CN207106906U - A kind of shipbuilding steel plate unmanned plane spray robot system - Google Patents
A kind of shipbuilding steel plate unmanned plane spray robot system Download PDFInfo
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- CN207106906U CN207106906U CN201721089650.3U CN201721089650U CN207106906U CN 207106906 U CN207106906 U CN 207106906U CN 201721089650 U CN201721089650 U CN 201721089650U CN 207106906 U CN207106906 U CN 207106906U
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- unmanned plane
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Abstract
The utility model discloses a kind of shipbuilding steel plate unmanned plane spray robot system, including：Unmanned plane (1), spray gun (2), feeding device (3) and control device (4), wherein, the spray gun (2) is installed on the foot stool (11) of the unmanned plane (1)；Feeding device (3) includes ground feed tank (31) and feeder sleeve (32)；Control device (4) includes, and ultrasonic detector (41), panorama are as monitor (42) and ground controller (43)；The unmanned plane spray robot system only needs spray coating operations, and person carries out ground control, the spraying operation in high-altitude is carried out in plateau without standing again, the operation intensity for the person that not only greatly reduces spray coating operations, and danger coefficient is substantially reduced, while also improve spray efficiency.In addition, unmanned plane in spray robot system is simple in construction, space is unrestricted, mobility is good, without airfield runway, can remote control, be applicable to various spraying operating modes.
Description
Technical field
The utility model discloses the technical field for being related to coating spraying, more particularly to a kind of shipbuilding steel plate is sprayed with unmanned plane
Robot system.
Background technology
, it is necessary to carry out spray treatment to marine surface, boat segmental surface and corner etc. during shipbuilding, lead to
Artificial treatment is carried out frequently with man-hour manually hand-held spray gun, the spraying of particularly ship outer surface needs worker to open overhead vehicle high-altitude work
Industry, the pistol operation in the action bar of overhead vehicle of workers with long time station, height vertigo, operation intensity height and setting be present
Closely spraying operation easily causes the danger of poisoning.
The climbing robot researched and developed at present, though traditional manpower, the complex-curved surface adaptability of its hull can be replaced
It is poor, larger curved surface obstacle detouring be present, fall equivalent risk, and climbing robot translational speed be present and its operating efficiency is limited etc.
Problem.
Therefore, a kind of new paint finishing how is researched and developed, to solve operating efficiency well, mitigate worker's work by force
The problems such as degree, reduction work high above the ground risk and coating endanger risk, turns into people's urgent problem to be solved.
Utility model content
In consideration of it, the utility model, which discloses, provides a kind of shipbuilding steel plate unmanned plane spray robot system, with least
Solve conventional spray equipment and the problems such as operating efficiency is low, and hand labor intensity is high, danger coefficient is big be present.
Technical scheme provided by the utility model, specifically, a kind of shipbuilding steel plate unmanned plane spray robot system, should
Spray robot system includes：Unmanned plane 1, spray gun 2, feeding device 3 and control device 4；
The spray gun 2 is installed on the foot stool 11 of the unmanned plane 1；
The feeding device 3 includes ground feed tank 31 and feeder sleeve 32；
The discharging opening of the ground feed tank 31 connects with the charging aperture of the feeder sleeve 32；
The discharging opening of the feeder sleeve 32 connects with the charging aperture of the spray gun 2；
The control device 4 includes, and ultrasonic detector 41, panorama are as monitor 42 and ground controller 43；
The ultrasonic detector 41 is fixedly installed in the spray gun 2, for detecting the spray gun 2 apart from pre- spray
Apply the distance of the shipbuilding steel plate；
The panorama is as on monitor 42 the is fixedly installed in unmanned plane 1；
The input of the ground controller 43 output end with the ultrasonic detector 41 and the panorama picture respectively
The output end connection of monitor 42, the output end of the ground controller 43 control terminal with the unmanned plane 1 and institute respectively
State the control terminal connection of spray gun 2.
It is preferred that the shipbuilding steel plate unmanned plane spray robot system also includes：Spray detector；
The spraying detector is fixedly installed on the unmanned plane 1, for detecting the shipbuilding steel plate spraying area
Coating quality；
The output end of the spraying detector is connected with the input of the ground controller 43.
Further preferably, stabilization head is provided with the foot stool 11 of the unmanned plane 1, the spray gun 2 is installed on described
On stabilization head on foot stool 11.
Further preferably, the spray gun 2 is universal spray gun.
