CN107088891B - Intelligent sand blasting robot based on crown block platform - Google Patents
Intelligent sand blasting robot based on crown block platform Download PDFInfo
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- CN107088891B CN107088891B CN201710197938.0A CN201710197938A CN107088891B CN 107088891 B CN107088891 B CN 107088891B CN 201710197938 A CN201710197938 A CN 201710197938A CN 107088891 B CN107088891 B CN 107088891B
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- 238000005488 sandblasting Methods 0.000 title claims abstract description 75
- 238000005507 spraying Methods 0.000 claims abstract description 9
- 238000004886 process control Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 17
- 239000003082 abrasive agent Substances 0.000 claims description 7
- 238000005422 blasting Methods 0.000 claims description 7
- 230000003321 amplification Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 abstract description 11
- 239000007921 spray Substances 0.000 description 7
- 238000011084 recovery Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 239000006187 pill Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an intelligent sand blasting robot based on an overhead traveling crane platform, which comprises sand blasting equipment, a workpiece placing platform, the overhead traveling crane platform, a manual operation platform, a system control cabinet and a robot arm, wherein the manual operation platform is provided with a handle with a function button and a touch screen; the system control cabinet is electrically connected with the manual operation table, the robot arm, the overhead traveling crane platform and the sand blasting equipment and jointly forms a control system, the control system comprises an electric control system and a microcomputer control system, the microcomputer control system is used for realizing the whole process control of the spraying and checking treatment, and the electric control cabinet controls the movement of each module or part; the robot arm is arranged on the crown block platform and is provided with at least 6 rotating shafts or joints and at least one nozzle. The invention has excellent motion capability, the moving space covers the whole sand blasting cleaning chamber, and various workpieces can be subjected to sand blasting cleaning in an automatic or manual control mode.
Description
Technical Field
The invention relates to the field of sand blasting process treatment, in particular to an intelligent sand blasting robot based on a crown block platform.
Background
The sand blasting is to throw out pills and sand by utilizing an impeller rotating at a high speed, and to impact the surface of a part at a high speed so as to meet the requirement of surface treatment. The sandblast room is called shot blasting room, sanding room again, is adapted to some large-scale work piece surface cleaning, rust cleaning, increases effects such as adhesive force between work piece and the coating, and the sandblast room divide into according to the recovery mode shot blasting room of abrasive material: mechanical recovery type shot blasting rooms and manual recovery type shot blasting rooms. At present, manual recovery of the sand blasting rooms is mostly adopted in China, the reasons are economical and practical, the manufacture is simple and convenient, the materials are simple, and the manufacturing cost of the sand blasting rooms is greatly reduced. But the manual realization of complex workpieces is difficult, and the efficiency is low; therefore, a robot having a nozzle robot capable of spraying various workpieces tends to be popular.
The technical level of domestic pill throwing equipment is lower, and the total level reaches the level from the early stage to the middle stage of the last 80 th century abroad. There are problems in that: the reliability is poor, and the failure rate is high; the energy consumption is high; the operation environment is poor, and the environmental pollution is serious; the quality and the skill of an operator are poor, and potential safety hazards exist; the equipment control level is lower, and the automation level is lower.
Disclosure of Invention
In order to solve the problems, the invention provides a robot which has excellent motion capability and can intelligently sand-blast and clean various workpieces including workpiece surfaces with complex structures, the moving space of the robot can cover the whole sand-blast cleaning room, and the robot can be programmed in a teaching mode or the robot can be manually controlled to sand-blast and clean various workpieces; it can even enter the interior of the rail vehicle through windows or other holes to clean the interior surface thereof, and the application range is from various castings, large steel pieces to rail vehicle.
