Automatic coating system for complex curved surface in ship industry

Abstract

The invention discloses an automatic coating system for a complex curved surface in the ship industry, which comprises a spraying robot and a control system for controlling the spraying robot to work, and further comprises cable traction devices respectively connected to two ends of the upper part of a ship body; the two ends of the upper portion of the operation platform are connected with the cable traction devices at the corresponding ends through top traction ropes. The two ends of the upper portion of the ground vehicle-mounted cable traction device are connected with the corresponding ends of the lower portion of the operation platform through vehicle-mounted cable traction ropes. Wherein the spraying robot is arranged on the upper surface of the operation platform; the cable traction device and the ground vehicle-mounted cable traction device are both connected with the control system. The device is simple in structure, ensures the working cleanliness, is not only suitable for large-plane coating operation, but also has better adaptability to ship body large-curved-surface coating operation, and can improve the working efficiency of ship body coating operation.

Description

Technical Field

[0001] The present invention relates to an automatic coating system, in particular to an automatic coating system for large-span complex curved surfaces for the shipbuilding industry, and belongs to the technical field of robots and automatic coating. Background Art

[0002] my country's shipbuilding industry has long been in a labor-intensive production mode with a low level of manufacturing automation. In particular, there is still a large gap in ship coating technology compared with foreign countries, which is prominently reflected in the long coating cycle, low efficiency, and high cost. Shipbuilding occupies a very important position in transportation and national defense. Grinding, sandblasting, rust removal and surface painting are the main processes of ship coating, and their safety, efficiency and quality issues are prominent. With the transfer of the world manufacturing market, labor shortages, rising labor costs, and shortened shipbuilding cycles, the shipbuilding industry is facing a great challenge.

[0003] At present, the ship painting process still has problems such as slow spraying speed, poor spraying quality, limited spraying area, and many safety hazards.

[0004] At present, a Chinese invention patent with the announcement number CN109158233A discloses a large-surface spraying soft-cable robot, which includes a spraying device (4), which is freely movable by being driven by soft-cables (5), and which is located between the soft-cables (5) and moves between the soft-cables (5), and the trajectory of the free movement of the spraying device (4) can cover the large surface for spraying. However, during use, the invention has the defects of large floor space, high cost, and complex installation. There are many limitations in the actual application of segmented painting of the hull, and it is difficult to be competent for curved surface painting operations.

[0005] Therefore, the key to solving the above technical problems is to develop an automated coating system with high working efficiency and strong practicality for complex curved surfaces in the shipbuilding industry. Summary of the invention

[0006] In view of the many defects and shortcomings existing in the above-mentioned background technology, the present invention has made improvements and innovations thereto, with the aim of providing an automated painting system which is easy to install, fast and flexible to move, simple in structure and easy to deploy. The system is not only suitable for large flat surface painting operations, but also has good adaptability to large curved surface painting operations of the hull, and can improve the work efficiency of the hull painting operations.

[0007] Another object of the present invention is to significantly improve operating efficiency, operating quality and operating costs.

[0008] In order to solve the above problems and achieve the above invention objectives, the present invention is an automated coating system for complex curved surfaces in the shipbuilding industry, which is realized by adopting the following design structure and the following technical solutions:

[0009] An automated painting system for complex curved surfaces in the shipbuilding industry, including a spraying robot (1) and a control system for controlling the operation of the spraying robot (1), further comprising:

[0010] A cable traction device (2), which is respectively connected to both ends of the upper part of the hull (6);

[0011] An operation platform (3), both ends of the upper part of the operation platform (3) are connected to the corresponding cable traction device (2) at each end through a top traction rope (24);

[0012] A ground vehicle-mounted cable traction device (4), both ends of the upper part of the ground vehicle-mounted cable traction device (4) are connected to the corresponding ends of the lower part of the operation platform (3) through vehicle-mounted cable traction ropes (421);

[0013] Wherein, the spraying robot (1) is arranged on the upper surface of the operation platform (3); both the cable traction device (2) and the ground vehicle-mounted cable traction device (4) are connected to the control system.

[0014] Preferably, it further includes a multi-functional windproof collection cabin (5) installed, the multi-functional windproof collection cabin (5) is connected to the operation platform (3), and the multi-functional windproof collection cabin (5) is located in front of the operation end of the spraying robot (1).

