Outer plate spraying leveling control system of ship spraying robot and working method of outer plate spraying leveling control system

Abstract

The invention discloses a ship spraying robot planking spraying leveling control system and a working method thereof, the system comprises a signal acquisition unit, a signal processing unit, a control center and an execution mechanism, the system utilizes multiple groups of control loops to realize collaborative operation among multiple mechanisms, and set actions are completed. Wherein the control of the horizontal distance between a boom and an outer plate is realized through the boom control loop, the parallel control of a bracket and the ground is realized through the spraying bracket rotating mechanism control loop, the equal-width control of the horizontal distance between four sides of the square bracket and the outer plate is realized through the bracket horizontal adjusting mechanism control loop, and the control of the horizontal distance between a spray gun and the outer plate is realized through the mechanical arm control loop. And the paint mist protection mechanism control loop realizes protection start-stop control. According to the system, collected signals are transmitted to a control center in real time through a CAN bus, device leveling is achieved through mutual cooperation of the multi-angle support adjusting mechanism, the sliding table moving mechanism and the tail end mechanical arm, and it is guaranteed that the distance between a paint nozzle and a ship planking in the vertical direction and the horizontal direction is within a certain range.

Description

Technical Field

[0001] The present invention belongs to the field of automatic control technology, and in particular relates to a ship spraying robot outer plate spraying leveling control system and a working method thereof. Background Art

[0002] Ship painting plays a vital role in ship construction and maintenance. Traditional ship spraying operations use manual handheld spray guns for spraying. This method not only has problems such as low automation, high engineering operation costs, high safety risks of high-level operations, and serious environmental pollution, but also the spraying quality is directly affected by the workers' operating experience. In rainy and humid environments, workers cannot maintain the original operating efficiency when using this spraying method, which seriously hinders the development of ship intelligence.

[0003] With the innovation and development of ship coating design technology and the needs of application scenarios, a variety of spraying methods have emerged in the market, such as high-flow low-pressure atomization spraying, automatic spraying, multi-group spraying, etc. These technologies cannot maintain horizontal continuous spraying operations during the spraying process, resulting in poor consistency in the thickness of the overlapping paint film, and cannot operate in bad weather and high wind conditions. In view of the current status of the above-mentioned spraying control, new technologies, new processes, and new equipment are urgently needed to replace the existing spraying operation methods.

[0004] The present invention adopts an automatic leveling control system for spraying ship outer plates, and uses the CAN bus to transmit the system acquisition signals to the control center in real time. The device is leveled through the cooperation between the multi-angle bracket adjustment mechanism, the slide moving mechanism and the end mechanical arm, ensuring that the paint nozzle is within a certain range from the ship outer plate in the vertical and horizontal directions, thereby achieving the purpose of consistent paint thickness of the outer plate, improving spraying efficiency and reducing labor input.

[0005] The existing leveling system and device have the problems of small horizontal adjustment range, single system function, poor applicability to ship outer plate spraying operation, etc. For example, patent CN108112293A provides a hydraulic leveling device. The existing patents mentioned about the leveling device, such as CN218323996U, provide a positioning and leveling device for an assembled wall, including a wall positioning column, the wall positioning column includes a left positioning column and a right positioning column, the left positioning column is located on the side of the right positioning column, the lower surface of the wall positioning column is fixedly installed with a support base, the outer surface of one side of the support base is fixedly installed with a first connecting telescopic column, the outer surface of one side of the wall positioning column is provided with a limited groove, the inner surface of the limited groove is movably installed with a limited block, the outer surface of one side of the limited block is fixedly installed with a limited connecting plate, and the outer surface of the other side of the limited connecting plate is fixedly installed with an electric telescopic column. The device solves the problem of the installation position of the wall and the leveling of the ground, but the equipment has a small horizontal adjustment range and a single system function, so it is poorly applicable to ship outer plate spraying operation. Summary of the invention

[0006] Purpose of the invention: In order to solve the deficiencies of the prior art, the present invention provides a ship spraying robot outer plate spraying leveling control system and a working method thereof.

[0007] Technical solution: A spraying and leveling control system for outer panels of a ship spraying robot, comprising: a signal acquisition unit, a signal processing unit, a control center and an actuator; the system uses the CAN bus to transmit the information processed by the signal processing unit to the control center, and then the system performs device drive calculations based on the data, and sends instructions to each actuator to complete the spraying operation;

[0008] The signal acquisition unit comprises: a first laser ranging sensor, a second laser ranging sensor, a first ranging panoramic camera, a second ranging panoramic camera, a third ranging panoramic camera, a fourth ranging panoramic camera and a gyroscope; the system uses the first laser ranging sensor and the second laser ranging sensor to complete the measurement of the horizontal distance between the spray gun and the outer plate of the ship, uses the first ranging panoramic camera, the second ranging panoramic camera, the third ranging panoramic camera and the fourth ranging panoramic camera to assist the device bracket in leveling measurement, and uses the gyroscope to complete the measurement of the level between the device bracket and the ground;

