Marine hanging basket automatic paint spraying robot and ship surface positioning method thereof

Abstract

The invention relates to the technical field of paint spraying, in particular to an automatic paint spraying robot for a marine hanging basket and a ship surface positioning method thereof. The invention discloses an automatic paint spraying robot for a marine hanging basket and a ship surface positioning method of the automatic paint spraying robot for the marine hanging basket. The automatic paint spraying robot comprises a spraying unit composed of a hanging basket moving part, a spraying part and a spraying moving part, and a regulation and control unit composed of a servo motor encoder, a pull wire sensor, a photoelectric switch, an infrared sensor and a control cabinet. The automatic paint spraying robot for the marine hanging basket can automatically adapt to objects such as ship bodies with certain curved surfaces, the spraying angle of spraying equipment can be automatically adjusted and controlled, the spraying equipment is perpendicular to the objects with the curved surfaces, the spraying surfaces are more uniform, the spraying efficiency is improved, and the spraying quality is improved. And when the stored paint is used up, the paint can be returned to a loading point and can be accurately returned to a spraying pause point.

Description

Technical Field

[0001] The invention relates to the technical field of spray painting, in particular to an automatic spray painting robot for a ship hanging basket and a ship deck positioning method thereof. Background Art

[0002] Spraying is a coating method that uses a spray gun or a disc atomizer to disperse the paint into uniform and fine droplets by pressure or centrifugal force and apply it to the surface of the object. It is a processing method that uses a spray gun to atomize the paint and apply it to the surface of the object. There are many types of spraying, including compressed air spraying, high-pressure airless spraying, and electrostatic spraying.

[0003] Existing automatic spraying equipment cannot adapt to curved objects when spraying objects with certain curves, such as hulls, and cannot always keep the spraying equipment perpendicular to the curved objects, resulting in an uneven spraying surface. When the stored paint is used up, it cannot accurately return to the coating break point when it returns to reload and return to the spraying point. Summary of the invention

[0004] In view of the above and / or existing problems in the prior art, the present invention is proposed.

[0005] Therefore, the problem to be solved by the present invention is how to perform adaptive uniform spraying on objects with certain curved surfaces such as hulls.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: a marine hanging basket automatic painting robot, comprising a main unit consisting of a guide rail and a hanging basket, a spraying unit consisting of a hanging basket moving part, a spraying part and a spraying moving part, and a control unit consisting of a servo motor encoder, a pull wire sensor, a photoelectric switch, an infrared sensor and a control cabinet, wherein the hanging basket moving part is arranged on the hanging basket and cooperates with the guide rail, the spraying moving part is arranged on the hanging basket, the spraying part is arranged on the spraying moving part, the servo motor encoder is arranged on the hanging basket moving part, the pull wire sensor is arranged on the hanging basket moving part, the photoelectric switch is arranged on the spraying moving part, the infrared sensor is arranged on the spraying part, and the control cabinet is arranged on the hanging basket.

[0007] As a preferred solution of the ship-mounted hanging basket automatic painting robot described in the present invention, the hanging basket moving part includes a servo motor, a support plate and a winch, the servo motor cooperates with the guide rail, the support plate is fixedly connected to the guide rail, and the winch is arranged on the support plate and cooperates with the pull wire sensor.

[0008] As a preferred solution of the marine hanging basket automatic painting robot described in the present invention, the spraying moving part includes a parallel moving part, a vertical moving part and a propulsion part, the parallel moving part is arranged on the hanging basket and cooperates with the photoelectric switch, the vertical moving part is arranged on the parallel moving part, and the propulsion part is arranged on a support frame mounted on the parallel moving part.

[0009] As a preferred solution of the marine hanging basket automatic painting robot described in the present invention, the spraying parts include a spray gun, a rotating motor, a gas recovery pipe and a filter, the spray gun is arranged on the support frame, the rotating motor is arranged in the support frame and cooperates with the infrared sensor, the rotating motor is arranged in the support frame and cooperates with the infrared sensor, the gas recovery pipe is arranged on the support frame, and the filter is arranged on the hanging basket and connected to the gas recovery pipe.

