Cooperative control system of sand blasting robot

Abstract

The utility model relates to the technical field of ocean engineering, in particular to a sand blasting robot cooperative control system. The system comprises a collaborative server which is located in a centralized control room and is connected to a wireless access point through the Ethernet; the work station platform is located in a centralized control room and comprises a main controller, two touch screens and an operation panel. The robot system comprises an obstacle crossing sand blasting robot located at the top of the ship steel structure, a rail sand blasting robot located on the periphery of the ship steel structure and a walking sand blasting robot located at the bottom of the ship steel structure, the robot system is connected with the wireless communication terminal through the Ethernet, and the wireless communication terminal communicates with the wireless access point through a wireless network. And network connection with a cooperative server and a main controller in the centralized control room is realized. According to the technical scheme, through the robot systems deployed at different positions of the ship steel structure, the surface of the ship steel structure is covered with the collaboration server in an all-around mode, and task allocation, state monitoring and data recording are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of ocean engineering, and particularly relates to a collaborative control system for a sandblasting robot. Background Art

[0002] In the field of ocean engineering, the maintenance and upkeep of ship steel structures, especially the rust removal and cleaning operations on their surfaces, are key links to ensure the safety of ships and extend their service life. Given the significant drawbacks of traditional manual sandblasting methods, such as low efficiency, high labor intensity, and safety hazards, those skilled in the art have been committed to exploring more efficient and safe solutions. Against this background, the patent document with the Chinese authorization announcement number CN206912971U proposes a ship sandblasting and rust removal robot working system. With its characteristics of compact structure, strong anti-interference ability, easy maintenance, and high flexibility, this system effectively solves the integration and application problems of high-power sandblasting and rust removal equipment in the ship surface application environment, and significantly improves the efficiency and cleanliness of ship painting work.

[0003] However, with the continuous progress of technology and the increasing complexity of ship steel structures, single sandblasting robots have gradually shown limitations in actual operations. Especially when facing the diverse surface morphologies and complex spatial layouts of ship steel structures, it is difficult to ensure full coverage and efficient operation. Therefore, to further improve the automation level and operation efficiency of ship steel structure maintenance, the utility model proposes an innovative collaborative control system for sandblasting robots. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is: to overcome the deficiencies of the prior art and provide a collaborative control system for a sandblasting robot.

[0005] The technical solution adopted by the utility model is as follows:

[0006] A collaborative control system for a sandblasting robot, comprising:

[0007] A collaborative server, located in the centralized control room, is connected to the wireless access point through Ethernet;

[0008] A workstation platform, located in the centralized control room, includes a main controller, two touch screens, and an operation panel. The main controller is connected to the wireless access point through Ethernet. The touch screens are connected to the collaborative server through KVM cables, and each control point on the operation panel is connected to the main controller through cables;

[0009] A robot system, including an obstacle-crossing sandblasting robot located at the top of the ship steel structure, an orbital sandblasting robot located at the periphery of the ship steel structure, and a walking sandblasting robot located at the bottom of the ship steel structure, wherein: the obstacle-crossing sandblasting robot, the orbital sandblasting robot, and the walking sandblasting robot are each configured with a slave controller, connected to a wireless communication terminal through Ethernet, and the wireless communication terminal communicates with a wireless access point through a wireless network to achieve network connection with a collaborative server and a main controller in a centralized control room, wherein:

[0010] A lifting module, used to control the lifting action of the sandblasting robot to meet the sandblasting operation requirements at different heights;

[0011] A connecting rod swing arm module, used to realize the multi-directional swing of the nozzle through the coordinated movement of the connecting rod and the swing arm, expanding the sandblasting operation range;

[0012] A telescopic arm module, used to control the telescopic movement of the nozzle, enabling the sandblasting operation to reach deep into narrow or hard-to-reach areas;

[0013] A nozzle module, which is the execution component of the sandblasting operation, responsible for spraying sand grains onto the surface of the workpiece for rust removal or cleaning operations;

[0014] A sensor module, including a multi-turn / single-turn encoder and a laser rangefinder, used to monitor the position, posture, and surrounding environment of the sandblasting robot in real time.

[0015] This technical solution realizes the full coverage of the surface of the ship steel structure through robot systems deployed at different positions of the ship steel structure; the robot system is wirelessly connected to the collaborative server through a workstation platform to achieve task allocation, status monitoring, and data recording. It should be noted that the software algorithms and programs adopted by the collaborative server belong to the prior art, and the present utility model only improves the hardware. The robot system is integrated with a lifting module, a connecting rod swing arm module, a telescopic arm module, a nozzle module, and a sensor module, which are combined and adjusted according to specific operation requirements to adapt to sandblasting operations at different heights, different shapes, and different difficulties; sensor devices such as multi-turn / single-turn encoders and laser rangefinders in the sensor module provide real-time and accurate information on the position, posture, and surrounding environment of the robot for the system; the sensor module is transmitted back to the collaborative server and the workstation platform in real time through a wireless module, enabling the operator to understand the working state and operation progress of the robot in real time. Each sandblasting robot of the robot system is configured with a slave controller, connected to a wireless communication terminal through Ethernet, and the wireless communication terminal communicates with a wireless access point through a wireless network, thereby achieving network connection with the collaborative server and the main controller in the centralized control room to achieve task allocation, status monitoring, and data recording.