[0009] In the device drive measurement process, point O is set as the origin of the device arm car, c1 is the horizontal distance between the device arm car and the outer plate of the ship, θL is the angle between the arm car's big arm and the vertical distance, and points A, B, and C are three spraying points in the spray actuator respectively; the arm car sprays horizontally from points A, B, and C respectively. At point A, the horizontal distance between the front end of the bracket as a whole and the spray gun outside the ship is m1, and the horizontal distance between the spray gun and the outer plate is L1. The system maintains the stability of the mechanism by controlling the horizontal distance c1 between the arm car and the outer plate of the ship, the angle θL between the arm car's big arm and the vertical distance, and the horizontal distance m1 between the front end of the bracket and the spray gun outside the ship;

[0010] The horizontal control process of the bracket and the ship's outer plate includes: setting Q' as the bracket origin, A1B1C1D1 as the bracket's initial position, A2B2C2D2 as the bracket's adjusted position, after adjustment, the horizontal distances of A2, B2, C2, and D2 from the outer plate are l1, l2, l3, and l4 respectively, the bracket's rotating mechanism rotates to a horizontal angle value of T, the four groups of servo motor drive coefficients are F drive 1, F drive 2, F drive 3, and F drive 4 respectively, and the rotating motor drive coefficient is Fz; the system coordinates the four groups of servo motors F drive 1, F drive 2, F drive 3, and F drive 4 with the rotating motor Fz respectively, and when the following conditions are met: l1 ≈ l2 ≈ l3 ≈ l4, and the error value α∈[αmin, αmax], and the horizontal angle value is T (T=X°), the bracket and the ship's outer plate remain in a horizontal state;

[0011] The system motor synchronous control includes: each loop adopts a coupled synchronous control system to coordinate the multi-motor control in order to ensure that the speeds of the motors are synchronized and eliminate speed deviation and overshoot, wherein the speed of the i-th motor in each loop satisfies:

[0012] V i = kV i+1 (1)

[0013] Where Vi is the speed of the i-th motor, Vi+1 is the speed of the i+1-th motor, k is the motor speed synchronization coefficient, and the speed deviation is e;

[0014] During the spraying process, the four motors in the control loop of the bracket horizontal adjustment mechanism must meet the system synchronization requirements. The system periodically collects the motor speed. At time t0, when e≠0, the system motor Vi and Vi+1 are not synchronized. The synchronous control compensation circuit adopts PID control, and the control algorithm is as follows:

[0015]

[0016] K d =K P ×T d (3)

[0017]

[0018] In the formula, K P is the proportionality coefficient, K d is the differential time constant, K I is the integration time constant;

[0019] The larger the proportional coefficient value, the greater the motor acceleration, and the speed overshoot can be avoided by correcting the signal differential time constant;

[0020] The incremental algorithm is as follows:

[0021] K p [e(k)-e(k-1)]+K I e(k)+K D [e(k)-2e(k-1)+e(k-2)](5)

[0022] System parameter K P , K d , K I Make online adjustments and use the control to directly close the control loop.

[0023] As an optimization: the control center mainly includes: a signal converter, a CPU, a memory and an input and output interface. The data collected by the system is adjusted by the controller algorithm to realize the real-time perception of the environment by the device, as well as the multi-point coordinated control among various mechanisms to complete the continuous horizontal spraying operation.

[0024] As an optimization: the actuator includes: a spray arm trolley mechanism, a spray bracket rotation mechanism, a bracket horizontal adjustment mechanism, a bracket slide moving mechanism, a spray robot arm, a spray gun and a paint mist protection mechanism, wherein the spray arm trolley mechanism is integrated with the straight arm elevated trolley and placed on the ground, the spray bracket rotation mechanism and the bracket horizontal adjustment mechanism are connected to the bracket through a rotating bearing and suspended in the air, the bracket slide moving mechanism is connected to the bracket horizontal adjustment mechanism and embedded in the outside of the bracket, the spray robot arm, the spray gun and the paint mist protection mechanism are connected to each other through a slider and connected to the bracket slide moving mechanism.

[0025] As an optimization: the spray bracket rotating mechanism includes: a left-side connecting straight rod, a gyroscope storage cover, a gyroscope, a right-side connecting straight rod, a rotating mechanism connecting piece and a rotating bearing. The left and right-side connecting straight rods horizontally fix the rotating mechanism at the center of the bracket. The front rotating mechanism connecting piece is connected to the rotating bearing and embedded in the bracket groove. The gyroscope storage cover is horizontally placed in the top center of the rotating mechanism, and the storage cover has a built-in gyroscope embedded in the cover.

[0026] As an optimization: the horizontal adjustment mechanism of the bracket includes: a first movable bracket and a second movable bracket, wherein the bracket slide moving mechanism is located on the first movable bracket, and four panoramic cameras are arranged at the four corners of the top of the first movable bracket. Two driving stepper motors are installed at the bottom of the bracket, which are respectively located at the bottom of the left side and the top of the right side. Two horizontal brackets are connected to the outside of the bracket and connected to the bottom layer through two vertical movable sliders.

