Research And Application Of Process Database Database For Ship Painting Robot

At present,the shipping industry is facing difficulties in development and the shipping market is in a downturn.Many shipping enterprises at home and abroad have begun to transform their production.Under the wave of technology development of national intelligent manufacturing 2025,China's shipbuilding enterprises vigorously develop the intelligent manufacturing technology of the shipbuilding industry,and introduce and develop the shipbuilding industry robots,which has become the development trend of shipbuilding industry production and construction technology.In this paper,a wall-climbing spraying robot for ship painting in Shanghai Waigaoqiao Shipbuilding Co.,Ltd.is taken as the research object.Through the spraying experiment based on the process parameters of the robot,the main factors affecting the robot spraying are studied,and the optimal process parameters are obtained,so as to improve the spraying effect of the robot.At the same time,the process database architecture of spraying robot is designed and studied,which provides a reference for the intelligent development of spraying robot.The main research contents are as follows:(1)Based on the research and analysis of the current development status of robots in shipbuilding industry,taking the painting and wall-climbing spraying robot of Shanghai Waigaoqiao Shipbuilding Co.,Ltd.as the research object,the present situation of manual spraying is analyzed,and compared with the robot spraying operation,the technological factors affecting the spraying effect of robots are discussed.Taking the double beta distribution model in the coating accumulation model as an example,the coating accumulation distribution of robotic spraying equipment was analyzed.According to the expression of the model,the appropriate parameters such as moving speed,spraying pressure,spraying gun height and the length of the pipeline connecting the paint were pre-selected,and the influence of coating properties on the robot spraying operation was analyzed.(2)A systematic study was carried out on the parameters of mobile speed,spraying pressure,spraying gun height,pipeline length of linking paint and coating properties during robot spraying.Through contrast spraying experiments,it is found that the moving speed and the length of the pipeline connecting the paint have limited effect on the spraying of the hoisting robot,while the spraying pressure and the height of the spraying gun have improved significantly.The spraying experiments of coatings with different properties at different gun heights and spraying pressures were carried out systematically.It was proved that the spraying pressures and gun heights could obviously change the spraying effect for coatings with different properties,especially for coatings with single component and low viscosity.The results of the orthogonal experiments on these parameters show that the spraying pressure has the greatest influence on the spraying effect,while the spraying gun height,the length of the paint tube and the moving speed have relatively small influence.It is concluded that the spraying pressure is the main factor affecting the spraying effect.The optimum combination of parameters for the robot in the spraying operation of antifouling paint on the ship outer panel is obtained as follows:the spraying gun height.It has 450 m m degree,300 mm/s moving speed,0.55 Mpa spraying pressure and 40 m length of paint pipe.(3)Based on the systematic study of the spraying effect of the ship spraying robot,the spraying process database structure based on the operation mode of the robot was established,and the design idea of driving the robot interface through the process database was put forward,which provided a certain basis for the intelligent development of the spraying robot's decision-making.