Detection spraying mechanism, spraying operation vehicle and spraying method

Abstract

The invention relates to the technical field of ship spraying, in particular to a detection spraying mechanism which comprises a mounting shaft, a fixed support, a movable support, a distance measuring sensor, a manipulator and a nozzle. Fixing brackets are respectively arranged at two ends of the mounting shaft; the movable support is arranged on the mounting shaft and located between the two fixed supports, and the movable support can move in the arrangement direction of the mounting shaft; the distance measuring sensor comprises a fixed distance measuring sensor and a movable distance measuring sensor; each fixed support is provided with a fixed distance measuring sensor. The movable distance measuring sensor is arranged on the movable support and used for being matched with the fixed distance measuring sensor so as to detect and scan the to-be-sprayed area. The manipulator is arranged on the movable bracket; the nozzle is arranged at the tail end of the manipulator. Meanwhile, the invention further provides a spraying operation vehicle and a spraying method. Compared with the prior art, the detection spraying mechanism, the spraying operation vehicle and the spraying method can improve the spraying quality of the curved surface.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ship spraying technology, and in particular to a detection spraying mechanism, a spraying operation vehicle and a spraying method. BACKGROUND

[0002] In the process of ship manufacturing and maintenance, ship body spraying is a crucial process, and its quality is directly related to the corrosion resistance and service life of the ship. At present, ship body spraying operation, especially for the ship body part of large ships, still relies heavily on manual operation. The operator usually uses a high-altitude operation vehicle to perform the operation by hand-holding a spraying device. The spraying distance and moving speed are controlled mainly by the experience of the worker. This operation mode not only has low efficiency and high labor intensity, but also has safety risks of high-altitude operation, and the stability and uniformity of the spraying quality are difficult to guarantee.

[0003] With the development of automation technology, some remote control spraying devices that can be used for ship body spraying have appeared. However, due to the control logic, these devices are mostly suitable for spraying large flat areas. In fact, more than 70% to 85% of the area of the ship body of modern ships (especially the bow, stern and bottom) is composed of complex curved surfaces. Therefore, how to realize high-precision automatic spraying of these curved surfaces has become a technical difficulty in the field. The core problem is how to make the spraying device intelligently fit the curved surface of the ship body and keep the constant optimal spraying distance between the nozzle and the ship body surface during the movement.

[0004] The key factors affecting the spraying quality mainly include the spraying distance, the spraying pressure and the moving speed of the spraying end. In the actual operation environment of the shipyard, the spraying pressure is usually set by the centralized pressure supply equipment in the factory, which is a fixed value; the moving speed of the spraying end can be preset by the spraying device. The spraying distance is determined by the relative position between the nozzle and the ship body surface, and the generally recognized optimal distance is usually within the range of 300 mm (± 50 mm). On a flat surface, it is relatively easy to maintain this constant distance; but on a complex curved surface, how to realize real-time detection and dynamic adjustment of the spraying distance to ensure that it is always stable in the optimal interval is a bottleneck problem that needs to be solved to realize high-quality automatic spraying of curved surfaces.

[0005] In view of the above problems, some solutions have been proposed in the prior art, but all have obvious limitations: For example, Chinese invention patent CN119951695A discloses an automated coating system for complex curved surfaces in the shipbuilding industry. This system employs a cable traction device, an operating platform, and a vehicle-mounted device working in concert. The cable traction device is located on the upper part of the spraying side, and the operating platform is connected to the cable traction device via a traction cable. The vehicle-mounted device is located on the ground and connected to the operating platform via a steel cable. The cable traction device has a winch mechanism that can tighten or loosen the traction cable. The vehicle-mounted device also has a winch mechanism that can tighten or loosen the steel cable connected to the operating platform. Through their mutual cooperation, the operating platform's three-axis feed is achieved. However, the spatially dispersed distribution of the three devices leads to complex communication in the control system, poor synchronization of the actions of each actuator, and difficulty in achieving precise coordinated control. Secondly, and more critically, the traction cable and steel cable it relies on are flexible components, subject to deformation and sway, and cannot provide rigid and stable support for the end effector of the spraying process. This makes it extremely difficult to precisely control the distance between the nozzle and the curved surface of the hull. The control accuracy is easily affected by external environmental factors (such as wind), and cannot meet the stringent requirements for distance stability in high-quality spraying.