[0027] As an optimization: the horizontal bracket is equipped with a driving stepper motor on the side and a horizontal moving slider on the top; the second movable bracket is equipped with four sets of bracket driving parts on the side, which are placed on the sides of the two brackets through front and rear end connecting parts, wherein the bracket driving part has an external driving servo motor and an internal screw, and the driving slider is installed on the screw and is directly connected to the first one.

[0028] As an optimization: the spraying robot arm is located on the bracket slide moving mechanism, and is connected to the bracket slide moving mechanism through a horizontal moving slider. The spraying robot arm is integrated with the spray gun and the paint mist protection mechanism.

[0029] As an optimization: the paint mist protection mechanism is located at the bottom of the spray gun, and the mechanism includes: a paint mist protection mechanism base and a paint mist protection mechanism top plate, wherein a quartz material protective cover is installed on the right side of the base, and a servo motor is installed at the bottom of the protective cover, which are respectively connected to the base, a driving motor is installed at the left end of the top of the base, a cleaning nozzle is installed at the middle end of the top, and a bearing gasket is installed at the right end, which is connected to the paint mist protection mechanism base through a rotatable brush at the bottom.

[0030] As an optimization: the control circuit principle of the system includes: arm car control circuit, support rotation mechanism control circuit, support horizontal adjustment mechanism control circuit, support slide movement mechanism control circuit, mechanical arm control circuit and paint mist protection mechanism control circuit;

[0031] The system realizes horizontal distance control between the arm truck and the outer panel through the arm truck control circuit, realizes parallel control between the bracket and the ground through the spray bracket rotation mechanism control circuit, realizes equal width control of the horizontal distance between the four sides of the square bracket and the outer panel through the bracket horizontal adjustment mechanism control circuit, realizes horizontal distance control between the spray gun and the outer panel through the mechanical arm control circuit, and realizes protection start and stop control through the paint mist protection mechanism control circuit.

[0032] A working method of a ship spraying robot outer plate spraying leveling control system, the control process of the system includes the following steps:

[0033] S1: System ship outer plate spraying leveling control system, workers drive the straight arm elevated vehicle to the initial starting position according to the system preset initial position;

[0034] S2: The signal acquisition unit starts working, 4 sets of ranging panoramic cameras randomly sample, and the system performs distance detection;

[0035] S3: The overhead crane arm starts to move toward the outer plate of the ship, and the system detects the distance between the bracket and the outer plate in real time;

[0036] S4: If the distance between the bracket and the outer plate of the ship satisfies L1∈[Lmin, Lmax], L2∈[Lmin, Lmax], L3∈[Lmin, Lmax], L4∈[Lmin, Lmax], the system controls the elevated vehicle arm to stop moving. Similarly, if the distance between the bracket and the outer plate of the ship does not meet the above conditions, the elevated vehicle arm continues to move forward or backward;

[0037] S5: The system signal acquisition unit turns on the built-in gyroscope to collect the bracket position information in real time and transmit it to the control center;

[0038] S6: The control center receives the signal from the signal acquisition unit and issues a command to the built-in shaft motor of the bracket rotation mechanism to drive the shaft to rotate to a specified position;

[0039] S7: When the support rotation mechanism rotates to the horizontal angle value T (T = X°), the drive motor stops rotating, and the support horizontal adjustment mechanism starts working;

[0040] S8: The control center performs numerical comparison and analysis on the collected signals, and calculates the electromechanical control relationship of the four motors of the horizontal adjustment mechanism;

[0041] S9: The control center sends a command to the motor driver, and the bracket drives motor 1, motor 2, motor 3, and motor 4 to start running;

[0042] S10: When the system collects the distance measurement value L1≈L2≈L3≈L4 and the error range α∈[αmin,αmax], the bracket slide moving mechanism is started;

[0043] S11: The slide bracket motor drives the slide block to move to the specified position according to the system planning route;

[0044] S12: The laser ranging sensor in the signal acquisition unit starts laser ranging, and the system controls the robot arm to move in coordination;

[0045] S13: When the system receives the laser ranging values ​​M1∈[Mmin, Mmax] and M2∈[Mmin, Mmax], the arm drive motor stops running and the paint mist protection device is turned on;

[0046] S14: The built-in drive motor of the paint mist protection device starts to run, the spray gun sprays, and the straight-arm elevated vehicle starts at this time.