The invention adopts the following technical scheme:
an intelligent sand blasting robot based on a crown block platform comprises sand blasting equipment, a workpiece placing table and the crown block platform, wherein the crown block platform can move in two vertical directions; the system control cabinet is electrically connected with the manual operation table, the robot arm, the overhead traveling crane platform and the sand blasting equipment and jointly forms a control system, the whole control system comprises an electric control system and a microcomputer control system, the microcomputer control system is used for recording and analyzing process data of sand blasting treatment and realizing the whole process control of spraying and checking treatment, and the electric control cabinet is electrically connected with each module or part through a motor and controls the movement of each module or part; the robot arm sets up on the overhead traveling crane platform, is provided with 6 at least pivots or joints, can realize vertically, transversely and the vertical direction removes, still sets up at least one nozzle, and the nozzle is connected with sand blasting equipment, realizes the sandblast.
Preferably, the overhead traveling crane platform include first support, second support and third support, first support and second support parallel arrangement, the perpendicular block of third support is between first support and second support, and the third support can freely slide along first support and second support.
Furthermore, the robot arm comprises a nozzle, a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint and a sliding block, wherein the sliding block can freely slide along a third support, the lower end of the sliding block is fixedly connected with the upper end of a connecting sleeve, the sixth joint and the fifth joint are both in sleeve structures, the sixth joint can freely slide on the inner wall of the connecting sleeve, and the upper end of the fifth joint can freely slide on the inner wall of the sixth joint; the lower end of the fifth joint is connected with a fourth joint through a movable shaft, and the lower end of the fourth joint is connected with a third joint through a movable shaft; the lower end of the third joint is connected with the second joint through a steering table, the upper end of the second joint is movably connected with the lower end of the steering table through a rotating shaft, and the second joint rotates 360 degrees along the rotating shaft; the lower end of the second joint is fixedly connected with the first joint, the first joint is provided with a rotating shaft, the rotating shaft is perpendicular to the rotating shaft, and the rotating shaft can rotate by 360 degrees; the nozzle is fixed on the rotating shaft.
Preferably, manual operation platform include touch-sensitive screen and handle, touch-sensitive screen and handle are connected the system control cabinet respectively, the handle include left control handle and right control handle, be equipped with horizontal positioning button and elevation angle range positioning button on the left control handle for control horizontal position and upper and lower elevation angle range, the right control handle on be equipped with initial positioning button and vertical positioning button, be used for setting for initial position and vertical position.
Furthermore, the control system comprises a system control cabinet, a robot arm stepping motor driving module, an overhead traveling crane stepping motor driver module, an editable controller of sand blasting equipment and a manual operation table control module, wherein an industrial control computer and a data interface are arranged in the system control cabinet, and the robot arm stepping motor driving module comprises a driving motor for controlling the freedom degrees of 6 joints of the robot arm and a travel switch input module, so that the flow or control of the 6 joints of the robot arm is realized; the overhead traveling crane stepping motor driver module comprises an overhead traveling crane X-axis control module, an overhead traveling crane Y-axis control module and an overhead traveling crane travel switch input module, and the overhead traveling crane is moved and positioned; the sand blasting equipment editable controller comprises a sand blasting equipment I/O interface, a blasting head control module, an abrasive material conveying control module, a separator control module and an abrasive material lifting control module, and realizes the control of sand blasting flow rate; the manual operation console control module comprises a function button module and a touch screen, and manual operation and parameter setting are realized.
Furthermore, the control system further comprises a sand blasting room door control module, and the sand blasting room door control module is electrically connected with the system control cabinet and used for automatically opening and closing a door of the sand blasting room.
Further, the control system further comprises an acousto-optic module, wherein the acousto-optic module comprises an audio acquisition and power amplification module, and reminds an operator of the sand blasting progress by playing prerecorded sound.
Furthermore, the control system also comprises an SIM module, and the SIM module sends a short message to the contact person in time when the sand blasting treatment is finished or a problem occurs through presetting the mobile phone number of the contact person, so that the contact person can know the field condition in time when the contact person is not on the field.
The invention has the beneficial effects that:
1. the robot arm is provided with 6 joints capable of freely moving, has excellent motion capability, can simultaneously meet a series of actions such as up-down stretching, horizontal bending, 360-degree angle adjustment and the like, can completely meet the requirement of completing the cleaning of complex components on the degree of freedom of a three-dimensional space, and can also effectively prevent the blockage of a sand blasting path.
