A polishing and spraying integrated ship plate spraying robot and a ship plate spraying method

Abstract

The polishing and spraying integrated ship plate spraying robot and the ship plate spraying method belong to the field of ship manufacturing. The polishing and spraying integrated ship plate spraying robot comprises a wall-climbing robot and a mobile vehicle. The wall-climbing robot comprises a wall-climbing chassis capable of being adsorbed and moving along a ship plate surface, a carrying platform, a three-degree-of-freedom guide rail for driving the carrying platform to move, and a polishing mechanism, a spraying mechanism and a detection mechanism connected to the carrying platform. The polishing mechanism comprises a laser radar for detecting defects on the surface of the ship plate and a grinding wheel for grinding the defects on the surface of the ship plate. The spraying mechanism comprises a spray gun capable of rotating to spray the surface of the ship plate. The detection mechanism comprises a film thickness measuring instrument for measuring the thickness of the coating on the surface of the ship plate and a scanning electron microscope for analyzing whether defects exist on the surface of the ship plate. The mobile vehicle comprises a conveying pump and a bucket for conveying paint to the spray gun. The polishing and spraying integrated ship plate spraying robot and the spraying method can improve the quality of the coating on the ship plate by detecting and polishing the defects on the surface of the ship plate before and after spraying.

Description

Technical Field

[0001] This application relates to the field of shipbuilding, and more specifically, to an integrated grinding and spraying robot for ship plates and a method for spraying ship plates. Background Technology

[0002] Automation, mechanization, and tooling are the main development directions of shipbuilding equipment in domestic shipyards. With "intelligent manufacturing" becoming a hot topic in recent years, shipbuilding equipment in various shipyards is showing a development trend of focusing on mechanized equipment, supplemented by automated equipment, complemented by tooling equipment, and tackling key challenges with intelligent equipment.

[0003] The painting of the inner and outer hull plates in the dry dock is the final process in the entire ship painting process. The paint is sprayed on the surface of the hull before the ship is launched. Because the construction is carried out in the dry dock, the space is relatively small and compact, and the working height is as high as tens of meters. Workers need to drive the overhead vehicle and hold the spray gun at high altitude for a long time, which poses many problems such as safety risks, physiological hazards, and environmental pollution.

[0004] While there are already some wall-climbing robots used for painting ship hulls, there are relatively few wall-climbing robots that can integrate grinding, painting, and inspection operations. Summary of the Invention

[0005] The purpose of this application is to provide an integrated sanding and spraying robot and a method for spraying ship plates, which can identify defects on the surface of the ship plates, perform sanding and spraying, and detect and sand the thickness of the sprayed coating, thereby improving the processing quality of the ship plate coating.

[0006] This application is implemented as follows:

[0007] This application provides an integrated sanding and spraying robot for ship plates, which includes a wall-climbing robot and a mobile vehicle located below the wall-climbing robot. The wall-climbing robot includes:

[0008] The wall-climbing chassis is configured to adhere to and move along the surface of the ship's deck.

[0009] The displacement mechanism includes a mounting platform and three-degree-of-freedom guide rails connected to the mounting platform and the climbing chassis, respectively. The three-degree-of-freedom guide rails are used to drive the mounting platform to move along the X, Y and Z directions, with the Z direction being the direction of moving closer to or away from the ship plate.

[0010] A grinding mechanism is connected to a mounting platform and includes a lidar for detecting defects on the surface of the ship plate and a rotating grinding wheel for grinding defects on the surface of the ship plate.

[0011] The spraying mechanism is connected to the mounting platform and includes a spraying pipe extending along the Z direction, two spray guns arranged parallel to both sides of the spraying pipe, a rotator for driving the spraying pipe to rotate, a transfer pipe connected to the spraying pipe, and a solenoid valve for connecting or disconnecting the transfer pipe. The spray guns are connected to the spraying pipe.

[0012] The testing organization is connected to the platform and includes a film thickness measuring instrument for measuring the dry film thickness on the surface of the ship plate and a scanning electron microscope for analyzing whether there are defects on the surface of the ship plate.

[0013] The mobile vehicle includes a movable frame and a conveying pump and a material hopper mounted on the frame. The conveying pump is connected to the material hopper and the transfer pipe via conveying hoses, respectively.

[0014] In some alternative implementations, the climbing chassis includes a mobile frame, four first Mecanum wheels respectively connected to both ends of the mobile frame, and a first motor for driving each first Mecanum wheel to rotate. Variable magnetic adsorption devices for adsorbing the surface of the ship's deck are respectively provided below both ends of the mobile frame. The mobile frame is connected to two adsorption adjustment devices for driving the variable magnetic adsorption devices to move along the Z-direction.