[0047] Beneficial effects: The system of the present invention utilizes the CAN bus to transmit the collected signals to the control center in real time, and realizes the leveling of the device through the cooperation between the multi-angle bracket adjustment mechanism, the slide moving mechanism and the terminal mechanical arm, ensuring that the paint nozzle is within a certain range from the ship's outer plate in the vertical and horizontal directions, thereby achieving the purpose of uniform paint thickness on the outer plate, improving spraying efficiency and reducing labor input. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the overall structure of the ship outer plate spraying and leveling control device of the present invention;

[0049] Figure 2 It is a structural schematic diagram of a ship outer plate spraying and leveling control device of the present invention;

[0050] Figure 3 It is a side structural schematic diagram of the paint mist protection mechanism of the present invention;

[0051] Figure 4 It is a schematic structural diagram of the paint mist protection mechanism of the present invention;

[0052] Figure 5 It is a structural schematic diagram of the support horizontal adjustment mechanism of the present invention;

[0053] Figure 6 is a schematic diagram of the first movable support structure of the present invention;

[0054] Figure 7 is a schematic diagram of the structure of a second movable support of the present invention;

[0055] Figure 8 This is a system structure principle diagram of the ship outer plate spraying and leveling control device of the present invention;

[0056] Fig. 9 It is a schematic diagram of the operating structure of the ship outer plate spraying and leveling control device of the present invention;

[0057] Fig.10 It is a schematic diagram of the horizontal adjustment structure of the ship outer plate spraying leveling control device of the present invention;

[0058] Fig.11 is a flow chart of the system control loop structure of the present invention;

[0059] Fig.12 The present invention is a system control flow chart of the ship outer plate spraying and leveling control device.

[0060] In the figure: 1, first spray paint mist protection mechanism; 2, second spray paint mist protection mechanism; 2a, first laser distance sensor; 2b, rotatable brush; 2c, quartz material protective cover; 2d, paint mist protection mechanism base; 2e, protective cover drive servo motor; 2f, bearing gasket; 2g, cleaning nozzle; 2h, brush drive servo motor; 2i, paint mist protection mechanism top plate; 3, second spray actuator; 3a, second spray gun; 3b, second spray robot arm; 4, first spray actuator; 4a, first spray gun; 4b, first spray Coating robot arm; 5, spraying bracket rotating mechanism; 5a, left connecting straight rod; 5b, gyroscope storage cover; 5c, gyroscope; 5d, right connecting straight rod; 5e, rotating mechanism connecting piece; 5f, rotating bearing; 6, first movable bracket; 6a, second ranging panoramic camera; 6b, second horizontal bracket vertical driving stepper motor; 6c, second horizontal bracket; 6d, horizontal moving slider; 6e, third ranging panoramic camera; 6f, second horizontal bracket horizontal driving stepper motor; 6g, vertical moving slider; 6h, second vertical bracket ; 6i, fourth ranging panoramic camera; 6j, second vertical bracket vertical drive stepper motor; 6k, first ranging panoramic camera; 6l, first horizontal bracket; 6m, first horizontal bracket horizontal drive stepper motor; 6n, first vertical bracket; 7, second movable bracket; 7a, third bracket drive slider; 7b, third connecting piece at the front end of the bracket; 7c, third track screw; 7d, third connecting piece at the rear end of the bracket; 7e, third bracket drive servo motor; 7f, second bracket drive slider; 7g, second connecting piece at the front end of the bracket; 7h, The second track screw; 7i, the second connecting piece at the rear end of the bracket; 7j, the second bracket drives the servo motor; 7k, the first bracket drives the slider; 7l, the first connecting piece at the front end of the bracket; 7m, the first track screw; 7n, the first connecting piece at the rear end of the bracket; 7o, the first bracket drives the servo motor; 7p, the fourth bracket drives the slider; 7q, the fourth connecting piece at the front end of the bracket; 7r, the fourth track screw; 7s, the fourth connecting piece at the rear end of the bracket; 7t, the fourth bracket drives the servo motor; 8, the spray arm vehicle mechanism; 9, the ship outer plate; 10, the straight arm elevated vehicle. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present invention will be described clearly and completely below so that those skilled in the art can better understand the advantages and features of the present invention, thereby making a clearer definition of the protection scope of the present invention. The embodiments described in the present invention are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0062] Example

[0063] like Figure 1-2 As shown, an overall structure and structure diagram of a ship outer plate spraying and leveling control device, wherein the device mechanism mainly includes: a spray arm vehicle mechanism 8, a spray bracket rotation mechanism 5, a bracket horizontal adjustment mechanism, a bracket slide moving mechanism, a spray robot arm, a spray gun and a paint mist protection mechanism. The system uses the control loop between each mechanism to realize the corresponding action.

[0064] like Figure 3-7 As shown, the spray arm vehicle mechanism 8 is integrally connected to the straight arm elevated vehicle 10 and placed on the ground, the spray support rotating mechanism 5 is connected to the support horizontal adjustment mechanism through the rotating bearing 5f and suspended in the air, the support slide moving mechanism is connected to the support horizontal adjustment mechanism and embedded in the outside of the support, and the spray robot arm is connected to the spray gun and the paint mist protection mechanism through a slider and connected to the support slide moving mechanism.

[0065] The spraying bracket rotating mechanism 5 comprises: a left connecting straight rod 5a, a gyroscope storage cover 5b, a gyroscope 5c, a right connecting straight rod 5d, a rotating mechanism connecting piece 5e and a rotating bearing 5f. The left connecting straight rod 5a and the right connecting straight rod 5d fix the rotating mechanism horizontally at the center of the bracket, the front rotating mechanism connecting piece is connected to the rotating bearing 5f and embedded in the bracket groove, the gyroscope storage cover 5b is horizontally placed at the top center of the rotating mechanism, and the storage cover has a built-in gyroscope embedded in the cover.

