Adaptive crawler wall-climbing robot for hull wall grinding and control method thereof

Abstract

The present invention discloses an adaptive crawler wall-climbing robot for hull wall grinding, comprising a permanent magnetic adsorption crawler, a frame chassis, a spring damping shock absorber, a screw slide and a grinding head assembly, wherein the permanent magnetic adsorption crawler is connected through the frame chassis, the screw slide is connected to the frame chassis and the grinding head assembly, a stepper motor for driving the screw slide and the grinding head assembly is arranged on the screw slide, the grinding head assembly comprises a pneumatic grinding head, a pressure sensor is arranged on the pneumatic grinding head, and the pressure sensor and the pneumatic grinding head are connected to a controller. The present invention also discloses a control method for an adaptive crawler wall-climbing robot for hull wall grinding. The permanent magnetic adsorption crawler of the robot of the present invention is a triangular chain transmission structure, which can realize crawler deformation, so that the crawler can better adapt to the curved surface of the ship wall, and under the action of the spring shock absorber, the crawler is always tensioned and better fits the arc surface, so as to realize the maximum contact surface between the hull and the crawler.

Description

Technical Field

[0001] The invention relates to a robot and a control method thereof, in particular to an adaptive crawler wall-climbing robot for grinding hull walls and a control method thereof. Background Art

[0002] In recent years, with the development of the global economy, the shipbuilding industry has also had a great impact on the shipbuilding industry in terms of cross-border transportation, marine development and national defense construction. During the construction and maintenance of ships, it is necessary to polish the welds, rust and other stains on the hull wall. Compared with manual operation, the use of adsorbable wall-climbing robots to complete related operations is of great significance to improving work efficiency and quality and ensuring safe production. The three commonly used adsorption methods of wall-climbing robots are: vacuum adsorption, negative pressure adsorption and magnetic adsorption. Due to the uneven outer wall of the ship, it is difficult to achieve a good seal by vacuum adsorption or negative pressure adsorption, resulting in poor adsorption force stability and easy detachment during the robot's operation. These two methods are not applicable; electromagnetic adsorption has the advantage of controllable magnetism, but under the premise of providing the same adsorption force, the mass of the electromagnet is larger than that of the permanent magnet, and the structure is complex, which is not conducive to the application of wall-climbing robots.

[0003] The wall-climbing robot is the carrier of the functional components for grinding the hull wall, and its reliability is crucial. At present, there are many types of wall-climbing robots, including wheeled, peristaltic, and crawler types. Since the workload is large when grinding the hull wall, the robot needs to carry cables, pneumatic drive pipelines, waste chip recovery pipelines, etc. to climb up the hull wall, and the driving force requirements are high. Therefore, the crawler structure is more in line with the use requirements and can have higher driving force and reliability. For the research on wall-climbing robots, representative cases in China include: the ship sandblasting and rust removal wall-climbing robot of China University of Petroleum; the ship rust removal robot based on high-pressure water jet designed by Dalian Maritime University; the ship rust removal and cleaning wall-climbing robot developed by China Merchants Heavy Industries (Shenzhen) Co., Ltd.; and the crawler wall-climbing robot for ship inspection developed by Zhejiang University.

[0004] Through research, it is found that the wall-climbing robots currently proposed are mostly suitable for plane operation. When encountering curved surfaces, especially those with a small radius of curvature, the track and the wall are not in good contact and the contact area between the track and the wall is small, resulting in insufficient adsorption force and easy falling off, which greatly reduces the practical value of the wall-climbing robot. Summary of the invention

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the purpose of the present invention is to provide an adaptive crawler wall-climbing robot for hull wall grinding that can better adapt to the curved surface of the ship wall and ensure the maximum contact area. Another purpose of the present invention is to provide a control method for an adaptive crawler wall-climbing robot for hull wall grinding that has precise stroke control, good grinding effect, and adaptability to different grinding scenarios.

[0006] Technical solution: The adaptive crawler wall-climbing robot for hull wall grinding described in the present invention comprises a permanent magnetic adsorption crawler, a frame chassis, a spring damping shock absorber, a screw slide and a grinding head assembly. The permanent magnetic adsorption crawlers are connected via a frame chassis, the screw slide is connected to the frame chassis and the grinding head assembly, a stepper motor for driving the screw slide and the grinding head assembly is arranged on the screw slide, the grinding head assembly comprises a pneumatic grinding head, a pressure sensor is arranged on the pneumatic grinding head, the pressure sensor and the pneumatic grinding head are connected to a controller, so that the pneumatic grinding head can be pressed against the hull wall, and the hull wall can be ground as the robot moves.