[0010] Another object of the present invention is to provide a method for positioning the ship deck of a ship-mounted hanging basket automatic painting robot, which can enable the ship-mounted hanging basket automatic painting robot to adaptively control the hull surface, accurately locate the pause point when loading paint, and automatically reset after the paint loading is completed.

[0011] To solve the above technical problems, the present invention provides the following technical solutions: a method for positioning the deck of a ship's hanging basket automatic painting robot, comprising setting a coordinate origin, preprocessing the collected data, and regulating the spraying unit according to the preprocessed data.

[0012] As a preferred solution of the ship deck positioning method of the marine hanging basket automatic painting robot of the present invention, wherein: the setting of the coordinate origin is to set the starting position to the coordinate origin, the servo motor encoder records the moving distance of the hanging basket moving part in the X direction, with movement in one direction as a positive value and coaxial reverse movement as a negative value, and the wire sensor determines the coordinate Y specifically as follows:

[0013] Y=Y1-Y0

[0014] Among them, Y1 represents the elongation of the pull-wire sensor after movement, and Y0 represents the elongation of the pull-wire sensor when the hanging basket is in the initial position.

[0015] As a preferred solution of the ship deck positioning method of the ship hanging basket automatic painting robot of the present invention, wherein: the infrared sensor determines the distance between the spray gun and the hull, the infrared sensors are equidistantly arranged on both sides of the spraying part, and the distance formula between the spraying part and the hull is:

[0016]

[0017] Wherein, x1 represents the distance between the infrared sensor and the hull, and x2 represents the distance between another infrared sensor and the hull.

[0018] As a preferred solution of the ship deck positioning method of the ship hanging basket automatic painting robot of the present invention, the formula for controlling the distance required to move the spray moving part in the Z direction is:

[0019]

[0020] Among them, x0 represents the ideal spraying distance from the hull, x p Indicates the difference between the actual distance and the ideal spraying distance;

[0021] When x p <0, the spray moving part shrinks in the opposite direction of the hull. p >0, the spraying moving part is pushed toward the hull.

[0022] As a preferred solution of the ship deck positioning method of the ship hanging basket automatic painting robot of the present invention, wherein: the spraying part is rotated and adjusted according to the data collected by the infrared sensor, and the rotation angle formula of the spraying part is:

[0023]

[0024] Wherein α represents the rotation angle of the spraying part, L3 represents the actual installation distance between the two infrared sensors, and x3 and x4 represent the distance between two adjacent infrared sensors and the hull.

[0025] As a preferred solution of the ship deck positioning method of the ship hanging basket automatic painting robot described in the present invention, when spraying is completed, the photoelectric switch records the distance to the spraying movable part and transmits the record to the control cabinet, and the photoelectric switch controls the moving distance of the spraying movable part in the X direction.

[0026] The beneficial effects of the present invention are as follows: the ship-mounted hanging basket automatic painting robot using the present invention can autonomously adapt to objects with certain curved surfaces such as the hull, can autonomously adjust the spraying angle of the spraying equipment to keep the spraying equipment perpendicular to the curved surface object, and make the spraying surface more uniform; and when the stored paint is used up, it can return to the loading point and can accurately return to the spraying pause point. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0028] Figure 1 This is a schematic diagram of the overall structure of the marine hanging basket automatic painting robot.

[0029] Figure 2 Side view of the automatic painting robot for ship basket.

[0030] Figure 3 This is a partial enlarged view of the sprayed part.

[0031] Figure 4 This is a schematic diagram showing the spray angle adjustment method. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0033] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0034] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0035] Example 1

[0036] Reference Figure 1 to Figure 3 , which is the first embodiment of the present invention, provides a marine hanging basket automatic painting robot, including a main unit 100 composed of a guide rail 101 and a hanging basket 102, a spraying unit 200 composed of a hanging basket moving part 201, a spraying part 202 and a spraying moving part 203, and a control unit 300 composed of a servo motor encoder 301, a pull wire sensor 302, a photoelectric switch 303, an infrared sensor 304 and a control cabinet 305.