[0066] The bracket horizontal adjustment mechanism includes: a first movable bracket 6 and a second movable bracket 7. The bracket slide moving mechanism is located on the first movable bracket. Four panoramic cameras are placed at the four corners of the top of the first movable bracket. Two driving stepper motors are installed at the bottom of the bracket, respectively located at the bottom of the left side and the top of the right side. Two horizontal brackets are connected to the outside of the bracket and connected to the bottom through two vertical moving sliders 6g. The side of the horizontal bracket is equipped with a driving stepper motor, and the top is equipped with a horizontal moving slider 6d. The side of the second movable bracket is equipped with four groups of bracket driving parts, which are placed on the sides of the two brackets through front and rear end connecting parts. The bracket driving part is equipped with an external driving servo motor and a built-in screw. The driving slider is installed on the screw and is directly connected to the first.

[0067] The spraying robot arm is located on the support slide moving mechanism and is connected to the support slide moving mechanism via a horizontal moving slider 6d, wherein the spraying robot arm is integrated with the spray gun and the paint mist protection mechanism.

[0068] The paint mist protection mechanism is located at the bottom of the spray gun, and the mechanism includes: a paint mist protection mechanism base 2d and a paint mist protection mechanism top plate 2i, wherein a quartz material protection cover 2c is installed on the right side of the base, a servo motor is installed at the bottom of the protection cover, and is connected to the base respectively, a driving motor is installed at the left end of the top of the base, a cleaning nozzle 2g is installed at the middle end of the top, and a bearing gasket 2f is installed at the right end, which is connected to the paint mist protection mechanism base through a rotatable brush 2b at the bottom.

[0069] like Figure 8 As shown: a system structure schematic diagram of a ship outer plate spraying and leveling control device, the system includes: a signal acquisition unit, a signal processing unit, a control center and an actuator. The information processed by the signal processing unit is transmitted to the control center via the CAN bus. The system then performs device drive calculations based on the data and sends instructions to each actuator to complete the spraying operation.

[0070] Among them, the acquisition unit includes: a first laser ranging sensor 2a, a second laser ranging sensor, a first ranging panoramic camera 6k, a second ranging panoramic camera 6a, a third ranging panoramic camera 6e, a fourth ranging panoramic camera 6i and a gyroscope. The system uses the first laser ranging sensor and the second laser ranging sensor to complete the measurement of the horizontal distance between the spray gun and the outer plate 9 of the ship, and uses the first ranging panoramic camera 6k, the second ranging panoramic camera 6a, the third ranging panoramic camera 6e and the fourth ranging panoramic camera to assist in the leveling measurement of the device bracket, and uses the gyroscope to complete the horizontal measurement of the device bracket and the ground.

[0071] like Fig. 9 As shown, a schematic diagram of the operation of a ship outer plate spraying leveling control device, wherein the system calculation process includes: assuming that point O is the origin of the device arm car, c1 is the horizontal distance between the device arm car and the ship outer plate, θL is the angle between the arm car's big arm and the vertical distance, and points A, B, and C are three spraying points in the spraying actuator. The arm car sprays horizontally from points A, B, and C respectively. Taking point A as an example, the horizontal distance between the front end of the bracket and the ship's outer spray gun is m1, and the horizontal distance between the spray gun and the outer plate is L1. The system maintains the stability of the mechanism by controlling the horizontal distance c1 between the arm car and the ship's outer plate, the angle θL between the arm car's big arm and the vertical distance, and the horizontal distance m1 between the front end of the bracket and the ship's outer spray gun.

[0072] like Fig.10 As shown, a schematic diagram of horizontal adjustment of a ship outer plate spraying leveling control device includes:

[0073] Suppose Q' is the origin of the bracket, A1B1C1D1 is the initial position of the bracket, A2B2C2D2 is the adjusted position of the bracket, after adjustment, the horizontal distances of A2, B2, C2, D2 from the outer plate are l1, l2, l3, l4 respectively, the bracket rotation mechanism rotates to the horizontal angle value of T, the four groups of servo motor drive coefficients are Fdrive1, Fdrive2, Fdrive3 and Fdrive4 respectively, and the rotating motor drive coefficient is Fz.

[0074] The system coordinates the four servo motors F drive 1, F drive 2, F drive 3 and F drive 4 with the rotating motor Fz respectively. When the following conditions are met: l1 ≈ l2 ≈ l3 ≈ l4, and the error value α∈[αmin, αmax], and the horizontal angle value is T (T = X°), the bracket and the outer plate 9 of the ship remain in a horizontal state.

[0075] like Fig.11 The system control loop structure flow chart shown has the following characteristics: the control loop includes an arm car control circuit, a support rotation mechanism control circuit, a support horizontal adjustment mechanism control circuit, a support slide movement mechanism control circuit, a robotic arm control circuit and a paint mist protection mechanism control circuit.