[0006] For example, Chinese invention patent CN118023015A discloses a spraying path planning method, system, electronic device, and storage medium. This method determines three points using three spraying blocks, and then uses these three points to define a plane. The spraying equipment performs spraying operations according to the slope of this defined plane. Since the three points define a single plane, using this single plane to approximate a complex continuous curved surface inevitably leads to significant fitting errors. This solution, even for curved surfaces, still operates according to the detected plane. The fitted surface differs greatly from the actual curved surface. During actual spraying, there is a significant difference between the actual curved surface on the spraying path and the reference plane used for planning. This causes the actual distance from the nozzle to the curved surface to constantly change, resulting in large variations in the spraying distance. This severely affects the uniformity of the paint film thickness and leads to poor spraying quality.

[0007] In summary, how to provide a spraying detection mechanism that can effectively handle the complex curved surfaces of ships, achieve real-time adjustment of nozzle distance on the curved surfaces, and ensure that the nozzle fits the curved surface and maintains a constant distance is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0008] To address the aforementioned technical problems, this invention provides a spraying detection mechanism, which is equipped with a fixed distance sensor and a moving distance sensor. The fixed distance sensor at the top and bottom can detect the spraying range, and the moving distance sensor can collect data on the changes in the curved surface within the range in real time through movement, thereby more accurately determining the curved surface of the hull. The nozzle is mounted on a robotic arm, which can adjust in real time according to the detected curved surface, allowing the robotic arm to spray along the curved surface. The distance between the nozzle and the hull surface can be adjusted in real time to maintain the optimal spraying distance between the nozzle and the hull surface.

[0009] A spray coating detection mechanism includes a mounting shaft, a fixed bracket, a movable bracket, a distance sensor, a robotic arm, and a nozzle. Along the setting direction of the mounting shaft, the two ends of the mounting shaft are respectively provided with the fixing brackets, and the setting direction of the fixing brackets is perpendicular to the setting direction of the mounting shaft; The movable bracket is mounted on the mounting shaft and located between the two fixed brackets, and the movable bracket can move along the setting direction of the mounting shaft; The ranging sensor includes a fixed ranging sensor and a moving ranging sensor; each of the fixed brackets is respectively provided with the fixed ranging sensor; the moving ranging sensor is disposed on the moving bracket and is used to cooperate with the fixed ranging sensor to detect and scan the area to be sprayed; The robotic arm is mounted on the movable support and can operate based on the detection results of the movable ranging sensor and the fixed ranging sensor. The nozzle is located at the end of the robotic arm.

[0010] Preferably, the mounting shaft is a linear slide, and the movable bracket is disposed on the sliding component of the linear slide.

[0011] Preferably, each of the two fixed supports is provided with a laser pointer.

[0012] Preferably, the movable support is set in a direction parallel to the fixed support. Each of the fixed brackets is provided with a fixed distance measuring sensor at both ends; Two motion ranging sensors are installed on the mobile support; The fixed ranging sensors on the two fixed supports are arranged in a one-to-one correspondence, and the moving ranging sensor on the moving support is arranged in a one-to-one correspondence with the fixed ranging sensor on the fixed support.

[0013] Preferably, it also includes a sliding arm and a horizontal arm; The sliding arm is used to be mounted on the vertical arm of the spray painting vehicle; The horizontal arm is connected to the sliding arm; The horizontal arm is telescopically movable in the horizontal direction, and the mounting shaft is disposed on the telescopic end of the horizontal arm.

[0014] Preferably, the mounting shaft is connected to the telescopic end of the horizontal arm via a swing unit.

[0015] Preferably, it also includes a protective cover, which is disposed at the end of the robotic arm and covers the outside of the nozzle.

[0016] A painting vehicle includes a vehicle body, a vertical arm, and a painting detection mechanism as described in any one of the above descriptions. The vertical arm is mounted on the vehicle body, and a mounting shaft is connected to the vertical arm, and the mounting shaft can slide along the vertical arm to adjust its height.

[0017] Preferably, the vehicle body includes a chassis and a turntable, the turntable being connected to the chassis via a slewing bearing, and the vertical arm being mounted on the turntable.

[0018] A spraying method, characterized by the application of a spraying detection mechanism as described in any one of the above descriptions or a spraying operation vehicle as described in any one of the above descriptions, the spraying method comprising the following steps: Adjust the mounting shaft position; Select the area to be sprayed; The coordinate values ​​of the corner points of the area to be sprayed are collected using a fixed distance measuring sensor; The movable support is moved from one end of the mounting shaft to the other, and coordinate values ​​are collected using a moving distance sensor during the movement of the movable support. The surface to be sprayed is fitted based on the coordinate values ​​collected by the fixed distance sensor and the moving distance sensor, and the coordinate values ​​of the range of the surface to be sprayed are output. Get the center coordinates of the current robotic arm base; Based on the coordinates of the surface to be sprayed and the center coordinates of the current robotic arm base, the robotic arm's movement is planned, and the area to be sprayed is sprayed through the nozzle.

