船体涂装缺陷智能检测与修复机器人的设计

Design of Intelligent Detection and Repair Robot for Coating Defects on Hull

对于船体表面涂装缺陷的修补,传统方法是人工手动打磨然后手动喷漆,此法效率低且对工人健康有巨大的危害。设计了一个能够实现自动化检测与修复涂装缺陷的机器人。以PC机作为上位机,开发的人机交互软件作为上位机软件,基于固高运动控制卡的工控机作为下位机,组成一个以直角坐标型(PPP)机器人为被控对像,可以智能检测船体表面涂装缺陷并且自动修复的作业机器人。通过对人工打磨喷涂的工作过程分析完成机器人本体的结构设计,来实现对四个电机及喷枪的控制。上位机与下位机之间的以太网通信,保证了数据传输的准确性和稳定性。操作人员只需在上位机的软件界面上进行操作,就能实现整个机器人的启动、停止、在线监控、自动/手动打磨等一系列功能,达到工人与机器人之间的实时交互。系统界面直观,能够真实反映机器人工作的方案和现场情况,为达到有效的修补效果提供可靠保障。

For repairing the defects on the hull, the traditional method is manual grinding and spraying. Now, we have designed a robot which can detect and repair defects automatically because the traditional meth- od has great harm to human health. This paper takes the PC as the upper computer, own-made human-comput- er interaction software as the upper computer software and the IPC who based on GTS as the lower computer. All above make up a robot who can check and patch the hull surface coating defects intelligently. The structure design of the robot body is completed by the analysis of the working process of the artificial polishing spraying. The control system is mainly based on the GTS, to realize the control of the four motors and the gun. The Eth- ernet communication between the upper computer and the lower computer ensures the accuracy and stability of data transmission. Operators can control the robot to start, stop, online monitor and automatic/manual polish by use the software in the upper computer, then the real-time interaction between operators and machines can be realized. The interface of the system is intuitive, can truly reflect the work of the robot program and the field situation, it provides reliable protection to achieve effective repair effect.