[0007] Furthermore, an outer track cover and an inner track baffle are respectively arranged on both sides of the permanent magnetic adsorption track.

[0008] Furthermore, the permanent magnetic adsorption crawler includes a double-row driven sprocket, a single-sided curved plate conveying chain, a permanent magnet mounting chain plate, a sprocket rocker arm, a sprocket support rod, a bearing seat, a circular permanent magnet, a rectangular permanent magnet, a crawler support rocker arm and a double-row active sprocket, wherein the circular permanent magnet and the rectangular permanent magnet are connected through the permanent magnet mounting chain plate, the permanent magnet mounting chain plate is connected to the single-sided curved plate conveying chain, the single-sided curved plate conveying chain is connected to the double-row driven sprocket and the double-row active sprocket, the two ends of the sprocket rocker arm are respectively connected to the double-row driven sprocket and the sprocket support rod, the two ends of the sprocket support rod are respectively connected to the double-row active sprocket and the double-row driven sprocket, the double-row driven sprocket is connected to the frame chassis through the bearing seat, and the arm and the sprocket support rod are hinged to the crawler support rocker arm. The sprocket support rod is preferably L-shaped.

[0009] Furthermore, a shock-absorbing rubber pad is provided on the surface of the circular permanent magnet. When the wall-climbing robot is adsorbed on the metal wall, the permanent magnet will not directly contact the wall, and the shock-absorbing rubber pad is used for vibration isolation, while protecting the permanent magnet from being broken due to collision during the adsorption process. Track support wheels are provided at both ends of the track support rocker arm. A shock absorber mounting hole is provided on the sprocket rocker arm, one end of the shock absorber mounting hole is hinged to the spring damping shock absorber, and the other end is hinged to the frame chassis. This connection method improves the flexibility of the track, so that the track has better wall-fitting ability and can better adapt to the curved surface structure of the hull wall.

[0010] Furthermore, the frame chassis includes a connecting plate, a shock absorber connecting pin, a shock absorber connecting ring, a motor shaft retaining ring, a motor fixing plate, a fixed sprocket shaft, a sprocket shaft retaining ring, a bearing seat fixing plate, a reduction motor, a motor output shaft, a shock absorber connecting pin retaining ring, a profile connecting angle piece and an aluminum alloy profile. The aluminum alloy profiles are connected via the connecting plate and the profile connecting angle piece. The shock absorber connecting ring, the motor fixing plate, the bearing seat fixing plate and the reduction motor are arranged on the aluminum alloy profile. The bearing seat fixing plate is connected to the bearing seat. The reduction motor is connected to the double-row active sprocket via the motor output shaft. The fixed sprocket shaft is arranged in the bearing seat. The motor output shaft, the fixed sprocket shaft and the shock absorber connecting pin are respectively provided with a motor shaft retaining ring, a sprocket shaft retaining ring and a shock absorber connecting pin retaining ring for axial positioning and support.

[0011] Furthermore, the spring damping shock absorber includes a damping cylinder, a spring preload adjustment ring, a damping cylinder cover, a push rod top hinge ring, a damping push rod and a spring one. The damping cylinder and the spring preload adjustment ring are threadedly connected. The damping cylinder cover is arranged at the end of the damping cylinder. The damping push rod can move axially along the damping cylinder to change the initial preload of the spring to adjust the supporting force of the spring damping shock absorber. The damping push rod is arranged at the end of the push rod top hinge ring. The spring one is nested along the axial direction of the damping cylinder on the outside of the area from the spring preload adjustment ring to the push rod top hinge ring.

[0012] Furthermore, the screw slide includes a screw slide support plate, a slide, a screw, a smoothing rod, a grinding head support frame and a slider. The screw slide support plate is connected to the slide. The stepper motor is arranged on the slide and can drive the screw to rotate. Lighting rods are arranged on both sides of the screw. The smoothing rod is arranged in the slide. The slider is connected to the grinding head support frame, and the slider is slidably connected to the screw and the smoothing rod.

[0013] Furthermore, the grinding head assembly also includes a spring sleeve, spring two, a spring sleeve end cover, a grinding head fixed flange connecting shaft, and a grinding head fixed flange. Spring two is arranged in the spring sleeve and sealed by the spring sleeve end cover. The grinding head fixed flange connecting shaft is nested in the spring sleeve and can move along its axis. The grinding head fixed flange is respectively connected to the grinding head fixed flange connecting shaft and the pneumatic grinding head.