[0019] Compared with the prior art, the detection and spraying mechanism provided by the present invention includes a mounting shaft, a fixed bracket, a movable bracket, a distance sensor, a robot arm, and a nozzle. The fixed brackets are respectively disposed at both ends of the mounting shaft along its setting direction, and the setting direction of the fixed brackets is perpendicular to the setting direction of the mounting shaft. The movable bracket is disposed on the mounting shaft and located between the two fixed brackets, and the movable bracket can move along the setting direction of the mounting shaft. The distance sensor includes a fixed distance sensor and a movable distance sensor. Each fixed bracket is respectively disposed with the fixed distance sensor. The movable distance sensor is disposed on the movable bracket and is used to cooperate with the fixed distance sensor to detect and scan the area to be sprayed. The robot arm is disposed on the movable bracket and can operate according to the detection results of the movable distance sensor and the fixed distance sensor. The nozzle is disposed at the end of the robot arm. The spraying detection mechanism is equipped with a fixed distance sensor on the fixed support and a movable distance sensor on the movable support. Before spraying, the fixed distance sensors on the two fixed supports can detect the spraying range. The movable support then moves the movable distance sensors, which collect real-time data on surface changes within the range, allowing for more accurate determination of the hull's curvature. The nozzle is mounted on a robotic arm, and the detection results from the fixed and movable distance sensors are used to plan the robotic arm's trajectory, ensuring it sprays along the curved surface. The distance between the nozzle and the hull surface is adjusted in real-time to maintain the optimal spraying distance, thus ensuring spraying quality. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A three-dimensional structural schematic diagram of a detection spraying mechanism provided in one embodiment; Figure 2 for Figure 1 The diagram shows a planar structure for detecting the spray coating. Figure 3 A schematic diagram of the front structure of a painting vehicle and a ship hull provided in one embodiment; Figure 4 A side view of the painting vehicle and the hull provided in one embodiment; Figure 5 A schematic flowchart of a spraying method provided in one embodiment; Explanation of reference numerals in the attached figures: 1000 spray painting vehicles; The system includes a spraying mechanism 100, a mounting shaft 10, a fixed bracket 20, a movable bracket 30, a distance sensor 40, a fixed distance sensor 41, a movable distance sensor 42, a robotic arm 50, a nozzle 60, a laser pointer 70, a sliding arm 80, a horizontal arm 90, a linkage mechanism 91, a hydraulic cylinder 92, a swing unit 901, and a protective cover 902. Car body 200, frame 210, turntable 220, slewing bearing 230; Vertical arm 300. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] It should be noted that when a component is referred to as "mounted on", "fixed on", or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0024] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0025] This invention provides a spraying detection mechanism, comprising a mounting shaft, fixed supports, a movable support, a distance sensor, a robotic arm, and a nozzle. Fixed supports are respectively disposed at both ends of the mounting shaft along its setting direction, and the setting direction of the fixed supports is perpendicular to the setting direction of the mounting shaft. The movable support is disposed on the mounting shaft and located between the two fixed supports, and the movable support is movable along the setting direction of the mounting shaft. The distance sensor includes a fixed distance sensor and a movable distance sensor. Each fixed support is respectively disposed with the fixed distance sensor. The movable distance sensor is disposed on the movable support and is used to cooperate with the fixed distance sensor to detect and scan the area to be sprayed. The robotic arm is disposed on the movable support and can operate according to the detection results of the movable distance sensor and the fixed distance sensor. The nozzle is disposed at the end of the robotic arm. The spraying detection mechanism is equipped with a fixed distance sensor on the fixed support and a movable distance sensor on the movable support. Before spraying, the fixed distance sensors on the two fixed supports can detect the spraying range. The movable support then moves the movable distance sensors, which collect real-time data on surface changes within the range, allowing for more accurate determination of the hull's curvature. The nozzle is mounted on a robotic arm, and the detection results from the fixed and movable distance sensors are used to plan the robotic arm's trajectory, ensuring it sprays along the curved surface. The distance between the nozzle and the hull surface is adjusted in real-time to maintain the optimal spraying distance, thus ensuring spraying quality.