[0015] Preferably, the multi-functional windproof collection cabin (5) includes:

[0016] A windproof cabin body (51), the windproof cabin body (51) is integrally in a U-shaped, C-shaped or C-shaped structure;

[0017] A protection plate (52), the protection plates (52) are respectively connected to both sides of the upper opening end of the windproof cabin body (51), and the protection plates (52) are inclined inward along the opening end of the windproof cabin body (51).

[0018] Preferably, a buffer member (7) is provided at the opening end outside the multi-functional windproof collection cabin (5);

[0019] A collection cabin (8) is also communicated and provided at the bottom of the windproof cabin body (51), and the collection cabin (8) is used to collect the paint scattered by the spraying robot (1);

[0020] Wherein, an anti-sticking coating is also provided on the inner wall of the multi-functional windproof collection cabin (5).

[0021] Preferably, a collection bottle (9) is connected to the bottom of the collection cabin (8), one end of the collection bottle (9) is connected through a conduit in a communicating manner, and the other end of the conduit is detachably communicated with the collection cabin (8).

[0022] Preferably, the cable traction device (2) includes:

[0023] A mounting base (21), the bottom end of which is connected to the upper part of the hull;

[0024] A support frame (22), the support frame (22) is fixedly connected to the middle part of the upper end surface of the mounting base (21);

[0025] A cable traction assembly (23), the cable traction assembly (23) comprising a first traction assembly (231) and a second traction assembly (232);

[0026] The top traction ropes (24) connected to the first traction assembly (231) and the second traction assembly (232) are respectively connected to the connection rings (32) at the corresponding ends of the operating platform (3) through fasteners.

[0027] Preferably, the first traction assembly (231) comprises: a first traction machine, the first traction machine is fixedly connected to one end of the mounting base (21); a first pulley block, the first pulley block is connected to one side of the bottom end of the upper part of the support frame (22);

[0028] The second traction assembly (232) comprises: a second traction machine, the second traction machine is fixedly connected to the other end of the mounting base (21); a second pulley block, the second pulley block is connected to the other side of the bottom end of the upper part of the support frame (22);

[0029] The winding reels of the first traction machine and the second traction machine are not located on the same side, and both the first traction machine and the second traction machine are wirelessly connected to the control system.

[0030] Preferably, the operating platform (3) comprises:

[0031] An operating table (31), the operating table (31) is in a square structure as a whole, and a mounting hole for adapting and connecting with the spraying robot (1) is provided in the middle of the operating table (31);

[0032] The connecting ring (32) is respectively connected to the four corners of the upper end surface and the lower end surface of the operating table (31).

[0033] Preferably, the ground vehicle-mounted cable traction device (4) comprises:

[0034] A traveling mechanism (41), the traveling mechanism (41) is used to drive the vehicle-mounted cable traction assembly (42) on the traveling mechanism (41) to move forward, backward, left and right;

[0035] On-board cable traction components (42), the on-board cable traction components (42) are respectively arranged at the four corners of the upper end of the walking mechanism (41), and the on-board cable traction ropes (421) connected to each on-board cable traction component (42) are connected to the connecting rings (32) at the corresponding ends below the operating platform (3) through fasteners;

[0036] Wherein, the traveling mechanism (41) and each vehicle-mounted cable traction assembly (42) are wirelessly connected to the control system.

[0037] Preferably, the operating platform (3) is also provided with a plurality of anti-collision sensors for preventing the spraying robot (1) from colliding with the spraying surface of the hull when working;

[0038] The operating platform (3) is also provided with a buffering and protective pad (10) around its periphery, and the buffering and protective pad (10) is a rubber pad or an inflatable airbag.

[0039] Working principle:

[0040] When working, the control system controls the working range of the operating platform (3) by controlling the rope traction assembly (23) of the left-end rope traction device (2), the rope traction assembly (23) of the right-end rope traction device (2), the two vehicle-mounted rope traction assemblies (42) at the left end, and the rope lengths connected to the two vehicle-mounted rope traction assemblies (42) at the right end, thereby driving the spraying robot (1) on the operating platform (3) to perform spraying operations according to the spraying planning route.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. The present invention has the characteristics of convenient installation, fast and flexible movement, simple structure, easy deployment, etc., and is suitable for different ship types. According to the requirements of the coating process, the spraying robots with different functions of cleaning, grinding, rust removal and spraying can be flexibly replaced on the operating platform, providing an efficient, safe, environmentally friendly and high-quality implementation method for the overall or segmented automatic coating operation of the outer surface of the ship;