[0016] In addition, the sandblasting robot collaborative control system proposed above according to the present utility model further has the following additional technical features:

[0017] According to an embodiment of the present utility model, the orbital sandblasting robot further includes an orbit arranged on the periphery of the ship steel structure, and a reciprocating motion module that cooperates with the orbit to move. The lifting module is installed on the reciprocating motion module and moves back and forth relative to the ship steel structure.

[0018] By adding an orbit and a reciprocating motion module to the orbital sandblasting robot and installing the lifting module thereon, this technical solution enables the orbital sandblasting robot to move back and forth along the orbit on the periphery of the ship steel structure, thereby expanding the coverage range and flexibility of the sandblasting operation.

[0019] According to an embodiment of the present utility model, the walking sandblasting robot further includes a mobile walking trolley module. The lifting module is installed on the mobile walking trolley module and moves back and forth relative to the ship steel structure.

[0020] By equipping the walking sandblasting robot with a mobile walking trolley module and installing the lifting module thereon, this technical solution realizes the ability of the robot to move back and forth at the bottom of the ship steel structure, further enhancing the adaptability and accessibility of the sandblasting operation in the bottom area.

[0021] According to an embodiment of the present utility model, the link swing arm module includes a connecting rod and a swing arm. One end of the connecting rod is fixed to the lifting module, and the other end of the connecting rod is connected to the nozzle module through the swing arm.

[0022] By means of the connecting rod and the swing arm, with one end of the connecting rod fixed to the lifting module and the other end connected to the nozzle module through the swing arm, this technical solution enables the nozzle to swing flexibly in multiple directions to expand the coverage of the sandblasting operation.

[0023] According to an embodiment of the present utility model, the nozzle module is installed at the end of the swing arm and rotates and swings along with the swing arm.

[0024] The nozzle module of this technical solution is installed at the end of the swing arm and rotates and swings along with the swing arm, ensuring that the sandblasting operation can accurately point to and cover every corner of the workpiece surface, improving the operation efficiency and quality.

[0025] According to an embodiment of the present utility model, the multi-turn / single-turn encoder of the sensor module is installed on the lifting module, the link swing arm module and the telescopic arm module for detecting the movement accuracy; the laser rangefinder is installed on the nozzle module for detecting the position and attitude relative to the workpiece surface.

[0026] Through the multi-turn / single-turn encoder and the laser rangefinder in this technical solution, the former is used to detect the accuracy of each motion module, and the latter is used to detect the precise position and attitude of the nozzle relative to the workpiece surface, jointly improving the accuracy and safety of the sandblasting operation.

[0027] Compared with the prior art, the utility model has the following beneficial effects:

[0028] Through the robot systems deployed at different positions of the ship steel structure, the all-round and high-efficiency sandblasting rust removal and cleaning operations on the surface of the ship steel structure are realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic structural diagram of the utility model.

[0030] Figure 2 is a structural principle block diagram of the utility model

[0031] In the figure: 1, collaborative server; 2, workstation platform; 3, ship steel structure; 4, obstacle-crossing sandblasting robot; 5, orbital sandblasting robot; 6, walking sandblasting robot. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] Next, the technical solutions in the embodiments of the utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the utility model.

[0033] Embodiment 1

[0034] As Figure 1 and Figure 2 shown, this embodiment provides a sandblasting robot collaborative control system, including:

[0035] The collaborative server 1, located in the centralized control room, is connected to the wireless access point through Ethernet;

[0036] The workstation platform 2, located in the centralized control room, includes a main controller, two touch screens and an operation panel. The main controller is connected to the wireless access point through Ethernet, the touch screens are connected to the collaborative server through KVM cables, and each control point on the operation panel is connected to the main controller through cables;

[0037] The robot system includes an obstacle-crossing sandblasting robot 4 located on the top of the ship steel structure 3, an orbital sandblasting robot 5 located on the periphery of the ship steel structure 3, and a walking sandblasting robot 6 located at the bottom of the ship steel structure 3. Among them: the obstacle-crossing sandblasting robot 4, the orbital sandblasting robot 5 and the walking sandblasting robot 6 are each configured with a slave controller, connected to the wireless communication terminal through Ethernet, and the wireless communication terminal communicates with the wireless access point through the wireless network to realize the network connection with the collaborative server and the main controller in the centralized control room. Among them:

[0038] The lifting module is used to control the lifting action of the sandblasting robot to meet the sandblasting operation requirements at different heights.