[0015] In some alternative implementations, buffer devices are connected to both sides of the movable frame. The buffer devices include a support rod and a fixed rod connected to the movable frame. A buffer plate is slidably sleeved on the support rod. A spring is sleeved on the support rod, with its two ends pressing against the movable frame and the buffer plate respectively. Two adsorption adjustment devices at both ends of the movable frame are connected to the buffer plates of the two buffer devices at the corresponding ends.

[0016] In some optional embodiments, the three-degree-of-freedom guide rail includes two X-axis guide rails parallel to the moving frame, a Y-axis guide rail with its two ends slidably mounted on the two X-axis guide rails, a slider slidably mounted on the Y-axis guide rail, an X-axis drive device for driving the Y-axis guide rail to move along the X-axis guide rail, and a Y-axis drive device for driving the slider to move along the Y-axis guide rail. The slider is connected to a Z-axis drive device for driving the mounting platform to move along the Z-axis. The slider is connected to two slide grooves extending along the Z-axis, and the two ends of the mounting platform are respectively provided with sliding blocks slidably mounted in the two slide grooves.

[0017] In some alternative embodiments, at least one vacuum pump is provided on the side of the X-guide rail, and at least one filter connected to the corresponding vacuum pump is provided at the bottom of the X-guide rail.

[0018] In some optional implementations, the mobile vehicle is also connected to an integrated management platform, which includes an equipment management module, a human-machine interaction module, and an information storage module.

[0019] The equipment management module includes a main controller, a drive slave control module, an adsorption slave control module, a grinding and spraying slave control module, a mobile vehicle slave control module, and a sensor module. The sensor module includes a laser sensor for determining the position information of the wall-climbing robot and the mobile vehicle, a pose sensor for determining the displacement and direction of each movement point of the wall-climbing robot, a stress sensor for determining the magnitude of the spring elastic force and the adsorption force provided by the variable magnetic adsorption device, a proximity switch for providing information on the distance between the spray gun and the ship plate wall, and a piezoelectric sensor for determining the magnitude of the pressure of the grinding wheel on the ship plate wall.

[0020] The human-computer interaction module includes a display screen for showing the real-time magnitude of the pressure exerted by the wall-climbing robot on the ship's deck wall, the real-time magnitude of the spring force, the real-time distance between the variable magnetic adsorption device and the ship's deck wall, and the real-time magnitude of the total adsorption force.

[0021] In some alternative implementations, the inspection agency also includes inspection cameras for viewing the coating on the ship's plating surface.

[0022] In some alternative implementations, the climbing chassis is also connected to a drying device for drying the coating on the ship's plating surface.

[0023] In some alternative implementations, a second Mecanum wheel and a second motor for driving the rotation of each second Mecanum wheel are respectively connected to both ends of the frame, and the frame is connected to at least one lighting lamp and at least one image acquisition device.

[0024] This application also provides a method for spraying ship plates, which is performed using the aforementioned integrated sanding and spraying ship plate spraying robot, and includes the following steps:

[0025] The wall-climbing robot's chassis is attached to the surface of the ship's deck and moves along the deck surface.

[0026] The laser radar connected to the platform is used to detect whether there are defects in a preset area on the surface of the ship plate. If defects are found, they are polished with a grinding wheel. If no defects are found, the solenoid valve is controlled to connect the transfer pipe. The conveying pump on the mobile vehicle is used to transport the paint in the bucket to the transfer pipe and spray the preset area with a spray gun. The coating thickness on the surface of the preset area is analyzed using a scanning electron microscope to check for defects. If defects are found, they are polished with a grinding wheel. If no defects are found, the above operation process is repeated for the next preset area.

[0027] The beneficial effects of this application are as follows: The integrated sanding and spraying robot for ship plates provided by this application includes a wall-climbing robot and a mobile vehicle located below the wall-climbing robot. The wall-climbing robot includes a wall-climbing chassis that can adhere to and move along the surface of the ship plate, a mounting platform, and three-degree-of-freedom guide rails for driving the mounting platform to move along the X, Y, and Z directions, as well as a sanding mechanism, a spraying mechanism, and a detection mechanism connected to the mounting platform. The sanding mechanism includes a laser radar for detecting defects on the surface of the ship plate and a rotating grinding wheel for sanding defects on the surface of the ship plate; the spraying... The coating mechanism includes a spray pipe extending along the Z-direction, two spray guns parallel to each other on both sides of the spray pipe, a rotator for driving the spray pipe to rotate, a transfer pipe connected to the spray pipe, and a solenoid valve for connecting or disconnecting the transfer pipe. The spray guns are connected to the spray pipe. The inspection mechanism includes a film thickness gauge for measuring the dry film thickness on the ship plate surface and a scanning electron microscope for analyzing whether there are defects on the ship plate surface. The mobile vehicle includes a movable frame and a delivery pump and a material tank mounted on the frame. The delivery pump is connected to the material tank and the transfer pipe through delivery hoses. The integrated sanding and spraying ship plate spraying robot and spraying method provided in this application can effectively improve the processing quality of ship plate coating by detecting and sanding defects on the ship plate surface before and after spraying. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A schematic diagram of the integrated sanding and spraying robot for ship plates, provided in this embodiment of the application, during operation on the outer wall of a ship plate;

[0030] Figure 2 This is a structural schematic diagram of the wall-climbing robot for the integrated sanding and spraying ship plate spraying robot provided in an embodiment of this application.