[0026] Please refer to the following: Figure 1 and Figure 2 In one embodiment, a spraying detection mechanism 100 is provided, which is mainly used to solve the problem that in existing spraying equipment, the nozzle cannot maintain a constant optimal distance from the curved surface when spraying, resulting in unstable spraying quality and poor spraying uniformity. The spraying detection mechanism 100 can more accurately detect the position coordinates of the curved surface to be sprayed, and can adjust the distance between the nozzle and the curved surface in real time, so that the nozzle fits the curved surface better during the spraying process, ensuring that the distance between the nozzle and the curved surface remains constant during the spraying process, thereby improving the stability of spraying quality and improving spraying uniformity.

[0027] Specifically, in one embodiment, the inspection and spraying mechanism 100 is specifically used for spraying paint on ships and is a ship inspection and spraying mechanism.

[0028] The detection and spraying mechanism 100 includes a mounting shaft 10, fixed supports 20, a movable support 30, a distance sensor 40, a robotic arm 50, and a nozzle 60. Fixed supports 20 are respectively provided at both ends of the mounting shaft 10 along its setting direction, and the setting direction of the fixed supports 20 is perpendicular to the setting direction of the mounting shaft 10. The movable support 30 is disposed on the mounting shaft 10 and located between the two fixed supports 20, and the movable support 30 can move along the setting direction of the mounting shaft 10. In other words, the fixed supports 20 are fixed to both ends of the mounting shaft 10 and cannot move, while the movable support 30 is disposed on the mounting shaft 10 and can move along the mounting shaft 10.

[0029] The distance measuring sensor 40 is used to measure the distance to the surface of the area to be sprayed on the hull for data acquisition. The distance measuring sensor 40 includes a fixed distance measuring sensor 41 and a moving distance measuring sensor 42. Each fixed bracket 20 is equipped with a fixed distance measuring sensor 41. That is, multiple fixed distance measuring sensors 41 are provided, and each fixed bracket 20 has one fixed distance measuring sensor 41. The moving distance measuring sensor 42 is mounted on the moving bracket 30 and works in conjunction with the fixed distance measuring sensor 41 to detect and scan the area to be sprayed. The fixed distance measuring sensor 41 is mainly used to detect the spraying range, while the moving distance measuring sensor 42 is used to collect data on the changes in the surface within the spraying range in real time through its own movement. Since the moving distance sensor 42 is mounted on the moving bracket 30, and the moving bracket 30 can move along the mounting axis 10, the moving distance sensor 42 can be synchronously moved along the mounting axis 10 by the moving bracket 30. The moving distance sensor 42 can collect data from multiple points within the spraying range, and by fitting the collected points, the curved surface of the hull can be determined. This structure enables the detection of the area to be sprayed, resulting in a small discrepancy between the final fitted surface and the actual curved surface of the area to be sprayed. This allows the detection spraying mechanism 100 to be effectively applied to the spraying of complex curved surfaces on ships.

[0030] The robotic arm 50 is mounted on the movable support 30 and operates based on the detection results of the movable distance sensor 42 and the fixed distance sensor 41. The nozzle 60 is located at the end of the robotic arm 50. When the spraying detection mechanism 100 operates, it first scans the area to be sprayed using the fixed distance sensor 41 and the movable distance sensor 42, and then controls the trajectory of the robotic arm 50 based on the detection results of the fixed distance sensor 41 and the movable distance sensor 42. Because the fixed distance sensor 41 and the movable distance sensor 42 can more accurately detect the curved surface structure of the area to be sprayed, the robotic arm 50 can fit more closely to the area during operation, and can be adjusted in real time according to different points on the area to be sprayed. Furthermore, since the nozzle 60 is located at the end of the robotic arm 50, the distance of the nozzle 60 can be adjusted in real time on the curved surface by the robotic arm 60, ensuring that the nozzle 60 fits the curved surface and maintains a constant distance, so that during the spraying operation, the nozzle 60 can spray the surface of the area to be sprayed within the optimal distance range.

[0031] The nozzle 60 is connected to the paint source via a pipe or other structure, which is well known in the art and is not a major improvement of this application, so it will not be described in detail here.

[0032] Preferably, in one embodiment, the mounting shaft 10 is a linear slide, and the movable bracket 30 is disposed on the sliding member of the linear slide. That is, in this embodiment, the movable bracket 30 is directly driven by the mounting shaft 10, without the need for additional structures to drive the movable bracket 30.