[0039] The link swing arm module is used to realize the multi-directional swing of the nozzle through the coordinated movement of the link and the swing arm, expanding the sandblasting operation range.

[0040] The telescopic arm module is used to control the telescopic movement of the nozzle, enabling the sandblasting operation to reach deep into narrow or inaccessible areas.

[0041] The nozzle module is the execution component of the sandblasting operation, responsible for spraying sand grains onto the surface of the workpiece for rust removal or cleaning operations.

[0042] The sensor module includes multi-turn / single-turn encoders and laser rangefinders, which are used to monitor the position, posture, and surrounding environment of the sandblasting robot in real time.

[0043] As Figure 1 and Figure 2 shown, this technical solution realizes the full coverage of the surface of the ship steel structure 3 through the robot systems deployed at different positions of the ship steel structure 3; the robot systems are wirelessly connected to the collaborative server 1 through the workstation platform 2 to achieve task allocation, status monitoring, and data recording. It should be noted that the software algorithms and programs used in the collaborative server 1 belong to the prior art, and this utility model only improves the hardware. The robot system is integrated with a lifting module, a link swing arm module, a telescopic arm module, a nozzle module, and a sensor module, which are combined and adjusted according to specific operation requirements to adapt to sandblasting operations at different heights, different shapes, and different difficulties; the sensor devices such as multi-turn / single-turn encoders and laser rangefinders in the sensor module provide real-time and accurate information on the position, posture, and surrounding environment of the robot for the system; the sensor module is transmitted back to the collaborative server 1 and the workstation platform 2 in real time through the wireless module, enabling the operator to understand the working state and operation progress of the robot in real time.

[0044] In addition, the sandblasting robot collaborative control system proposed above according to this utility model also has the following additional technical features:

[0045] According to an embodiment of this utility model, the orbital sandblasting robot 5 further includes a track provided on the periphery of the ship steel structure 3, and a reciprocating motion module that cooperates with the track to move. The lifting module is installed on the reciprocating motion module and moves back and forth relative to the ship steel structure 3.

[0046] This technical solution expands the coverage range and flexibility of the sandblasting operation by adding a track and a reciprocating motion module to the orbital sandblasting robot 5 and installing the lifting module thereon, enabling the orbital sandblasting robot 5 to move back and forth along the track on the periphery of the ship steel structure 3.

[0047] According to an embodiment of the present utility model, the walking sandblasting robot 6 further includes a mobile walking trolley module, and the lifting module is installed on the mobile walking trolley module and moves back and forth relative to the ship steel structure 3.

[0048] This technical solution equips the walking sandblasting robot 6 with a mobile walking trolley module and installs the lifting module thereon, realizing the ability of the robot to move back and forth at the bottom of the ship steel structure 3, and further enhancing the adaptability and accessibility of the sandblasting operation in the bottom area.

[0049] According to an embodiment of the present utility model, the connecting rod swing arm module includes a connecting rod and a swing arm. One end of the connecting rod is fixed to the lifting module, and the other end of the connecting rod is connected to the nozzle module through the swing arm.

[0050] This technical solution uses a connecting rod and a swing arm, fixes one end of the connecting rod to the lifting module, and connects the other end to the nozzle module through the swing arm, enabling the nozzle to swing flexibly in multiple directions to expand the coverage area of the sandblasting operation.

[0051] According to an embodiment of the present utility model, the nozzle module is installed at the end of the swing arm and rotates and swings with the swing arm.

[0052] The nozzle module of this technical solution is installed at the end of the swing arm and rotates and swings with the swing arm, ensuring that the sandblasting operation can accurately point to and cover all corners of the workpiece surface, improving the operation efficiency and quality.

[0053] According to an embodiment of the present utility model, the multi-turn / single-turn encoder of the sensor module is installed on the lifting module, the connecting rod swing arm module and the telescopic arm module for detecting the motion accuracy; the laser rangefinder is installed on the nozzle module for detecting the position and attitude with respect to the workpiece surface.

[0054] This technical solution uses a multi-turn / single-turn encoder and a laser rangefinder. The former is used to detect the accuracy of each motion module, and the latter is used to detect the precise position and attitude of the nozzle with respect to the workpiece surface, jointly improving the accuracy and safety of the sandblasting operation.