[0043] 2. The present invention can replace manual labor and achieve automated unmanned operation. It is not only suitable for large-surface painting operations, but also has good adaptability to large curved surface painting operations on hulls. It can greatly improve the operation efficiency, operation quality, operation cost, environmental protection and safety, and can solve a series of problems existing at this stage, such as the danger of manual spraying, poor curved surface spraying quality, and small working range;

[0044] 3. The spraying robot used in the present invention has the characteristics of high efficiency, precision, automation, etc., which can improve production efficiency, ensure spraying quality, reduce labor costs, and also reduce the adverse effects caused by direct contact between operators and spray materials;

[0045] 4. The protective cabin used in the present invention is used to prevent the influence of external wind on the spraying process of the spraying robot, ensuring uniform spraying; at the same time, an anti-stick coating is also provided on the inner wall of the protective cabin, which can make the spray paint adhere to the inner surface of the protective cabin easy to clean, thereby increasing the service life of the protective cabin and reducing subsequent maintenance and cleaning work;

[0046] 5. The present invention is also provided with a collision sensor, which can preset the collision distance to prevent the spraying robot from colliding with the hull during operation;

[0047] 6. The present invention also provides a buffer at the open end outside the protection cabin, and provides a buffer protection pad around the operating platform, which can reduce the adverse effects of the collision between the operating platform and the hull;

[0048] 7. The present invention is provided with a collection chamber, and the spray paint in the collection chamber gradually collects in the collection bottle under the action of gravity, which ensures a clean environment and prevents the staff from being polluted by the scattered paint when working, thus ensuring the cleanliness of the working environment and the physical and mental health of the staff.

[0049] 8. Since the collecting bottle is also provided with a material detection sensor adapted thereto, the material detection sensor is used to indicate the volume of the paint collected by the collecting bottle, thereby providing a warning of the volume.

[0050] The operator is reminded to replace the collection bottle; it is greatly convenient for the operator to deal with the scattered spray paint more quickly by simply removing the collection bottle (9) for replacement, thereby reducing the cleaning operation time and improving the work efficiency of the spraying operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings, wherein:

[0052] Figure 1 It is one of the use state diagrams of the present invention;

[0053] Figure 2 This is the second usage state diagram of the present invention;

[0054] Figure 3 This is the third use state diagram of the present invention;

[0055] Figure 4 It is one of the use state diagrams of another design structure of the present invention;

[0056] Figure 5 This is the second usage state diagram of another design structure of the present invention;

[0057] Figure 6 It is one of the structural schematic diagrams of the components of the rope pulling device (2) of the present invention;

[0058] Figure 7 This is the second structural schematic diagram of the components of the rope pulling device (2) of the present invention;

[0059] Figure 8 This is the third structural schematic diagram of the components of the rope pulling device (2) of the present invention;

[0060] Fig. 9 It is one of the planar schematic diagrams of the components of the rope pulling device (2) of the present invention;

[0061] Fig.10 This is the second schematic plan view of the components of the rope pulling device (2) of the present invention;

[0062] Fig.11 It is a partial structural schematic diagram of the present invention;

[0063] Fig.12 is a schematic diagram of the connection relationship between the operating platform (3) and the spraying robot (1) of the present invention;

[0064] Fig.13 The present invention Fig.12 Schematic diagram of the plane;

[0065] Fig.14 It is a schematic structural diagram of the components of the ground vehicle-mounted cable traction device (4) of the present invention;

[0066] Fig.15 This is another schematic diagram of the design structure of the multifunctional windproof collecting cabin (5) of the present invention;

[0067] Fig.16 It is a schematic diagram of the connection relationship of another design structure of the multifunctional windproof collecting cabin (5) of the present invention;

[0068] Fig.17 It is a schematic diagram of another design structure of the multifunctional windproof collecting cabin (5) of the present invention;

[0069] Fig.18 It is a schematic diagram of the connection relationship of the multifunctional windproof collecting cabin (5) of the present invention in another design structure;

[0070] Fig.19 This is a diagram of the multifunctional windproof collecting cabin (5) of the present invention in use state in another design structure;

[0071] Among them, the numbers in the figure are: 1—spraying robot;

[0072] 2—cable traction device, 21—mounting base, 22—support frame, 23—cable traction assembly, 24—top traction rope, 231—first traction assembly, 232—second traction assembly;

