CN110027673B

CN110027673B - Self-adaptive traction wall-climbing robot for multifunctional processing of giant ship body

Info

Publication number: CN110027673B
Application number: CN201910304060.5A
Authority: CN
Inventors: 王皓; 陈根良; 杜聪聪; 李聪; 唐楚禹
Original assignee: Shanghai Jiao Tong University
Current assignee: Shanghai Jiao Tong University
Priority date: 2019-04-16
Filing date: 2019-04-16
Publication date: 2021-03-30
Anticipated expiration: 2039-04-16
Also published as: CN110027673A

Abstract

The invention discloses a self-adaptive traction wall-climbing robot for multi-functional processing of giant hulls, which relates to the field of robots and includes a traction power module, a braking and walking chassis module, a sensor module and a tool docking module. Among them, the traction power module is fixed with the large components, the brake running chassis module is connected with the traction power module through ropes, and the sensor module and the tool docking module are installed on the braking running chassis module. The invention can be applied to the work task of the wall of a large ship section, and can perform the replacement of functions such as trimming and cutting, spraying and cleaning according to actual needs, reducing the intensity and danger of manual operation, and has high operation speed and high precision. construction period.

Description

Self-adaptive traction wall-climbing robot for multifunctional processing of giant ship body

Technical Field

The invention relates to the field of robots, in particular to a self-adaptive traction wall-climbing robot for multifunctional processing of a giant ship body.

Background

The multifunctional processing means that the robot has a universal tool mounting platform and can be replaced with tool heads with different functions. The self-adaptive traction means that the motion and the accurate positioning of the wall-climbing robot are realized in a rope traction and magnetic adsorption mode. Aiming at the problem that the manual operation of the giant hull is difficult, the special equipment is designed, and has the advantages of large movement space span, high movement precision, high degree of automation of online operation and the like.

With the investment of China in ocean industry, the demand for huge ships and even oversize ships is more vigorous, and the development of ship manufacturing industry is further driven. In the ship manufacturing process, the ship sections which are processed and manufactured preliminarily are cut, trimmed and subjected to spray painting detection, and a high scaffold is often required to be built in a dock for small-scale manual operation. Or the hoisting operator is transported to a specific height for manual operation, which is time-consuming and labor-consuming, and has potential safety hazards. This results in a small machining area, which requires repeated dismantling of the scaffolding when multiple position operations are required on a large ship block, which undoubtedly delays the machining cycle. Meanwhile, the manual operation brings inevitable processing errors, and is not beneficial to the later ship section butt joint process.

The prior art is searched and found that Chinese patent document No. CN207389348U (published: 2018-05-22) describes a curved surface self-adaptive magnetic adsorption wall-climbing paint spraying robot, which comprises four permanent magnetic adsorption type crawler wheel modules with the same structure, a vehicle body module based on a parallelogram mechanism and a rectangular coordinate system type paint spraying mechanical arm module. The four permanent magnetic adsorption type crawler wheel modules with the same structure are symmetrically arranged on two sides of the vehicle body module, and the rectangular coordinate system type paint spraying mechanical arm module is installed on the upper portion of the vehicle body module. Each crawler wheel module comprises a magnetic conduction plate, a magnetic isolation plate, a neodymium iron boron permanent magnet, a crawler wheel driving motor, two driving wheels, a synchronous belt, two synchronous pulleys, two driven wheels, a crawler wheel bearing outer end cover, a crawler wheel bearing inner end cover, a crawler belt, a driving wheel shaft, a sleeve and a driven wheel shaft. The magnetic conduction plate surrounds the outer surface of the track and is rigidly connected, and a plurality of magnetic isolation plates are uniformly arranged in the middle of the magnetic conduction plate along the length direction of the magnetic conduction plate. But the prior art has the following defects compared with the application: the load capacity is limited due to the weight of the linear modules, large-range operation on the side face of the component is difficult to realize, and the maneuverability is obviously weak. Although the crawler-type magnet is used for fixation, the crawler-type magnet cannot be well applied to the work task of the wall surface of a large ship section in the work state of a large inclined plane. In addition, the prior art device has single function and can not be replaced according to actual requirements.

Therefore, those skilled in the art have endeavored to develop a device for machining a large-arc, high-size section of a component, which can be arranged on the arc surface of a ship body, and the positioning and fixing of the device are realized through an adaptive magnetic attraction and traction device. Simultaneously, the device can be according to the processing demand, changes the operation head of different functions, for example: cutting head, inkjet head and belt cleaning device.

Disclosure of Invention

In view of the above-mentioned defects of the prior art, the technical problem to be solved by the invention is to obtain a device which can be applied to the work task of the wall surface of a large-scale ship section and can be replaced according to the actual requirements through reasonable design.

In order to achieve the aim, the invention provides a self-adaptive traction wall-climbing robot for multifunctional processing of a giant ship body, which comprises a traction power module, a braking walking chassis module, a sensor module and a tool butt joint module; the traction power module is fixed with a large component, the braking walking chassis module is connected with the traction power module through a rope, and the sensor module and the tool butt joint module are both installed on the braking walking chassis module.

Further, the traction power module includes: the device comprises an upper restraint guide rail, a lower restraint guide rail, an upper sliding block, a lower sliding block, an upper electric winding disc, a lower electric winding disc, a driven winding disc, a rope, a traction connecting buckle, a power restraint buckle, a power signal wire and a rail, wherein the upper restraint guide rail is fixed above a giant ship section, the lower restraint guide rail is fixed on the ground of the ship section, the upper sliding block is installed on the upper restraint guide rail, and the lower sliding block is installed on the lower restraint guide rail.

Furthermore, the upper electric winding disc and the driven winding disc are connected with the upper sliding block, the lower electric winding disc is connected with the lower sliding block, and the power signal wire is wound on the driven winding disc.

Further, the brake undercarriage module comprises: the electromagnetic damping device comprises a magnetic bottom plate, a wheel type bottom plate, a driven wheel, an elastic connecting hinge, an electromagnetic base body, a side plate, a damping hinge, a middle plate and a rubber spring.

Furthermore, the magnetic bottom plate and the wheel type bottom plate are connected with each other through the elastic connecting hinge, the driven wheel is installed on the wheel type bottom plate, and the electromagnetic base body is fixed on the magnetic bottom plate.

Furthermore, the wheel type bottom plate and the magnetic bottom plate are combined into a whole and are connected with the middle plate through the damping hinges, and the middle plate is used as a fixing position of the sensor module and the tool butt joint module and is fixed with the side plates.

Further, the tool docking module includes: the tool comprises a base, a ring segment hoop, a pre-tightening jackscrew, an elastic jacking wheel and a universal tool joint.

Furthermore, the ring section hoop is used as a locking device, and the size of locking force is adjusted through pre-tightening jackscrews.

Further, the elastic top wheel is used for keeping the tool butt joint module at a certain distance from the surface of the ship section.

Further, the sensor module includes: the device comprises a fixing frame, a gyroscope, an ultrasonic barrier instrument, a micro control panel and a cable bunching device.

The beneficial technical effects of the invention are as follows:

1. the invention can be suitable for the working tasks of large cambered surface and high-size sections of the wall surface of a large ship section, and the intensity and the danger of manual operation are reduced.

2. According to the invention, the universal interface is reserved on the robot device, and the functions of shape modification, cutting, spraying, cleaning and the like can be replaced according to actual requirements, so that the labor cost is reduced, the processing efficiency is improved, and the processing period is shortened.

3. The invention has simple integral mechanism, and each part is a regular-shaped part, thereby being convenient for processing and manufacturing.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is an overall schematic view of a preferred embodiment of the present invention;

FIG. 2 is a block diagram of a preferred embodiment of the present invention;

FIG. 3 is a block diagram of a traction power module in accordance with a preferred embodiment of the present invention;

fig. 4 is an overall block diagram of the braking walking chassis module, sensor module and tool docking module of a preferred embodiment of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings for clarity and understanding of technical contents. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.

In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.

As shown in fig. 1 and 2, an adaptive traction wall-climbing robot for multifunctional processing of a giant hull according to a preferred embodiment of the present invention includes: the system comprises a traction power module 1, a braking walking chassis module 2, a tool butt joint module 3 and a sensor module 4. The traction power module 1 is fixed with a large component, the braking walking chassis module 2 is connected with the traction power module 1 through a rope, and the tool butt joint module 3 and the sensor module 4 are both installed on the braking walking chassis module 2.

As shown in fig. 3 and 4, the traction power module 1 includes: the device comprises an upper restraint guide rail 5, a lower restraint guide rail 6, an upper sliding block 7, a lower sliding block 8, an upper electric winding disc 9, a lower electric winding disc 10, a driven winding disc 11, a rope 12, a traction connecting buckle 13, a power restraint buckle 14, a power signal wire 15 and a rail 16. The upper restraint guide rail 5 is arranged above the giant ship section, the lower restraint guide rail 6 is fixed on the ground of the ship section, the upper slide block 7 and the lower slide block 8 are respectively arranged on the upper restraint guide rail 5 and the lower restraint guide rail 6, the upper electric winding disc 9 and the driven winding disc 11 are connected with the upper slide block 7, and the lower electric winding disc 10 is connected with the lower slide block 8. The left and right movement of the upper and lower electric coiling disks 9 and 10 and the driven coiling disk 11 along the directions of the upper and lower constraint guide rails 6 and 7 is realized. The upper and lower electric coiling disks 9 and 10 are coiled with a rope 12, and the coiling and uncoiling of the rope 12 are coordinately controlled. The passive winding disc 11 is wound with the power signal wire 15, and the passive winding disc 11 can realize the winding and unwinding of the power signal wire 15 through passive stress. The rope 12 is connected with the braking walking chassis module 2 through a rail 16 and a traction connecting buckle 13, and a power signal line 15 passes through a notch of the rail 16 and is fixed on the braking walking chassis module 2 through a power restraining buckle 14. The movement of the braking walking chassis module 2 relative to the giant ship section is realized through rope traction.

The braking walking chassis module 2 includes: the damping device comprises a magnetic bottom plate 17, a wheel type bottom plate 18, a driven wheel 19, an elastic connecting hinge 20, an electromagnetic base body 21, a side plate 22, a damping hinge 23, an intermediate plate 24 and a rubber spring 25. The magnetic bottom plate 17 and the wheel bottom plate 18 are connected with each other through an elastic connecting hinge 20, a driven wheel 19 is installed on the wheel bottom plate 18, and an electromagnetic matrix 21 is fixed on the magnetic bottom plate 17. The plurality of wheel type bottom plates 18 and the plurality of magnetic bottom plates 17 are combined into a whole and are connected with the middle plate 24 through damping hinges 23. The middle plate 24 is used as a fixing place of the sensor module 4 and the tool butt joint module 3 and is mutually fixed with the side plate 22. The accurate positioning and fixing of the braking walking chassis module 2 are realized through a magnetic adsorption mode.

The tool docking module 3 includes: the tool comprises a base 26, a ring segment hoop 27, a pre-tightening jackscrew 28, an elastic jacking wheel 29 and a universal tool joint 30. The base 26 and the middle plate 24 are connected with each other, the ring segment hoop 27 is used as a locking device and is connected with the base 26 in a screw connection mode, and the magnitude of locking force is adjusted through the pre-tightening jackscrew 28. The elastic top wheel 29 is connected to the side plate 22 at one end and against the surface of the ship block at the other end, keeping the tool docking module 3 at a distance from the surface of the ship block. The universal tool joint 30 is fixedly interconnected to the base 26. The module can be according to the processing demand, change the operation head of different functions, for example: cutting head, inkjet head and belt cleaning device.

The sensor module 4 includes: a fixed mount 31, a gyroscope 32, an ultrasonic barrier 33, a micro-control board 34 and a cable harness 35. The fixing frame 31 is installed on the side plate 22, the gyroscope 32, the ultrasonic barrier apparatus 33 and the micro control board 34 are fixed on the fixing frame 31, and the cable harness 35 is installed on the side plate 22. The module is used for the accurate positioning of the robot and the obstacle avoidance in the movement.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. A self-adaptive traction wall-climbing robot for the multi-functional processing of giant hulls, is characterized in that, comprises traction power module, brake walking chassis module, sensor module and tool docking module; wherein, described traction power module and large The components are fixed, the brake running chassis module is connected with the traction power module through a rope, and the sensor module and the tool docking module are both installed on the braking running chassis module;

The traction power module includes: an upper restraint guide rail, a lower restraint guide rail, an upper slide block, a lower slide block, an upper electric winding disc, a lower electric winding disc, a passive winding disc, a rope, a traction connection buckle, a power restraint buckle, power signal lines and cross rails, the upper restraint guide rail is fixed above the giant ship section, the lower restraint guide rail is fixed on the ground of the ship section, the upper slide block is installed on the upper restraint guide rail, the slide down the block is mounted on the lower restraint rail;

The upper electric winding disc and the passive winding disc are connected to the upper slider, the lower electric winding disc is connected to the lower slider, and the power signal is coiled on the passive winding disc Wire;

The braking and walking chassis module includes: a magnetic bottom plate, a wheeled bottom plate, a driven wheel, an elastic connecting hinge, an electromagnetic base, a side plate, a damping hinge, a middle plate and a rubber spring;

The magnetic bottom plate and the wheeled bottom plate are connected to each other through the elastic connecting hinge, the driven wheel is mounted on the wheeled bottom plate, and the electromagnetic base is fixed on the magnetic bottom plate;

The wheeled bottom plate and the magnetic bottom plate are combined into one body, and are connected with the middle plate through the damping hinge. The plates are fixed to each other;

The sensor module includes: a fixed frame, a gyroscope, an ultrasonic barrier meter, a micro control board, and a cable harness.

2 . The self-adaptive traction wall-climbing robot for multi-functional processing of giant hulls according to claim 1 , wherein the tool docking module comprises: a base, a ring segment clamp, a pre-tightening top wire, an elastic top Wheels and Universal Tool Adapters.

3. The self-adaptive traction wall-climbing robot for multi-functional processing of giant hulls according to claim 2, wherein the ring segment clamp is used as a locking device, and the locking force is adjusted by the pre-tightening jack wire the size of.

4 . The self-adaptive traction wall-climbing robot for multi-functional processing of giant hulls according to claim 2 , wherein the elastic top wheel is used to keep the tool docking module at a certain distance from the surface of the ship section. 5 .