[0014] Furthermore, the outer cover of the crawler track includes a front outer baffle, a rear outer baffle, a slide groove, a rocker arm pin, an intermediate pin and a support rod pin, the front outer baffle is fixedly connected to the sprocket rocker arm through the rocker arm pin, the rear outer baffle is fixedly connected to the sprocket support rod through the intermediate pin, the support rod pin and the sprocket support rod, and the front outer baffle is provided with a slide groove for guidance to ensure that the front outer baffle can move with the sprocket rocker arm. The inner baffle of the crawler track is fixedly connected to the sprocket support rod through the intermediate pin, the support rod pin and the sprocket support rod.

[0015] The control method of the adaptive crawler wall-climbing robot for hull wall grinding comprises the following steps:

[0016] Step 1: Adsorb the adaptive crawler wall-climbing robot onto the hull wall to be maintained;

[0017] Step 2, controlling the operation of the stepper motor;

[0018] Step 3, converting the movement stroke of the slider driving the lead screw slide by the angle rotated by the stepper motor, thereby obtaining the movement stroke of the grinding head assembly;

[0019] Step 4: The compressed stroke of the spring 2 of the grinding head assembly is converted according to the angle of rotation of the stepper motor, and the grinding pressing force of the spring 2 is calculated according to Hooke's law;

[0020] Step 5: After the pneumatic grinding head is pressed against the hull wall, the grinding pressing force is measured by the pressure sensor, and the data is transmitted to the controller, which controls the stepper motor to rotate and dynamically adjust it to be consistent with the grinding pressing force calculated in step 4, starts the pneumatic grinding head to start grinding, and controls the adaptive crawler wall-climbing robot to move along the set grinding trajectory to achieve grinding of the hull wall;

[0021] Step 6: Check the effect of the robot after grinding. If it does not meet the requirements, repeat steps 3 to 5 until it meets the requirements; if it meets the requirements, continue to run and complete the grinding.

[0022] Working principle: The permanent magnetic adsorption crawler consists of two sets of double-row driven sprockets in front and behind and a set of double-row driving sprockets in the middle to form a triangular chain transmission structure. The double-row driving sprocket is driven by a reduction motor, thereby driving the entire permanent magnetic adsorption crawler to move. According to the characteristics of the chain drive, as the sprocket rotates, for every set of permanent magnetic adsorption units that detach from the wall, there is a set of permanent magnetic adsorption units adsorbed on the wall, thereby ensuring that the number of permanent magnetic adsorption units adsorbed on the wall remains unchanged, ensuring that the adsorption force is constant, and improving the operating stability. With the movement of the damping push rod, the spring will be compressed, and the spring preload adjustment ring can move along the axial direction of the damping cylinder to change the initial preload of the spring to adjust the support strength of the spring damping shock absorber. The pressure sensor is installed on the pneumatic grinding head. After the data is transmitted to the controller, the stepper motor is controlled to move, driving the slider to move, thereby driving the start grinding head to move, and adjusting the grinding clamping force until the data transmitted by the pressure sensor meets the set value.

[0023] Beneficial effects: Compared with the prior art, the present invention has the following significant features:

[0024] 1. The robot's permanent magnetic adsorption crawler is a triangular chain transmission structure, designed with a sprocket rocker arm and a crawler support rocker arm. The crawler deformation can be achieved with the spring damping shock absorber, so that the crawler can better adapt to the curved surface of the ship wall. Under the action of the spring shock absorber, the crawler is always tensioned and better fits the curved surface to maximize the contact area between the hull and the crawler.

[0025] 2. It can provide stable adsorption force. There is a spring inside the grinding head assembly. The grinding head assembly is driven by the lead screw slide to realize the feeding in the grinding direction. The grinding pressing force can be accurately controlled according to the compression stroke to improve the grinding effect and adapt to different grinding scenarios.

[0026] 3. A shock-absorbing rubber pad is set on the surface of the circular permanent magnet. When the wall-climbing robot is adsorbed on the metal wall, the permanent magnet will not directly contact the wall. The shock-absorbing rubber pad is used for vibration isolation, and at the same time, the permanent magnet is protected from being broken due to collision during the adsorption process.