[0073] 3—operating platform, 31—operating table, 32—connecting ring;

[0074] 4—ground vehicle-mounted cable traction device, 41—traveling mechanism, 42—vehicle-mounted cable traction assembly, 421—vehicle-mounted cable traction rope;

[0075] 5—multifunctional windproof collection cabin, 51—windproof cabin body, 52—protective plate;

[0076] 6—Hull;

[0077] 7—Buffer;

[0078] 8—collection cabin;

[0079] 9—collection bottle;

[0080] 10—Buffer protection pad. DETAILED DESCRIPTION

[0081] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0082] Before using the above-mentioned design structure, an automated coating system for complex curved surfaces in the shipbuilding industry needs to be manufactured and installed as a backup.

[0083] The specific installation steps are:

[0084] Before installation, the operator first assembles the spraying robot 1 and the multifunctional windproof collection cabin 5 on the operating platform 3, and then hangs the connecting ring 32 at the upper end of the operating platform 3 by a hoisting device and hoists it to the spraying operation area for standby use;

[0085] During installation, first, install the cable pulling device 2. The operator installs two sets of cable pulling devices 2 on the outer side of the deck of the hull 6 at the two vertices on the left and right above the spraying operation area. When fixing, the end of the support arm of the support frame 22 is more than 500mm away from the bulwark of the hull.

[0086] Then, the operator drives the ground vehicle-mounted cable traction device 4 to the placement of the operating platform 3 through the control system;

[0087] Finally, the operator sequentially connects the two top traction ropes 24 of each rope traction device 2 to the connecting rings 32 at the two upper ends of the corresponding end operating platform 3; and then connects the vehicle-mounted rope traction rope 421 of each vehicle-mounted rope traction assembly 42 to the connecting ring 32 at the corresponding corner of the lower end of the operating platform 3, thus completing the installation of the present invention, and work can be carried out after the installation is completed.

[0088] The specific working method is:

[0089] Example 1

[0090] like Figures 1 to 14As shown, an automatic painting system for complex curved surfaces in the shipbuilding industry includes a spraying robot 1 and a control system for controlling the operation of the spraying robot 1, and also includes:

[0091] A cable traction device 2, the cable traction device 2 is connected to both ends of the upper part of the hull 6;

[0092] An operating platform 3, both ends of the upper part of the operating platform 3 are connected to the rope traction device 2 at the corresponding end through a top traction rope 24;

[0093] A ground vehicle-mounted cable traction device 4, both ends of the upper portion of the ground vehicle-mounted cable traction device 4 are connected to the corresponding ends of the lower portion of the operating platform 3 through a vehicle-mounted cable traction rope 421;

[0094] The spraying robot 1 is arranged on the upper surface of the operating platform 3; the cable traction device 2 and the ground vehicle-mounted cable traction device 4 are both connected to the control system.

[0095] The above structure is an automated coating system for complex curved surfaces in the shipbuilding industry. The steps when using it are as follows:

[0096] First, the control system establishes a coordinate mapping relationship and a spraying path; the control system uses the midpoint of the line connecting the positions of the two sets of rope traction devices 2 as the origin of the three-dimensional space coordinates, establishes a coordinate mapping relationship, and establishes a spraying path;

[0097] Then, the operator drives the ground vehicle-mounted cable traction device 4 to the planned operation starting position through the control system;

[0098] Finally, the spraying robot 1 starts the spraying operation according to the planned spraying path. The control system drives the operating platform 3 to move along the spraying path by controlling the first traction component 231 and the second traction component 232 and the four vehicle-mounted cable traction components 42, thereby driving the spraying robot 1 to perform the spraying operation according to the planned spraying route.

[0099] In the present invention, the spraying robot 1 has at least one function of grinding, sandblasting, rust removal and surface painting on the outer surface of the hull; the spraying robot 1 is connected to the paint source, sand source and high-pressure air source arranged on the operating platform 3 through independent pipelines, and the pipeline includes: a paint spraying pipeline, a sandblasting pipeline and a high-pressure air circuit, wherein: the high-pressure air circuit serves as the air source of the spraying robot's spray gun, the paint spraying pipeline provides paint, and the sandblasting pipeline provides steel sand, and the spraying robot's spray gun can achieve grinding and rust removal on the outer surface of the hull; a grinding component is connected to the spraying robot 1, and the hull surface is ground by a grinding head, thereby increasing the rust removal effect and making the coating adhesion better.