Further preferably, be mounted in can be along the reciprocating movement arm of the length direction of foot stool 11 for the spray gun 2；
Or the spray gun 2 is mounted on 360 ° of mechanical arms.
Further preferably, the feeding device 3 also includes：Spraying box 33；
The spraying box 33 is fixedly mounted on the foot stool 11, and the discharging opening of the spraying box 33 and the spray gun
2 charging aperture connection.
Shipbuilding steel plate provided by the utility model unmanned plane spray robot system, mainly by unmanned plane, spray gun, confession
Expect that device and control device are formed, wherein, spray robot system provided by the utility model will spray using unmanned plane as carrier
Apply rifle to be arranged on unmanned plane, motion flight can be carried out with unmanned plane, and the supply of the coating of spray gun is provided by feeding device,
The feeding device is arranged on ground, can not only provide coating to spray gun, but also will not increase the supporting power of unmanned plane,
And control device is mainly used in controlling the flight of unmanned plane and the work of spray gun, wherein, the control device is mainly by ultrasound
The distance of shipbuilding steel plate is preliminarily sprayed in wave detector detection spray gun distance, by panorama as monitor detects unmanned plane present position,
And ground controller according to ultrasonic detector and panorama as data that monitor conveying comes control the flight of unmanned plane with
And the work of spray gun.It was found from above-mentioned spray robot system, the spray robot system only needs spray coating operations, and person is carried out
Ground controls, and carries out the spraying operation in high-altitude, the operation for the person that not only greatly reduces spray coating operations in plateau without standing again
Intensity, and danger coefficient is greatly reduced, while also improve spray efficiency.In addition, nobody in spray robot system
Machine is simple in construction, space is unrestricted, mobility is good, without airfield runway, can remote control, be applicable to various spraying operating modes.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, show meet it is of the present utility model
Embodiment, and for explaining principle of the present utility model together with specification.
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, for ordinary skill people
For member, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of knot for shipbuilding steel plate unmanned plane spray robot system that the utility model discloses embodiment offer
Structure schematic diagram, wherein, A represents that shipbuilding steel plate is preliminarily sprayed；
Fig. 2 is to be carried out being segmented top spray with unmanned plane spray robot system using shipbuilding steel plate provided by the utility model
Schematic diagram, B represent ship segmentation top section；
Fig. 3 is to be carried out being segmented spray of bowing with unmanned plane spray robot system using shipbuilding steel plate provided by the utility model
Schematic diagram, C represent ship segmentation bottom section；
Fig. 4 is the flow sprayed using shipbuilding steel plate provided by the utility model with unmanned plane spray robot system
Figure.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the utility model.On the contrary, they be only with such as
The example of the consistent device of some aspects being described in detail in appended claims, of the present utility model.
It is a kind of shipbuilding steel plate unmanned plane spray robot system referring to Fig. 1, the spray robot system is mainly by nothing
Man-machine 1, spray gun 2, feeding device 3 and control device 4 are formed, wherein, the structure of unmanned plane 1 and traditional unmanned plane structure phase
Same or similar, the unmanned plane 1 is provided with foot stool 11, unmanned machine frame 12 and unmanned plane rotor 13 etc., and spray gun 2 is installed on
On the foot stool 11 of unmanned plane 1；Feeding device 3 is mainly made up of ground feed tank 31 and feeder sleeve 32, ground feed tank 31
Discharging opening connects with the charging aperture of feeder sleeve 32, and the discharging opening of feeder sleeve 32 connects with the charging aperture of spray gun 2；Control device 4
Mainly it is made up of ultrasonic detector 41, panorama as monitor 42 and ground controller 43, and ultrasonic detector 41 is fixed
It is installed in spray gun 2, the distance of shipbuilding steel plate is preliminarily sprayed for detecting the distance of spray gun 2, panorama is fixed as monitor 42 pacifies
Loaded on unmanned plane 1, the input of ground controller 43 respectively the output end and panorama with ultrasonic detector 41 as monitor
42 output end connection, the output end of ground controller 43 connect with the control terminal of unmanned plane 1 and the control terminal of spray gun 2 respectively
Connect.