[0027] 4. The pressure sensor is used to detect the actual grinding pressure between the pneumatic grinding head and the wall, which helps to ensure that the grinding process is carried out under a relatively fixed pressure and guarantee the grinding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the structure of the present invention;

[0029] Figure 2 It is a structural schematic diagram of the permanent magnetic adsorption crawler 1 of the present invention;

[0030] Figure 3 It is a schematic diagram of the permanent magnetic adsorption crawler 1 of the present invention moving in a plane;

[0031] Figure 4 It is a schematic diagram of the permanent magnetic adsorption crawler 1 of the present invention moving on an arc surface;

[0032] Figure 5 It is a structural schematic diagram of the frame type chassis 2 of the present invention;

[0033] Figure 6 It is a schematic structural diagram of the spring damping shock absorber 3 of the present invention;

[0034] Figure 7 It is a structural schematic diagram of the lead screw slide 4 of the present invention;

[0035] Figure 8 is a schematic structural diagram of a grinding head assembly 5 of the present invention;

[0036] Fig. 9 It is a schematic diagram of the structure of the outer cover 6 of the crawler track of the present invention;

[0037] Fig.10It is a schematic diagram of the connection between the outer cover 6 of the crawler track and the inner baffle 7 of the crawler track of the present invention;

[0038] Fig.11 It is a control flow chart of the present invention. DETAILED DESCRIPTION

[0039] like Figure 1 The adaptive crawler wall-climbing robot for hull wall grinding has a size of 725mm×500mm×368mm and a curb weight of no more than 40kg. It is composed of a permanent magnetic adsorption crawler 1, a frame chassis 2, a spring damping shock absorber 3, a lead screw slide 4, a grinding head assembly 5, a crawler outer cover 6 and a crawler inner baffle 7. One end of the permanent magnetic adsorption crawler 1 is fixedly connected to the frame chassis 2, and the other end is hinged to one end of the spring damping shock absorber 3, and the other end of the spring damping shock absorber 3 is hinged to the frame chassis 2. This connection method improves the flexibility of the crawler, so that the crawler has a better wall-fitting ability and can better adapt to the curved surface structure of the hull wall. The base of the screw slide 4 is fixedly connected to the frame chassis 2, and the screw slide 4 is fixedly connected to the grinding head assembly 5, and both are driven by a stepper motor 8, so that the grinding head can be pressed against the hull wall, and the grinding pressing force is measured by the pressure sensor on the pneumatic grinding head 501, and the hull wall is polished as the robot moves. The reduction motor 209 is preferably a worm gear motor of Santuo 24V, 150W, model GW97140. The outer track cover 6 and the inner track baffle 7 are respectively installed on the outer side and the inner side of the permanent magnetic adsorption track 1, and are fixedly connected to the permanent magnetic adsorption track 1. In order to achieve lightweight, the permanent magnetic adsorption track 1, the frame chassis 2, the spring damping shock absorber 3, the screw slide 4, the grinding head assembly 5, the outer track cover 6 and the inner track baffle 7 are all made of 6 series grade aluminum alloy materials.

[0040] like Figure 2The permanent magnetic adsorption crawler 1 is composed of a double-row driven sprocket 101, a single-side curved plate conveying chain 102, a permanent magnet mounting chain plate 103, a sprocket rocker arm 104, a sprocket support rod 105, a bearing seat 106, a shock-absorbing rubber pad 107, a circular permanent magnet 108, a rectangular permanent magnet 109, a crawler support wheel 110, a crawler support rocker arm 111, and a double-row active sprocket 112. Two circular permanent magnets 108 and one rectangular permanent magnet 109 are mounted on the permanent magnet mounting chain plate 103, and a shock-absorbing rubber pad 107 is mounted on the circular permanent magnet 108. When the wall-climbing robot is adsorbed on the metal wall, the permanent magnet will not directly contact the wall, and the shock-absorbing rubber pad 107 is used for vibration isolation, and at the same time, the circular permanent magnet 108 is protected from being broken due to collision during the adsorption process. One permanent magnet mounting chain plate 103, two circular permanent magnets 108, one rectangular permanent magnet 109 and two shock-absorbing rubber pads 107 constitute one group of permanent magnetic adsorption units, and each group of permanent magnetic adsorption units is fixedly connected to two single-sided curved plate conveyor chains 102 at the same time to form a permanent magnetic adsorption chain. The single-sided curved plate conveyor chain 102 is a 06C series single curved plate chain, and the track support wheel 110 is a 30-tooth sprocket that matches the 06C series single curved plate chain. According to the characteristics of the chain drive, for every chain link that is disengaged from the sprocket, there is a chain link that is engaged with the sprocket. Therefore, as the sprocket rotates, for every group of permanent magnetic adsorption units that is separated from the wall, there is a group of permanent magnetic adsorption units that are adsorbed on the wall, thereby ensuring that the number of permanent magnetic adsorption units adsorbed on the wall remains unchanged, ensuring that the adsorption force is constant, and improving operational stability. The double-row driven sprocket 101 installed at one end of the sprocket rocker arm 104 is a floating structure relative to the frame chassis 2; the other end is hinged to the sprocket support rod 105. The double-row active sprocket 112 installed at one end of the L-shaped sprocket support rod 105 is driven by the reduction motor 209 and fixed to the frame chassis 2, and the double-row driven sprocket 101 installed at the other end of the sprocket support rod 105 is fixed to the frame chassis 2 through the bearing seat 106. Two track support wheels 110 are installed at each end of the track support rocker arm 111, and the track support rocker arm 111 is hingedly installed on the sprocket rocker arm 104 and the sprocket support rod 105. The sprocket rocker arm 104 is provided with a shock absorber mounting hole 113, which is hinged to one end of the spring damping shock absorber 3, and the other end of the spring damping shock absorber 3 is hinged to the frame chassis 2.