[0031] Figure 3 A partial structural schematic diagram of the wall-climbing robot of the integrated sanding and spraying ship plate spraying robot provided in the embodiments of this application;

[0032] Figure 4 This is a schematic diagram showing the connection between the displacement mechanism, grinding mechanism, spraying mechanism, and detection mechanism of the integrated grinding and spraying ship plate spraying robot provided in this embodiment of the application.

[0033] Figure 5 This is a schematic diagram of the structure connecting the X-axis motor, transmission gear, and X-axis rack in the integrated sanding and spraying ship plate spraying robot provided in the embodiments of this application.

[0034] Figure 6 A schematic diagram showing the connection between the X-guide rail, vacuum pump, and filter of the integrated sanding and spraying ship plate spraying robot provided in this embodiment of the application.

[0035] Figure 7 A schematic diagram showing the connection between the mounting platform of the integrated sanding and spraying ship plate spraying robot provided in this application embodiment and the sanding mechanism, spraying mechanism and detection mechanism;

[0036] Figure 8 A schematic diagram showing the connection between the variable magnetic force magnetic adsorption device and the adsorption adjustment device of the integrated sanding and spraying ship plate spraying robot provided in this application embodiment.

[0037] Figure 9 This is a first-view structural schematic diagram of the mobile vehicle of the integrated sanding and spraying ship plate spraying robot provided in an embodiment of this application.

[0038] Figure 10 This is a second-view structural diagram of the mobile vehicle of the integrated sanding and spraying ship plate spraying robot provided in the embodiments of this application, omitting the delivery pump, material tank and delivery hose;

[0039] Figure 11 A schematic diagram of the entire process of the ship plate spraying method provided in the embodiments of this application;

[0040] Figure 12 A schematic flowchart illustrating the preparatory work for the ship plate spraying method provided in this application embodiment;

[0041] Figure 13 A schematic diagram of the post-preparation work for the ship plate spraying method provided in the embodiments of this application;

[0042] Figure 14 A schematic diagram showing the spatial distribution of grinding, spraying, and quality inspection operations in the ship plate spraying method provided in this application embodiment;

[0043] Figure 15 This is a schematic diagram of the sanding and spraying process of the ship plate spraying method provided in the embodiments of this application.

[0044] Figure 16 A schematic diagram of the quality inspection process for the ship plate spraying method provided in the embodiments of this application;

[0045] Figure 17 A flowchart illustrating the coating defect identification algorithm for the ship plate spraying method provided in this application embodiment;

[0046] Figure 18 This is a schematic diagram illustrating the information transmission of the ship plate spraying method provided in the embodiments of this application.

[0047] In the diagram: 100, wall-climbing robot; 110, wall-climbing chassis; 111, moving frame; 112, first Mecanum wheel; 113, first motor; 114, variable magnetic force magnetic adsorption device; 115, adsorption adjustment device; 116, support rod; 117, fixed rod; 118, buffer plate; 119, spring; 120, displacement mechanism; 121, mounting platform; 122, X-axis guide rail; 123, Y-axis guide rail; 124, slider; 125, slide groove; 126, sliding block; 127, vacuum pump; 128, filter; 129, drying device; 130, grinding mechanism; 131, lidar; 132, grinding wheel; 1 33. Grinding motor; 140. Spraying mechanism; 141. Spraying pipe; 142. Spray gun; 143. Rotator; 144. Transfer pipe; 145. Solenoid valve; 150. Detection mechanism; 151. Film thickness measuring instrument; 152. Scanning electron microscope; 153. Detection camera; 160. Connecting seat; 170. X-axis motor; 171. Transmission gear; 172. X-axis rack; 200. Moving cart; 210. Carrier frame; 220. Conveying pump; 230. Material bucket; 240. Conveying hose; 250. Second Mecanum wheel; 260. Second motor; 270. Lighting lamp; 280. Image acquisition device; 300. Ship plate. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0050] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0051] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0052] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0053] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0054] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0055] The features and performance of the integrated sanding and spraying ship plate spraying robot and ship plate spraying method of this application will be further described in detail below with reference to the embodiments.

[0056] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, this application embodiment provides an integrated sanding and spraying ship plate spraying robot, which includes a wall-climbing robot 100 and a mobile vehicle 200 located below the wall-climbing robot 100. The wall-climbing robot 100 includes a wall-climbing chassis 110 that can be adsorbed and moved along the surface of the ship plate 300, a displacement mechanism 120 connected to the wall-climbing chassis 110, a sanding mechanism 130, a spraying mechanism 140, and a detection mechanism 150.

