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A trajectory planning method for over-span spraying of a cable-parallel robot for ships

A trajectory planning and robot technology, applied in the field of machinery, can solve the problems of high-altitude work painting efficiency, health damage, etc., and achieve the effects of high spraying efficiency, uniform spraying thickness and low cost

Active Publication Date: 2020-11-06
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It can be said that the traditional use of scaffolding, aerial work vehicles or wall-climbing robots still has problems with health damage, aerial work or painting efficiency

Method used

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  • A trajectory planning method for over-span spraying of a cable-parallel robot for ships
  • A trajectory planning method for over-span spraying of a cable-parallel robot for ships
  • A trajectory planning method for over-span spraying of a cable-parallel robot for ships

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Embodiment Construction

[0022] The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0023] Such as figure 1 and 2 As shown, a cable parallel robot super-span spraying trajectory planning method for ships is characterized in that it comprises the following steps:

[0024] (a) configure the cable parallel robot 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 groups Groups can be two groups, three groups, four groups, five groups, etc., three groups are shown in the figure, Figure 3-5 The middle driving device is not shown; each group includes a motor, a shaft coupling, a reducer and a drum; one end of the rope 3 is connected to the end effector 4, and the other end is connected to a drum of a driving device 1 respectively, through The work of ...

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Abstract

The invention discloses a marine cable parallel robot super-span spraying track planning method. The marine cable parallel robot super-span spraying track planning method comprises the following steps: arranging a cable parallel robot on a pre-sprayed ship surface, fixing a sprayer for spraying paint on an end effector, and continuously spraying paint by the sprayer in a movement process of the end effector, wherein the flow speed of the paint spraying of the sprayer is constant; controlling the end effector to carry out multiple groups of reciprocating motions with different amplitudes at a certain height by a rope; then ascending or descending the end effector to another height position; keeping carrying out multiple groups of reciprocating motions with different amplitudes; and repeating the reciprocating motions until the whole height is sprayed by the robot. The method is used for automatic spraying of the outer surface of a large ship body, paint is sprayed by super-span movementof the cable parallel robot, the cost is low, and uniform paint spraying thickness can be ensured.

Description

technical field [0001] The invention belongs to the field of machinery, and in particular relates to a method for planning a super-span spraying trajectory of a cable-parallel robot. Background technique [0002] With the exploration and utilization of the ocean by humans, ships play an important role in exploration, transportation, mining, and military affairs, and corrosion is one of the biggest factors affecting the life of ships and offshore facilities. The commonly used anti-corrosion method is to coat a layer of coating with special functions such as anti-corrosion, anti-static, insulation, and heat absorption on the surface of the hull. Therefore, the spraying treatment of the hull surface is one of the indispensable and important links in the shipbuilding and assembly. [0003] Spraying robot is a kind of advanced spraying equipment with high degree of automation and integration. Under the background of mature manual spraying technology, it has become a new focus of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B05B13/04B05B15/70
CPCB05B13/041B05B13/0431B05B15/70
Inventor 邓豪邵珠峰尤政张兆坤彭发忠
Owner TSINGHUA UNIV
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