[0041] like Figures 3-4 The permanent magnetic adsorption crawler 1 is composed of two groups of double-row driven sprockets 101 in front and rear and a group of double-row driving sprockets 112 in the middle to form a triangular chain transmission structure. The double-row driving sprockets 112 are driven by the reduction motor 209, thereby driving the entire permanent magnetic adsorption crawler 1 to move. The shape of the permanent magnetic adsorption crawler 1 can be changed. When encountering a flat or curved surface, it can better fit on the wall surface to ensure that the permanent magnetic adsorption unit can be adsorbed on the wall surface of the hull. The present invention preferably uses a single-side curved plate conveyor chain, which is driven by a double chain, and each pair of chain links is equipped with a group of permanent magnetic adsorption units.

[0042] like Figure 5 The frame chassis 2 is composed of an external connection plate 201, a shock absorber connection pin 202, a shock absorber connection ring 203, a motor shaft retaining ring 204, a motor fixing plate 205, a fixed sprocket shaft 206, a sprocket shaft retaining ring 207, a bearing seat fixing plate 208, a reduction motor 209, a motor output shaft 210, a shock absorber connection pin retaining ring 211, a profile connection angle piece 212, and an aluminum alloy profile 213. Among them, the external connection plate 201 is L-shaped, the motor fixing plate 205 is T-shaped, and the bearing seat fixing plate 208 is also T-shaped. The external connection plate 201, the profile connection angle piece 212 and the aluminum alloy profile 213 together constitute the bearing structure of the frame chassis 2 through threaded connection. The bearing seat 106 is fixedly connected to the bearing structure of the frame chassis 2 through the bearing seat fixing plate 208. The bottom of the reduction motor 209 is fixedly connected to the bearing structure of the frame chassis 2 through a threaded connector, and the top is fixedly connected to the bearing structure of the frame chassis 2 through a motor fixing plate 205. The shock absorber connecting ring 203 is fixed to the bearing structure of the frame chassis 2 by a threaded connection. The motor output shaft 210 is installed in the output shaft hole of the reduction motor 209, driving the double-row active sprocket 112 to move. The fixed sprocket shaft 206 is installed in the bearing seat 106. The shock absorber connecting pin 202 is installed in the shock absorber connecting ring 203. The motor output shaft 210, the fixed sprocket shaft 206, and the shock absorber connecting pin 202 are respectively installed with a motor shaft retaining ring 204, a sprocket shaft retaining ring 207, and a shock absorber connecting pin retaining ring 211 for axial positioning and support.

[0043] like Figure 6 The spring damping shock absorber 3 is composed of a damping cylinder 301, a spring preload adjustment ring 302, a damping cylinder cover 303, a push rod top hinge ring 304, a damping push rod 305, and a spring 1 306. The damping cylinder 301 is provided with an external thread, and the spring preload adjustment ring 302 is provided with an internal thread, which cooperates with the external thread on the damping cylinder 301. The damping cylinder cover 303 is installed at the end of the damping cylinder 301. The damping push rod 305 can move axially along the damping cylinder 301. The push rod top hinge ring 304 is fixed to the end of the damping push rod 305. The spring 1 306 is installed axially along the damping cylinder 301, between the spring preload adjustment ring 302 and the push rod top hinge ring 304, and as the damping push rod 305 moves, the spring 1 306 will be compressed. The spring preload force adjustment ring 302 can move axially along the damping cylinder 301 to change the initial preload force of the spring 1 306 to adjust the supporting force of the spring damping shock absorber 3.