[0057] The climbing chassis 110 includes a movable frame 111, four first Mecanum wheels 112 respectively connected to both ends of the movable frame 111, and four first motors 113 respectively used to drive the rotation of each first Mecanum wheel 112. The movable frame 111 is provided with a variable magnetic force magnetic adsorption device 114 for adsorbing the surface of the boat plate 300 below both ends. The movable frame 111 is connected to two adsorption adjustment devices 115 for driving the variable magnetic force magnetic adsorption device 114 to move along the Z direction through a connecting seat 160. In this embodiment, the adsorption adjustment device 115 is a motor screw mechanism.

[0058] The displacement mechanism 120 includes a three-degree-of-freedom guide rail connected to the movable frame 111 and a mounting platform 121 connected to the three-degree-of-freedom guide rail. The three-degree-of-freedom guide rail is used to drive the mounting platform 121 to move along the X, Y, and Z directions, where the Z direction is the direction of moving closer to or away from the ship plate 300. The three-degree-of-freedom guide rail includes two X-axis guide rails 122 parallel to the movable frame 111, a Y-axis guide rail 123 with its two ends slidably mounted on the two X-axis guide rails 122 respectively, a slider 124 slidably mounted on the Y-axis guide rail 123, an X-axis drive device for driving the Y-axis guide rail 123 to move along the X-axis guide rail 122, and a device for driving the slider 124 to move along the Y-axis. The guide rail 123 is driven by a Y-axis drive device. The slider 124 is connected to a Z-axis drive device for driving the mounting platform 121 to move along the Z-axis. The slider 124 is connected to two sliding grooves 125 extending along the Z-axis. The two ends of the mounting platform 121 are respectively provided with sliding blocks 126 that are slidably disposed in the two sliding grooves 125. Each X-axis guide rail 122 has eleven vacuum pumps 127 on its side for adsorbing dust particles and paint mist particles in the air. Each X-axis guide rail 122 has five filters 128 at its bottom that are connected to the corresponding vacuum pumps 127. The vacuum pumps 127 are miniature vacuum pumps, and the filters 128 are paint mist felt filters. In this embodiment, the X-axis drive device and the Y-axis drive device are both motor gear rack mechanisms, and the Z-axis drive device is a motor screw mechanism. Taking the X-axis drive device as an example, it includes an X-axis motor 170, a transmission gear 171 connected to the output shaft of the X-axis motor 170, and an X-axis rack 172 connected to the X-axis guide rail 122. The transmission gear 171 meshes with the X-axis rack 172. Buffer devices are connected to both sides of the movable frame 111. The buffer devices include a support rod 116 and a fixed rod 117 connected to the movable frame 111. The fixed rod 117 is connected to a buffer plate 118 slidably sleeved on the support rod 116. Springs 119 are sleeved on the support rod 116, with their two ends respectively pressing against the movable frame 111 and the buffer plate 118. Two connecting seats 160 at both ends of the movable frame 111 are respectively connected to the buffer plates 118 of the two buffer devices at the corresponding ends. A drying device 129 is connected to each of the two connecting seats 160 and the mounting platform 121. The drying device 129 is a lighting heating lamp.

[0059] The grinding mechanism 130 is connected to the mounting platform 121. The grinding mechanism 130 includes a laser radar 131 for detecting surface defects of the ship plate 300, a grinding wheel 132 for grinding surface defects of the ship plate 300 when rotating, and a grinding motor 133 for driving the grinding wheel 132 to rotate. The grinding wheel 132 is a vertical bladed grinding wheel.

[0060] The spraying mechanism 140 is connected to the mounting platform 121. The spraying mechanism 140 includes a spraying pipe 141 extending along the Z direction, two spray guns 142 arranged parallel to both sides of the spraying pipe 141, a rotator 143 for driving the spraying pipe 141 to rotate, a transfer pipe 144 communicating with the spraying pipe 141, and a solenoid valve 145 for connecting or disconnecting the transfer pipe 144. The spray guns 142 are connected to the spraying pipe 141.

[0061] The inspection mechanism 150 is connected to the mounting platform 121 and includes a film thickness measuring instrument 151 for measuring the dry film thickness on the surface of the ship plate 300, a scanning electron microscope 152 for analyzing whether there are defects on the surface of the ship plate 300, and an inspection camera 153 for inspecting the coating on the surface of the ship plate 300. The scanning electron microscope 152 is a tungsten wire scanning electron microscope. The lidar 131, grinding wheel 132, inspection camera 153, and spray pipe 141 are arranged at intervals along the length direction of the mounting platform 121, and the scanning electron microscope 152, inspection camera 153, and film thickness measuring instrument 151 are arranged at intervals along the width direction of the mounting platform 121.

