelligent Robotic Car of computer 1 and fortune
Moving platform frock information, the motion path CAD diagram shape of body section shot peening intelligent Robotic Car 1 is shown in computer screen
With motion platform tooling CAD figure.
Auxiliary construction personnel sit according to the motion path CAD diagram shape of body section shot peening intelligent Robotic Car 1 and XYZ
Information is marked, and motion platform tooling CAD figure and XYZ coordinate information have set up body section shot peening intelligence machine in advance
People's moving of car platform frock.And body section shot peening intelligence small machine people 1 is put into the initial point in motion platform frock
Position, and carry out the preparations such as the pipeline connection of body section shot peening, pulling.
By the control system of computer 7, sat according to the motion path XYZ of body section shot peening intelligent Robotic Car 1
Information is marked, control body section shot peening intelligent Robotic Car 1 moves, and arrival needs shot peening position；
By computer 7 according to visual detection equipment 3 according to surface behind the preceding surface of steel shot peening and steel shot peening
Feature recognition shot peening before and shot peening after position and scope, and robot measurement with by shot peening thing surface
Distance, according to shot peening technique and standard requirement generate manipulator 2 movement locus, and pass through manipulator 2 motion control
System control processed catches the manipulator 2 of shot spray gun 4 to carry out shot peening.Shot spray gun 4 and air compressor 5 and shot material
Bucket 8 is automatically controlled in the overall process of shot peening by computer 7.
Shown in after not derusting and derust for steel surface such as Fig. 2 ~ 3.
Same or analogous label corresponds to same or analogous part；
Term the being given for example only property explanation of position relationship described in accompanying drawing, it is impossible to be interpreted as the limitation to this patent；
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement made within the spirit and principle of invention etc., should be included in the claims in the present invention
Protection domain within.
Claims (7)
1. one kind is used for body section shot peening intelligent robot integrated system, it is characterised in that including robot car, machine
Tool hand, visual detection equipment, shot spray gun, air compressor, shot hopper, robot car motion platform frock and calculating
Machine；Described manipulator is arranged on the top of robot car；Before described visual detection equipment is arranged on manipulator base
Put in orientation；The front end that described shot spray gun is arranged on manipulator is connected by pipeline cable with air compressor, shot hopper
Form a complete shot peening equipment；Described computer and robot car, manipulator, visual detection equipment, shot-peening
Rust removalling equipment and the electrical connection of robot car motion platform frock.
2. according to claim 1 be used for body section shot peening intelligent robot integrated system, it is characterised in that institute
The robot car stated is to roll dolly by a kind of wheeled or crawler type of servomotor tape drive mechanism.
3. according to claim 1 be used for body section shot peening intelligent robot integrated system, it is characterised in that institute
The manipulator radius stated is 0.6 meter.
4. according to claim 1 be used for body section shot peening intelligent robot integrated system, it is characterised in that institute
The visual detection equipment stated includes image acquiring device, image storage apparatus, data processor and software equipment.
5. according to claim 1 be used for body section shot peening intelligent robot integrated system, it is characterised in that institute
The shot peening equipment stated includes air compressor, gas tank, shot hopper, pipeline cable, shot spray gun, is automatically controlled by a computer
Shot peening equipment is derusted.
6. according to claim 1 be used for body section shot peening intelligent robot integrated system, it is characterised in that institute
The robot car motion platform frock stated is by an access platform for robot car movement of hardware assembling
Frock.
7. according to claim 1 be used for body section shot peening intelligent robot integrated system, it is characterised in that institute
The computer stated includes robot car digital control system and robot movement control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720904666.9U CN206982464U (en) | 2017-07-25 | 2017-07-25 | One kind is used for body section shot peening intelligent robot integrated system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720904666.9U CN206982464U (en) | 2017-07-25 | 2017-07-25 | One kind is used for body section shot peening intelligent robot integrated system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206982464U true CN206982464U (en) | 2018-02-09 |
Family
ID=61416473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720904666.9U Expired - Fee Related CN206982464U (en) | 2017-07-25 | 2017-07-25 | One kind is used for body section shot peening intelligent robot integrated system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206982464U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549253A (en) * | 2019-09-16 | 2019-12-10 | 山东卓越精工集团有限公司 | automatic sand blasting device for aluminum profile |
| CN111013882A (en) * | 2018-10-09 | 2020-04-17 | 上海交通大学 | Automatic truss type spraying system for ship body segmentation |
| CN113910108A (en) * | 2021-11-01 | 2022-01-11 | 洛阳圣瑞智能机器人有限公司 | Large-scale oil storage tank floats storehouse and uses anticorrosive robot |
-
2017
- 2017-07-25 CN CN201720904666.9U patent/CN206982464U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110549253A (en) * | 2019-09-16 | 2019-12-10 | 山东卓越精工集团有限公司 | automatic sand blasting device for aluminum profile |
| CN113910108A (en) * | 2021-11-01 | 2022-01-11 | 洛阳圣瑞智能机器人有限公司 | Large-scale oil storage tank floats storehouse and uses anticorrosive robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107363840A (en) | One kind is used for body section spray painting intelligent robot integrated system | |
| CN107378794A (en) | One kind is used for body section shot peening intelligent robot integrated system | |
| CN206982464U (en) | One kind is used for body section shot peening intelligent robot integrated system | |
| CN107442340A (en) | A kind of unmanned body section Painting Shop system of intelligent robot | |
| CN108748152B (en) | Robot teaching method and system | |
| CN104331542A (en) | Painting robot position planning method for large-scale free-form surface | |
| CN108527368B (en) | Method for determining optimal initial pose of flexible support series industrial robot operation | |
| Ha et al. | Multibody system dynamics simulator for process simulation of ships and offshore plants in shipyards | |
| Zhang et al. | Study of manipulator operations maneuvered by a ROV in virtual environments | |
| Bolotnikova et al. | A circuit-breaker use-case operated by a humanoid in aircraft manufacturing | |
| CN108481324A (en) | A kind of inverse solution engineering and its collision detection algorithm of eight shaft multifunctionals machinery arm | |
| Hassan et al. | An approach to base placement for effective collaboration of multiple autonomous industrial robots | |
| CN107600313A (en) | A kind of body section robot derusting and spray painting detail design system | |
| CN106709264A (en) | Double-crane system variable amplitude angle response modeling algorithm and random response domain prediction method | |
| CN207204433U (en) | Assembly type is used for the flexibility platform frock of body section application intelligent robot construction | |
| CN206982695U (en) | One kind is used for body section spray painting intelligent robot integrating device | |
| Liu et al. | A robotic system for steel bridge maintenance: Research challenges and system design | |
| CN107413563A (en) | Assembly type is used for the flexibility platform frock of body section application intelligent robot construction | |
| CN106881717A (en) | A kind of surface of robot spacing follows method for paint spraying | |
| Petrea et al. | Visual servoing systems based control of complex autonomous systems serving a P/RML | |
| KR20120126474A (en) | Control Method and Device for Linear Movement of Aerial Work Platform | |
| Peng et al. | Modeling and vibration control for a flexible pendulum inverted system based on a PDE observer | |
| Tsukahara et al. | Computer graphics simulator for a power distribution line maintenance robot | |
| CN115618574A (en) | Adams/Matlab joint simulation method for underwater robot-mechanical arm system | |
| Chae et al. | Trajectory tracking performance analysis of underwater manipulator for autonomous manipulation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180209 Termination date: 20210725 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |