阅读说明：本技术 一种面向船舶外板合拢缝的喷漆系统及方法 (Paint spraying system and method for ship outer plate folding seam ) 是由 徐田凡 杨哲 王传生 王晶晶 何家健 张乐乐 赵成 王晶 闫文奇 于 2021-08-20 设计创作，主要内容包括：本发明公开了一种面向船舶外板合拢缝的喷漆系统及方法,该系统包括爬壁机器人、喷漆工艺设备单元、遥控控制单元、喷漆作业模块单元；爬壁机器人用于搭载喷漆作业模块单元；喷漆工艺设备单元用于将液态涂料经高压输送及喷漆；遥控控制单元用于远程控制爬壁机器人前进、后退、转弯及喷漆作业模块的调整；喷漆作业模块单元用于控制喷漆速度以满足船舶外板合拢缝喷漆漆膜厚度要求。方法为：根据油漆的成分及漆膜厚度要求,确定喷漆速度及喷嘴到喷涂面的距离,通过遥控控制单元向喷漆作业模块单元发送控制信号控制电机的转速,实现喷漆速度实时控制。本发明喷漆的漆膜厚度较薄,且分布均匀,减少了工人的工作量,降低了漆雾对人体的伤害。(The invention discloses a paint spraying system and method for a ship outer plate closure seam, wherein the system comprises a wall climbing robot, a paint spraying process equipment unit, a remote control unit and a paint spraying operation module unit; the wall climbing robot is used for carrying the paint spraying operation module unit; the paint spraying process equipment unit is used for conveying and spraying the liquid paint under high pressure; the remote control unit is used for remotely controlling the wall-climbing robot to move forward, move backward, turn and adjust the paint spraying operation module; the paint spraying operation module unit is used for controlling the paint spraying speed so as to meet the paint film thickness requirement of the paint spraying of the ship outer plate folding joint. The method comprises the following steps: and determining the paint spraying speed and the distance from the nozzle to the spraying surface according to the components of the paint and the requirement of the thickness of a paint film, and sending a control signal to the paint spraying operation module unit through the remote control unit to control the rotating speed of the motor so as to realize the real-time control of the paint spraying speed. The paint film sprayed by the paint sprayer is thin in thickness and uniform in distribution, the workload of workers is reduced, and the damage of paint mist to a human body is reduced.)

1. The utility model provides a paint spraying system towards ship planking closes up seam, a serial communication port, including climbing wall robot (1), paint spraying process equipment unit (2), remote control unit (3), the operation modular unit (4) that sprays paint, climbing wall robot (1), paint spraying process equipment unit (2) all are connected with the operation modular unit (4) that sprays paint, climb wall robot (1), the operation modular unit (4) that sprays paint all with remote control unit (3) wireless connection, wherein:

the wall-climbing robot (1) is used for carrying a paint spraying operation module unit (4);

the paint spraying process equipment unit (2) is used for conveying liquid paint to the paint spraying operation module unit (4) through high pressure;

the remote control unit (3) is used for remotely controlling the wall-climbing robot (1) to advance, retreat and turn on one hand, and is used for remotely controlling the adjustment of the paint spraying operation module unit (4) on the other hand;

the paint spraying operation module unit (4) is used for controlling the paint spraying speed so as to meet the paint film thickness requirement of the paint spraying of the ship outer plate folding joint.

2. The paint spraying system facing to the ship outer panel folding seam as claimed in claim 1, wherein the wall-climbing robot (1) comprises a wall-climbing robot body (10) and a control cabinet (11), the wall-climbing robot body (10) is connected with the control cabinet (11), and the control cabinet (11) is used for installing electrical control devices.

3. The paint spraying system facing the ship outer panel joint seam according to claim 2, wherein the paint spraying process equipment unit (2) comprises a high-pressure airless spray pump (20), an automatic spray gun (21) and a spray nozzle (22); the high-pressure airless spraying pump (20) is connected with the automatic spray gun (21) through a paint pipe; the automatic spray gun (21) is arranged on the paint spraying operation module unit (4), and the automatic spray gun (21) receives a control signal to control the start and stop of paint spraying; the spray nozzle (22) is arranged on the automatic spray gun (21) and is used for controlling the shape of paint sprayed on the outer plate of the ship.

4. The paint spraying system facing a ship outer panel folding seam as claimed in claim 3, wherein the remote control unit (3) comprises a remote controller transmitting end (30) and a remote controller receiving end (31); the remote controller transmitting end (30) is used for manually transmitting the instruction signal in a wireless signal; the remote controller receiving end (31) is installed in the control cabinet (11) and used for receiving wireless signals and sending the wireless signals to the paint spraying operation module unit (4).

5. The paint spraying system facing a ship outer panel folding seam according to claim 4, wherein the remote controller transmitting end (30) comprises an operation panel unit (300), a signal processing unit (301), a signal transmitting unit (302); the operation panel unit (300), the signal processing unit (301) and the signal transmitting unit (302) are connected with each other; the operation panel unit (300) comprises a switch and a knob, and is used for manual operation input; the signal processing unit (301) is used for processing signals of a switch and a knob on the operation panel unit (300); the signal transmitting unit (302) transmits the processed input signal in the form of a wireless signal.

6. The paint spraying system facing the ship outer panel folding seam as claimed in claim 4, wherein the remote controller receiving end (31) comprises a signal receiving unit (310), a first CAN bus module unit (311) which are connected; the signal receiving unit (310) is used for receiving a signal sent by a remote controller transmitting terminal (30); the first CAN bus module unit (311) is used for sending the received signals to the paint spraying operation module unit (4) through a CAN bus.

7. The paint spraying system for a ship outer panel folding joint according to claim 4, wherein the paint spraying operation module unit (4) includes a paint spraying control unit (40), a paint spraying actuator unit (41); the paint spraying control unit (40) is connected with the paint spraying actuating mechanism unit (41); the paint spraying control unit (40) is used for moving the paint spraying execution mechanism unit (41) and outputting control signals for on-off of the automatic spray gun (21) according to the input instruction signals; the paint spraying actuating mechanism unit (41) is used for carrying out movement and paint spraying operation according to the control signal.

8. The paint spraying system facing the ship outer panel folding seam as claimed in claim 7, wherein the paint spraying control unit (40) comprises a second CAN bus module unit (400), a signal operation control unit (401), an IO input and output unit (402); the second CAN bus module unit (400) is connected with a signal operation control unit (401), and the signal operation control unit (401) is connected with an IO input/output unit (402); the second CAN bus module unit (400) is used for receiving an instruction signal sent by a remote controller receiving end (31) and sending a control signal to the paint spraying execution mechanism unit (41); the signal operation control unit (401) is used for generating a control signal according to the instruction signal and the paint spraying process requirement of the ship outer plate folding seam; the IO input and output unit (402) is used for outputting a DO signal to control the start and stop of paint spraying according to the generated control signal.

9. The paint spraying system facing the ship outer panel folding seam as claimed in claim 7, wherein the paint spraying actuator unit (41) comprises a driver (410), a linear motor (411), a slide table (412), a gun rod adjusting mechanism (413); the driver (410) is connected with the linear motor (411); the linear motor (411) is arranged on the sliding table (412); the gun rod adjusting mechanism (413) is arranged on the linear motor (411); the driver (410) is used for receiving a control signal and controlling the start, stop and rotating speed of the linear motor (411) according to the control signal; the linear motor (411) is used for driving the gun rod adjusting mechanism (413) to move; the sliding table (412) is used for supporting the linear motor (411) and the gun rod adjusting mechanism (413); the gun rod adjusting mechanism (413) is used for supporting the automatic spray gun (21) and the nozzle (22) and adjusting the distance between the nozzle (22) and a spraying surface.

10. The method for automatically spraying paint by using the paint spraying system facing the ship outer plate folding seam as claimed in claims 1-9, characterized in that the paint spraying speed and the distance from a nozzle to a spraying surface are determined according to the components of the paint and the requirement of the thickness of a paint film, a control signal is sent to the paint spraying operation module unit (4) through the remote control unit (3), and the paint spraying operation module unit (4) controls the rotating speed of a motor according to the control signal so as to realize real-time control of the paint spraying speed.

Technical Field

The invention belongs to the technical field of surface treatment of a ship outer plate folding seam, and particularly relates to a paint spraying system for a ship outer plate folding seam.

Background

Because the ship outer plate folding peak needs to be polished and painted after being welded, at the present stage, a spray gun is manually held to paint the folding welding line on the scaffold. The spraying mode has low automation degree and high environmental pollution degree, and can cause serious harm to the health of constructors.

At present, the direct spray gun carrying study of the wall climbing robot is mainly performed in China, and the moving speed of the wall climbing robot is low, the speed control precision cannot be guaranteed, so that the paint film thickness of paint is thick and uneven, and the spraying process requirement of the ship outer plate primer cannot be met.

Disclosure of Invention

The invention aims to provide a paint spraying system for a ship outer plate folding seam, which solves the problems of thick and uneven paint film thickness of a primer of a ship outer plate, reduces damage of paint mist to a human body, and is more environment-friendly.

The technical solution for realizing the purpose of the invention is as follows: the utility model provides a paint spraying system towards planking of boats and ships folds seam which characterized in that: including wall climbing robot, paint spraying process equipment unit, remote control unit, the operation modular unit that sprays paint, wall climbing robot, paint spraying process equipment unit all with the operation modular unit that sprays paint be connected, wall climbing robot, the operation modular unit that sprays paint all with remote control unit wireless connection, wherein:

the wall climbing robot is used for carrying the paint spraying operation module unit;

the spray painting process equipment unit is used for conveying the liquid coating to the spray painting operation module unit through high pressure;

the remote control unit is used for remotely controlling the wall climbing robot to advance, retreat and turn on one hand, and is used for remotely controlling the adjustment of the paint spraying operation module unit on the other hand;

the paint spraying operation module unit is used for controlling the paint spraying speed so as to meet the paint film thickness requirement of the paint spraying of the ship outer plate folding joint.

The method for automatically spraying paint by using the paint spraying system facing the ship outer plate folding seam determines the paint spraying speed and the distance from a nozzle to a spraying surface according to the components of paint and the requirement of the thickness of a paint film, sends a control signal to a paint spraying operation module unit through a remote control unit, and controls the rotating speed of a motor according to the control signal to realize the real-time control of the paint spraying speed.

Compared with the prior art, the invention has the following remarkable advantages:

(1) the paint spraying work is carried out under the state that the wall climbing robot is stopped, compared with the prior paint spraying technology which depends on the speed of the wall climbing robot, the paint spraying machine is not influenced by the curvature and the welding seam of the ship outer plate, is safer and more stable, has higher acceleration and speed, and can better meet the speed requirement of the paint spraying process of the ship outer plate;

(2) the remote control paint spraying operation can be carried out, the problem that the paint film thickness of the paint sprayed by the wall-climbing robot is thick independently is solved, the workload of workers is reduced, and the damage of paint mist to a human body is reduced.

The present invention is described in further detail below with reference to the attached drawing figures.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings of the embodiments can be obtained according to the drawings without creative efforts.

Fig. 1 is a system diagram of a paint spraying system facing a fold seam of an outer panel of a ship according to an embodiment of the present invention.

Fig. 2 is a block diagram of a paint spraying system facing a fold seam of an outer panel of a ship according to an embodiment of the present invention.

Detailed Description

The invention relates to a paint spraying system facing a ship outer plate folding seam, which comprises a wall-climbing robot 1, a paint spraying process equipment unit 2, a remote control unit 3 and a paint spraying operation module unit 4, wherein the wall-climbing robot 1 and the paint spraying process equipment unit 2 are both connected with the paint spraying operation module unit 4, the wall-climbing robot 1 and the paint spraying operation module unit 4 are both in wireless connection with the remote control unit 3, and the wall-climbing robot 1 and the paint spraying operation module unit 4 are both in wireless connection with the remote control unit 3, wherein:

the wall climbing robot 1 is used for carrying a paint spraying operation module unit 4;

the paint spraying process equipment unit 2 is used for conveying liquid paint to the paint spraying operation module unit 4 through high pressure;

the remote control unit 3 is used for remotely controlling the wall climbing robot 1 to advance, retreat and turn on one hand, and is used for remotely controlling the adjustment of the paint spraying operation module unit 4 on the other hand;

the paint spraying operation module unit 4 is used for controlling the paint spraying speed so as to meet the paint film thickness requirement of the paint spraying of the ship outer plate folding joint.

As a specific embodiment, the wall-climbing robot 1 includes a wall-climbing robot body 10 and a control cabinet 11, the wall-climbing robot body 10 is connected with the control cabinet 11, and the control cabinet 11 is used for installing an electrical control device.

As a specific embodiment, the paint spraying process equipment unit 2 includes a high-pressure airless spray pump 20, an automatic spray gun 21, and a spray nozzle 22; the high-pressure airless spraying pump 20 is connected with the automatic spray gun 21 through a paint pipe; the automatic spray gun 21 is arranged on the paint spraying operation module unit 4, and the automatic spray gun 21 receives a control signal to control the start and stop of paint spraying; the spray nozzle 22 is installed on the automatic spray gun 21 for controlling the shape of paint sprayed on the outer panel of the ship.