[0076] Among them, the system realizes the horizontal distance control between the arm car and the outer panel through the arm car control circuit, realizes the parallel control of the bracket and the ground through the control circuit of the spray bracket rotation mechanism 5, realizes the equal width control of the horizontal distance between the four sides of the square bracket and the outer panel through the control circuit of the mechanical arm, realizes the horizontal distance control between the spray gun and the outer panel, and realizes the protection start and stop control through the control circuit of the paint mist protection mechanism.

[0077] The characteristics of the system motor synchronous control principle include: in order to ensure that the speeds of the motors tend to be synchronized and eliminate speed deviation and overshoot, each loop adopts a coupled synchronous control system to coordinate the control of multiple motors, where the speed of the i-th motor in each loop satisfies:

[0078] V i = kV i+1 (1)

[0079] Where Vi is the speed of the i-th motor, Vi+1 is the speed of the i+1-th motor, k is the motor speed synchronization coefficient, and the speed deviation is e.

[0080] During the spraying process, the four motors in the control loop of the bracket horizontal adjustment mechanism must meet the system synchronization requirements. The system periodically collects the motor speed. At time t0, when e≠0, the system motor Vi and Vi+1 are not synchronized. The synchronous control compensation circuit adopts PID control, and the control algorithm is as follows:

[0081]

[0082] K d =K P ×T d (3)

[0083]

[0084] Where KP is the proportional coefficient, Kd is the differential time constant, KI is the integral time constant,

[0085] The larger the proportional coefficient value, the greater the motor acceleration, and the speed overshoot can be avoided by correcting the signal differential time constant.

[0086] The incremental algorithm is as follows:

[0087] K p [e(k)-e(k-1)]+K I e(k)+K D [e(k)-2e(k-1)+e(k-2)](5)

[0088] The system adjusts the parameters KP, Kd, ​​and KI online, and uses the control to directly perform closed-loop control on the control loop.

[0089] like Fig.12 The control flow chart of a system of a ship outer plate spraying and leveling control device is shown, and the process includes:

[0090] S1: System ship outer plate spraying leveling control system, workers drive the straight arm elevated vehicle to the initial starting position according to the system preset initial position;

[0091] S2: The signal acquisition unit starts working, 4 sets of ranging panoramic cameras randomly sample, and the system performs distance detection;

[0092] S3: The overhead crane arm starts to move toward the outer plate of the ship, and the system detects the distance between the bracket and the outer plate in real time;

[0093] S4: If the distance between the bracket and the outer plate of the ship satisfies L1∈[Lmin, Lmax], L2∈[Lmin, Lmax], L3∈[Lmin, Lmax], L4∈[Lmin, Lmax], the system controls the elevated vehicle arm to stop moving. Similarly, if the distance between the bracket and the outer plate of the ship does not meet the above conditions, the elevated vehicle arm continues to move forward or backward;

[0094] S5: The system signal acquisition unit turns on the built-in gyroscope to collect the bracket position information in real time and transmit it to the control center;

[0095] S6: The control center receives the signal from the signal acquisition unit and issues a command to the built-in shaft motor of the bracket rotation mechanism to drive the shaft to rotate to a specified position;

[0096] S7: When the support rotation mechanism rotates to the horizontal angle value T (T = X°), the drive motor stops rotating, and the support horizontal adjustment mechanism starts working;

[0097] S8: The control center performs numerical comparison and analysis on the collected signals, and calculates the electromechanical control relationship of the four motors of the horizontal adjustment mechanism;

[0098] S9: The control center sends a command to the motor driver, and the bracket drives motor 1, motor 2, motor 3, and motor 4 to start running;

[0099] S10: When the system collects the distance measurement value L1≈L2≈L3≈L4 and the error range α∈[αmin,αmax], the bracket slide moving mechanism is started;

[0100] S11: The slide bracket motor drives the slide block to move to the specified position according to the system planning route;

[0101] S12: The laser ranging sensor in the signal acquisition unit starts laser ranging, and the system controls the robot arm to move in coordination;

[0102] S13: When the system receives the laser ranging values ​​M1∈[Mmin, Mmax] and M2∈[Mmin, Mmax], the arm drive motor stops running and the paint mist protection device is turned on;

[0103] S14: The built-in drive motor of the paint mist protection device starts to run, the spray gun sprays, and the straight-arm elevated vehicle starts at this time.