Above-mentioned shipbuilding steel plate is with the specific work process of unmanned plane spray robot system：
According to the working region with spraying, unmanned plane during flying is controlled to target operation region by ground controller, and lead to
The picture signal that panorama returns as monitor is crossed, judges whether to reach predetermined target location, when the predetermined target location of arrival
Afterwards, the distance of shipbuilding steel plate is preliminarily sprayed according to ultrasonic detector detection detection spray gun distance, nothing is controlled by ground controller
Shipbuilding steel plate man-machine remote or at assigned target position, until reaching requirement, opened by ground controller control spray gun
It is dynamic to carry out spray coating operations, while ground controller also controls unmanned plane to be flown, and unmanned plane is generally controlled in spraying process
Moved according to the motion path in arch spraying coating process, until spraying operation terminates.
, can be in shipbuilding steel plate as the improvement of technical scheme in order to ensure the coating quality of the spray robot system
Spraying detector is provided with unmanned plane spray robot system, the spraying detector is fixedly installed on unmanned plane 1, is used for
The coating quality of shipbuilding steel plate spraying area is detected, the output end for spraying detector is connected with the input of ground controller 43.
By the increase of the spraying detector, spray robot system also carries out quality inspection in spraying process to spraying area
Survey, if coating quality is qualified, the spraying operation of subsequent region can be continued, if coating quality is unqualified, carried out
Again the repairing for spraying or spraying.
It is respectively to carry out being segmented top spray respectively using above-mentioned spray robot system and be segmented showing for spray of bowing referring to Fig. 2, Fig. 3
Meaning.
In order to further improve the quality of spraying, as the improvement of technical scheme, can be set on the foot stool 11 of unmanned plane 1
There is stabilization head, and spray gun 2 is installed on the stabilization head on foot stool 11, by the setting of the stabilization head, can be avoided
Spray gun is caused the situation of spray gun shake due to the motion of unmanned plane, causes the coating of sprayed coating not in spraying process
, the problem of causing coating quality difference.
In order to expand the spraying area of spray gun, spray efficiency is improved, the improvement spray gun 2 as scheme can select ten thousand
To spray gun, i.e. spray nozzle is connected by universal joint with gun body, wherein, nozzle can be one or more.
In order to adapt to different working environments, such as when carrying out the spraying in dock, spray gun 2 can select to be mounted in can
Along along the reciprocating movement arm of the length direction of foot stool 11, by the motion of the reciprocating motion arm, spray gun can be adjusted
Distance apart from coating objective position；And during several progress body section workshops sprayings, it is rotatable that spray gun 2 is mounted in 360 ° of machines
On tool arm, the position of spray gun and the regulation of angle can be achieved.It is according to the operating mode of reality referring to Fig. 4, controls ship steel
The flow that plate is operated with unmanned plane spray robot system.
In order to facilitate the spray coating operations in cell portion domain, such as boat segmental and corner Deng little surfaces operating area, once
Property with paint amount it is little in the case of, using unmanned plane carry paint can be fed mode, be not required to ground feeding device, that is, be provided with spray
Case 33 is applied, the spraying box 33 is fixedly mounted on foot stool 11, and the discharging opening of spraying box 33 connects with the charging aperture of spray gun 2.
Unmanned plane in above-mentioned each embodiment, in ship outer surface during large area spraying operation, ground can be used
Continued power mode；In the small surface spraying operation such as boat segmental and corner, you can using surface power supply mode, can also use
Storage battery power supply mode.
Wherein, shipbuilding steel plate is set with the important technological parameters of unmanned plane spray robot system in above-mentioned each embodiment
Fixed following (can according to user it needs to be determined that)：
Critical altitude (m)：It is unlimited；
Minimum working height (m)：＞ 0.10m；
Unmanned plane spraying reciprocal horizontal displacement (m)：It can need to set according to operation field；
The adjustable height (mm) of nozzle distance ship plank:200~500；
Nozzle spraying radius (m)：1~1.5；
Gait of march (m/s) above and below unmanned plane：＞ 0.15；
Unmanned plane load weight (kg)：About 25kg；
Spraying box volume (L)：20L；
Unmanned plane outside plate working space appearance and size (wide mm × long mm × high mm):800×800×600.
Shipbuilding steel plate provided by the utility model unmanned plane spray robot system, the volume of unmanned plane executing agency
Small, flexibility is high, practical using simple, has taken into full account practical implementation requirement and economy, simple in construction new
Grain husk, perfect in shape and function is easy to operate, using large scale ship plank surface and body section surface, worker is kept away away from setting
Exempt from coating cloud pollution and overhead danger, have the advantages that spray efficiency is high, safe and reliable, great engineering application value.This practicality is new
The beneficial effect of type is mainly manifested in：By unmanned plane spraying operation intellectualized operation, spray efficiency is improved, makes worker from high-altitude
Freed in the risk of operation, protection worker is with the harm away from coating.
