CN107081771A - Ship paint-spray robot work system and method - Google Patents
Ship paint-spray robot work system and method Download PDFInfo
- Publication number
- CN107081771A CN107081771A CN201710461348.4A CN201710461348A CN107081771A CN 107081771 A CN107081771 A CN 107081771A CN 201710461348 A CN201710461348 A CN 201710461348A CN 107081771 A CN107081771 A CN 107081771A
- Authority
- CN
- China
- Prior art keywords
- climbing robot
- spray
- spray gun
- robot
- work 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.)
- Pending
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Classifications
-
- 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
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/06—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
- B62D61/08—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels with single front wheel
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of ship paint-spray robot work system and method, work system includes climbing robot, protection lifting unit, control unit, lacquer spraying technique unit, spray gun and display and sets terminal；Climbing robot is adsorbed in ship outer surface, and spray gun is equipped on climbing robot, and control unit is used to control climbing robot advance, retrogressing, turning and the adjustment of spray gun posture；Between lacquer spraying technique unit and spray gun by gas circuit and paint output pipe connect, for by liquid coating through high-pressure delivery to spray gun；Lifting unit is protected to connect climbing robot by flexible protective rope；Display sets terminal to be used for status display, fault alarm and the parameter setting of work system.The present invention realizes the Remote spray painting operation of a wide range of magnetic conductivity working face, solves the problem of high-power lacquer spraying technique integration of equipments of marine surface application environment is applied, and has the advantages that compact conformation, strong antijamming capability, is easy to safeguard, using flexible.
Description
Technical field
The present invention relates to ship lacquering technologies, particularly a kind of ship paint-spray robot work system and method.
Background technology
In boat segmental outer surface etc. on a large scale open magnetic conductivity working face, because working range is generally larger, entering
Need to build scaffold temporarily during row spraying operation, workmen seeks connections with again carries out spray painting operation onto scaffold.This spraying
Mode automaticity is low, and environmental is high, and the healthy of workmen can be caused to seriously endanger.
The content of the invention
It is an object of the invention to provide a kind of ship paint-spray robot work system and method.
The technical scheme for realizing the object of the invention is：A kind of ship paint-spray robot work system, including climbing robot,
Protect lifting unit, control unit, lacquer spraying technique unit, spray gun and display that terminal is set；
The climbing robot is adsorbed in ship outer surface by way of permanent magnetic suck, and spray gun is equipped on climbing robot
On, described control unit is used to control climbing robot advance, retrogressing, turning and the adjustment of spray gun posture；
Connected between the lacquer spraying technique unit and spray gun by gas circuit and paint output pipe, for liquid to be applied
Material is through high-pressure delivery to spray gun；The protection lifting unit connects climbing robot by flexible protective rope；The display is set
Terminal is used for status display, fault alarm and the parameter setting of work system.
A kind of method for paint spraying of ship paint-spray robot work system, comprises the following steps：
Step 1, magnetic field pulse hoist is adsorbed in ship outer surface, catching device is mounted on magnetic field pulse hoist, catching device
Protective rope be connected to the body of climbing robot；
Step 2, climbing robot is positioned over ship outer surface；
Step 3, terminal-pair climbing robot kinematic parameter, lacquer spraying technique parameter is set to be set by showing；
Step 4, the enable of climbing robot is carried out by wireless remote-control system, the movement instruction of climbing robot is issued；
Step 5, spray gun magnetic valve is opened by wireless remote-control system, climbing robot carries out spray painting work according to remote control path
Industry；
Step 6, complete after painting process, climbing robot and spray gun posture are adjusted by wireless remote-control system, under
One of painting process；
Step 7, after all painting process, which are performed, to be terminated, close spray gun magnetic valve and drive climbing robot to waiting to unload
Carry area.
Compared with prior art, its remarkable advantage is the present invention：
(1) the invention provides a kind of ship paint-spray robot work system, ship spray painting operation is solved using artificial
And the problem of need to build more auxiliary equipment, increase spray painting efficiency reduces harm of the coating cloud to workmen, reduction is painted into
This；(2) present invention employs the mode that spray painting output device is separated with main frame, the heavy burden of climbing robot is effectively reduced, is increased
The adaptability of climbing robot is added；(3) present invention is carried out by the way of Remote to climbing robot and process equipment
Control, all controls can be carried out on a remote control, and operation more facilitates；(4) the spray painting output device of patent of the present invention is installed
In the rotary shaft at climbing robot back, 360 ° of rotation can be carried out, the environmental suitability of spray painting operation is added；(5) originally
Invention has the advantages that compact conformation, strong antijamming capability, is easy to safeguard, using flexible.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is ship paint-spray robot work system structure chart of the present invention.