2. The motion planning and coordination control technology research of multi-sensor fusion combines the operation of a manual operation table, and a coordination control room can program the robot through a teaching mode or carry out sand blasting cleaning on various workpieces in a manual control mode.
3. The computer simulation software can automatically generate a corresponding sand blasting cleaning program according to the main size of the workpiece. The most advanced robot simulation software such as ABB robot simulation design software is adopted to perform off-line programming by means of virtual robot technology to reach a design target, then Solidworks can be adopted to perform drawing design, the actual working condition of the surface sand blasting strength and density of the workpiece is simulated by using a computer simulation technology, and a foundation is laid for an automatic sand blasting cleaning mode.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the field setup of the present invention;
FIG. 3 is a schematic view of the construction of the robot arm of the present invention;
fig. 4 is a block diagram of the control principle of the system of the present invention.
In fig. 3: 1 first joint, 2 second joints, 3 third joints, 4 fourth joints, 5 fifth joints, 6 sixth joints and 7 sliding blocks.
Detailed Description
As shown in fig. 1, an intelligent sand blasting robot based on a crown block platform comprises sand blasting equipment, a workpiece placing table and the crown block platform, wherein the crown block platform can move in two vertical directions; the system control cabinet is electrically connected with the manual operation table, the robot arm, the overhead traveling crane platform and the sand blasting equipment and jointly forms a control system, the whole control system comprises an electric control system and a microcomputer control system, the microcomputer control system is used for recording and analyzing process data of sand blasting treatment and realizing the whole process control of spraying and checking treatment, and the electric control cabinet is electrically connected with each module or part through a motor and controls the movement of each module or part; the robot arm sets up on the overhead traveling crane platform, is provided with 6 at least pivots or joints, can realize vertically, transversely and the vertical direction removes, still sets up at least one nozzle, and the nozzle is connected with sand blasting equipment, realizes the sandblast.
The position plan of the whole system is shown in fig. 2, the crown block drives the robot arm to move on the XY axes of the moving space, and 6 joints of the robot arm realize the free movement of the space position meeting the requirement of the throwing workpiece; the nozzle is controlled by sand blasting equipment; the control of the whole system is controlled by the control cabinet, and the manual operation console transmits a control instruction to the control system in the control cabinet, so that automatic and manual fusion control is realized.
The overhead traveling crane platform include first support, second support and third support, first support and second support parallel arrangement, the perpendicular block of third support is between first support and second support, and the third support can freely slide along first support and second support. The principle of the crown block is similar to that of a navigation vehicle, and 2 limit switches are respectively arranged in the XY directions for limiting and positioning. The crown block two-direction movement control motor adopts a three-phase stepping motor.
As shown in fig. 3, the robot arm includes a nozzle, a first joint 1, a second joint 2, a third joint 3, a fourth joint 4, a fifth joint 5, a sixth joint 6 and a sliding block 7, the sliding block can freely slide along a third support, the lower end of the sliding block is fixedly connected with the upper end of a connecting sleeve, the sixth joint and the fifth joint are both sleeve structures, the sixth joint can freely slide on the inner wall of the connecting sleeve, and the upper end of the fifth joint can freely slide on the inner wall of the sixth joint; the lower end of the fifth joint is connected with a fourth joint through a movable shaft, and the lower end of the fourth joint is connected with a third joint through a movable shaft; the lower end of the third joint is connected with the second joint through a steering table, the upper end of the second joint is movably connected with the lower end of the steering table through a rotating shaft, and the second joint rotates 360 degrees along the rotating shaft; the lower end of the second joint is fixedly connected with the first joint, the first joint is provided with a rotating shaft, the rotating shaft is perpendicular to the rotating shaft, and the rotating shaft can rotate by 360 degrees; the nozzle is fixed on the rotating shaft.