As a specific embodiment, the remote control unit 3 includes a remote controller transmitting terminal 30 and a remote controller receiving terminal 31; the remote controller transmitting terminal 30 is used for manually transmitting the instruction signal in a wireless signal; the remote controller receiving terminal 31 is installed in the control cabinet 11, and is used for receiving wireless signals and sending the wireless signals to the painting operation module unit 4.

As a specific embodiment, the remote controller transmitting terminal 30 includes an operation panel unit 300, a signal processing unit 301, a signal transmitting unit 302; the operation panel unit 300, the signal processing unit 301 and the signal transmitting unit 302 are connected with each other; the operation panel unit 300 includes a switch and a knob for manual operation input; the signal processing unit 301 is used for processing signals of a switch and a knob on the operation panel unit 300; the signal transmitting unit 302 transmits the processed input signal in the form of a wireless signal.

As a specific embodiment, the remote controller receiving end 31 includes a signal receiving unit 310, a first CAN bus module unit 311; the signal receiving unit 310 is configured to receive a signal sent by the remote controller transmitting terminal 30; the first CAN bus module unit 311 is configured to send the received signal to the painting operation module unit 4 through a CAN bus.

As a specific embodiment, the painting operation module unit 4 includes a painting control unit 40, a painting actuator unit 41; the paint spraying control unit 40 is connected with a paint spraying actuating mechanism unit 41; the paint spraying control unit 40 is used for moving the paint spraying execution mechanism unit 41 and outputting a control signal for switching on and off the automatic spray gun 21 according to an input instruction signal; the paint spraying actuator unit 41 is used for performing movement and paint spraying operation according to the control signal.

As a specific embodiment, the paint spraying control unit 40 includes a second CAN bus module unit 400, a signal operation control unit 401, and an IO input/output unit 402; the second CAN bus module unit 400 is connected with a signal operation control unit 401, and the signal operation control unit 401 is connected with an IO input/output unit 402; the second CAN bus module unit 400 is configured to receive an instruction signal sent by the remote controller receiving end 31, and send a control signal to the paint spraying actuator unit 41; the signal operation control unit 401 is used for generating a control signal according to the instruction signal and the paint spraying process requirement of the ship outer plate folding seam; the IO input/output unit 402 is configured to output a DO signal according to the generated control signal to control start and stop of paint spraying.

As a specific embodiment, the paint spraying actuator unit 41 includes a driver 410, a linear motor 411, a slide table 412, a gun rod adjusting mechanism 413; the driver 410 is connected with a linear motor 411; the linear motor 411 is installed on the sliding table 412; the gun rod adjusting mechanism 413 is arranged on the linear motor 411; the driver 410 is configured to receive a control signal and control the start, stop and rotation speed of the linear motor 411 according to the control signal; the linear motor 411 is used for driving the gun rod adjusting mechanism 413 to move; the sliding table 412 is used for supporting the linear motor 411 and the gun rod adjusting mechanism 413; the lance adjustment mechanism 413 is used to support the automatic spray gun 21 and the spray nozzle 22 and to adjust the distance of the spray nozzle 22 from the spray surface.

The invention also provides a method for automatically spraying paint by using the paint spraying system facing the ship outer plate folding seam, the paint spraying speed and the distance from a nozzle to a spraying surface are determined according to the components of paint and the requirement of the thickness of a paint film, a control signal is sent to the paint spraying operation module unit 4 through the remote control unit 3, and the paint spraying operation module unit 4 controls the rotating speed of a motor according to the control signal to realize the real-time control of the paint spraying speed.

The present invention will be described in further detail with reference to the drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.

Examples

The embodiment provides a paint spraying system for a closure joint of an outer plate of a ship.

Fig. 1 is a system diagram of a paint spraying system facing a fold seam of an outer panel of a ship according to an embodiment of the present invention. As shown in figure 1, the paint spraying system facing the ship outer plate folding seam comprises a wall climbing robot 1, a paint spraying process equipment unit 2, a remote control unit 3 and a paint spraying operation module unit 4. Wherein, the wall-climbing robot 1 and the paint spraying process equipment unit 2 are both connected with the paint spraying operation module unit 4; the wall-climbing robot 1 and the paint spraying operation module unit 4 are both in wireless connection with the remote control unit 3.

