Modularized robot for ship paint spraying and rust removal and control method thereof

Abstract

The modular robot comprises a machine body plate, a closed machine shell, four bionic elephant legs, a bionic elephant nose paint spraying mechanism, a paint spraying power assembly used for driving the bionic elephant nose paint spraying mechanism to move, a paint spraying control assembly electrically connected with the paint spraying power assembly and the bionic elephant legs, and a bionic elephant nose rust removing mechanism. The rust removal control assembly is electrically connected with the bionic elephant nose rust removal mechanism and the bionic elephant legs; the laser radar is arranged at the front end of the closed machine shell and electrically connected with the paint spraying control assembly and the rust removal control assembly; a temperature sensor, a first visual sensor and a paint coating thickness measuring sensor which are electrically connected with the paint spraying control assembly are arranged on the bionic trunk paint spraying mechanism, and a second visual sensor, a corrosion sensor and an optical roughness sensor which are electrically connected with the rust removal control assembly are arranged on the bionic trunk rust removal mechanism. The working efficiency of paint spraying and rust removing can be effectively improved in different working environments.

Description

Technical field [0001] The present invention involves bionic robots, especially a robot and its control methods used to remove rust removal for ship paint. Background technique [0002] Most of the ship paint removal work is carried out by ship factories. Workers are often accompanied by this huge physical damage and danger when spraying paint and rust removal, and its production efficiency is not as high as the robot. When spraying paint, workers wear heavy anti -virus masks and clothing. When the temperature is high, it is prone to heatstroke. Accidentally, there is danger that can cause poisoning and explosion. When removing rust, the painting of the rust removal tube is very stressed, the workers are prone to fatigue, and the rust dust also has huge harm to the human body. In addition, although the emergence of their own robots can greatly liberate productivity, robots in the field of rust removal in the rust of ship spraying are still a single robot, and the robot's flexibil...

AI Technical Summary

Problems solved by technology

[0004] By comparison, it was found that this wall-climbing derusting and painting robot is mainly used for spraying and derusting work on places with small curvature of the outer wall of the ship. It cannot enter small spaces, nor can it spray paint and derust the turning corners of the space. Workers need real-time supervision during work.

The painting and rust removal robot proposed in "Research and Design of Ship Rust Removal and Painting Robot" can't adapt to the horizontal plane with complex working conditions, and can't cross the ground obstacles through bionic leg movements. The convenience and adaptability are not high. The robot is large in size, and it cannot be used for painting and rust removal in a small space

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