[0033] Specifically, in one embodiment, the mounting shaft 10 is a linear slide with a rack and pinion structure. The mounting shaft 10 includes a fixed component and a sliding component, and the movable bracket 30 is disposed on the sliding component. The fixed component is provided with a rack and a guide rail, while the sliding component includes a slider and a motor, a reducer, and a gear mounted on the slider. The slider is slidably mounted on the guide rail. The motor is connected to the reducer via a belt, and the reducer is connected to the gear, with the gear meshing with the rack. When the sliding component needs to slide along the fixed component, the motor drives the reducer, which in turn drives the gear to rotate. Since the rack is fixed, the gear, under meshing action, "rolls" along the rack, thereby driving the slider to perform precise linear motion. Linear slides employing a rack and pinion structure offer several advantages: long stroke (multiple racks can be spliced ​​together), high speed (due to rolling meshing, very high linear motion speeds are allowed), high load capacity (the large contact area between the gears and racks allows them to withstand high radial loads and thrust), good structural rigidity and high stability (the entire transmission system is simple and robust, suitable for heavy loads and harsh working conditions), simple maintenance, and long service life (under good lubrication conditions, wear is minimal).

[0034] Preferably, in one embodiment, laser pointers 70 are respectively provided on the two fixed supports 20. The laser pointers 70 are used to project colored indicator light onto the hull, thereby facilitating remote operation of the detection and spraying mechanism 100 and providing visual guidance. Specifically, during the spraying operation of the detection and spraying mechanism 100, the laser pointers 70 on the two fixed supports 20 project green indicator light onto the hull, indicating the start and end positions of the spraying. Specifically, the laser pointers 70 are located at the center of the fixed supports 20.

[0035] More preferably, in one embodiment, the laser pointers 70 can also be provided at both ends of the movable bracket 30, so as to indicate the four sides of the area to be sprayed during the spraying process.

[0036] Preferably, in one embodiment, the movable support 30 is arranged in a direction parallel to the fixed support 20, and each fixed support 20 has a fixed ranging sensor 41 at both ends. That is, in this embodiment, each fixed support 20 has two fixed ranging sensors 41, specifically located at both ends of the fixed support 20. The movable support 30 has two movable ranging sensors 42. The fixed ranging sensors 41 on the two fixed supports 20 are arranged in a one-to-one correspondence, and the movable ranging sensors 42 on the movable support 42 correspond one-to-one with the fixed ranging sensors 41 on the fixed support 20. For example, as... Figure 2 As shown, vertically, the two fixed ranging sensors 41 and the moving ranging sensor 42 on the left are aligned on the same straight line, as are the two fixed ranging sensors 41 and the moving ranging sensor 42 on the right. This structural design ensures accurate detection results while simplifying the structure, allowing for rapid detection and scanning of the area to be sprayed. In other embodiments, the fixed bracket 20 can be equipped with a greater number of fixed ranging sensors 41, and the moving bracket 30 can be equipped with a greater (or less) number of moving ranging sensors 42. Furthermore, the number and position of the moving ranging sensors 42 on the moving bracket 30 do not necessarily correspond one-to-one with the fixed ranging sensors 41. For example, a drive structure (e.g., a direct-drive gear rack) can be added to the moving bracket 30 to move the moving ranging sensors 42 along the direction of the moving bracket 30, thus enabling the moving ranging sensors 42 to move horizontally and detect horizontal curved surfaces.

[0037] Specifically, in one embodiment, both the fixed ranging sensor 41 and the moving ranging sensor 42 are ultrasonic sensors.

[0038] Preferably, in one embodiment, the detection and spraying mechanism 100 further includes a sliding arm 80 and a horizontal arm 90. The sliding arm 80 is mounted on the vertical arm of the spraying vehicle, and the horizontal arm 90 is connected to the sliding arm 80. The horizontal arm 90 is telescopically movable in the horizontal direction, and the mounting shaft 10 is disposed on the telescopic end of the horizontal arm 90. The arrangement of the sliding arm 80 and the horizontal arm 90 allows the mounting shaft 10 to move flexibly in both the vertical and horizontal directions, thereby enabling better spraying operations on various areas of the hull. Furthermore, the horizontal arm 90 also increases the area of ​​the working area.

[0039] Specifically, in one embodiment, the horizontal arm 90 is provided with a linkage mechanism 91 and a hydraulic cylinder 92, and the horizontal arm 90 achieves horizontal extension and contraction through the linkage mechanism 91 and the hydraulic cylinder 92.

[0040] Specifically, in one embodiment, during the spraying operation, the mounting shaft 10 can be arranged vertically, while the movable bracket 30 and the fixed bracket 20 can both be arranged horizontally. The mounting shaft 10 is located at the center of the fixed bracket 20 and the movable bracket 30.