The wall-climbing robot 1 is used for carrying a paint spraying operation module unit 4; the paint spraying process equipment unit 2 is used for conveying and spraying liquid paint under high pressure; the remote control unit 3 is used for remotely controlling the advance, retreat, turning and adjustment of the paint spraying operation module of the wall climbing robot; the paint spraying operation module unit 4 is used for controlling the paint spraying speed so as to meet the paint film thickness requirement of the paint spraying of the ship outer plate folding joint.

Specifically, referring to fig. 2, the wall-climbing robot 1 includes a wall-climbing robot body 10 and a control cabinet 11; the wall-climbing robot body 10 is connected with a control cabinet 11; the control cabinet 11 is used for installing electrical control devices.

Specifically, referring to fig. 2, the paint process equipment unit 2 includes a high-pressure airless spray pump 20, an automatic spray gun 21, and a spray nozzle 22; the high-pressure airless spraying pump 20 is connected with the automatic spray gun 21 through a paint pipe; the automatic spray gun 21 is installed on the painting operation module 4 unit. The nozzle 22 is mounted on the automatic spray gun 21.

Specifically, referring to fig. 2, the remote control unit 3 includes a remote controller transmitting terminal 30 and a remote controller receiving terminal 31. The remote controller transmitting terminal 30 is used for manually transmitting the instruction signal in a wireless signal; the remote controller receiving terminal 30 is installed in the control cabinet 11, and is used for receiving wireless signals and sending the wireless signals to the paint spraying control unit 4. The remote controller transmitting terminal 30 comprises an operation panel unit 300, a signal processing unit 301 and a signal transmitting unit 302; the operation panel unit 300, the signal processing unit 301 and the signal transmitting unit 302 are connected with each other; the operation panel unit 300 includes switches, knobs, and the like for manual operation input; the signal processing unit 301 is used for processing signals of a switch and a knob on the operation panel unit 300; the signal transmitting unit 301 transmits the processed input signal in the form of a wireless signal. The remote controller receiving end 31 comprises a signal receiving unit 310 and a CAN bus module unit 311 which are connected with each other; the signal receiving unit 310 is configured to receive a signal sent by the remote controller transmitting terminal 30; the CAN bus module unit 311 is configured to send the received signal to the painting operation module unit 4 through a CAN bus.

Specifically, referring to fig. 2, the painting operation module unit 4 includes a painting control unit 40 and a painting actuator unit 41; the paint spraying control unit 40 is connected with a paint spraying actuating mechanism unit 41; the paint spraying control unit 40 is used for controlling the paint spraying execution mechanism unit 41 to move and outputting control signals for on-off of the automatic spray gun 21 according to the input instruction signals; the paint spraying actuating mechanism unit 41 is used for performing movement and paint spraying operation according to the control signal; the paint spraying control unit 40 comprises a CAN bus module unit 400, a signal operation control unit 401 and an IO input/output unit 402; the CAN bus module unit 400 is connected with a signal operation control unit 401, and the signal operation control unit 401 is connected with an IO input/output unit 402; the CAN bus module unit 400 is configured to receive an instruction signal sent by the remote controller receiving end 31, and send a control signal to the paint spraying execution mechanism unit 41; the signal operation control unit 401 is used for generating a control signal according to the instruction signal and the paint spraying process requirement of the ship outer plate folding seam; the IO input/output unit 402 is configured to output a DO signal according to the generated control signal to control start and stop of paint spraying.

Specifically, referring to fig. 2, the paint spraying actuator unit 41 includes a driver 410, a linear motor 411, a sliding table 412, and a gun rod adjusting mechanism 413; the driver 410 is connected with a linear motor 411; the linear motor 411 is arranged on the sliding table 412, the effective stroke is larger than the width of the folded seam for polishing, and the distance is about 1 m; the gun rod adjusting mechanism 413 is arranged on the linear motor 411; the driver 410 is used for receiving the control signal and controlling the start, stop and rotation speed of the linear motor according to the control signal; the linear motor 411 is used for driving the gun rod adjusting mechanism 413 to move; the sliding table 412 is used for supporting the linear motor 411 and the gun rod adjusting mechanism 413; the lance adjustment mechanism 413 is used to support the automatic spray gun 21 and the spray nozzle 22 and to adjust the distance of the spray nozzle 22 from the spray surface.

In conclusion, by using the paint spraying system facing the ship outer plate folding seam to carry out remote control paint spraying operation, the problem that the paint film thickness of the paint sprayed by the wall-climbing robot is thick is solved, the workload of workers is reduced, and the damage of paint mist to human bodies is reduced.

The above-mentioned embodiments only express one embodiment of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.