[0062] The mobile vehicle 200 includes a movable frame 210 and a conveying pump 220 and a material hopper 230 mounted on the frame 210. The conveying pump 220 is connected to the material hopper 230 and the transfer pipe 144 via conveying hoses 240. The two sides of the frame 210 are respectively connected to second Mecanum wheels 250 and second motors 260 for driving the rotation of each second Mecanum wheel 250. The frame 210 is connected to eight lights 270 and two image acquisition devices 280, which are cameras. The mobile vehicle 200 is also equipped with an integrated management platform.

[0063] The integrated management platform includes an equipment management module, a human-computer interaction module, and an information storage module;

[0064] The equipment management module includes a main controller, a drive slave control module, an adsorption slave control module, a grinding and spraying slave control module, a mobile vehicle slave control module, and a sensor module. The sensor module includes a laser sensor for determining the position information of the wall-climbing robot 100 and the mobile vehicle 200, a pose sensor for determining the displacement and direction of each movement point of the wall-climbing robot 100, a stress sensor for determining the magnitude of the elastic force of the spring 119 and the magnitude of the adsorption force provided by the variable magnetic adsorption device 114, a proximity switch for providing information on the distance between the spray gun 142 and the wall surface of the ship plate 300, a zero-position switch for determining whether the motors in the X-axis drive device, Y-axis drive device, and Z-axis drive device are on or off, and a piezoelectric sensor for determining the magnitude of the pressure of the grinding wheel 132 of the grinding mechanism 130 on the wall surface of the ship plate 300. The robot can achieve automated operation by controlling the above modules through the main controller.

[0065] like Figure 11As shown, the human-computer interaction module includes a real-time information section and a spraying visualization section. The real-time information section includes an adsorption information section, a drive information section, and a spraying information section. The adsorption information section is a display screen that can display the real-time magnitude of the pressure of the wall-climbing robot 100 on the wall of the ship plate 300, the real-time magnitude of the spring force of the spring 119, the real-time distance between the variable magnetic adsorption device 114 and the wall of the ship plate 300, and the real-time magnitude of the total adsorption force. The drive information section is a display screen that can display the real-time rotation speed of the four first motors 113. The spraying information section is a display screen that can display the spraying position, the real-time distance between the spray gun 142 and the wall of the ship plate 300, and the real-time image of the spraying operation. The spraying visualization section is a display screen that can display the movement path of the wall-climbing robot 100 and the mobile vehicle 200, the real-time path of the spraying execution tool, and the spraying effect prediction display.

[0066] The information storage section can display storage information for ongoing and completed jobs.

[0067] The integrated sanding and spraying robot for ship plates provided in this application embodiment also includes laser sensors, temperature sensors, cameras, and air humidity sensors installed around the ship plate 300 to detect obstacles, distance, temperature, and humidity around the ship plate 300. In this embodiment, the ship plate 300 is the outer plate of a ship.

[0068] like Figure 12 , Figure 13 , Figure 14 , Figure 15 , Figure 16 , Figure 17 and Figure 18 As shown, this application also provides a method for spraying ship plates, which is performed using the aforementioned integrated sanding and spraying ship plate spraying robot, and includes the following steps:

[0069] Preparation work is carried out. Laser sensors, temperature sensors, cameras and air humidity sensors installed around the ship plate 300 are used to detect obstacles and distance, temperature and humidity around the ship plate 300, respectively. Obstacles are cleared, and paint is prepared to be put into the material bucket 230 on the mobile vehicle 200. The solenoid valve 145 is controlled to cut off the transfer pipe 144, and the delivery pump 220 is started to transport the paint in the material bucket 230 to the transfer pipe 144 through the delivery hose 240 for later use.

[0070] Find a low-lying, straight-walled, and curved section of the ship's outer wall (300mm) to set the preset points for equipment debugging and the preset areas for pre-spraying. Check whether each component is working properly during the operation. If it is not working properly, the problematic component or structure can be preliminarily judged based on the data transmitted by the robot's sensors. Then, it is manually inspected and repaired. After that, it is tested again. If it can work normally, the planned robot operation path is imported. Then, the robot reaches the predetermined initial position according to the planned path and is ready to start the operation.

[0071] The climbing chassis 110 of the climbing robot 100 is attached to the surface of the ship plate 300 and moves along the surface of the ship plate 300. Specifically, the moving frame 111 of the climbing chassis 110 is placed on the surface of the ship plate 300. The adsorption adjustment devices 115 at both ends of the moving frame 111 are controlled to drive two variable magnetic force magnetic adsorption devices 114 to move along the Z direction, so that the two variable magnetic force magnetic adsorption devices 114 move to fit against the outer wall of the ship plate 300. The two variable magnetic force magnetic adsorption devices 114 are attached to the outer wall of the ship plate 300. The first motors 113 connected to both ends of the moving frame 111 are started to drive the four first Mecanum wheels 112 to rotate and drive the climbing chassis 110 to move along the outer wall of the ship plate 300 to the preset area.