The robot arm adopts the stepping motor to be matched with the precise harmonic reducer to drive the joint to move, and has the characteristics of high precision, good control performance and simple structure. On the basis of a kinematic equation of a six-degree-of-freedom arm, the position information of a crown block is considered to form eight degrees of freedom, parameterized and nonlinear rotation and movement dimensions of the robot arm are established on the basis of an initial forward variable controlled by the robot arm to perform three-dimensional space positioning control on the robot arm, and a three-dimensional arm eight-joint decomposition dimension control matrix of the robot is formed.
The manual operation platform include touch-sensitive screen and handle, touch-sensitive screen and handle are connected the system control cabinet respectively, the handle include left control handle and right control handle, be equipped with horizontal positioning button and angle of elevation range positioning button on the control handle of a left side for control horizontal position and upper and lower angle of elevation range, the control handle of the right side on be equipped with initial positioning button and vertical positioning button, be used for setting for initial position and vertical position.
The manual operation platform has the main functions that: in order to realize the throwing track, the running speed and the throwing force of a new workpiece, firstly, the track, the throwing running speed and the throwing force are identified: the operation of a human is simulated through a handle of the manual operation table, so that the machine can know the track, the running speed and the throwing force of the spray head. The specific operation is as follows:
1. the right handle is operated to make the workpiece in the proper position for starting the throwing, and the starting position button of the right handle is pressed to record the position. The longitudinal position of the right handle is adjusted to enable the spray head to be positioned in the middle of the workpiece, and the longitudinal position button of the right operating handle is pressed to record the position. The right operating handle is moved slowly, the moving speed of the handle is the running speed of the spray head in the spraying process, and the machine records the speed step by step.
2. And operating the left handle, adjusting the vertical jet depression angle amplitude of the spray head through the left handle, and simultaneously operating the left handle to adjust the horizontal distance between the spray head and the workpiece, so that the distance and the depression angle amplitude are suitable for throwing and spraying. The button for the upper and lower depression angle range and the horizontal position positioning button are pressed respectively, and the machine records the position and the jet swing angle. To this end, the machine recognizes that the human operation work has been completed. And inputting the spraying force of the spray head on a software interface of the operating platform. The machine completes the entire identification process.
In order to achieve self-correction, the spray head simulates manual operation according to the track to perform virtual spraying and cleaning. The process is carried out under manual supervision, if the actions of the robot meet requirements and are completely carried out according to the effect of people, an operator can leave the sand blasting room and start the throwing and spraying robot, and the robot can work independently; and after finishing, opening a gate, mounting the next similar workpiece, and carrying out the throwing and cleaning on the workpiece by the robot according to the similar procedure. And if a new workpiece needs to be sprayed and cleaned, the above work is carried out again.
As shown in fig. 4, the main control is controlled by an industrial computer, and is integrated with a robot arm control module, a crown block control module, a sand blasting equipment control module, a manual operation control module and a sand blasting room control, and the throwing process is controlled by mutual coordination, so that the intelligent throwing of the robot is realized. The control system comprises a system control cabinet, a robot arm stepping motor driving module, a crown block stepping motor driver module, a sand blasting equipment editable controller and a manual operation table control module, wherein an industrial control computer and a data interface are arranged in the system control cabinet, and the robot arm stepping motor driving module comprises a driving motor for controlling the freedom degrees of 6 joints of the robot arm and a travel switch input module, so that the flow or control of the 6 joints of the robot arm is realized; the overhead traveling crane stepping motor driver module comprises an overhead traveling crane X-axis control module, an overhead traveling crane Y-axis control module and an overhead traveling crane travel switch input module, and the overhead traveling crane is moved and positioned; the sand blasting equipment editable controller comprises a sand blasting equipment I/O interface, a blasting head control module, an abrasive material conveying control module, a separator control module and an abrasive material lifting control module, and realizes the control of sand blasting flow rate; the manual operation console control module comprises a function button module and a touch screen, and manual operation and parameter setting are realized. Simultaneously, in order to realize the overall control of the control system to the sandblasting room, the control system further comprises a sandblasting room large door control module, and the sandblasting room large door control module is electrically connected with the system control cabinet and used for realizing the automatic opening and closing of the door of the sandblasting room.
