CN108970868B - Ultra-span spraying track planning method for cable parallel robot for ship - Google Patents

Abstract

The invention discloses a method for planning a super-span spraying trajectory of a cable-parallel robot for ships, comprising the following steps: disposing a cable-parallel robot on a pre-sprayed ship surface, fixing a spray head for painting on an end effector, and moving the spray head on the end effector During the process of continuous spraying, the flow rate of the spraying head is constant; the end effector is controlled by the rope to perform multiple sets of reciprocating movements with different amplitudes at a certain height; then the end effector rises or falls to another height; continue to do many different amplitudes. Group reciprocating motion; repeat the above until the robot sprays the entire height; the present invention is used for automatic spraying of the outer surface of a large hull, and uses the super-span motion of the cable-parallel robot to spray paint, which is low in cost and can ensure a uniform paint thickness.

Description

A super-span spraying trajectory planning method for a ship's cable-parallel robot

technical field

The invention belongs to the field of machinery, in particular to a method for planning a super-span spraying trajectory of a cable-parallel robot.

Background technique

With human exploration and utilization of the ocean, ships play an important role in exploration, transportation, mining, and military affairs. Corrosion is one of the biggest factors affecting the life of ships and offshore facilities. The commonly used anti-corrosion method is to coat the surface of the hull with a coating with special functions such as anti-corrosion, anti-static, insulation and heat absorption. Therefore, the spray treatment of the hull surface is one of the indispensable and important links in the shipbuilding and assembly.

The spraying robot is an advanced spraying equipment with a high degree of automation and integration. It has become a new focus of people under the background of mature artificial spraying technology. Its advantages are as follows: (1) large flexibility and large working range; (2) greatly improving spraying quality and spraying efficiency; (3) better operability, simple maintenance, and can be taught or offline programming to achieve more complex The spraying trajectory shortens the on-site debugging time; (4) the labor force is liberated, and the health and safety of the workers are guaranteed. Therefore, automatic spraying systems using spraying robots have been widely used in many industrial fields such as manufacturing and assembly. For common automobile manufacturing and small workpiece production, in addition to certain requirements for anti-corrosion and functionality, factors such as the environmental protection of painting and the aesthetics of shell coatings are more important evaluation criteria. However, the spraying on the surface of the ship puts forward more stringent requirements on the quality of the coating, such as thickness and uniformity. The current manual operation of ship painting can basically achieve the spraying requirements, but due to human factors, the spraying quality cannot be obtained. Accurate guarantee, long labor time, heavy workload and harsh environment restrict the development of shipbuilding industry. If the stable working performance of the robot can be used, including precise positioning and good spraying trajectory, better coating thickness and uniformity index requirements can be guaranteed, and the impact of the spraying environment of paint splashing on workers' health can be avoided. It can be said that the traditional use of scaffolding, aerial work vehicles or wall-climbing robots still has problems of health damage, high-altitude operation or painting efficiency.

SUMMARY OF THE INVENTION

In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a method for planning a super-span spraying trajectory of a cable-parallel robot for ships.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A method for planning a super-span spraying trajectory of a ship-use cable-parallel robot, comprising the following steps: (a) configuring a cable-parallel robot on a pre-sprayed ship spray surface; the robot includes a drive device, a pulley, a rope, and an end effector; The driving device is provided with multiple groups; each group includes a motor, a coupling, a reducer and a drum; one end of the rope is connected to the end effector, and the other end is respectively connected to the drum of a driving device, through the motor The work of the roller drives the rotation of the drum, which in turn drives the extension or shortening of the corresponding rope; the end effector is pulled together by the rope, and the end effector (4) is fixed with a spray nozzle for painting, and the nozzle continues during the movement of the end effector. For spray painting, the flow rate of the spray head is constant; (b) control the end effector to do multiple sets of reciprocating movements with different amplitudes at a certain height through the rope; (c) control the end effector to rise or fall to another height through the rope; ( d) Control the end effector through the rope to continue to do multiple sets of reciprocating motions with different amplitudes; (e) Repeat steps c and d until the robot finishes spraying to set the ship spraying surface; (f) Transfer the cable-parallel robot to the next spraying surface to continue to spray.

