CN107051779B - Paint spraying wall climbing vehicle device suitable for ship body curved surface without turning around and working method - Google Patents
Paint spraying wall climbing vehicle device suitable for ship body curved surface without turning around and working method Download PDFInfo
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- CN107051779B CN107051779B CN201611225880.8A CN201611225880A CN107051779B CN 107051779 B CN107051779 B CN 107051779B CN 201611225880 A CN201611225880 A CN 201611225880A CN 107051779 B CN107051779 B CN 107051779B
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- climbing vehicle
- wall climbing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
A paint spraying wall climbing vehicle device suitable for ship curved surfaces without turning around and a working method belong to the technical field of ship and ocean engineering and robot paint spraying. The device mainly comprises a paint spraying and recycling device, a walking frame, a magnetic adsorption device, control equipment and a frame hinge. The hinge device can effectively counteract the influence of the curvature change of the head and the tail of the ship body on the operation of the paint spraying wall climbing vehicle, and the robot frame deforms along with the fluctuation of the ship body curved plate, so that the working parameters of the robot spraying device are ensured to fluctuate within a proper range. The adsorption force on the climbing vehicle is provided by a magnetic seat in one part and a permanent magnet in the other part. The movement of the wall climbing vehicle is driven by a controllable steering driving wheel arranged on the wall climbing vehicle, thereby realizing the operation method without turning around. The ship hull plate painting operation flow can obviously reduce the working strength of workers, improve the safety of the operation of the workers and improve the working efficiency of the workers.
Description
Technical Field
The invention relates to a paint spraying wall climbing vehicle device suitable for a ship body curved surface without turning around and a working method, and belongs to the technical field of robot paint spraying of ships and ocean engineering.
Background
The spraying operation of the planking in the dock is carried out after the ship body is folded, the spraying operation of the planking in the current shipyard is basically the spraying operation of workers standing on an overhead vehicle, and the work belongs to high-altitude operation and is easy to cause danger due to the large size of the ship and the deep shape of the planking on the side of the ship. And because the hull head and tail planking is mostly the curved plate, the workman stands when the operation on the overhead truck because the instability that the overhead truck removed easily bumps to produce harm and probably cause the damage to the coating that the spraying operation was accomplished to workman's personal safety. For these reasons, the efficiency of workers in painting the exterior panel head and tail is greatly reduced. The existing robot capable of performing wall climbing spraying operation on hull planks is basically incapable of performing spraying operation on planks with a certain curvature. Therefore, the realization of the efficient automatic spraying operation of the hull plate curved plate is an urgent problem to be solved so as to reduce the construction period occupied by the spraying of the ship outer plate and protect constructors.
Disclosure of Invention
The invention aims to provide a paint spraying wall climbing vehicle device and a working method, which are suitable for a curved surface of a ship body without turning around.
The technical scheme adopted by the invention is as follows: the device comprises a magnetic base, a paint mist recovery device, an anti-falling quick-suction mechanism and two wall climbing vehicle frames, wherein the wall climbing vehicle frames bear a support frame provided with the paint mist recovery device, a paint feed pipe and the paint mist recovery pipe; the hinges are distributed between the two wall climbing vehicle frames; the paint mist recovery device is connected with an external paint mist treatment system, and the paint feed pipe is connected with the feed pump; the magnetic force seat and the permanent magnet are uniformly arranged at the position of the wall climbing vehicle frame close to one side of the hull plate; a proper number of controllable steering driving wheels are arranged on one side, close to the outer plate, of each wall climbing vehicle frame, and a free steering driven wheel is arranged at a necessary position; a signal processing controller, an attitude sensor, a signal transmission cable, a path vision planning sensor and an environment monitoring sensor are arranged on one side of the frame of the wall climbing vehicle, which is far away from the outer plate; the paint mist recovery device is provided with a spraying quality vision sensor and a film thickness sensor; the connection form of the whole paint spraying wall climbing vehicle device is as follows: the two wall climbing vehicle frames are connected through a plurality of hinges; the attitude sensor, the path vision planning sensor, the environment monitoring sensor, the spraying quality vision sensor and the film thickness sensor are connected with the signal processing controller, the signal processing controller is connected with the controlled steering driving wheel, and meanwhile, the signal processing controller is connected with a signal transmission cable and is connected with external control equipment.