[0100] In the present invention, in order to make its working state more stable and reliable, the spraying robot 1 is a joint robot.

[0101] Example 2

[0102] On the basis of Example 1, it further includes a multi-functional windproof collection cabin 5. The multi-functional windproof collection cabin 5 is connected to the operation platform 3, and the multi-functional windproof collection cabin 5 is located in front of the operation end of the spraying robot 1.

[0103] Specifically, the multi-functional windproof collection cabin 5 includes: a windproof cabin body 51, and the windproof cabin body 51 is integrally in a U-shaped, C-shaped or C-shaped structure;

[0104] A protective plate 52, and the protective plates 52 are respectively connected to both sides of the upper opening end of the windproof cabin body 51, and the protective plate 52 is inclined inward along the opening end of the windproof cabin body 51;

[0105] Among them, the multi-functional windproof collection cabin 5 is used to prevent the influence of external wind force on the spraying process of the spraying robot 1 and ensure uniform spraying.

[0106] An anti-sticking coating is also provided on the inner wall of the multi-functional windproof collection cabin 5; a buffer is also provided at the opening end outside the multi-functional windproof collection cabin 5.

[0107] The specific steps of using this Example 2 are the same as those of Example 1 and will not be elaborated here.

[0108] In this Example 2, a multi-functional windproof collection cabin 5 is also provided on the operation platform 3. The multi-functional windproof collection cabin 5 can prevent the influence of external wind force on the spraying process of the spraying robot 1, ensure uniform spraying, and also reduce the diffusion range of the spraying material; an anti-sticking coating is also provided on the inner wall of the multi-functional windproof collection cabin 5, and the anti-sticking coating material includes a fluorocarbon paint coating and a silicone resin coating. When the spraying material adheres to the inner surface of the multi-functional windproof collection cabin 5, the anti-sticking coating is easy to clean, thereby increasing the service life of the multi-functional windproof collection cabin 5 and reducing subsequent maintenance and cleaning work.

[0109] Among them, the multi-functional windproof collection cabin 5 is used to prevent the influence of external wind force on the spraying process of the spraying robot 1, ensure the cleanliness of the working environment and the physical and mental health of the staff, and also ensure uniform spraying.

[0110] Example 3

[0111] On the basis of any one of Example 1 and Example 2, the cable traction device 2 includes:

[0112] An installation base 21, and the bottom end of the installation base 21 is connected to the upper part of the hull;

[0113] A support frame 22, and the support frame 22 is fixedly connected to the middle of the upper end surface of the installation base 21;

[0114] A cable traction assembly 23, the cable traction assembly 23 includes a first traction assembly 231 and a second traction assembly 232;

[0115] The top traction ropes 24 connected to the first traction assembly 231 and the second traction assembly 232 are respectively connected to the connection rings 32 at the corresponding ends of the operating platform 3 through fasteners.

[0116] The first traction assembly 231 includes: a first traction machine, the first traction machine is fixedly connected to one end of the mounting base 21; a first pulley block, the first pulley block is connected to one side of the bottom end of the upper part of the support frame 22;

[0117] The second traction assembly 232 includes: a second traction machine, the second traction machine is fixedly connected to the other end of the mounting base 21; a second pulley block, the second pulley block is connected to the other side of the bottom end of the upper part of the support frame 22;

[0118] The winding reels of the first traction machine and the second traction machine are not located on the same side, and both the first traction machine and the second traction machine are wirelessly connected to the control system.

[0119] In the present invention, the first pulley block and the second pulley block are each composed of three pulleys, which are used to guide the top traction rope 24 connected to the winding drum, ensure that the top traction rope 24 moves on a specific path, and reduce friction loss; wherein, the two top traction ropes 24 connected to the operating platform 3 at the same end are cross-arranged or not cross-arranged, and the first traction machine and the second traction machine are both electric winding machines.

[0120] The operating platform 3 comprises:

[0121] The operating table 31 is in a square structure as a whole, and a mounting hole adapted to be connected to the spraying robot 1 is provided in the middle of the operating table 31;

[0122] The connecting ring 32 is connected to the four corners of the upper end surface and the lower end surface of the operating table 31 respectively.