Because whole robot can realize automaticly, consequently operating personnel can leave the sandblast room, for the convenience of operating personnel in time knows the progress situation in sandblast room, needs to increase among the control system and reminds the module, reminds the module and can adopt following setting:
1. set up the reputation module, the reputation module includes audio acquisition and power amplifier module, reminds through the sound of broadcasting prerecording, informs operating personnel sand blasting's progress.
2. The method comprises the steps that the SIM module is arranged, and the SIM module sends a short message to a contact person in time when sand blasting is completed or a problem occurs through presetting the mobile phone number of the contact person, so that the contact person can know the field situation in time when the contact person is not on the field.
The core of the system is simulation of a sand blasting process, and in the whole system operation process, the programming method of the robot comprises 3 methods:
1. teaching programming: when the programming method is adopted, an operator manually operates the robot to perform sand blasting cleaning on a certain workpiece, and simultaneously, the robot records a sand blasting cleaning program. All the movements of the robot and the changes of other control information are stored in the blast cleaning program.
2. Off-line programming: and (4) performing off-line programming by adopting simulation software. This programming method allows easy creation of a robotic blast cleaning program without interrupting the production process. This programming method is particularly suitable for customers who need to be mass produced. Offline programming is an optional function, which needs to be matched with a 3-dimensional model of a workpiece.
3. And (3) performing automatic sand blasting programming of the workpiece according to a pre-simulation result: and for relatively simple workpieces, writing an automatic generation sand blasting cleaning program according to the simulation result.
The three different programming modes do not need to add modules or executors, and only need to realize the tasks in the software programming implementation 3.
It should be noted that the above-described embodiments allow those skilled in the art to more fully understand the specific structure of the present invention, but do not limit the invention in any way. Therefore, although the present invention has been described in detail in the specification and drawings and the examples, it will be understood by those skilled in the art that the present invention may be modified and equivalents may be substituted; all technical solutions and modifications thereof which do not depart from the spirit and scope of the present invention are intended to be covered by the scope of the present invention.
Claims (5)
1. An intelligent sand blasting robot based on a crown block platform comprises sand blasting equipment, a workpiece placing table and the crown block platform, wherein the crown block platform can move in two vertical directions; the system control cabinet is electrically connected with the manual operation table, the robot arm, the overhead traveling crane platform and the sand blasting equipment and jointly forms a control system, the whole control system comprises an electric control system and a microcomputer control system, the microcomputer control system is used for recording and analyzing process data of sand blasting treatment and realizing the whole process control of spraying and checking treatment, and the electric control cabinet is electrically connected with each module or part through a motor and controls the movement of each module or part; the robot arm is arranged on the crown block platform, is provided with at least 6 rotating shafts or joints and can move in the longitudinal direction, the transverse direction and the vertical direction, and is also provided with at least one nozzle which is connected with sand blasting equipment to realize sand blasting;
the overhead traveling crane platform is arranged above the sand blasting room and comprises a first support, a second support and a third support, the first support and the second support are arranged in parallel, the third support is vertically clamped between the first support and the second support, and the third support can freely slide along the first support and the second support;
the robot arm comprises a nozzle, a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint and a sliding block, wherein the sliding block can freely slide along a third support, the lower end of the sliding block is fixedly connected with the upper end of a connecting sleeve, the sixth joint and the fifth joint are both of sleeve structures, the sixth joint can freely slide on the inner wall of the connecting sleeve, and the upper end of the fifth joint can freely slide on the inner wall of the sixth joint; the lower end of the fifth joint is connected with a fourth joint through a movable shaft, and the lower end of the fourth joint is connected with a third joint through a movable shaft; the lower end of the third joint is connected with the second joint through a steering table, the upper end of the second joint is movably connected with the lower end of the steering table through a rotating shaft, and the second joint rotates 360 degrees along the rotating shaft; the lower end of the second joint is fixedly connected with the first joint, the first joint is provided with a rotating shaft, the rotating shaft is perpendicular to the rotating shaft, and the rotating shaft can rotate by 360 degrees; the nozzle is fixed on the rotating shaft;
the control system comprises a system control cabinet, a robot arm stepping motor driving module, a crown block stepping motor driver module, a sand blasting equipment editable controller and a manual operation table control module, wherein an industrial control computer and a data interface are arranged in the system control cabinet, and the robot arm stepping motor driving module comprises a driving motor for controlling the freedom degrees of 6 joints of the robot arm and a travel switch input module, so that the flow or control of the 6 joints of the robot arm is realized; the overhead traveling crane stepping motor driver module comprises an overhead traveling crane X-axis control module, an overhead traveling crane Y-axis control module and an overhead traveling crane travel switch input module, and the overhead traveling crane is moved and positioned; the sand blasting equipment editable controller comprises a sand blasting equipment I/O interface, a blasting head control module, an abrasive material conveying control module, a separator control module and an abrasive material lifting control module, and realizes the control of sand blasting flow rate; the manual operation console control module comprises a function button module and a touch screen, and manual operation and parameter setting are realized.