[0055] The usage process of the above embodiment is as follows:

[0056] As Figure 1 and Figure 2As shown, the obstacle-crossing sandblasting robot 4 operates on the top of the ship steel structure 3. The lifting module is used to adapt to different heights, and the link swing arm module and telescopic arm module are used to achieve multi-directional swinging and telescoping of the nozzle. The nozzle module sprays sand grains for rust removal or cleaning. The track sandblasting robot 5 walks along the track on the periphery of the ship steel structure 3, moves back and forth through the reciprocating motion module, and at the same time, the lifting module, link swing arm module, etc. work together to complete the sandblasting operation. The walking sandblasting robot 6 moves back and forth at the bottom of the ship steel structure 3 through the mobile walking trolley module, and also uses the lifting module, link swing arm module, etc. to complete the sandblasting operation. The sensor module (including multi-turn / single-turn encoders and laser rangefinders) monitors the position, posture and surrounding environment of the sandblasting robot in real time and transmits the data to the cooperation server 1 and the workstation platform 2.

[0057] The operator can view the working status and operation progress of the robot in real time through two touch screens and make adjustments or reallocate tasks as needed. The cooperation server 1 records all data during the sandblasting operation, including the robot position, posture, operation time, sand grain consumption, etc. The operator inputs the task requirements of the sandblasting operation, such as the operation area, rust removal grade, etc. through the touch screen and operation panel of the workstation platform 2. The cooperation server 1 makes task allocation according to the task requirements and the current state of the robot system, and determines the operation area and path of each robot.

[0058] It should be noted that the software algorithms and programs used by the cooperation server 1 are all prior arts, and the present utility model only improves the hardware.

[0059] Although the present utility model has been described in detail by referring to the drawings and in combination with the preferred embodiments, the present utility model is not limited thereto. Without departing from the spirit and essence of the present utility model, those of ordinary skill in the art make various equivalent modifications or substitutions to the embodiments of the present utility model, and these modifications or substitutions should all be within the scope of the present utility model. / Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of changes or substitutions, and all should be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope of the claims.

Claims

1. A sandblasting robot collaborative control system, characterized in that: include: A collaborative server (1), located in a centralized control room, is connected to a wireless access point via Ethernet; A workstation platform (2), located in a centralized control room, includes a main controller, two touch screens and an operation panel, wherein the main controller is connected to a wireless access point via Ethernet, the touch screen is connected to a collaborative server via a KVM cable, and each control point on the operation panel is connected to the main controller via a cable; The robot system comprises an obstacle-crossing sandblasting robot (4) located on the top of a ship steel structure (3), a track sandblasting robot (5) located on the periphery of the ship steel structure (3), and a walking sandblasting robot (6) located on the bottom of the ship steel structure (3), wherein: the obstacle-crossing sandblasting robot (4), the track sandblasting robot (5) and the walking sandblasting robot (6) are each equipped with a slave controller, connected to a wireless communication terminal via Ethernet, the wireless communication terminal communicates with a wireless access point via a wireless network, and realizes network connection with a collaborative server and a main controller in a centralized control room, wherein: The lifting module is used to control the lifting and lowering action of the sandblasting robot to meet the requirements of sandblasting operations at different heights; The connecting rod swing arm module is used to achieve multi-directional swing of the nozzle through the coordinated movement of the connecting rod and the swing arm, thereby expanding the sandblasting operation range; Telescopic arm module, used to control the extension and retraction of the spray head, so that sandblasting operations can reach into narrow or hard-to-reach areas; The nozzle module is the executive component of the sandblasting operation, responsible for spraying sand particles onto the surface of the workpiece for rust removal or cleaning; The sensor module, including multi-turn / single-turn encoder and laser rangefinder, is used to monitor the position, posture and surrounding environment of the sandblasting robot in real time.

2. The sandblasting robot collaborative control system according to claim 1, characterized in that: The track sandblasting robot (5) also includes a track arranged on the periphery of the ship steel structure (3), and a reciprocating motion module that cooperates with the track to move, and the lifting module is installed on the reciprocating motion module and moves forward and backward relative to the ship steel structure (3).

3. The sandblasting robot collaborative control system according to claim 1, characterized in that: The walking sandblasting robot (6) also includes a mobile walking trolley module, and the lifting module is installed on the mobile walking trolley module and moves forward and backward relative to the ship steel structure (3).

4. The sandblasting robot collaborative control system according to claim 1, characterized in that: The connecting rod swing arm module comprises a connecting rod and a swing arm, one end of the connecting rod is fixed on the lifting module, and the other end of the connecting rod is connected to the nozzle module through the swing arm.

5. The sandblasting robot collaborative control system according to claim 1, characterized in that: The nozzle module is installed at the end of the swing arm and rotates and swings along with the swing arm.

6. The sandblasting robot collaborative control system according to claim 1, characterized in that: The multi-turn / single-turn encoder of the sensor module is installed on the lifting module, the connecting rod swing arm module and the telescopic arm module to detect the accuracy of movement; the laser rangefinder is installed on the nozzle module to detect the position and posture of the workpiece surface.

Images