[0072] When the wall-climbing robot 100 adheres to the surface of the ship plate 300 and moves along the surface to a preset area, the drying devices 129 connected to the two connecting seats 160 and the mounting platform 121 on the wall-climbing robot 100 are activated. The mounting platform 121 is then driven by a three-degree-of-freedom guide rail connected to the moving frame 111 to move along the X, Y, and Z directions to adjust the relative positions of the grinding mechanism 130, the spraying mechanism 140, and the inspection mechanism 150 with the ship plate 300, facilitating spraying, grinding, and defect inspection operations. Specifically, the X-axis motor 170 of the X-axis drive device is controlled... The corresponding transmission gear 171 is driven to rotate, thereby causing the transmission gear 171 to move along the meshing X-axis rack 172, which in turn drives the Y-axis guide rail 123 to move along the two X-axis guide rails 122. At the same time, the Y-axis drive device drives the slider 124 to move along the Y-axis guide rail 123. Then, the Z-axis drive device drives the mounting platform 121 to move along the Z-axis. The relative positions of the grinding mechanism 130, the spraying mechanism 140, and the inspection mechanism 150 with the ship plate 300 are adjusted to a suitable position by adjusting the movement of the mounting platform 121 along the X, Y, and Z axes. Then, the spraying, grinding, and defect inspection operations can be performed.

[0073] The wall-climbing robot 100 is controlled to move along a preset area. A laser radar 131 connected to the platform 121 is used to detect whether there are defects such as welds, rust, or damaged primer on the surface of the ship plate 300 within the preset area. If defects are found, the grinding motor 133 is controlled to drive the grinding wheel 132 to rotate, causing the grinding wheel 132 to grind and remove the defects from the surface of the ship plate 300 until no defects are detected within the preset area. When no defects are detected, the wall-climbing robot 100 is controlled to return to its initial position and move along the preset area again. The solenoid valve 145 is controlled to connect to the transfer pipe 144, and the conveying pump 220 on the mobile vehicle 200 is used to transfer the material bucket. The paint in 230 is transported to the transfer pipe 144 and sprayed on the preset area using the spray gun 142 until the preset area is completely sprayed. Then, the wall-climbing robot 100 is controlled to return to the initial position and move along the preset area again. The film thickness measuring instrument 151 is used to analyze whether the surface coating thickness of the preset area meets the requirements. If there is an area with excessive thickness, the grinding wheel 132 is used to grind it to the required thickness. If there is a defect with insufficient thickness, the spraying operation is repeated to reach the required thickness. If there is no thickness defect, the wall-climbing robot 100 is controlled to move to the next preset area and repeat the above spraying, grinding and defect detection operation process.

[0074] When the wall-climbing robot 100 moves to the preset area to perform spraying, grinding and defect detection operations, the second motors 260 of the control mobile vehicle 200 drive the corresponding second Mecanum wheels 250 to rotate, so that the mobile vehicle 200 moves with the wall-climbing robot 100. This ensures that the conveying pump 220 on the mobile vehicle 200 conveys the paint in the material bucket 230 through the conveying hose 240 to the transfer pipe 144 and sprays it out through the spray gun 142 for spraying operations.

[0075] The integrated sanding and spraying method for ship plates provided in this application also includes a coating defect identification method, which includes the following steps:

[0076] When using the lidar 131 connected to the platform 121 to detect whether there are defects such as welds, rust, or primer damage in a preset area on the surface of the ship plate 300, the existing defect images on the surface of the ship plate 300 are first classified into defects, and each defect image is divided into training samples, verification samples, and test samples. The neural network is used to train, verify, and test each defect image of each type of defect until the required defect recognition rate is met. Then, the images collected by the detection camera 153 are recognized using the neural network.

[0077] The integrated sanding and spraying robot and method for ship plates provided in this application employs a wall-climbing robot 100 and a mobile vehicle 200 located below the wall-climbing robot 100 in cooperation. The wall-climbing robot 100 can be used to adsorb and move along the surface of the ship plate 300. Then, the sanding mechanism 130, the spraying mechanism 140 and the inspection mechanism 150 connected to the wall-climbing robot 100 are used to perform defect detection, defect sanding and removal and spraying operations on the ship plate 300. The mobile vehicle 200 is used to provide paint to the spraying mechanism 140, thereby effectively improving the processing quality of the ship plate coating.