According to the working method of the paint spraying wall climbing vehicle device suitable for the curved surface of the ship body without turning around, the combined structure of the frame and the hinge of the wall climbing vehicle rotates through the hinge when working on the outer plate with small curvature of the ship body, so that the frame and the paint mist recovery device of the wall climbing vehicle can always perform spraying operation at a proper distance and angle with the outer plate of the ship; when the paint spraying wall climbing vehicle works, the signal processing controller judges the position of the vehicle through the path vision planning sensor, and then the direction of the controlled steering driving wheel is adjusted at the end position of the single track spraying to move to the next spraying track in parallel to continue the spraying operation, so that the function of no turning is realized.
In the further explanation of the above technical solution, the wall climbing vehicle adopts two profile frames as the main body of the wall climbing vehicle, a frame for supporting the paint spraying pipe extending out of the side surface of the wall climbing vehicle is installed on one profile frame near the end of the wall climbing vehicle, and a paint mist recovery device is installed above the extended paint spraying pipe. And the paint spraying pipe and the related pipeline of the paint mist recovery device are respectively connected with the feeding system and the paint mist recovery device through the other end of the frame. Climb and connect through the hinge between the wall car type section bar frame, the rotation of hinge can make and be certain contained angle in order to laminate the boats and ships planking between two section bar frames.
The bottom of each section frame of the wall climbing vehicle device is provided with a driving wheel which can be independently controlled to turn, and the driving wheel is responsible for providing power for the movement of the wall climbing vehicle and adjusting the walking direction of the wall climbing vehicle device. Besides, a rotatable driven wheel is arranged near the section bar frame to provide a supporting function for the climbing vehicle section bar.
The adsorption force between the climbing car device and the hull outer plate is provided by a permanent magnet at the bottom of the climbing car profile, and the other part is provided by a magnetic seat arranged on the climbing car device frame. The magnetic force of the magnetic seat can be adjusted through a switch so as to facilitate the wall climbing vehicle to be taken down after the wall climbing vehicle finishes working on the hull planking. The friction force between the climbing car device and the hull plate is generated by the suction force of the two parts. Meanwhile, a magnetic anti-falling quick-absorption module is arranged at a proper position of each section to be popped out and absorbed on the hull plate in case of accidental falling.
Wall climbing car retrieves and covers both sides of device and all installs thick detector of membrane, and the homoenergetic is gathered the thick parameter of spraying membrane when different spraying directions. The spraying quality and the environment state can be recorded simultaneously by combining the environment state monitoring sensor arranged on the wall climbing vehicle device, and the data are accumulated for improving the spraying parameters later. And a spraying quality vision sensor is arranged above the recovery cover system. And a path planning visual sensor is arranged on the wall climbing vehicle profile where the recovery cover device is positioned and is responsible for acquiring a path visual signal of the movement of the wall climbing vehicle. And a wall climbing vehicle walking attitude sensor is also arranged on the section bar to monitor the moving attitude of the wall climbing vehicle device. The signals of the sensors are transmitted into a signal processor in the wall climbing vehicle and are processed, and then the processor sends out signals to adjust the moving direction and the moving speed of the driving wheel so as to control the traveling path of the wall climbing vehicle. Meanwhile, signals in the wall climbing vehicle can also be transmitted into a wall climbing vehicle controller through a cable for spraying operation control personnel to monitor and timely intervene in control.
The invention has the beneficial effects that: different frames are combined by hinges to serve as a travelling mechanism main body of the wall climbing vehicle, so that the wall climbing vehicle can be attached to a hull outer plate all the time to perform spraying operation, spraying quality is guaranteed, and working strength of spraying workers can be reduced. Meanwhile, the spraying operation can be carried out on a flat plate and a curved plate with small curvature, the defect that part of spraying robots cannot carry out the spraying operation on the curved plate is overcome, and the working efficiency is improved. The worker does not need to approach the paint, so that the harm of the spraying operation to the health of the worker can be reduced.