[0037] Specifically, the hanging basket 102 is driven by the hanging basket moving part 201 through the steel wire rope to slide on the guide rail 101. The hanging basket moving part 201 is composed of a servo motor 201a, a support plate 201b and a winch 201c. It is arranged on the hanging basket 102 and driven by the servo motor 201a to drive the hanging basket 102 to move along the guide rail 101. The support plate 201 is fixedly connected to the guide rail 101. The winch 201c is arranged on the support plate 201b to control the extension and contraction of the steel wire rope. The wire pull sensor 302 measures the length of the steel wire rope retracted by the winch 201c.

[0038] Specifically, the spraying moving part 203 is composed of a parallel moving part 203a, a vertical moving part 203b and a propulsion part 203c. The parallel moving part 203a is arranged on the hanging basket 102, and is used for moving the spraying part 203 in the horizontal direction. The parallel moving part 203a cooperates with the photoelectric switch 303, and the photoelectric switch 303 is used to control the horizontal movement of the spraying part 202. The vertical moving part 203b is arranged on the parallel moving part 203a, and the propulsion part 203c is arranged on the support frame 203a-1 mounted on the parallel moving part 203a.

[0039] Specifically, the spraying part 202 is composed of a spray gun 202a, a rotating motor 202b, a gas recovery pipe 202c and a filter 202d. The spray gun 202a is arranged on a support frame 203a-1, the rotating motor 202b is arranged in the support frame 203a-1, the gas recovery pipe 202c is arranged on the support frame 203a-1 and ensures that the air inlet of the gas recovery pipe 202c and the spray gun 202a are on the same side, and the filter 202d is arranged on the hanging basket 102 and connected to the gas recovery pipe 202c.

[0040] Specifically, the servo motor encoder 301 is arranged on the servo motor 201a and records the rotation and forward data of the servo motor 201a, the wire sensor 302 is arranged on the winch 201c and records the length of the wire rope extended and tightened by the winch, and the photoelectric switch 303 is arranged on the parallel moving part 203a and when the distance between the photoelectric switch 303 and the spraying part 202 reaches the trigger distance, the photoelectric switch 303 sends a signal to stop the parallel moving part 203a.

[0041] Example 2

[0042] Reference Figure 1 to Figure 4 , which is the second embodiment of the present invention, is different from the first embodiment in that this embodiment provides a method for positioning the deck of a ship-mounted hanging basket automatic painting robot, including: setting the coordinate origin and preprocessing the collected data.

[0043] Specifically, the starting position is set as the coordinate origin, the ship's deck is projected into the XY coordinate axis, the servo motor encoder 301 records the distance moved by the hanging basket moving part 201 in the X direction, with movement in one direction as a positive value and coaxial reverse movement as a negative value, and outputs the coordinate X value. The wire sensor 302 is used to record the extension and contraction of the winch 201c, and then the coordinate Y is determined to be:

[0044] Y=Y1-Y0

[0045] Among them, Y1 represents the elongation of the pull-wire sensor 302 after the movement, and Y0 represents the elongation of the pull-wire sensor 302 when the hanging basket 102 is in the initial position.

[0046] Furthermore, the distance between the spray gun and the hull is determined by using the infrared sensor 304, and the infrared sensors 304 are equidistantly arranged on both sides of the spraying part 202. The distance formula between the spraying part 202 and the hull is:

[0047]

[0048] Wherein, x1 represents the distance between the infrared sensor 304 and the hull, and x2 represents the distance between another infrared sensor 304 and the hull.

[0049] This step can accurately record the travel distance of the automatic painting robot and its relative position relative to the selected fixed coordinate origin, so that the automatic painting robot can more accurately perform the spraying work on the same spray hull.

[0050] Example 3

[0051] Reference Figure 1 to Figure 4 , which is the third embodiment of the present invention. This embodiment is different from the previous two embodiments in that this embodiment provides a method for positioning the deck of a ship-mounted hanging basket automatic painting robot, including regulating the spraying unit 200 according to preprocessed data.