[0078] The mobile frame 111 has buffer devices connected to both ends. Each buffer device includes a support rod 116 and a fixed rod 117 connected to the mobile frame 111. The fixed rod 117 is connected to a buffer plate 118 that is slidably sleeved on the support rod 116. A spring 119 is sleeved on the support rod 116, with its two ends pressing against the mobile frame 111 and the buffer plate 118 respectively. Two connecting seats 160 at both ends of the mobile frame 111 are connected to the buffer plates 118 of the two buffer devices at the corresponding ends. When the wall-climbing robot 100 moves to the curved surface of the boat plate 300, it is attracted and fixed to the curved surface using a variable magnetic force magnetic adsorption device 114, and the adsorption is adjusted by the device. The drive mechanism 115 moves the magnetic adsorption device 114 along the Z-axis, enabling the adsorption adjustment device 115 to move the buffer plates 118 of the two buffer devices closer to the ship plate 300, thereby compressing the springs 119 pressed by the two buffer plates 118. The spring force of the springs 119 then pushes the moving frame 111 towards the surface of the ship plate 300, allowing the moving frame 111 of the wall-climbing robot 100 to adapt to and conform to the complex curved surface of the ship plate 300. This facilitates the use of the grinding mechanism 130, spraying mechanism 140, and inspection mechanism 150 connected to the moving frame 111 for defect detection, defect grinding and removal, and spraying operations on the ship plate 300. Two connecting seats 160 and the mounting platform 121 are each connected to a drying device 129. The drying device 129 is a lighting heating lamp that ensures the wall-climbing robot 100 can operate normally in low-light conditions and accelerates the drying of the coating during spraying operations.

[0079] The spraying mechanism 140 includes a spraying pipe 141 extending along the Z direction, two spray guns 142 arranged parallel to both sides of the spraying pipe 141, a rotator 143 for driving the spraying pipe 141 to rotate, a transfer pipe 144 connected to the spraying pipe 141, and a solenoid valve 145 for connecting or disconnecting the transfer pipe 144. The spray guns 142 are connected to the spraying pipe 141. After the conveying pump 220 conveys the paint in the material tank 230 to the transfer pipe 144 through the conveying hose 240, when the solenoid valve 145 is connected, the paint enters the spraying pipe 141 through the transfer pipe 144 and is sprayed out through the spray guns 142 on both sides of the spraying pipe 141. When needed, the rotator 143 can be controlled to drive the spraying pipe 141 to rotate and adjust the spraying angle of the two spray guns 142, thereby facilitating the spraying mechanism 140 to spray the ship plates 300 with complex curvatures at the bow and stern of the hull.

[0080] When painting the ship plate 300, a vacuum pump 127 located on the side of the X-guide rail 122 can be used to adsorb dust particles and paint mist particles in the air, and the adsorbed particles can be transported to a filter 128 located at the bottom of the X-guide rail 122 for storage, thereby reducing the pollution caused by the painting operation to the environment and recycling the wasted paint.

[0081] The frame 210 of the mobile vehicle 200 is connected to eight lights 270 and two image acquisition devices 280. The lights 270 can provide lighting, and the image acquisition devices 280 can acquire images of the area around the mobile vehicle 200, so that the operator can control the mobile vehicle 200 to move with the wall-climbing robot 100.

[0082] The variable magnetic force magnetic adsorption device 114 in this embodiment is prior art, therefore its structure is not described in detail; the structure of the Y-axis drive device in this embodiment is roughly the same as that of the X-axis drive device, and the structure of the Y-axis drive device when blocked is not described in detail while the X-axis drive device is described in detail; the motor lead screw mechanism in this embodiment is a conventional motor lead screw and nut structure, therefore its structure is not described in detail. In other optional embodiments, linear drive mechanisms such as electric push rods, cylinders, and hydraulic cylinders can be used to replace the X-axis drive device, Y-axis drive device structure, Z-axis drive device structure, and adsorption adjustment device 115.

[0083] The embodiments described above are some, but not all, of the embodiments of this application. The detailed description of the embodiments of this application is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