[0041] Preferably, in one embodiment, the mounting shaft 10 is connected to the telescopic end of the horizontal arm 90 via a swing unit 901. The swing unit 901 allows the mounting shaft 10 to swing relative to the horizontal arm 90, thereby enabling flexible adjustment of the positions of the mounting shaft 10, the fixed bracket 20, and the movable bracket 30. This allows the mounting shaft 10, the fixed bracket 20, and the movable bracket 30 to better conform to the curved surface of the hull, thereby improving the accuracy of inspection and the coating effect.

[0042] Specifically, in one embodiment, the power source of the swing unit 901 is a swing motor. The telescopic end of the horizontal arm 90 is connected to either the swing motor or a mounting bracket on the swing motor, while the mounting shaft 10 is connected to the other. The swing motor allows the mounting shaft 10 to rotate and swing within a range of -90° to 90°. It is understood that the horizontal curvature of the hull surface is relatively large, and by adjusting the position using the swing motor on the horizontal arm 90, the distance sensor 40 and the nozzle 60 can achieve more accurate contact with the hull surface, thereby improving the accuracy of detection and the coating effect.

[0043] Preferably, in one embodiment, the detection spraying mechanism 100 further includes a protective cover 902, which is disposed at the end of the robotic arm 50 and covers the outside of the nozzle 60. The protective cover 902 provides protection for the nozzle 60.

[0044] Specifically, in one embodiment, the robotic arm 50 is a six-axis robotic arm, and the mounting axis 10 allows the robotic arm 50 to move in an additional direction, which can serve as a seventh axis, allowing the robotic arm 50 to operate more flexibly.

[0045] The detection and spraying mechanism 100 uses the movable support 30 to drive the movable distance sensor 42 to scan the hull, thereby fitting the hull surface and achieving more accurate scanning, recognition and modeling of the surface. Finally, the detection and spraying mechanism 100 sprays along the surface at a fixed distance.

[0046] Please refer to the following: Figure 3 and Figure 4 Meanwhile, in one embodiment, a spraying vehicle 1000 is also provided, which includes a vehicle body 200, a vertical arm 300, and the detection and spraying mechanism 100. The vertical arm 300 is mounted on the vehicle body 200, and the mounting shaft 10 is connected to the vertical arm 300, and the mounting shaft 10 can slide along the vertical arm 300 to adjust its height. A PLC control box and an industrial control box are provided on the vehicle body 200. The PLC control box and the industrial control box serve as storage units for control and data processing. The industrial control box performs surface fitting on the collected coordinate values, outputs the coordinate values ​​of the surface, characterizing the state of the surface and the coordinates of any point. The industrial control box also provides real-time feedback of coordinate differences, calls the path planning program of the robotic arm 50 to plan the path of the robotic arm 50, ensures that the nozzle 60 at the end of the robotic arm 50 is kept 300mm away from the spraying surface, and then performs spraying, achieving real-time surface tracking and fixed-distance spraying.

[0047] Specifically, in one embodiment, the mounting shaft 10 is connected to the vertical arm 300 via the sliding arm 80.

[0048] Preferably, in one embodiment, the vehicle body 200 includes a chassis 210 and a turntable 220. The turntable 220 is connected to the chassis 210 via a slewing bearing 230, so that the turntable 220 can rotate relative to the chassis 210 to adjust its position angle. The vertical arm 300 is disposed on the turntable 220.

[0049] In one embodiment, the operation process of the spraying vehicle 1000 is as follows: the sliding arm 80 moves up and down along the vertical arm 300, and the horizontal arm 90 changes amplitude through the linkage mechanism 91 and the hydraulic cylinder 92, thereby adjusting and moving the mounting shaft 10 to the area to be sprayed. During the spraying process, the horizontal arm 90 is horizontal and parallel to the surface of the area to be sprayed on the hull (this is achieved by rotating the base frame 210 and the slewing bearing 230 at their rotation centers). The mounting shaft 10 is also parallel to the surface of the area to be sprayed on the hull (this is achieved by rotating the swing motor at the front end of the horizontal arm 90). This results in the two fixed supports 20 being arranged vertically. The four fixed distance sensors 41 on the two fixed supports 20 detect the spraying range and determine the upper coordinates (x1, y1, z1), (-x1, y1, z2) and lower coordinates (x1, -y1, z3), (-x1, -y1, z4). The moving support 30, carrying the moving distance sensor 42, moves from one end of the mounting shaft 10 to the other to sample distances at points (x1, y2, z5), (-x1, y2, z6)...(x1, y1, z2). n , z m The data is sampled and transmitted from the control box's PLC to the industrial control box. The industrial control box processes the data, performs surface fitting using Fourier transform polynomials, and simultaneously models the scanned surface. The distance between the robotic arm 50 and the ultrasonic plane is a constant (0, y). t Then, using the transformation relationship, the distance between the center of the base of the robotic arm 50 and the curved surface (x1, y2-y) is determined. t (z5-z), (-x1, y2-y) t (z6-z)……(x1, y) n -y t , z m -z), by retrieving the path planning program in the industrial control box, the robot arm 50 compensates for this gap during the upper and lower spraying process, ensuring that the nozzle 60 at the end of the robot arm 50 is always 300mm away from the surface of the hull, and the distance is controlled within the error range.