[0044] like Figure 7, the lead screw slide 4 consists of a lead screw slide support plate 401, a slide 402, a lead screw 403, a light bar 404, a grinding head support frame 405, and a slider 406. The stepper motor 8 is installed on the slide 402, which can drive the lead screw 403 to rotate. There are two light bars 404 on both sides of the lead screw 403, which are installed in the mounting hole of the slide 402. The slider 406 is fixedly connected to the grinding head support frame 405 and is installed on the lead screw 403 and the light bar 404. Driven by the lead screw 403, the slider 406 drives the grinding head support frame 405 to move linearly along the axial direction. The bar slide support plate 401 is fixedly connected to the slide 402 and is installed on the frame chassis 2. The lead screw slide 4 is an open double-track lead screw module, equipped with a 57 / 56 series stepper motor 8 drive, and the transmission accuracy i can reach 0.03mm.

[0045] like Figure 8 The grinding head assembly 5 is composed of a pneumatic grinding head 501, a spring sleeve 502, a spring second 503, a spring sleeve end cover 504, a grinding head fixed flange connecting shaft 505, and a grinding head fixed flange 506. Among them, the spring second 503 is installed in the spring sleeve 502 and is sealed by the spring sleeve end cover 504. The grinding head fixed flange connecting shaft 505 is nested in the cavity of the spring sleeve 502 and can move along its axis. One end of the grinding head fixed flange 506 is fixed on the grinding head fixed flange connecting shaft 505, and the other end is fixedly connected to the pneumatic grinding head 501. The spring sleeve 502 is fixedly connected to the grinding head support frame 405, and the entire grinding head assembly 5 can be driven by the stepper motor 8 to make a linear motion along the axial direction of the lead screw 403. The pneumatic grinding head 501 is preferably a 5-inch Bosch BX-288ZDL-5 model industrial-grade robot arm polishing and grinding head. A pressure sensor is provided on the pneumatic grinding head 501 to detect the actual grinding and pressing force between the pneumatic grinding head 501 and the wall surface, and transmit the data to the controller.

[0046] like Figures 9-10 The track outer cover 6 includes a front outer baffle plate 601, a rear outer baffle plate 602, a slide groove 603, a rocker arm pin 604, an intermediate pin 605 and a support rod pin 606. Among them, the support rod pin 606 is L-shaped, and the front outer baffle plate 601 is fixedly connected to the sprocket rocker arm 104 through the rocker arm pin 604. The rear outer baffle plate 602 is fixedly connected to the sprocket support rod 105 through the intermediate pin 605 and the support rod pin 606. The front outer baffle plate 601 is provided with a slide groove 603 for guidance, so as to ensure that the front outer baffle plate 601 can move with the sprocket rocker arm 104. The track inner baffle plate 7 is fixedly connected to the sprocket support rod 105 through the intermediate pin 605, the support rod pin 606 and the sprocket support rod 105.

[0047] like Fig.11 , a control method of an adaptive crawler wall-climbing robot for hull wall grinding, comprising the following steps:

[0048] S1, firstly, the adaptive crawler wall-climbing robot of this embodiment is adsorbed on the wall surface of the hull to be maintained.

[0049] S2, controls the stepping motor 8 on the lead screw slide to operate.

[0050] S3, according to the principle of screw transmission, the movement stroke of the driving slider 406 can be converted according to the rotation angle of the stepping motor 8, so as to obtain the movement stroke of the grinding head assembly 5.

[0051] The specific calculation example is as follows: Assume that the stiffness of spring 2 503 is K (N / mm), the grinding pressure required for grinding the weld on the hull wall is F (N), and when the slider 406 is at the initial zero position, the distance between the bottom of the pneumatic grinding head 501 and the bottom (wall) of the wall-climbing robot is h 0 , the lead of the lead screw 403 is p (mm), then the number of turns n that the stepper motor 8 needs to make can be calculated as: (F / K+h 0 ) / p. However, since the wall surface is a non-ideal curved surface, there is a difference between the pressure between the pneumatic grinding head 501 and the wall surface and the actual converted value. The grinding pressure is monitored in real time by the pressure sensor, and the control system controls the stepper motor 8 to rotate and dynamically adjust the pressure. The specific adjustment accuracy is determined according to the specific parameters of the lead screw slide 4 and the stepper motor 8. The accuracy i of the lead screw slide 4 driven by the stepper motor 8 is generally 0.02-0.05mm, so the adjustment accuracy of the grinding pressing force can reach K*i(N).