[0052] Specifically, further, the optimal spraying distance between the spray gun 202a and the hull is obtained according to the spraying range and uniformity test of the spray gun 202a, and the distance formula for controlling the spray moving part 203 to move to the optimal spraying distance in the Z direction is further adjusted by collecting data through the infrared sensor 304:

[0053]

[0054] Among them, x0 represents the ideal spraying distance from the hull, x p Indicates the difference between the actual distance and the ideal spraying distance;

[0055] When x p <0, that is, the distance between the spray gun 202a and the hull is less than the optimal spraying distance, and the propulsion member 203c is controlled to drive the spray gun 202a to shrink in the opposite direction of the hull so as to move away from the hull. p >0, that is, the distance between the spray gun 202a and the hull is greater than the optimal spraying distance, and the propulsion member 203c is controlled to drive the spray gun 202a to propel toward the hull, thereby reducing the distance from the ship surface to achieve the optimal spraying distance.

[0056] Furthermore, when the infrared sensors 304 on both sides or the upper and lower sides are not equal, it means that the spraying surface of the spray gun 202a is not perpendicular to the hull surface. At this time, the collected data of the infrared sensor 304 can be processed to control the rotating motor 202b to rotate and adjust the spray gun 202a. The rotation angle formula of the spray gun 202a is:

[0057]

[0058] Wherein α represents the rotation angle of the spray gun 202a, L3 represents the actual installation distance of the two infrared sensors 304, and x3 and x4 represent the distance between two adjacent infrared sensors 304 and the hull.

[0059] When in use, when the values ​​of two infrared sensors 304 adjacent to each other vertically or horizontally are equal, it means that no rotation is required and the rotation angle α is 0. When the values ​​of two infrared sensors 304 adjacent to each other vertically or horizontally are not equal, the rotation angle α is calculated and the rotation direction is to rotate toward the side with the larger output value of the infrared sensor 304.

[0060] Furthermore, when spraying is finished or spraying is paused to fill paint, the photoelectric switch 303 records the distance from the spraying moving part 203 and transmits the record to the control cabinet 305. When resuming spraying, the control cabinet 305 first outputs the positioning coordinates of the hanging basket. When the spraying end point is reached, the hanging basket has a certain volume. Then, the control cabinet 305 sends the distance from the spraying moving part 203 recorded by the photoelectric switch 303 at the end of spraying. When the parallel moving part 203a moves to the distance from the photoelectric switch 303 reaching the limit value, the movement of the parallel moving part 203a is stopped, thereby completing the continuous coating operation.

[0061] In summary, the ship-mounted hanging basket automatic painting robot of the present invention can autonomously adapt to objects with certain curved surfaces such as the hull, can autonomously adjust the spraying angle of the spray part 202, so that the spray part 202 is kept perpendicular to the curved object, making the spraying surface more uniform, and can return to the loading point when the stored paint is used up and can accurately return to the spraying pause point to complete the re-painting operation.

[0062] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A marine hanging basket automatic painting robot, characterized in that: include, The main unit (100) comprises a guide rail (101) and a hanging basket (102), wherein the hanging basket (102) slides on the guide rail (101); A spraying unit (200) comprises a hanging basket moving part (201), a spraying part (202) and a spraying moving part (203), wherein the hanging basket moving part (201) is arranged on the hanging basket (102) and cooperates with the guide rail (101), the spraying moving part (203) is arranged on the hanging basket (102), and the spraying part (202) is arranged on the spraying moving part (203); The control unit (300) comprises a servo motor encoder (301), a wire sensor (302), a photoelectric switch (303), an infrared sensor (304) and a control cabinet (305), wherein the servo motor encoder (301) is arranged on the hanging basket moving part (201), the wire sensor (302) is arranged on the hanging basket moving part (201), the photoelectric switch (303) is arranged on the spraying moving part (203), the infrared sensor (304) is arranged on the spraying part (202), and the control cabinet (305) is arranged on the hanging basket (102).