Fig. 2 is ship paint-spray robot work system operating diagram of the present invention.
Fig. 3 is control unit theory diagram of the invention.
Fig. 4 is that climbing robot constitutes figure.
Fig. 5 is climbing robot direct of travel spray painting operation schematic diagram.
Fig. 6 is adjustment climbing robot and spray gun posture operation schematic diagram.
Embodiment
With reference to Fig. 1, Fig. 2, a kind of ship paint-spray robot work system, including climbing robot 10, protection lifting unit
8th, control unit 12, lacquer spraying technique unit 11, spray gun 14 and display set terminal 15；
The climbing robot 10 is adsorbed in ship outer surface 7 by way of permanent magnetic suck, and spray gun 14, which is equipped on, climbs wall
In robot 10, described control unit 12 is used to control climbing robot advance, retrogressing, turning and the adjustment of the posture of spray gun 14；
Connected between the lacquer spraying technique unit 11 and spray gun 14 by gas circuit and paint output pipe 16, for inciting somebody to action
Liquid coating is through high-pressure delivery to spray gun 14；The protection lifting unit 8 connects climbing robot 10 by flexible protective rope；Institute
Stating display sets terminal 15 to be used for status display, fault alarm and the parameter setting of work system.
Further, the display sets terminal 15 to be used for the maximum speed of travel of climbing robot, the minimum speed of travel, pendulum
The setting of dynamic angle, and show working time, current operating state and fault alarm.
Further, the work system also includes wireless remote-control system 13, for issuing action command.
Further, the protection lifting unit 8 is magnetic field pulse hoist, and magnetic field pulse hoist is adsorbed in ship outer surface 7, under
Portion mounts catching device 9, and the protective rope of catching device 9 is connected with climbing robot 10.
Further, as shown in figure 4, the climbing robot 10 includes drive wheel assemblies 18, permanent magnet 19, universal wheel
20th, direct current generator 21 and swing rod 17；The permanent magnet 19 is arranged in drive wheel assemblies 18, and drive wheel assemblies 18 pass through direct current
Machine 21 is driven；Spray gun 14 is installed in the end of swing rod 17, and swing rod can carry out 360 ° of swings by direct current generator；Universal wheel 20 is used for
Transition is supported to climbing robot.
Further, magnetic patch is housed in the universal wheel 20.
Further, gas path control valve is set between the spray gun 14 and lacquer spraying technique unit 11.
A kind of method for paint spraying of ship paint-spray robot work system, comprises the following steps：
Step 1, magnetic field pulse hoist is adsorbed in ship outer surface, catching device is mounted on magnetic field pulse hoist, catching device
Protective rope be connected to the body of climbing robot；
Step 2, climbing robot is positioned over ship outer surface；
Step 3, terminal-pair climbing robot kinematic parameter, lacquer spraying technique parameter is set to be set by showing；
Step 4, the enable of climbing robot is carried out by wireless remote-control system, the movement instruction of climbing robot is issued；
Step 5, spray gun magnetic valve is opened by wireless remote-control system, climbing robot carries out spray painting work according to remote control path
Industry；
Step 6, complete after painting process, climbing robot and spray gun posture are adjusted by wireless remote-control system, under
One of painting process；
Step 7, after all painting process, which are performed, to be terminated, close spray gun magnetic valve and drive climbing robot to waiting to unload
Carry area.
With reference to specific embodiments and the drawings, the present invention will be further described.
Embodiment
A kind of ship paint-spray robot work system, including climbing robot 10, lacquer spraying technique unit 11, spray gun
14th, control unit 12, protection lifting unit 8 and display set terminal 15.
Control unit 12：The control unit of the system has merged climbing robot motion control, spray gun gesture stability, spray painting
Process equipment coating conveying control and Wireless remote control；With reference to Fig. 3, in control of the control unit as ship paint-spray robot
Pivot, for operational order upload and issue.The action command of operating personnel is converted into wireless signal by wireless remote-control system 13
Send to control unit, control unit is parsed to signal, and the posture of the switch to spray gun magnetic valve or robot is entered respectively
Row control.Meanwhile, the technological parameter of work system can set terminal to be configured by showing.