Drawings
Fig. 1 is a perspective view of a paint spraying wall climbing vehicle device suitable for a curved surface of a ship body without turning around.
Fig. 2 is a bottom view of the paint-spraying wall-climbing vehicle device suitable for the curved surface of the ship body without turning around.
Fig. 3 is a schematic view of the operation state of the paint spraying wall climbing vehicle device.
Fig. 4 is a block diagram of the directional control flow of the paint climbing vehicle device.
Fig. 5 is a schematic view of the working path of the paint-spraying wall-climbing vehicle device.
In the figure: 1. magnetic base, 2 controlled steering action wheel, 3, permanent magnet, 4, wall climbing car frame, 5, prevent weighing down quick-absorption mechanism, 6, hinge, 7, signal processing controller, 8, attitude sensor, 9, signal transmission cable, 10, coating cloud recovery tube, 11, paint feed pipe, 12, path planning vision sensor, 13, braced frame, 14, coating cloud recovery unit, 15, spraying quality vision sensor, 16, film thickness sensor, 17, environmental monitoring sensor, 18, from driving wheel, 19, paint nozzle.
Detailed description of the invention
Fig. 1 and 2 show a structure diagram of a paint spraying wall climbing vehicle device which is suitable for a curved surface of a ship body without turning around. In the figure, the paint spraying wall climbing vehicle device suitable for the simple curved surface of the ship body without turning around comprises a magnetic base 1, a paint mist recovery device 14, an anti-falling quick suction mechanism 5 and two wall climbing vehicle frames 4, wherein the wall climbing vehicle frames 4 bear a supporting frame 13 provided with the paint mist recovery device 14, a paint feed pipe 11 and a paint mist recovery pipe 10. The hinges 6 are distributed between the two wall climbing vehicle frames 4; paint mist recovery device 14 is connected with an external paint mist treatment system and paint feed pipe 11 is connected with a feed pump. The magnetic seat 1 and the permanent magnet 3 are uniformly arranged at the position of the wall climbing vehicle frame 4 close to one side of the hull plate, a proper number of controllable steering driving wheels 2 are arranged at one side of each wall climbing vehicle frame 4 close to the hull plate, and a free steering driven wheel 18 is arranged at a necessary position. And a signal processing controller 7, an attitude sensor 8, a signal transmission cable 9, a path vision planning sensor 12 and an environment monitoring sensor 17 are arranged on one side of the frame of the wall climbing vehicle, which is far away from the outer plate. The paint mist recovery device 14 is provided with a visual spraying quality sensor 15 and a film thickness sensor 16. The connection form of the whole paint spraying wall climbing vehicle device is as follows: the two climbing car frames 4 are connected by a plurality of hinges 6. The attitude sensor 8, the path vision planning sensor 12, the environment monitoring sensor 17, the spraying quality vision sensor 15 and the film thickness sensor 16 are connected with the signal processing controller 7, the signal processing controller 7 is connected with the controlled steering driving wheel 2, and meanwhile, the signal processing controller 7 is connected with a signal transmission cable 9 to be connected with external control equipment.
When the wall climbing vehicle starts to work, the frame 4 of the wall climbing vehicle is placed on the hull plate, partial adsorption force is firstly generated through the permanent magnet 3, and then all the magnetic force seats 1 are opened and closed, so that the whole wall climbing vehicle device is completely adsorbed on the hull plate. The painter tube 11 and the paint mist recovery tube 10 can then be connected to the feeding system and the paint mist recovery system, respectively, and the signal transmission cable 9 is also connected to the worker operation controller. Thus, the preparation work of the painting operation of the climbing car device is completed.