[0052] S4, the movement of the grinding head assembly 5 presses the pneumatic grinding head 501 against the wall of the hull, and the compressed stroke of the spring 2 503 can be converted according to the angle of rotation of the stepper motor 8, so the spring pressing force of the grinding head assembly 5, that is, the grinding pressing force, can be calculated according to Hooke's law.

[0053] S5, when the pneumatic grinding head 501 is pressed against the wall, the grinding pressing force is measured by the pressure sensor, and the data is transmitted to the controller, which controls the stepper motor 8 to rotate dynamically and adjust it to be consistent with the grinding pressing force calculated in S4, starts the pneumatic grinding head 501 to start grinding, and controls the robot to move along the set grinding trajectory to achieve grinding of the hull wall.

[0054] S6, observe the effect of the robot after grinding (it can be directly observed manually or by installing binocular vision on the robot for real-time monitoring). If it does not meet the requirements, control the stepper motor 8 according to S3~5 to adjust the spring clamping force of the grinding head assembly 5 to change the grinding clamping force to ensure a better grinding effect; if it meets the requirements, continue to control the robot to complete the grinding.

Claims

1. A control method for an adaptive crawler wall-climbing robot for hull wall grinding, characterized in that: The following steps are involved: Step 1: Adsorb the adaptive crawler wall-climbing robot onto the hull wall to be maintained; Step 2, controlling the stepping motor (8) to operate; Step three, converting the movement stroke of the slider (406) driving the lead screw slide (4) through the angle rotated by the stepping motor (8), thereby obtaining the movement stroke of the grinding head assembly (5); Step 4, the compressed stroke of the spring 2 (503) of the grinding head assembly (5) is converted according to the angle of rotation of the stepper motor (8), and the grinding pressing force of the spring 2 (503) is calculated according to Hooke's law; Step 5, after the pneumatic grinding head (501) is pressed against the wall of the ship hull, the grinding pressing force is measured by the pressure sensor, and the data is transmitted to the controller, which controls the stepper motor (8) to rotate and dynamically adjust it to be consistent with the grinding pressing force calculated in step 4, starts the pneumatic grinding head (501) to start grinding, and controls the adaptive crawler wall-climbing robot to move along the set grinding trajectory to achieve grinding of the ship hull wall; Step 6: Check the effect of the robot after grinding. If it does not meet the requirements, repeat steps 3 to 5 until it meets the requirements. If it meets the requirements, continue to run and complete the grinding. The adaptive crawler wall-climbing robot for hull wall grinding comprises a permanent magnetic adsorption crawler (1), a frame chassis (2), a spring damping shock absorber (3), a lead screw slide (4) and a grinding head assembly (5); the permanent magnetic adsorption crawler (1) is connected via the frame chassis (2); the lead screw slide (4) is connected to the frame chassis (2) and the grinding head assembly (5); a stepping motor (8) for driving the lead screw slide (4) and the grinding head assembly (5) is arranged on the lead screw slide (4); the grinding head assembly (5) comprises a pneumatic grinding head (501); a pressure sensor is arranged on the pneumatic grinding head (501); the pressure sensor and the pneumatic grinding head are connected to a controller; The grinding head assembly (5) further comprises a spring sleeve (502), a second spring (503), a spring sleeve end cover (504), a grinding head fixed flange connecting shaft (505), and a grinding head fixed flange (506); the second spring (503) is arranged in the spring sleeve (502) and is sealed by the spring sleeve end cover (504); the grinding head fixed flange connecting shaft (505) is nested in the spring sleeve (502) and is capable of moving along its axis; and the grinding head fixed flange (506) is respectively connected to the grinding head fixed flange connecting shaft (505) and the pneumatic grinding head (501).

2. The control method of the adaptive crawler wall-climbing robot for hull wall grinding according to claim 1 is characterized in that: An outer track cover (6) and an inner track baffle (7) are respectively arranged on both sides of the permanent magnetic adsorption track (1).

