The invention discloses a control method of a multi-legged bionic ship spraying robot, and relates to the technical field of ship spraying, ship surface information of a current drop point and a next drop point of a leg is obtained, the posture of the robot is combined, and the starting mode of an electromagnet is controlled; and the attraction force of the electromagnet on each leg is determined by reading the pressure value of the pressure sensor, so that the attraction force of the electromagnets is adjusted, and efficient self-adaptive control is realized, thereby ensuring that the robot can cope with the change of the surface of the ship, providing a guarantee for the reliable work of the robot, and achieving the purposes of energy conservation and consumption reduction. In addition, the central control system can determine the walking gait mode of the robot according to the current ship surface state, and the working capacity and the moving capacity of the robot on the complex surface are ensured; meanwhile, the central control system controls all joints of the mechanical arm to rotate, so that the spray gun uniformly moves relative to the surface of the ship, and uniform spraying is ensured; and spraying quality detection can be automatically carried out after spraying is completed.

    本发明公开了一种多足仿生船舶喷涂机器人的控制方法,涉及船舶喷涂技术领域,通过获取腿部当前落点以及下一落点的船舶表面信息,结合机器人的姿态,控制电磁铁的开启模式,并通过读取压力传感器的压力值来确定每条腿部上的电磁铁吸力大小,进而调节电磁铁吸力大小,实现高效的自适应控制,从而确保机器人可以应对船舶表面的变化,为机器人可靠工作提供了保证,并做到节能减耗。此外,中控系统可以根据当前的船舶表面状态来确定机器人行走步态模式,确保机器人在复杂表面作业能力、移动能力;与此同时,中控系统控制机械臂的各关节的转动,使喷枪相对船舶表面均匀移动,确保喷涂均匀;并在喷涂完成后可以自动进行喷涂质量检测。


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    Title :

    Control method of multi-legged bionic ship spraying robot


    Additional title:

    一种多足仿生船舶喷涂机器人的控制方法


    Contributors:
    YANG GUIZHI (author) / CHEN JIE (author) / WU YIMING (author) / CHEN XIANGYU (author) / WU WENCAN (author) / LIU YUHUAI (author) / LI ZHEN (author) / ZHONG XUNGAO (author) / HUAN ZHIJIE (author)

    Publication date :

    2023-09-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B05B Sprühvorrichtungen , SPRAYING APPARATUS / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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