As an improvement of the present invention, the multiple groups of reciprocating motions with different amplitudes described in steps (b) and (d) specifically include: (b1) setting the maximum amplitude r _max and the minimum amplitude r _min ; (b2) passing ropes Control the end effector to reciprocate, and control the end effector to move from the midpoint to one end through the rope, return to the midpoint after a distance equal to the minimum amplitude r _min , and then move to the other end, after a distance equal to the minimum amplitude r min. After the distance of the amplitude r _min , it returns to the midpoint again, thereby completing a reciprocating motion; (b3) control the end effector through the rope to continue the reciprocating motion, and gradually increase the amplitude r of the reciprocating motion until it reaches the maximum amplitude r _max ; (b4) Control the end effector to continue the reciprocating motion through the rope, and gradually reduce the amplitude r of the reciprocating motion until the minimum amplitude r _min is reached. After the reciprocating motion with the amplitude equal to the minimum amplitude r _min is completed, the end effector returns to the midpoint place;

As an improvement of the present invention, in the process of gradually increasing the amplitude r of the reciprocating motion, the amplitudes are sequentially 0.1r _max , 0.3r _max , 0.5r _max , and r _max ; in the process of gradually reducing the amplitude r of the reciprocating motion, The amplitudes are 0.5r _max , 0.3r _max , and 0.1r _max in sequence.

As an improvement of the present invention, in the process of gradually increasing the amplitude r of the reciprocating motion, the amplitudes are sequentially 0.2r _max , 0.4r _max , 0.6r _max , 0.8r _max , and r _max ; In the process of the amplitude r, the amplitudes are 0.8r _max , 0.4r _max , 0.4r _max , and 0.2r _max in sequence.

As an improvement of the present invention, the reciprocating motion function described in step b adopts a sine periodic function or a high-order polynomial function, the speed at the beginning and end of the motion is zero, and the speed of the middle section of the track is the largest; and the track position, speed, acceleration and jerk are required to be all Continuous balancing to reduce terminal vibration.

As an improvement of the present invention, the process of the robot spraying the spraying surface of the ship described in step e may be a process of lowering the height from top to bottom, or may be a process of increasing the height from bottom to top.

As an improvement of the present invention, the rope controls the end effector to ascend or descend a certain distance h to another height in step c, 0<h<R, where R is the radius R of the spraying circle formed by the nozzle on the ship surface.

The present invention has the following technical effects:

(1) The present invention is used for automatic spraying of the outer surface of a large hull, and uses the super-span movement of the cable-parallel robot to spray paint, and the cost is low.

(2) Solve the problem of automatic spraying on the outer surface of large hulls, and solve the problems of low spraying efficiency, the quality of spraying is greatly affected by employees, the harm caused by the spraying environment to the human body, etc., and the spraying device is simple and easy. Build, spray efficiently

(3) By controlling the amplitude of the spraying trajectory, that is, performing multiple sets of reciprocating motions with different amplitudes at a certain height, it can ensure that the spraying head has a uniform paint thickness under the condition of constant spraying flow rate.

Description of drawings

Fig. 1 is a flow chart of a method for planning a trajectory for over-span spraying of a marine cable-parallel robot according to the present invention.

FIG. 2 is a schematic structural diagram of a marine cable-parallel robot according to the present invention.

FIG. 3 is a schematic diagram of a spraying trajectory of a marine cable-parallel robot according to the present invention.

FIG. 4 is a schematic diagram of the spraying radius and height adjustment of a marine cable parallel robot nozzle according to the present invention.

Fig. 5 is a schematic diagram of the spraying radius and height adjustment of a marine cable parallel robot nozzle according to the present invention.

Detailed ways

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and examples.

As shown in Figures 1 and 2, a method for planning a super-span spraying trajectory of a marine cable-parallel robot is characterized in that it comprises the following steps:

(a) A cable parallel robot is configured on the pre-sprayed ship spraying surface 100; the robot includes a driving device 1, a pulley 2, a rope 3, and an end effector 4; the driving device 1 is provided with multiple groups; the driving device can be provided with multiple The group can be two groups, three groups, four groups, five groups, etc., three groups are shown in the figure, and the driving device is omitted in Figure 3-5; each group includes a motor, a coupling, a reducer and a roller; all One end of the rope 3 is connected to the end effector 4, and the other end is connected to the drum of a driving device 1 respectively, and the rotation of the drum is driven by the operation of the motor, thereby driving the extension or shortening of the corresponding rope 3; the end effector 4 The rope 3 is used for pulling together, and the end effector 4 is fixed with a spray head for painting. The spray head continues to spray paint during the movement of the end effector 4, and the flow rate of the spray head is constant;

(b) control the end effector 4 to do multiple groups of reciprocating motions with different amplitudes at a certain height through the rope 3; the trajectory function of the reciprocating motion adopts a sinusoidal periodic function or a high-order polynomial function, and the speed at the beginning and end of the motion is zero, The velocity of the middle section of the trajectory is the largest; and the trajectory position, velocity, acceleration and jerk are required to be continuously balanced to reduce the vibration of the terminal.