After the spraying operation is started, the paint mist is sprayed out of the paint nozzle 19, the film thickness sensor 16 starts to monitor the quality of the sprayed layer when the spraying operation is started, the spraying quality vision sensor 15 detects the coverage ratio of the sprayed layer to the adjacent sprayed layer, the attitude sensor 8 detects the included angle between the moving direction and the gravity direction of the wall climbing vehicle, and the path planning vision sensor 12 visually detects the position of the outer plate where the wall climbing vehicle is located to provide signal support for determining the steering time. The signals of the above four sensors are transmitted to the signal processing controller 7 to determine the spraying quality in the spraying process, and then the moving speed and angle of the controlled steering driving wheel 2 are controlled to adjust the moving track of the wall climbing vehicle, and the schematic control flow diagram of the whole system of the wall climbing vehicle device is shown in fig. 4. The environmental monitoring sensor 17 monitors the surrounding environment during the whole spraying operation process to provide data support for adjusting the spraying quality.
When the climbing car moves on an outer plate with simple curvature, the shape of the climbing car frame 4 is adjusted through the hinge 6, the permanent magnet 3 and the magnetic seat 1 which are installed on the climbing car frame 4 can provide enough adsorption force, so that the climbing car mechanism can be tightly adsorbed on the outer plate of the ship, and the working state is shown as figure 3. The paint mist recovery device 14 fixed on the support frame 13 and the paint nozzle 19 inside the device can always keep a proper distance and angle with the outer plate of the ship.
When the accident condition of falling takes place, the signal that will fall is introduced into signal processing controller 7 through attitude sensor 8, and signal processing controller 7 sends control signal and gives and prevents weighing down quick-absorption mechanism 5 for the device can pop out fast and tightly adsorb and avoid falling the danger on the hull planking.
The moving track of the wall climbing vehicle travels according to the method shown in fig. 5, when the wall climbing vehicle travels to the boundary of the outer plate, the path planning visual sensor 12 detects the boundary line and transmits the signal to the signal processing controller 7, the controlled steering driving wheel 2 deflects by an angle of 90 degrees under the control of the signal processing controller 7 and moves across a distance of the width of a spraying track to the body side, the driven wheel 18 is driven to rotate in the process, and then the controlled steering driving wheel 2 continues to deflect by an angle of 90 degrees and continues the spraying operation of the next track. Certain repeated spraying parts can be ensured between the two spraying operation tracks so as to ensure that the outer plates cannot be omitted.
After the spraying operation is finished, the wall climbing vehicle device is convenient for workers to move by closing the switch of the magnetic seat 1 when the wall climbing vehicle device needs to be detached from the ship outer plate and reducing the adsorption force between the wall climbing vehicle device and the ship outer plate.
Claims (2)
1. The utility model provides a wall car device that climbs sprays paint suitable for hull curved surface need not to turn around, it includes magnetic force seat (1), coating cloud recovery unit (14) and prevents weighing down and inhale mechanism (5), its characterized in that soon: the paint mist recycling device comprises a wall climbing vehicle frame (4), wherein a supporting frame (13) provided with a paint mist recycling device (14), a paint supply pipe (11) and a paint mist recycling pipe (10) is borne on the wall climbing vehicle frame (4); the hinges (6) are distributed between the two wall climbing vehicle frames (4); the paint mist recovery device (14) is connected with an external paint mist treatment system, and the paint supply pipe (11) is connected with a supply pump; the magnetic force seat (1) and the permanent magnet (3) are uniformly arranged at the position of one side of the climbing vehicle frame (4) close to the hull outer plate; a proper number of controllable steering driving wheels (2) are arranged on one side, close to an outer plate, of each wall climbing vehicle frame (4), and a free steering driven wheel (18) is arranged at a necessary position; a signal processing controller (7), an attitude sensor (8), a signal transmission cable (9), a path visual programming sensor (12) and an environment monitoring sensor (17) are arranged on one side of the frame of the wall climbing vehicle, which is far away from the outer plate; a spraying quality vision sensor (15) and a film thickness sensor (16) are arranged on the paint mist recovery device (14); the connection form of the whole paint spraying wall climbing vehicle device is as follows: the two wall climbing vehicle frames (4) are connected through a plurality of hinges (6); the attitude sensor (8), the path vision planning sensor (12), the environment monitoring sensor (17), the spraying quality vision sensor (15) and the film thickness sensor (16) are connected with the signal processing controller (7), the signal processing controller (7) is connected with the controlled steering driving wheel (2), and meanwhile, the signal processing controller (7) is connected with the signal transmission cable (9) and is connected with external control equipment.