[0050] The mobile ranging sensor 42 in the painting vehicle 1000 can slide up and down along the mounting axis 10 with the robotic arm 50 to achieve surface scanning. Simultaneously, in conjunction with two fixed ranging sensors 41 at the top and two at the bottom, it enables intelligent painting of the entire ship hull, from determining the painting range, scanning the surface within that range, modeling the surface, to painting the surface at a fixed distance. This improves the quality of the painting process.

[0051] Please refer to the following: Figure 5In one embodiment, a spraying method is also provided, which utilizes the detection spraying mechanism 100 or the spraying operation vehicle 1000. The spraying method includes the following steps: Adjust the mounting shaft position; Select the area to be sprayed; The coordinate values ​​of the corner points of the area to be sprayed are collected using a fixed distance measuring sensor; The movable support is moved from one end of the mounting shaft to the other, and coordinate values ​​are collected using a moving distance sensor during the movement of the movable support. The surface to be sprayed is fitted based on the coordinate values ​​collected by the fixed distance sensor and the moving distance sensor, and the coordinate values ​​of the range of the surface to be sprayed are output. Get the center coordinates of the current robotic arm base; Based on the coordinates of the surface to be sprayed and the center coordinates of the current robotic arm base, the robotic arm's movement is planned, and the area to be sprayed is sprayed through the nozzle.

[0052] In one embodiment, adjusting the position of the mounting shaft specifically involves: adjusting the entire spraying vehicle 1000 so that it is approximately parallel to the surface to be sprayed (specifically, this can be achieved by adjusting the base frame 210 and the slewing bearing 230 to make the horizontal arm 90 approximately parallel to the surface to be sprayed); then moving the sliding arm 80 along the vertical arm 300 to the working height, and then adjusting the mounting shaft 10 through the swing unit 901 so that the mounting shaft 10 is parallel to the surface to be sprayed.

[0053] In one embodiment, selecting the area to be sprayed specifically involves using the laser pointer 70 for indication and remotely selecting the area to be sprayed.

[0054] In one embodiment, the use of fixed distance sensors to collect the corner coordinates of the area to be sprayed specifically involves: four fixed distance sensors 41 on the two fixed supports 20 detecting the distances between the four corners of the area to be sprayed and outputting their coordinates.

[0055] In one embodiment, the movable bracket is moved from one end of the mounting shaft to the other, and coordinate values ​​are collected by a motion ranging sensor during the movement of the movable bracket. Specifically, the motor on the mounting shaft 10 is driven to move the movable bracket 30 from one end of the mounting shaft 10 to the other end, and the movable bracket 30 simultaneously drives the motion ranging sensor 42 to move, so that the motion ranging sensor 42 scans from one end to the other end. The motion ranging sensor 42 detects the distance to the area to be sprayed during the movement and outputs its coordinate values.

[0056] In one embodiment, the process of fitting the surface to be sprayed based on the coordinate values ​​collected by the fixed distance sensor and the moving distance sensor, and outputting the coordinate values ​​of the surface range to be sprayed, specifically involves: all data collected by the fixed distance sensor 41 and the moving distance sensor 42 being input into the industrial control box via the PLC of the PLC control box; the industrial control box sorting, storing, and processing the coordinate data; and the industrial control box calling the Fourier transform polynomial to fit the surface, and then outputting the coordinate values ​​of the surface range, the interpolated values ​​of the surface, and the extreme values, etc.

[0057] In one embodiment, obtaining the center coordinates of the current robot arm base specifically involves the industrial control box obtaining the center coordinates of the current robot arm 50 base through the PLC control box.