Climbing robot 10：Based on actual use demand, the motor of walking mechanism is connected to by driver
On communication bus, motion controller realizes the control to driver by communication bus.It is embedded to forever in the driving wheel of walking mechanism
Magnet, enables climbing robot to be adsorbed in ship outer surface.To make climbing robot have larger driving moment, motor is defeated
Shaft connects reductor.
Lacquer spraying technique unit 11：The main frame of lacquer spraying technique unit is separated with spray gun 14, and main frame is defeated by painting
Pipeline is sent to provide paint for spray gun 14.Spray gun is equipped on the swing rod 17 of climbing robot, and whether paint is conveyed by spray gun electricity
Magnet valve is controlled.
Protect lifting unit 8：Based on actual use demand, ship outer surface is adsorbed in by magnetic field pulse hoist, bottom is hung
Catching device 9 is connect, the protective rope of catching device 9 is connected to wall-climbing device human body；When wall-climbing device human body's lapse rate is more than 2m/
During s, the protection meeting auto lock of lifting unit 8, it is ensured that the safety of wall-climbing device human body.
Display sets terminal 15：Display sets terminal to provide easily mode for the technique customization of user.Hand can be passed through
It is dynamic that the parameters such as the speed of travel, turning speed, swing angle, swing speed are set.For standardized product, then can prestore parameter number
According to facilitating called when using next time.
With reference to Fig. 5, when climbing robot 10 carries out spray painting operation on direct of travel, swing rod 17 is in climbing wall machine all the time
The vertical angle of the direct of travel of device people 10.
With reference to Fig. 6, after climbing robot 10 completes the spray painting operation of direct of travel, spray gun magnetic valve is closed, while sharp
With the reverse and differential motion of two driving wheels, the conversion direction of climbing robot 10 simultaneously enters next spraying area, adjusts spray gun appearance
State.After the pose adjustment of climbing robot 10 and spray gun 14 terminates, spray gun magnetic valve, the Spray Painter for carrying out the region are opened
Make.
The ship paint-spray robot work system of the present invention is using Remote, paint output device and paint spraying apparatus main frame
The modes such as separation, permanent magnetic suck realize the spray painting operation of climbing robot, solve climbing robot and big work(under complex working condition
The problems such as integrated application of rate lacquer spraying technique equipment, realize painting work automation, it is efficient, purifying.
Claims (8)
1. a kind of ship paint-spray robot work system, it is characterised in that including climbing robot (10), protection lifting unit
(8), control unit (12), lacquer spraying technique unit (11), spray gun (14) and display set terminal (15)；
The climbing robot (10) is adsorbed in ship outer surface (7) by way of permanent magnetic suck, and spray gun (14), which is equipped on, climbs
In wall robot (10), described control unit (12) is used to control climbing robot to advance, retreats, turns and spray gun (14) posture
Adjustment；
It is connected, is used for by gas circuit and paint output pipe (16) between the lacquer spraying technique unit (11) and spray gun (14)
By liquid coating through high-pressure delivery to spray gun (14)；The protection lifting unit (8) connects wall-climbing device by flexible protective rope
People (10)；The display sets terminal (15) to be used for status display, fault alarm and the parameter setting of work system.
2. ship paint-spray robot work system according to claim 1, it is characterised in that the display sets terminal
(15) be used for the maximum speed of travel of climbing robot, the minimum speed of travel, the setting of swing angle, and show the working time, when
Preceding working condition and fault alarm.
3. ship paint-spray robot work system according to claim 1, it is characterised in that the work system also includes
Wireless remote-control system (13), for issuing action command.
4. ship paint-spray robot work system according to claim 1, it is characterised in that the protection lifting unit
(8) be magnetic field pulse hoist, magnetic field pulse hoist is adsorbed in ship outer surface (7), bottom mounting catching device (9), catching device (9) it is anti-
Shield rope is connected with climbing robot (10).