2. The working method of the paint spraying wall climbing vehicle device suitable for the curved surface of the ship body without turning around according to claim 1, characterized in that: when the wall climbing vehicle frame (4) and the hinge (6) combined structure works on an outer plate with a simple curvature of a ship body, the wall climbing vehicle frame (4) and the paint mist recovery device (14) can perform spraying operation at a proper distance and angle with the ship outer plate all the time through the rotation of the hinge (6); when the paint spraying wall climbing vehicle works, the position of the vehicle is judged by a signal processing controller (7) through a path vision planning sensor (12), and then the direction of a controlled steering driving wheel (2) is adjusted at the end position of single track spraying to move to the next spraying track in parallel to continue spraying operation, so that the function of no need of turning around is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611225880.8A CN107051779B (en) | 2016-12-27 | 2016-12-27 | Paint spraying wall climbing vehicle device suitable for ship body curved surface without turning around and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611225880.8A CN107051779B (en) | 2016-12-27 | 2016-12-27 | Paint spraying wall climbing vehicle device suitable for ship body curved surface without turning around and working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107051779A CN107051779A (en) | 2017-08-18 |
| CN107051779B true CN107051779B (en) | 2022-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611225880.8A Active CN107051779B (en) | 2016-12-27 | 2016-12-27 | Paint spraying wall climbing vehicle device suitable for ship body curved surface without turning around and working method |
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| CN (1) | CN107051779B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109365164B (en) * | 2018-10-24 | 2020-07-03 | 上海外高桥造船有限公司 | Protective device |
| CN111661188B (en) * | 2020-06-04 | 2022-09-06 | 大连理工大学 | Universal translation magnetic wall-climbing robot for decontamination of hull plates and working method |
| CN111674483B (en) * | 2020-06-04 | 2022-08-16 | 大连理工大学 | Magnetic-attraction wall-climbing robot for large-curvature surface spraying and working mode |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556184A (en) * | 2010-12-16 | 2012-07-11 | 北京万桥兴业机械有限公司 | Straddle type passenger car |
| CN205652203U (en) * | 2016-05-27 | 2016-10-19 | 青州爱科机械科技有限公司 | Pesticide spraying trolley four wheel steering , four wheel drive mechanism |
| CN106143667A (en) * | 2016-08-11 | 2016-11-23 | 上海大学 | A kind of hinge-type metal wall work climbing robot |
| CN106238247A (en) * | 2016-10-21 | 2016-12-21 | 大连理工大学 | A kind of ship hull plate being mounted on overhead vehicle sprays paint wall climbing vehicle device and method of work thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8056828B1 (en) * | 2008-01-07 | 2011-11-15 | Turfco Manufacturing, Inc. | Methods and apparatus for applying product |
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- 2016-12-27 CN CN201611225880.8A patent/CN107051779B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556184A (en) * | 2010-12-16 | 2012-07-11 | 北京万桥兴业机械有限公司 | Straddle type passenger car |
| CN205652203U (en) * | 2016-05-27 | 2016-10-19 | 青州爱科机械科技有限公司 | Pesticide spraying trolley four wheel steering , four wheel drive mechanism |
| CN106143667A (en) * | 2016-08-11 | 2016-11-23 | 上海大学 | A kind of hinge-type metal wall work climbing robot |
| CN106238247A (en) * | 2016-10-21 | 2016-12-21 | 大连理工大学 | A kind of ship hull plate being mounted on overhead vehicle sprays paint wall climbing vehicle device and method of work thereof |
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| CN107051779A (en) | 2017-08-18 |
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