2. The crown block platform-based intelligent sand blasting robot is characterized in that the manual operation table comprises a touch screen and a handle, the touch screen and the handle are respectively connected with a system control cabinet, the handle comprises a left control handle and a right control handle, a horizontal positioning button and an elevation amplitude positioning button are arranged on the left control handle and used for controlling the horizontal position and the upper and lower elevation amplitudes, and a starting positioning button and a longitudinal positioning button are arranged on the right control handle and used for setting the starting position and the longitudinal position.
3. The crown block platform-based intelligent sand blasting robot as claimed in claim 1, wherein the control system further comprises a sand blasting room gate control module, and the sand blasting room gate control module is electrically connected with the system control cabinet and used for realizing automatic opening and closing of a gate of the sand blasting room.
4. The crown block platform-based intelligent sand blasting robot as claimed in claim 1, wherein the control system further comprises an acousto-optic module, the acousto-optic module comprises an audio acquisition and power amplification module, and the acousto-optic module is used for notifying an operator of the progress of sand blasting treatment by playing a prerecorded sound prompt.
5. The crown block platform-based intelligent sand blasting robot as claimed in claim 1, wherein the control system further comprises a SIM module, and the SIM module sends a short message to a contact in time when sand blasting is completed or a problem occurs by presetting a mobile phone number of the contact.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710197938.0A CN107088891B (en) | 2017-03-29 | 2017-03-29 | Intelligent sand blasting robot based on crown block platform |
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| CN201710197938.0A CN107088891B (en) | 2017-03-29 | 2017-03-29 | Intelligent sand blasting robot based on crown block platform |
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| CN107088891B true CN107088891B (en) | 2020-08-11 |
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| CN118848832A (en) * | 2024-08-12 | 2024-10-29 | 山东海洋工程装备研究院有限公司 | Complex environment adaptable ship sandblasting robot cluster platform and its technology |
| CN119312593B (en) * | 2024-12-16 | 2025-04-15 | 江苏凯威特斯半导体科技有限公司 | Sand blasting process simulation system for sand blasting effect evaluation |
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| CN101559597B (en) * | 2009-05-12 | 2011-04-20 | 哈尔滨工程大学 | Multifunctional gantry type seven-shaft industrial robot |
| US9731419B2 (en) * | 2010-08-03 | 2017-08-15 | Praxair S.T. Technology, Inc. | System and method for programming robots |
| CN103350421A (en) * | 2013-07-02 | 2013-10-16 | 佛山市新鹏陶瓷机械有限公司 | Automatic glaze spraying controlling method and controlling device for simulating skilled worker operation |
| CN205497463U (en) * | 2016-01-21 | 2016-08-24 | 烟台拓伟智能科技股份有限公司 | Disconnect -type robot drags teaching handle |
| CN205887318U (en) * | 2016-08-08 | 2017-01-18 | 北京惠众智通机器人科技股份有限公司 | Arm paint finishing |
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