Claims

1. A ship spraying robot outer plate spraying leveling control system, characterized in that: include: Signal acquisition unit, signal processing unit, control center and actuator; the system uses CAN bus to transmit the information processed by the signal processing unit to the control center, and then the system performs device drive calculation based on the data, and sends instructions to each actuator to complete the spraying operation; The signal acquisition unit comprises: a first laser ranging sensor, a second laser ranging sensor, a first ranging panoramic camera, a second ranging panoramic camera, a third ranging panoramic camera, a fourth ranging panoramic camera and a gyroscope; the system uses the first laser ranging sensor and the second laser ranging sensor to complete the measurement of the horizontal distance between the spray gun and the outer plate of the ship, uses the first ranging panoramic camera, the second ranging panoramic camera, the third ranging panoramic camera and the fourth ranging panoramic camera to assist the device bracket in leveling measurement, and uses the gyroscope to complete the measurement of the level between the device bracket and the ground; In the device drive measurement process, point O is set as the origin of the device arm car, c1 is the horizontal distance between the device arm car and the outer plate of the ship, θL is the angle between the arm car's big arm and the vertical distance, and points A, B, and C are three spraying points in the spray actuator respectively; the arm car sprays horizontally from points A, B, and C respectively. At point A, the horizontal distance between the front end of the bracket as a whole and the spray gun outside the ship is m1, and the horizontal distance between the spray gun and the outer plate is L1. The system maintains the stability of the mechanism by controlling the horizontal distance c1 between the arm car and the outer plate of the ship, the angle θL between the arm car's big arm and the vertical distance, and the horizontal distance m1 between the front end of the bracket and the spray gun outside the ship; The horizontal control process of the bracket and the ship's outer plate includes: setting Q' as the bracket origin, A1B1C1D1 as the bracket's initial position, A2B2C2D2 as the bracket's adjusted position, after adjustment, the horizontal distances of A2, B2, C2, and D2 from the outer plate are l1, l2, l3, and l4 respectively, the bracket's rotating mechanism rotates to a horizontal angle value of T, the four groups of servo motor drive coefficients are F drive 1, F drive 2, F drive 3, and F drive 4 respectively, and the rotating motor drive coefficient is Fz; the system coordinates the four groups of servo motors F drive 1, F drive 2, F drive 3, and F drive 4 with the rotating motor Fz respectively, and when the following conditions are met: l1 ≈ l2 ≈ l3 ≈ l4, and the error value α∈[αmin, αmax], and the horizontal angle value is T (T=X°), the bracket and the ship's outer plate remain in a horizontal state; The system motor synchronous control includes: each loop adopts a coupled synchronous control system to coordinate the multi-motor control in order to ensure that the speeds of the motors are synchronized and eliminate speed deviation and overshoot, wherein the speed of the i-th motor in each loop satisfies: V i =kV i+1 (1) Where Vi is the speed of the i-th motor, Vi+1 is the speed of the i+1-th motor, k is the motor speed synchronization coefficient, and the speed deviation is e; During the spraying process, the four motors in the control loop of the bracket horizontal adjustment mechanism must meet the system synchronization requirements. The system periodically collects the motor speed. At time t0, when e≠0, the system motor Vi and Vi+1 are not synchronized. The synchronous control compensation circuit adopts PID control, and the control algorithm is as follows: K d =K P ×T d (3) In the formula, K P is the proportionality coefficient, K d is the differential time constant, K I is the integration time constant; The larger the proportional coefficient value, the greater the motor acceleration, and the speed overshoot can be avoided by correcting the signal differential time constant; The incremental algorithm is as follows: K p [e(k)-e(k-1)]+K I e(k)+K D [e(k)-2e(k-1)+e(k-2)](5) System parameter K P , K d , K I Make online adjustments and use the control to directly close the control loop.

2. The ship spraying robot outer plate spraying leveling control system according to claim 1 is characterized in that: The control center mainly includes: a signal converter, a CPU, a memory and an input and output interface. The data collected by the system is adjusted by the controller algorithm to realize the real-time perception of the environment by the device, as well as the multi-point coordinated control among various mechanisms to complete the continuous horizontal spraying operation.

3. The ship spraying robot outer plate spraying leveling control system according to claim 1 is characterized in that: The actuator includes: a spray arm trolley mechanism, a spray bracket rotating mechanism, a bracket horizontal adjustment mechanism, a bracket slide moving mechanism, a spray robot arm, a spray gun and a paint mist protection mechanism, wherein the spray arm trolley mechanism is integrated with the straight arm elevated vehicle and placed on the ground, the spray bracket rotating mechanism and the bracket horizontal adjustment mechanism are connected to the bracket through a rotating bearing and suspended in the air, the bracket slide moving mechanism is connected to the bracket horizontal adjustment mechanism and embedded in the outside of the bracket, and the spray robot arm, the spray gun and the paint mist protection mechanism are connected to each other and connected to the bracket slide moving mechanism through a slider.

4. The ship spraying robot outer plate spraying leveling control system according to claim 3 is characterized in that: The spray bracket rotating mechanism includes: a left connecting straight rod, a gyroscope storage cover, a gyroscope, a right connecting straight rod, a rotating mechanism connecting piece and a rotating bearing. The left and right connecting straight rods fix the rotating mechanism horizontally at the center of the bracket, the front rotating mechanism connecting piece is connected to the rotating bearing and embedded in the bracket groove, the gyroscope storage cover is horizontally placed at the top center of the rotating mechanism, and the storage cover has a built-in gyroscope embedded in the cover.