[0123] The ground vehicle-mounted cable traction device 4 comprises:

[0124] The traveling mechanism 41 is used to drive the vehicle-mounted cable traction assembly 42 on the traveling mechanism 41 to move forward, backward, left and right;

[0125] The vehicle-mounted cable traction components 42 are respectively arranged at the four corners of the upper end of the walking mechanism 41, and the vehicle-mounted cable traction ropes 421 connected to each vehicle-mounted cable traction component 42 are connected to the connecting ring 32 at the corresponding end below the operating platform 3 through a fastener;

[0126] The traveling mechanism 41 and each vehicle-mounted cable traction assembly 42 are wirelessly connected to the control system.

[0127] In the present invention, the walking mechanism 41 is an AGV unmanned vehicle, and the AGV unmanned vehicle has the following functions:

[0128] 1. Autonomous navigation: AGV unmanned vehicles are equipped with advanced navigation systems. They can obtain information about the surrounding environment through sensing devices such as laser radar, cameras, and ultrasonic sensors, and use SLAM algorithms to build maps and locate their own positions in real time, so that they can accurately plan paths and avoid obstacles.

[0129] 2. Path planning and decision-making: The AGV unmanned vehicle determines the best driving route through the path planning algorithm according to the task requirements and environmental information, and makes decisions based on sensor data and preset behavior strategies, such as avoiding obstacles, slowing down and stopping, and stopping for charging.

[0130] 3. Environmental perception and obstacle avoidance: AGVs are equipped with a variety of sensors, such as laser radar, cameras, infrared sensors, etc., which can sense obstacles, people or other AGVs in front to avoid collisions and safety risks. They can also adjust the path and speed in time according to the perceived environmental changes;

[0131] 4. Remote monitoring and management: AGV unmanned vehicles can be connected to the central control system and transmit data through the network to achieve remote monitoring, scheduling and management of vehicles, including task scheduling, energy management, fault diagnosis, etc.

[0132] 5. Safety protection and emergency stop: AGV unmanned vehicles are equipped with safety protection devices, such as collision sensors, emergency stop buttons, etc. Once an abnormal situation or safety risk occurs, the system will make an emergency stop or other safety response in time to ensure the safety of personnel and equipment.

[0133] In the present invention, the walking mechanism 41 is equipped with a wireless communication module, which is wirelessly connected to the control system for real-time communication. After the control system issues an operation instruction to the wireless communication module, it can drive the vehicle body structure to move forward, backward, left and right through the electric drive system; the control system controls the traction force of each vehicle-mounted cable traction component 42 by issuing instructions to different vehicle-mounted cable traction components 42.

[0134] The operating platform 3 is also provided with a plurality of collision sensors for preventing the spraying robot 1 from colliding with the spraying surface of the hull when working.

[0135] The operating platform 3 is also provided with buffer protection pads around it.

[0136] The specific steps of using this embodiment 3 are the same as those of embodiment 1, and will not be repeated here.

[0137] In this embodiment, the spraying robot 1 always maintains an optimal distance from the working surface of the hull. The anti-collision sensor arranged on the operating platform 3 can maintain an optimal distance from the working surface of the hull according to the preset anti-collision distance. The collision sensor is wirelessly connected to the control system to transmit data in real time. The control system controls the rope length of the cable traction device 2 and the vehicle-mounted cable traction device 4 to adjust the distance between the spraying robot 1 and the working surface in real time after analysis and processing by the control system, so as to achieve real-time correction of the distance between the spraying robot 1 and the working surface, so that the spraying robot 1 maintains an optimal working distance with the working surface in real time.

[0138] In the present invention, the rope traction device 2 is installed by presetting a plurality of fixed positions on the upper edge of the hull, or by providing a clip-type component on the upper edge of the hull and installing it on the clip-type component by riveting, so as to achieve flexible installation and disassembly.

[0139] In the present invention, the ground vehicle-mounted rope traction device 4 automatically guides or manually assists in controlling the movement according to the position information of the walking mechanism 41, so as to drive the operating platform 3 to move freely within two horizontal distance ranges in the left and right directions and the front and rear directions, and controls the movement of the walking mechanism 41 according to the distance between the operating platform 3 and the working surface to adjust the depth.

[0140] In the present invention, the rope traction assembly 23 and the vehicle-mounted rope traction assembly 42 both include servo motors. The rope traction assembly 23 and the vehicle-mounted rope traction assembly 42 realize the extension and contraction of the ropes connected thereto by the rotation of the servo motors. The control system adjusts the length of the ropes connected to the operating platform 3 by controlling each servo motor to keep the tension within a certain range.