2. The marine hanging basket automatic painting robot according to claim 1, characterized in that: The hanging basket moving part (201) comprises a servo motor (201a), a support plate (201b) and a winch (201c); the servo motor (201a) cooperates with the guide rail (101); the support plate (201) is fixedly connected to the guide rail (101); and the winch (201c) is arranged on the support plate (201b) and cooperates with the wire pulling sensor (302).

3. The marine hanging basket automatic painting robot according to claim 2, characterized in that: The spraying moving part (203) comprises a parallel moving part (203a), a vertical moving part (203b) and a propulsion part (203c); the parallel moving part (203a) is arranged on the hanging basket (102) and cooperates with the photoelectric switch (303); the vertical moving part (203b) is arranged on the parallel moving part (203a); and the propulsion part (203c) is arranged on a support frame (203a-1) mounted on the parallel moving part (203a).

4. The marine hanging basket automatic painting robot according to claim 3, characterized in that: The spraying part (202) comprises a spray gun (202a), a rotating motor (202b), a gas recovery pipe (202c) and a filter (202d); the spray gun (202a) is arranged on the support frame (203a-1); the rotating motor (202b) is arranged in the support frame (203a-1) and cooperates with the infrared sensor (304); the gas recovery pipe (202c) is arranged on the support frame (203a-1); and the filter (202d) is arranged on the hanging basket (102) and connected to the gas recovery pipe (202c).

5. A method for positioning the deck of a marine hanging basket automatic painting robot, characterized in that: The invention comprises the automatic painting robot for a marine hanging basket as claimed in any one of claims 1 to 4, and Set the coordinate origin; Preprocess the collected data; The spraying unit (200) is regulated according to the preprocessing data.

6. The method for positioning the deck of a ship's hanging basket automatic painting robot as claimed in claim 5, characterized in that: The setting of the coordinate origin is to set the starting position as the coordinate origin, the servo motor encoder (301) records the moving distance of the hanging basket moving part (201) in the X direction, with movement in one direction as a positive value and coaxial reverse movement as a negative value, and the wire drawing sensor (302) determines the coordinate Y specifically as: Y=Y1-Y0 Wherein, Y1 represents the elongation of the pull-wire sensor (302) after the movement, and Y0 represents the elongation of the pull-wire sensor (302) when the hanging basket (102) is in the initial position.

7. The method for positioning the deck of a ship's hanging basket automatic painting robot as claimed in claim 6, characterized in that: The infrared sensor (304) determines the distance between the spray gun and the hull. The infrared sensor (304) is equidistantly arranged on both sides of the spraying part (202). The distance between the spraying part (202) and the hull is calculated as follows: Wherein, x1 represents the distance between the infrared sensor (304) and the hull, and x2 represents the distance between another infrared sensor (304) and the hull.

8. The method for positioning the deck of a ship's hanging basket automatic painting robot as claimed in claim 7, characterized in that: The formula for controlling the distance that the spray moving part (203) needs to move in the Z direction is: Among them, x0 represents the ideal spraying distance from the hull, x p Indicates the difference between the actual distance and the ideal spraying distance; When x p <0, the spray moving part (203) shrinks in the opposite direction of the hull. p >0, the spraying moving part (203) is advanced toward the hull direction.

9. The method for positioning the deck of a ship's hanging basket automatic painting robot as claimed in claim 8, characterized in that: The spraying part (202) is rotated and adjusted according to the data collected by the infrared sensor (304), and the rotation angle formula of the spraying part (202) is: Wherein α represents the rotation angle of the spraying part (202), L3 represents the actual installation distance between the two infrared sensors (304), and x3 and x4 represent the distance between two adjacent infrared sensors (304) and the hull.

10. The method for positioning the deck of a ship's hanging basket automatic painting robot as claimed in claim 9, characterized in that: When spraying is finished, the photoelectric switch (303) records the distance from the spraying moving part (203) and transmits the record to the control cabinet (305). The photoelectric switch (303) controls the moving distance of the spraying moving part (203) in the X direction.

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