3. The control method of the adaptive crawler wall-climbing robot for hull wall grinding according to claim 1 is characterized in that: The permanent magnetic adsorption crawler (1) comprises a double-row driven sprocket (101), a single-sided curved plate conveying chain (102), a permanent magnet mounting chain plate (103), a sprocket rocker arm (104), a sprocket support rod (105), a bearing seat (106), a circular permanent magnet (108), a rectangular permanent magnet (109), a crawler support rocker arm (111) and a double-row driving sprocket (112), wherein the circular permanent magnet (108) and the rectangular permanent magnet (109) are connected via a permanent magnet mounting chain plate (103), and the permanent magnet mounting chain plate (103) is connected to the single-sided curved plate conveying chain (102). The single-side bent plate conveyor chain (102) is connected to a double-row driven sprocket (101) and a double-row driving sprocket (112); the two ends of the sprocket rocker arm (104) are respectively connected to the double-row driven sprocket (101) and the sprocket support rod (105); the two ends of the sprocket support rod (105) are respectively connected to the double-row driving sprocket (112) and the double-row driven sprocket (101); the double-row driven sprocket (101) is connected to the frame chassis (2) via a bearing seat (106); the arm (104) and the sprocket support rod (105) are hinged to the track support rocker arm (111).

4. The control method of the adaptive crawler wall-climbing robot for hull wall grinding according to claim 3 is characterized in that: A shock-absorbing rubber pad (107) is provided on the surface of the circular permanent magnet (108), and track support wheels (110) are provided at both ends of the track support rocker arm (111).

5. The control method of the adaptive crawler wall-climbing robot for hull wall grinding according to claim 3 is characterized in that: A shock absorber mounting hole (113) is provided on the sprocket rocker arm (104); one end of the shock absorber mounting hole (113) is hinged to the spring damping shock absorber (3), and the other end is hinged to the frame chassis (2).

6. The control method of the adaptive crawler wall-climbing robot for hull wall grinding according to claim 3 is characterized in that: The frame-type chassis (2) comprises a connecting plate (201), a shock absorber connecting pin (202), a shock absorber connecting ring (203), a motor shaft retaining ring (204), a motor fixing plate (205), a fixed sprocket shaft (206), a sprocket shaft retaining ring (207), a bearing seat fixing plate (208), a reduction motor (209), a motor output shaft (210), a shock absorber connecting pin retaining ring (211), a profile connecting angle piece (212) and an aluminum alloy profile (213). The aluminum alloy profile (213) is connected via the connecting plate (201) and the profile connecting angle piece (212). The aluminum alloy profile (213) is provided with A shock absorber connecting ring (203), a motor fixing plate (205), a bearing seat fixing plate (208), and a reduction motor (209) are arranged, wherein the bearing seat fixing plate (208) is connected to the bearing seat (106), the reduction motor (209) is connected to the double-row driving sprocket (112) via a motor output shaft (210), the fixed sprocket shaft (206) is arranged in the bearing seat (106), and a motor shaft retaining ring (204), a sprocket shaft retaining ring (207), and a shock absorber connecting pin shaft retaining ring (211) are respectively arranged on the motor output shaft (210), the fixed sprocket shaft (206), and the shock absorber connecting pin shaft (202).

7. The control method of the adaptive crawler wall-climbing robot for hull wall grinding according to claim 1 is characterized in that: The spring damping shock absorber (3) comprises a damping cylinder body (301), a spring preload adjustment ring (302), a damping cylinder cover (303), a push rod top hinge ring (304), a damping push rod (305) and a spring one (306); the damping cylinder body (301) and the spring preload adjustment ring (302) are threadedly connected; the damping cylinder cover (303) is arranged at the end of the damping cylinder body (301); the damping push rod (305) is capable of axially moving along the damping cylinder body (301); the damping push rod (305) is arranged at the end of the push rod top hinge ring (304); and the spring one (306) is axially nested outside the region from the spring preload adjustment ring (302) to the push rod top hinge ring (304) along the damping cylinder body (301).

8. The control method of the adaptive crawler wall-climbing robot for hull wall grinding according to claim 1 is characterized in that: The lead screw slide (4) comprises a lead screw slide support plate (401), a slide (402), a lead screw (403), a smooth bar (404), a grinding head support frame (405) and a slider (406); the lead screw slide support plate (401) is connected to the slide (402); the stepping motor (8) is arranged on the slide (402) and can drive the lead screw (403) to rotate; smooth bars (404) are arranged on both sides of the lead screw (403); the smooth bar (404) is arranged in the slide (402); the slider (406) is connected to the grinding head support frame (405); and the slider (406) is slidably connected to the lead screw (403) and the smooth bar (404).

Images