(c) Control the end effector 4 to ascend or descend to another height through the rope 3; the ascending or descending distance h (41) satisfies 0<h<R, where R is the spraying circle formed by the nozzle on the ship surface (42) the radius R. (d) Controlling the end effector 4 through the rope 3 to continue to perform multiple sets of reciprocating movements with different amplitudes;

(e) repeating step c and step d until the robot sprays the setting ship spray surface 100; the process of the robot spraying the ship spray surface 100 described in step e can be a process of lowering the height from top to bottom, or it can be a process of lowering the height from bottom to bottom. The process of ascending altitude.

(f) As shown in FIG. 5 , transfer the cable-parallel robot to the next spraying surface 101 to continue spraying. The next spraying surface 101 may be in an overlapping or non-overlapping relationship with the spraying surface 100, which is specifically determined according to the working conditions.

The invention is used for automatic spraying of the outer surface of a large-scale hull, and uses the super-span movement of the cable-parallel robot to spray paint, and the cost is low. It solves the problem of automatic spraying on the outer surface of large hulls, and solves the problems of low spraying efficiency, the quality of spraying is greatly affected by employees, and the harm caused by the spraying environment to the human body. The spraying device is simple and easy to build, and spraying efficient. By controlling the amplitude of the spraying trajectory, that is, performing multiple sets of reciprocating motions with different amplitudes at a certain height, it can ensure that the spraying head has a uniform paint thickness under the condition of constant paint flow rate.

As shown in Figures 3 and 4, the multiple groups of reciprocating motions with different amplitudes described in steps b and d specifically include: (b1) setting the maximum amplitude r _max and the minimum amplitude r _min ; the maximum amplitude r and the span, the ship It is related to the length of the entire sprayed surface to be sprayed;

(b2) The end effector 4 is controlled by the rope 3 to reciprocate, and the end effector 4 is controlled by the rope 3 to start moving from the midpoint 40 to one end, and returns to the midpoint 40 after a distance equal to the minimum amplitude r _min , Then move to the other end, and return to the midpoint 40 after a distance equal to the minimum amplitude r _min , thus completing a reciprocating motion;

(b3) controlling the end effector 4 to continue the reciprocating motion through the rope 3, and gradually increasing the amplitude r of the reciprocating motion until the maximum amplitude r _max is reached;

(b4) The end effector 4 is controlled by the rope 3 to continue the reciprocating motion, and the amplitude r of the reciprocating motion is gradually reduced until the minimum amplitude r _min is reached. After the reciprocating motion with the amplitude equal to the minimum amplitude r _min is completed, the end effector 4 to midpoint 40;

Since the flow rate of spray paint is constant, the thickness of spray paint is smaller where the speed of the natural nozzle is faster. In this embodiment, the design of gradually adjusting the amplitude r can ensure the approximate uniformity of the paint thickness. The specific adjustment plan can also be based on the working conditions. Perform specific calculations to determine.

As a specific example, in the process of gradually increasing the amplitude r of the reciprocating motion, the amplitudes are sequentially 0.1r _max , 0.3r _max , 0.5r _max , and r _max ; in the process of gradually decreasing the amplitude r of the reciprocating motion, the amplitude The sequence is 0.5r _max , 0.3r _max , and 0.1r _max . As another specific embodiment, in the process of gradually increasing the amplitude r of the reciprocating motion, the amplitudes are sequentially 0.2r _max , 0.4r _max , 0.6r _max , 0.8r _max , and r _max ; the amplitude of the reciprocating motion is gradually decreased. In the process of r, the amplitudes are 0.8r _max , 0.4r _max , 0.4r _max , and 0.2r _max in sequence.

The above examples are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. On the basis of not departing from the design spirit of the present invention, various deformations and modifications made to the technical solutions of the present invention shall all fall into the scope of this invention. within the scope of protection determined by the claims of the invention.