[0141] In the present invention, the walking mechanism 41 can obtain information such as the shape, position and quality of the target surface through the sensor system, and send the collected spraying area information to the control system for processing.

[0142] During the above operation, the operator may also replace the corresponding spraying robot 1 according to different spraying processes.

[0143] In the present invention, the operating platform 3 can automatically identify the local position according to the positions of the two rope traction devices 2 on the upper part of the hull and the position of the walking mechanism 41, and according to the operation path planning, the control system realizes rapid movement within the operation range by controlling the rope lengths in three directions; the spraying robot 1 is installed on the operating platform 3, and if necessary, the movement control in the three directions of x, y, and z axes can be added, so that the spraying robot 1 itself can cover a certain working range, which can reduce the number of movements of the walking mechanism 41, improve the operation efficiency and make up for the problems such as insufficient adjustment of the operation distance caused by the large curved surface of the hull.

[0144] After the specific use is completed, if it is designed to be reused or needs to be dismantled, the specific dismantling steps are: after all spraying operations are completed and the inspection is up to standard, the operator places the operating platform 3 on the walking mechanism 41 through the control system, and then removes the top traction rope 24 and the vehicle-mounted traction rope 421 in sequence, and then removes the rope traction device 2. Finally, after all components are cleaned, they are moved to the warehouse for next use.

[0145] Example 4

[0146] like Figure 15 to Figure 16 As shown, on the basis of any of Examples 1 to 3, a collecting cabin 8 is also connected to the bottom of the windproof cabin body 51. The collecting cabin 8 can collect the spray paint that has not been sprayed on the hull well during the operation of the spray robot 1. The scattered spray paint gradually gathers in the collecting cabin 8 under the action of gravity, which makes it more convenient for the operator to collect the scattered spray paint and improves the cleaning efficiency.

[0147] Example 5

[0148] like Figure 18 to Figure 19 As shown, on the basis of Example 4, a collecting bottle 9 is connected to the bottom of the collecting chamber 8, one end of the collecting bottle 9 is connected to the collecting chamber 8 through a conduit, and the other end of the conduit is detachably connected to the collecting chamber 8, and the spray paint in the collecting chamber 8 is gradually collected in the collecting bottle 9 under the action of gravity. While ensuring a clean environment, the staff will not be polluted by the scattered paint when working, and the cleanliness of the working environment is ensured while also ensuring the physical and mental health of the staff.

[0149] Example 6

[0150] In the present invention, a material detection sensor adapted thereto is also provided on the collecting bottle 9. The material detection sensor is used to indicate the volume of the paint collected by the collecting bottle 9 and to provide a warning of the volume.

[0151] When working, Fig.19 As shown, due to the long-term paint spraying work, the spray paint in the collection chamber 8 is gradually collected in the collection bottle 9 under the action of gravity. As the working time lengthens, when the material reaches the preset value of the material detection sensor, the material detection sensor sends a signal to the control system, and the control system sends feedback information after processing to remind the operator to replace the collection bottle; it is greatly convenient for the operator to only remove the collection bottle 9 for replacement to more quickly handle the scattered spray paint, thereby reducing the cleaning operation time and improving the work efficiency of the spraying operation.

[0152] In embodiments 1 to 6, the control processing system is a programmable logic controller, a PLC, or a PC.

[0153] Finally, it should be noted that the above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. An automated painting system for complex curved surfaces in the shipbuilding industry, comprising a painting robot (1) and a control system for controlling the operation of the painting robot (1), characterized in that: Further comprising: A cable traction device (2), which is respectively connected to both ends of the upper part of the hull (6); An operation platform (3), both ends of the upper part of the operation platform (3) are connected to the cable traction device (2) at the corresponding end through the top traction ropes (24); A ground vehicle-mounted cable traction device (4), both ends of the upper part of the ground vehicle-mounted cable traction device (4) are connected to the corresponding ends of the lower part of the operation platform (3) through the vehicle-mounted cable traction ropes (421); Wherein, the spraying robot (1) is arranged on the upper surface of the operation platform (3); both the cable traction device (2) and the ground vehicle-mounted cable traction device (4) are connected to the control system.