Those skilled in the art will readily occur to this practicality after considering specification and putting into practice utility model disclosed herein
New other embodiments.The application is intended to any modification, purposes or adaptations of the present utility model, these
Modification, purposes or adaptations follow general principle of the present utility model and including undocumented skills of the utility model
Common knowledge or conventional techniques in art field.Description and embodiments be considered only as it is exemplary, it is of the present utility model
True scope and spirit are pointed out by claim.
It should be appreciated that the accurate knot that the utility model is not limited to be described above and is shown in the drawings
Structure, and various modifications and changes can be being carried out without departing from the scope.The scope of the utility model only will by appended right
Ask to limit.
Claims (6)
- A kind of 1. shipbuilding steel plate unmanned plane spray robot system, it is characterised in that including：Unmanned plane (1), spray gun (2), Feeding device (3) and control device (4)；The spray gun (2) is installed on the foot stool (11) of the unmanned plane (1)；The feeding device (3) includes ground feed tank (31) and feeder sleeve (32)；The discharging opening of the ground feed tank (31) connects with the charging aperture of the feeder sleeve (32)；The discharging opening of the feeder sleeve (32) connects with the charging aperture of the spray gun (2)；The control device (4) includes, and ultrasonic detector (41), panorama are as monitor (42) and ground controller (43)；The ultrasonic detector (41) is fixedly installed in the spray gun (2), pre- for detecting the spray gun (2) distance Spray the distance of the shipbuilding steel plate；The panorama is fixedly installed on the unmanned plane (1) as monitor (42)；The input of the ground controller (43) output end with the ultrasonic detector (41) and the panorama picture respectively The output end connection of monitor (42), the output end of the ground controller (43) control terminal with the unmanned plane (1) respectively And the control terminal connection of the spray gun (2).
- 2. shipbuilding steel plate unmanned plane spray robot system according to claim 1, it is characterised in that also include：Spraying Detector；The spraying detector is fixedly installed on the unmanned plane (1), for detecting the spray of the shipbuilding steel plate spraying area Apply quality；The output end of the spraying detector is connected with the input of the ground controller (43).
- 3. shipbuilding steel plate unmanned plane spray robot system according to claim 1, it is characterised in that the unmanned plane (1) stabilization head is provided with foot stool (11), the spray gun (2) is installed on the stabilization head on the foot stool (11).
- 4. according to the shipbuilding steel plate of claim 1 or 3 unmanned plane spray robot system, it is characterised in that the spraying Rifle (2) is universal spray gun.
- 5. according to the shipbuilding steel plate of claim 1 or 3 unmanned plane spray robot system, it is characterised in that the spraying Rifle (2) is mounted in can be along the reciprocating movement arm of the foot stool (11) length direction；Or the spray gun (2) is mounted on 360 ° of mechanical arms.
- 6. shipbuilding steel plate unmanned plane spray robot system according to claim 1, it is characterised in that the feeding device (3) also include：Spraying box (33)；The spraying box (33) is fixedly mounted on the foot stool (11), and the discharging opening of the spraying box (33) and the spraying The charging aperture connection of rifle (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721089650.3U CN207106906U (en) | 2017-08-29 | 2017-08-29 | A kind of shipbuilding steel plate unmanned plane spray robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721089650.3U CN207106906U (en) | 2017-08-29 | 2017-08-29 | A kind of shipbuilding steel plate unmanned plane spray robot system |
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| CN207106906U true CN207106906U (en) | 2018-03-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380449A (en) * | 2017-08-29 | 2017-11-24 | 佟天琦 | A kind of shipbuilding steel plate unmanned plane spray robot system |
| CN113062567A (en) * | 2021-03-25 | 2021-07-02 | 中国十七冶集团有限公司 | Aerial intelligent spraying building robot |
-
2017
- 2017-08-29 CN CN201721089650.3U patent/CN207106906U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380449A (en) * | 2017-08-29 | 2017-11-24 | 佟天琦 | A kind of shipbuilding steel plate unmanned plane spray robot system |
| CN113062567A (en) * | 2021-03-25 | 2021-07-02 | 中国十七冶集团有限公司 | Aerial intelligent spraying building robot |
| CN113062567B (en) * | 2021-03-25 | 2021-10-08 | 中国十七冶集团有限公司 | Aerial intelligent spraying building robot |
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