[0058] In one embodiment, the robot's movement is planned based on the coordinates of the surface to be sprayed and the center coordinates of the current robot base. The spraying operation is then performed through the nozzles on the area to be sprayed. Specifically, the control box calculates and plans the distance in real time based on the coordinates of the surface to be sprayed and the center coordinates of the current robot base. Then, based on the planned distance, the control box calls the robot 50 path planning program and outputs the optimal path data to the PLC in the PLC control box. The PLC issues instructions, and each joint of the robot 50 operates accordingly, causing the end effector of the robot 50 to reach the designated position, whereupon the spraying operation is performed through the nozzles 60. After the spraying operation at one point is completed, the robot continues to move, and the above calculations are repeated to adjust the position of the end effector of the robot 50 until the entire area to be sprayed is completed.

[0059] After the area to be sprayed is completed, the sliding arm 80 moves along the vertical arm 300, so that the mounting shaft 10 moves to another height to continue the spraying operation of the above steps.

[0060] The above description is merely an embodiment of the present invention. It should be noted that those skilled in the art can make improvements without departing from the inventive concept of the present invention, but these improvements all fall within the protection scope of the present invention.

Claims

1. A spray coating detection mechanism, characterized in that, This includes mounting shafts, fixed brackets, movable brackets, distance sensors, robotic arms, and nozzles; Along the setting direction of the mounting shaft, the two ends of the mounting shaft are respectively provided with the fixing brackets, and the setting direction of the fixing brackets is perpendicular to the setting direction of the mounting shaft; The movable bracket is mounted on the mounting shaft and located between the two fixed brackets, and the movable bracket can move along the setting direction of the mounting shaft; The ranging sensor includes a fixed ranging sensor and a moving ranging sensor; each of the fixed brackets is respectively provided with the fixed ranging sensor; the moving ranging sensor is disposed on the moving bracket and is used to cooperate with the fixed ranging sensor to detect and scan the area to be sprayed; The robotic arm is mounted on the movable support and can operate based on the detection results of the movable ranging sensor and the fixed ranging sensor. The nozzle is located at the end of the robotic arm.

2. The detection spraying mechanism according to claim 1, characterized in that, The mounting shaft is a linear slide, and the movable bracket is mounted on the sliding component of the linear slide.

3. The detection spraying mechanism according to claim 1, characterized in that, Laser pointers are respectively installed on the two fixed brackets.

4. The detection spraying mechanism according to claim 1, characterized in that, The movable support is set in a direction parallel to that of the fixed support; Each of the fixed brackets is provided with a fixed distance measuring sensor at both ends; Two motion ranging sensors are installed on the mobile support; The fixed ranging sensors on the two fixed supports are arranged in a one-to-one correspondence, and the moving ranging sensor on the moving support is arranged in a one-to-one correspondence with the fixed ranging sensor on the fixed support.

5. The detection spraying mechanism according to claim 1, characterized in that, It also includes sliding arms and horizontal arms; The sliding arm is used to be mounted on the vertical arm of the spray painting vehicle; The horizontal arm is connected to the sliding arm; The horizontal arm is telescopically movable in the horizontal direction, and the mounting shaft is disposed on the telescopic end of the horizontal arm.

6. The detection spraying mechanism according to claim 5, characterized in that, The mounting shaft is connected to the telescopic end of the horizontal arm via a swing unit.

7. The detection spraying mechanism according to claim 1, characterized in that, It also includes a protective cover, which is disposed at the end of the robotic arm and covers the outside of the nozzle.

8. A spray painting vehicle, characterized in that, The device includes a vehicle body, a vertical arm, and a detection and spraying mechanism as described in any one of claims 1 to 7. The vertical arm is disposed on the vehicle body, the mounting shaft is connected to the vertical arm, and the mounting shaft can slide along the vertical arm to adjust its height.

9. The painting vehicle according to claim 8, characterized in that, The vehicle body includes a chassis and a turntable. The turntable is connected to the chassis via a slewing bearing, and the vertical arm is mounted on the turntable.

10. A spraying method, characterized in that, The application uses a spraying detection mechanism as described in any one of claims 1 to 7 or a spraying vehicle as described in any one of claims 8 to 9, and the spraying method includes the following steps: Adjust the mounting shaft position; Select the area to be sprayed; The coordinate values ​​of the corner points of the area to be sprayed are collected using a fixed distance measuring sensor; The movable support is moved from one end of the mounting shaft to the other, and coordinate values ​​are collected using a moving distance sensor during the movement of the movable support. The surface to be sprayed is fitted based on the coordinate values ​​collected by the fixed distance sensor and the moving distance sensor, and the coordinate values ​​of the range of the surface to be sprayed are output. Get the center coordinates of the current robotic arm base; Based on the coordinates of the surface to be sprayed and the center coordinates of the current robotic arm base, the robotic arm's movement is planned, and the area to be sprayed is sprayed through the nozzle.

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