2. The automatic coating system for complex curved surfaces in the shipbuilding industry according to claim 1 is characterized in that: Further comprising a multi-functional windproof collection cabin (5) installed, the multi-functional windproof collection cabin (5) is connected to the operation platform (3), and the multi-functional windproof collection cabin (5) is located in front of the operation end of the spraying robot (1).

3. The automatic coating system for complex curved surfaces in the shipbuilding industry according to claim 2 is characterized in that: The multi-functional windproof collection cabin (5) includes: A windproof cabin body (51), the windproof cabin body (51) is integrally U-shaped or C-shaped or C-shaped; A protection plate (52), the protection plates (52) are respectively connected to both sides of the upper opening end of the windproof cabin body (51), and the protection plates (52) are arranged obliquely inward along the opening end of the windproof cabin body (51).

4. The automatic coating system for complex curved surfaces in the shipbuilding industry according to claim 2 is characterized in that: A buffer member (7) is provided at the opening end outside the multi-functional windproof collection cabin (5); A collection cabin (8) is also communicated and provided at the bottom of the windproof cabin body (51), and the collection cabin (8) is used for collecting the sprayed paint scattered by the spraying robot (1); Wherein, an anti-sticking coating is also provided on the inner wall of the multi-functional windproof collection cabin (5).

5. The automatic coating system for complex curved surfaces in the shipbuilding industry according to claim 1 is characterized in that: A collection bottle (9) is connected to the bottom of the collection cabin (8), one end of the collection bottle (9) is connected through a conduit in a communicating manner, and the other end of the conduit is detachably communicated with the collection cabin (8).

6. The automatic coating system for complex curved surfaces in the shipbuilding industry according to claim 1, characterized in that: The cable traction device (2) includes: An installation base (21), the bottom end of the installation base (21) is connected to the upper part of the hull; A support frame (22), the support frame (22) is fixedly connected to the middle of the upper end surface of the installation base (21); A cable traction assembly (23), the cable traction assembly (23) includes a first traction assembly (231) and a second traction assembly (232); Wherein, the top traction ropes (24) respectively connected to the first traction assembly (231) and the second traction assembly (232) are respectively connected to the connection rings (32) at the corresponding ends of the operation platform (3) through fastening members.

7. The automatic coating system for complex curved surfaces in the shipbuilding industry according to claim 6, characterized in that: The first traction assembly (231) includes: a first traction machine, the first traction machine is fixedly connected to one end of the installation base (21); a first pulley group, the first pulley group is connected to one side of the bottom end of the upper part of the support frame (22); The second traction assembly (232) includes: a second traction machine, the second traction machine is fixedly connected to the other end of the installation base (21); a second pulley group, the second pulley group is connected to the other side of the bottom end of the upper part of the support frame (22); Wherein, the winding discs of the first traction machine and the second traction machine are not on the same side, and both the first traction machine and the second traction machine are wirelessly connected to the control system.

8. The automatic coating system for complex curved surfaces in the shipbuilding industry according to claim 1, characterized in that: The operation platform (3) includes: An operation table (31), the operation table (31) is integrally square, and an installation hole adapted to be connected to the spraying robot (1) is provided in the middle of the operation table (31); The connecting ring (32) is respectively connected to the four corners of the upper end surface and the lower end surface of the operating table (31).

9. The automatic coating system for complex curved surfaces in the shipbuilding industry according to claim 1, characterized in that: The ground vehicle-mounted cable traction device (4) comprises: A traveling mechanism (41), the traveling mechanism (41) is used to drive the vehicle-mounted cable traction assembly (42) on the traveling mechanism (41) to move forward, backward, left and right; On-board cable traction components (42), the on-board cable traction components (42) are respectively arranged at the four corners of the upper end of the walking mechanism (41), and the on-board cable traction ropes (421) connected to each on-board cable traction component (42) are connected to the connecting rings (32) at the corresponding ends below the operating platform (3) through fasteners; Wherein, the traveling mechanism (41) and each vehicle-mounted cable traction assembly (42) are wirelessly connected to the control system.

10. An automated coating system for complex curved surfaces in the shipbuilding industry according to any one of claims 1 to 9, characterized in that: The operating platform (3) is also provided with a plurality of anti-collision sensors for preventing the spraying robot (1) from colliding with the spraying surface of the hull when working; The operating platform (3) is also provided with a buffering and protective pad (10) around its periphery, and the buffering and protective pad (10) is a rubber pad or an inflatable airbag.

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