Claims

1. A sanding and painting integrated ship plate painting robot, characterized by, It comprises a wall-climbing robot and a mobile vehicle under the wall-climbing robot, and the wall-climbing robot comprises: A wall-climbing chassis configured to be adsorbed and move along a ship plate surface; the wall-climbing chassis comprises a moving frame, four first Mecanum wheels respectively connected to the two sides of the two ends of the moving frame, and first motors respectively used for driving each of the first Mecanum wheels to rotate; a variable magnetic force magnetic adsorption device is arranged below each end of the moving frame for adsorbing the ship plate surface; the moving frame is respectively connected with two adsorption adjusting devices for driving the variable magnetic force magnetic adsorption device to move along the Z direction; the Z direction is the direction of approaching or moving away from the ship plate; the two sides of the two ends of the moving frame are respectively connected with a buffer device, the buffer device comprises a supporting rod connected to the moving frame and a fixed rod, the fixed rod is connected with a buffer plate slidably arranged on the supporting rod, the supporting rod is sleeved with a spring having two ends abutting against the moving frame and the buffer plate, and the two adsorption adjusting devices at the two ends of the moving frame are respectively connected with the buffer plates of the two buffer devices at the corresponding ends; A displacement mechanism comprising a carrying platform and a three-degree-of-freedom guide rail connected with the carrying platform and the wall-climbing chassis, the three-degree-of-freedom guide rail is used for driving the carrying platform to move along the X direction, the Y direction and the Z direction; the three-degree-of-freedom guide rail comprises two X-direction guide rails arranged in parallel on the moving frame, two Y-direction guide rails slidably arranged on the two X-direction guide rails at the two ends, a sliding block slidably arranged on the Y-direction guide rail, an X-direction driving device for driving the Y-direction guide rail to move along the X-direction guide rail, and a Y-direction driving device for driving the sliding block to move along the Y-direction guide rail, the sliding block is connected with a Z-direction driving device for driving the carrying platform to move along the Z direction; the sliding block is connected with two sliding grooves extending along the Z direction, and the two ends of the carrying platform are respectively provided with sliding blocks slidably arranged in the two sliding grooves; A polishing mechanism connected to the carrying platform, comprising a laser radar for detecting defects on the ship plate surface and a grinding wheel rotatable to polish the defects on the ship plate surface; A spraying mechanism connected to the carrying platform, comprising a spraying pipe extending along the Z direction, two spray guns arranged in parallel on the two sides of the spraying pipe, a rotator for driving the spraying pipe to rotate, a transfer pipe in communication with the spraying pipe, and a solenoid valve for connecting or cutting off the transfer pipe, and the spray guns are in communication with the spraying pipe; A detection mechanism connected to the carrying platform, comprising a film thickness measuring instrument for measuring the dry film thickness of the ship plate surface and a scanning electron microscope for analyzing whether there are defects on the ship plate surface; The mobile vehicle comprises a movable vehicle frame, a conveying pump and a material bucket arranged on the vehicle frame, and the conveying pump is connected with the material bucket and the transfer pipe through conveying hoses.

2. The abrasive blast and paint integrated ship plate painting robot according to claim 1, wherein, At least one vacuum pump is arranged on the side of the X-direction guide rail, and at least one filter in communication with the corresponding vacuum pump is arranged on the bottom of the X-direction guide rail.

3. The abrasive blast and paint integrated ship plate painting robot according to claim 1, wherein, The mobile vehicle is also connected with a comprehensive management platform, which comprises an equipment management module, a man-machine interaction module and an information storage module. The equipment management module comprises a main controller, a driving slave control module, an adsorption slave control module, a polishing and spraying slave control module, a mobile vehicle slave control module and a sensor module, the sensor module comprises a laser sensor for determining the position information of the wall-climbing robot and the mobile vehicle, a pose sensor for determining the displacement and direction of each motion point of the wall-climbing robot, a stress sensor for determining the spring elastic force and the adsorption force provided by the variable magnetic force magnetic adsorption device, a proximity switch for providing the distance information between the spray gun and the ship plate wall, and a piezoelectric sensor for judging the pressure of the grinding wheel on the ship plate wall. The man-machine interaction module comprises a display screen for displaying the real-time pressure of the wall-climbing robot on the ship plate wall, the real-time spring force of the spring, the real-time distance between the variable magnetic force magnetic adsorption device and the ship plate wall and the real-time total adsorption force.

4. The abrasive blast and paint integrated ship plate painting robot according to claim 1, wherein, The detection mechanism further comprises a detection camera for viewing the coating on the surface of the ship plate.

5. The abrasive blast and paint integrated boat panel painting robot according to claim 1, wherein, The wall-climbing chassis is also connected with a drying device for drying the coating on the surface of the ship plate.

6. The abrasive blast and paint integrated boat panel painting robot according to claim 1, wherein, The two ends of the vehicle frame are respectively connected with second Mecanum wheels and second motors for driving the rotation of the second Mecanum wheels.

7. A ship plate spraying method using the integrated ship plate polishing and spraying robot according to claim 1, characterized by, The steps comprise: adsorbing the wall-climbing chassis of the wall-climbing robot to the surface of the ship plate and moving along the surface of the ship plate; using the laser radar connected with the mounting platform to detect whether there is a defect in the preset area of the surface of the ship plate, if there is a defect, using the grinding wheel to polish the defect, if there is no defect, controlling the electromagnetic valve to communicate with the transfer pipe, using the conveying pump on the mobile vehicle to convey the coating in the bucket to the transfer pipe and using the spray gun to spray the preset area, using the scanning electron microscope to analyze whether there is a defect in the coating thickness of the preset area, if there is a defect, using the grinding wheel to polish the defect, and if there is no defect, repeating the above steps for the next preset area.

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