5. The ship spraying robot outer plate spraying leveling control system according to claim 3 is characterized by: The horizontal adjustment mechanism of the bracket includes: a first movable bracket and a second movable bracket, wherein the bracket slide moving mechanism is located on the first movable bracket, and four panoramic cameras are arranged at the four corners of the top of the first movable bracket. Two driving stepper motors are installed at the bottom of the bracket, which are respectively located at the bottom of the left side and the top of the right side. Two horizontal brackets are connected to the outside of the bracket and connected to the bottom layer through two vertical movable sliders.

6. The ship spraying robot outer plate spraying leveling control system according to claim 5 is characterized in that: The horizontal bracket is equipped with a driving stepping motor on the side and a horizontal moving slider on the top. The second movable bracket is equipped with four groups of bracket driving parts on the side, which are placed on the sides of the two brackets through front and rear end connecting parts. Among them, the bracket driving part has an external driving servo motor and an internal screw rod, and the driving slider is installed on the screw rod and is directly connected to the first one.

7. The ship spraying robot outer plate spraying leveling control system according to claim 3 is characterized by: The spraying mechanical arm is located on the support slide moving mechanism, and is connected to the support slide moving mechanism via a horizontal moving slider. The spraying mechanical arm is connected to the spray gun and the paint mist protection mechanism.

8. The ship spraying robot outer plate spraying leveling control system according to claim 3 is characterized by: The paint mist protection mechanism is located at the bottom of the spray gun, and the mechanism includes: a paint mist protection mechanism base and a paint mist protection mechanism top plate, wherein a quartz material protective cover is installed on the right side of the base, and a servo motor is installed at the bottom of the protective cover, which are respectively connected to the base, a driving motor is installed at the left end of the top of the base, a cleaning nozzle is installed at the middle end of the top, and a bearing gasket is installed at the right end, which is connected to the paint mist protection mechanism base through a rotatable brush at the bottom.

9. The ship spraying robot outer plate spraying leveling control system according to claim 1, characterized in that: The control circuit principle of the system includes: arm car control circuit, support rotation mechanism control circuit, support horizontal adjustment mechanism control circuit, support slide movement mechanism control circuit, mechanical arm control circuit and paint mist protection mechanism control circuit; The system realizes horizontal distance control between the arm truck and the outer panel through the arm truck control circuit, realizes parallel control between the bracket and the ground through the spray bracket rotation mechanism control circuit, realizes equal width control of the horizontal distance between the four sides of the square bracket and the outer panel through the bracket horizontal adjustment mechanism control circuit, realizes horizontal distance control between the spray gun and the outer panel through the mechanical arm control circuit, and realizes protection start and stop control through the paint mist protection mechanism control circuit.

10. A working method of the ship spraying robot outer plate spraying leveling control system according to claim 1, characterized in that: The control process of the system includes the following steps: S1: System ship outer plate spraying leveling control system, workers drive the straight arm elevated vehicle to the initial starting position according to the system preset initial position; S2: The signal acquisition unit starts working, 4 sets of ranging panoramic cameras randomly sample, and the system performs distance detection; S3: The overhead crane arm starts to move toward the outer plate of the ship, and the system detects the distance between the bracket and the outer plate in real time; S4: If the distance between the bracket and the outer plate of the ship satisfies L1∈[Lmin, Lmax], L2∈[Lmin, Lmax], L3∈[Lmin, Lmax], L4∈[Lmin, Lmax], the system controls the elevated vehicle arm to stop moving. Similarly, if the distance between the bracket and the outer plate of the ship does not meet the above conditions, the elevated vehicle arm continues to move forward or backward; S5: The system signal acquisition unit turns on the built-in gyroscope to collect the bracket position information in real time and transmit it to the control center; S6: The control center receives the signal from the signal acquisition unit and issues a command to the built-in shaft motor of the bracket rotation mechanism to drive the shaft to rotate to a specified position; S7: When the support rotation mechanism rotates to the horizontal angle value T (T = X°), the drive motor stops rotating, and the support horizontal adjustment mechanism starts working; S8: The control center performs numerical comparison and analysis on the collected signals, and calculates the electromechanical control relationship of the four motors of the horizontal adjustment mechanism; S9: The control center sends a command to the motor driver, and the bracket drives motor 1, motor 2, motor 3, and motor 4 to start running; S10: When the system collects the distance measurement value L1≈L2≈L3≈L4 and the error range α∈[αmin,αmax], the bracket slide moving mechanism is started; S11: The slide bracket motor drives the slide block to move to the specified position according to the system planning route; S12: The laser ranging sensor in the signal acquisition unit starts laser ranging, and the system controls the robot arm to move in coordination; S13: When the system receives the laser ranging values ​​M1∈[Mmin, Mmax] and M2∈[Mmin, Mmax], the arm drive motor stops running and the paint mist protection device is turned on; S14: The built-in drive motor of the paint mist protection device starts to run, the spray gun sprays, and the straight-arm elevated vehicle starts at this time.

Images