5. ship paint-spray robot work system according to claim 4, it is characterised in that the climbing robot (10)
Including drive wheel assemblies (18), permanent magnet (19), universal wheel (20), direct current generator (21) and swing rod (17)；The permanent magnet
(19) it is arranged in drive wheel assemblies (18), drive wheel assemblies (18) are driven by direct current generator (21)；Swing rod (17) end
Spray gun (14) is installed at end, and swing rod can carry out 360 ° of swings by direct current generator；Universal wheel (20) is used to carry out climbing robot
Support transition.
6. ship paint-spray robot work system according to claim 5, it is characterised in that filled in the universal wheel (20)
There is magnetic patch.
7. ship paint-spray robot work system according to claim 5, it is characterised in that the spray gun (14) and spray painting
Spray gun magnetic valve is set between process equipment unit (11).
8. a kind of method for paint spraying based on ship paint-spray robot work system described in claim 7, it is characterised in that including such as
Lower step：
Step 1, magnetic field pulse hoist is adsorbed in ship outer surface, catching device is mounted on magnetic field pulse hoist, catching device it is anti-
Shield rope is connected to the body of climbing robot；
Step 2, climbing robot is positioned over ship outer surface；
Step 3, terminal-pair climbing robot kinematic parameter, lacquer spraying technique parameter is set to be set by showing；
Step 4, the enable of climbing robot is carried out by wireless remote-control system, the movement instruction of climbing robot is issued；
Step 5, spray gun magnetic valve is opened by wireless remote-control system, climbing robot carries out spray painting operation according to remote control path；
Step 6, complete after painting process, climbing robot and spray gun posture are adjusted by wireless remote-control system, into lower one
Painting process；
Step 7, after all painting process, which are performed, to be terminated, close spray gun magnetic valve and drive climbing robot to be unloaded
Area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710461348.4A CN107081771A (en) | 2017-06-18 | 2017-06-18 | Ship paint-spray robot work system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710461348.4A CN107081771A (en) | 2017-06-18 | 2017-06-18 | Ship paint-spray robot work system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107081771A true CN107081771A (en) | 2017-08-22 |
Family
ID=59605579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710461348.4A Pending CN107081771A (en) | 2017-06-18 | 2017-06-18 | Ship paint-spray robot work system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107081771A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108452988A (en) * | 2018-05-29 | 2018-08-28 | 舟山万邦永跃船舶修造有限公司 | Spray body, semi-automatic flush coater and automatic sprayer |
| CN110254539A (en) * | 2019-06-25 | 2019-09-20 | 北京史河科技有限公司 | Safety rope device |
| CN111659566A (en) * | 2020-06-16 | 2020-09-15 | 合肥工业大学 | Rope traction type polishing, cleaning and coating integrated operation robot |
| FR3101803A1 (en) | 2019-10-15 | 2021-04-16 | Ambpr | Robot for the renovation by stripping and / or paint coating, and / or the inspection of a wall of large area and / or high height, Associated operating process and application to the stripping and painting of ship hulls. |
| CN113682444A (en) * | 2021-09-08 | 2021-11-23 | 宣邦机器人(苏州)有限公司 | Special work platform with wall climbing capability |
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| JPH11157473A (en) * | 1997-11-27 | 1999-06-15 | Nkk Corp | Wall face traveling carriage and its traveling method |
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2017
- 2017-06-18 CN CN201710461348.4A patent/CN107081771A/en active Pending
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108452988A (en) * | 2018-05-29 | 2018-08-28 | 舟山万邦永跃船舶修造有限公司 | Spray body, semi-automatic flush coater and automatic sprayer |
| CN110254539A (en) * | 2019-06-25 | 2019-09-20 | 北京史河科技有限公司 | Safety rope device |
| FR3101803A1 (en) | 2019-10-15 | 2021-04-16 | Ambpr | Robot for the renovation by stripping and / or paint coating, and / or the inspection of a wall of large area and / or high height, Associated operating process and application to the stripping and painting of ship hulls. |
| CN111659566A (en) * | 2020-06-16 | 2020-09-15 | 合肥工业大学 | Rope traction type polishing, cleaning and coating integrated operation robot |
| CN111659566B (en) * | 2020-06-16 | 2021-07-23 | 合肥工业大学 | Rope traction type polishing, cleaning and coating integrated operation robot |
| CN113682444A (en) * | 2021-09-08 | 2021-11-23 | 宣邦机器人(苏州)有限公司 | Special work platform with wall climbing capability |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170822 |
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| RJ01 | Rejection of invention patent application after publication |