Claims (6)

1. A method for planning a super-span spraying track of a ship cable parallel robot is characterized by comprising the following steps:

(a) arranging a cable parallel robot on a spraying surface (100) of the pre-sprayed ship; the robot comprises a driving device (1), a pulley (2), a rope (3) and an end effector (4); the driving device (1) is provided with a plurality of groups; each group comprises a motor, a coupling, a speed reducer and a roller; one end of each rope (3) is connected to the end effector (4), the other end of each rope is connected to a roller of the driving device (1), and the rollers are driven to rotate through the work of the motors, so that the corresponding ropes (3) are driven to extend or shorten; the end effector (4) is dragged by the rope (3) together to move, a spray nozzle for spraying paint is fixedly connected to the end effector (4), the spray nozzle continuously sprays paint in the moving process of the end effector (4), and the flow rate of the spray nozzle spraying paint is constant;

(b) the end effector (4) is controlled by the rope (3) to do a plurality of groups of reciprocating motions with different amplitudes at a certain height;

(c) the end effector (4) is controlled by the rope (3) to ascend or descend to another height;

(d) the end effector (4) is controlled by the rope (3) to continue to do a plurality of groups of reciprocating motions with different amplitudes;

(e) repeating the step c and the step d until the robot finishes spraying the set ship spraying surface (100);

(f) transferring the cable parallel robot to the next spraying surface (101) for continuous spraying;

the plurality of groups of reciprocating motions with different amplitudes in the steps b and d specifically comprise:

(b1) setting the maximum amplitude r_maxAnd minimum amplitude r_min；

(b2) The end effector (4) is controlled by the rope (3) to reciprocate, and the end effector (4) is controlled by the rope (3) to move from the midpoint (40) to one end and pass through a minimum amplitude r_minBack to the midpoint (40) and then moves toward the other end through a distance equal to the minimum amplitude r_minThen returns to the midpoint (40) again, thereby completing a reciprocating motion;

(b3) the end effector (4) is controlled by the rope (3) to continue reciprocating, and the amplitude r of the reciprocating motion is gradually increased until the maximum amplitude r is reached_max；

(b4) The end effector (4) is controlled by the rope (3) to continue reciprocating motion, and the amplitude r of the reciprocating motion is gradually reduced until the minimum amplitude r is reached_minThe finished amplitude is equal to the minimum amplitude r_minAfter the reciprocating motion, the end effector (4) returns to the midpoint (40).

2. The method for planning the overspan spraying trajectory of the ship cable parallel robot as claimed in claim 1, wherein the amplitude r of the reciprocating motion is gradually increasedIs 0.1r in sequence_max，0.3r_max，0.5r_max，r_max(ii) a In the process of gradually reducing the amplitude r of the reciprocating motion, the amplitude is 0.5r in sequence_max，0.3r_max，0.1r_max。

3. The method for planning the overspan spraying trajectory of the ship cable parallel robot as claimed in claim 2, wherein the amplitude of the reciprocating motion is gradually increased to 0.2r in sequence during the process of gradually increasing the amplitude r of the reciprocating motion_max，0.4r_max，0.6r_max，0.8r_max，r_max(ii) a In the process of gradually reducing the amplitude r of the reciprocating motion, the amplitude is 0.8r_max，0.4r_max，0.4r_max，0.2r_max。

4. The method for planning the overspan spraying track of the ship cable parallel robot according to any one of claims 1 to 3, wherein the track function of the reciprocating motion in the step b is a sine periodic function or a high-order polynomial function, the speed at the starting end and the stopping end of the motion is zero, and the speed in the middle section of the track is maximum; and requires that the track position, velocity, acceleration and jerk are continuously balanced to reduce vibration of the terminal.

5. The method for planning the over-span spraying trajectory of the ship cable parallel robot according to any one of claims 1 to 3, wherein the step e of completely spraying the set spraying surface (100) of the ship can be a process of lowering the height from top to bottom or a process of raising the height from bottom to top.

6. The method for planning the overspan spraying trajectory of the ship rope parallel robot according to any one of claims 1 to 3, wherein the end effector (4) is controlled by the rope (3) to ascend or descend a certain distance h (41) to another height in the step c, wherein 0< h < R, and R is the radius R of the spraying head forming the spraying circle (42) on the ship surface.

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