Research On Expert System Of Intelligent Spraying Process For Ships

Ship painting is a very important part of the ship manufacturing process,and the quality of its coating will directly affect the service life and performance of the ship.As the ship itself is huge in size and complex in structure,it is often assembled and manufactured in the form of segments in the manufacturing process.At present,most domestic shipyards in the ship segment in the manufacturing process,segment coating operations often use manual spraying,due to the traditional manual spraying there are a series of problems such as labor intensity,spraying quality is unstable,endangering the health of workers,in order to solve this series of problems,improve the level of intelligent manufacturing shipyard,industrial robotics began to be widely used in the field of shipbuilding,and has developed into a trend.This thesis will take the intelligent spraying robot system for ship segments jointly developed by the Institute of Marine Equipment of Jiangsu University of Science and Technology and Shanghai Waigaoqiao Shipbuilding Co:(1)The system composition and layout of the ship’s segmented intelligent spraying robot system are introduced in detail,and then the equipment structure of the system is introduced,and the multi-axis track-type crane equipment and the spraying robot actuator used in the entire platform system are briefly explained.It also introduces in detail the composition and function of the four important subsystems of the crane control system,robot control system,spraying control system and video monitoring system in the scheme of the hull segmental spraying system.The construction of the spraying test platform is completed based on the segmented intelligent spraying robot system of the ship,and the parameters and functions of the relevant equipment are introduced in detail,which provides a test environment for the spraying test below.(2)Based on the actual coating situation of this system,the process factors affecting the coating quality of the intelligent coating robot system for ship segments were studied,and the relevant research on the coating process model was carried out,mainly on the following:(1)By analyzing the overall structure and functional requirements of the spraying process expert system,the overall structure design of the spraying process expert system was completed and divided into human-computer interaction module,spraying process knowledge processing module and process reasoning module according to the modules.(2)The spraying process quality model was established.The current common spraying model is introduced,and combined with the actual spraying situation,a multi-factor spraying process quality model based on the elliptical double beta distribution model is proposed through a series of analytical derivations,which is verified by test to be applicable to the intelligent spraying robot system of ship segments and provides a theoretical basis for subsequent tests.(3)Research was conducted on the spraying process expert system for ship segments by introducing the basic components of the expert system and designing and researching the spraying process expert system according to the system requirements,with the main research contents as follows:(1)By analyzing the overall structure and functional requirements of the spraying process expert system,the overall structure design of the spraying process expert system was completed,which was mainly divided into human-computer interaction module,spraying process knowledge processing module and process reasoning module according to the module division.(2)Specific research is conducted on the spraying process knowledge base of the spraying process expert system.By introducing the knowledge representation method and combining the characteristics of the spraying process knowledge,a generative representation is used to represent the spraying process knowledge;the spraying process knowledge module is designed to clarify that the sources of the spraying process knowledge are the spraying test data mining and the spraying process experts;and the design of the spraying process knowledge management is completed.(3)Research is conducted on the spraying process reasoning machine.Adopt the reasoning strategy of rule reasoning,complete the design and establishment of the spraying process rule base;complete the design of the spraying process optimization process and the reasoning of the spraying process,and establish the expert review mechanism.(4)Analyze the functional requirements of the intelligent spraying robot system for ship segments,develop and apply the spraying robot monitoring system according to the system requirements and combined with the spraying process expert system,and after field test,the functions of the spraying monitoring system meet the functional requirements of the intelligent spraying robot system for ship segments,and can realize the automatic spraying of the spraying system according to the built-in expert system mechanism,and it is verified that the The system can be used for actual spraying operation.(4)Spraying process experimental research around the spraying distance,spraying shift speed and spraying pressure and other process parameters of the spraying robot.The main research contents are as follows:(1)Analyze the influence of process parameters such as spraying distance,spraying speed and spraying pressure on the thickness of the sprayed paint film by setting up a control test group,and complete the verification of the established spraying model.(2)Complete the orthogonal test design of the spraying process test,carry out the spraying process test research,through the results of the orthogonal test multi-factor ANOVA and ANOVA,the results show that: the spraying distance,spraying speed and spraying pressure can explain 98.86% of the variation of the paint film thickness of the ship segment intelligent spraying robot,and further verify the correctness of the model;the spraying distance has the greatest influence on the spraying quality of the ship segment intelligent spraying The best process parameters of the coating robot system are the coating distance of 300 mm,the spraying speed of 0.3m/s and the spraying pressure of 0.6MPa.(3)For the characteristics of dual gun spraying and the application requirements of the actual spraying situation,the best overlap area verification test between the spray guns is completed,and the test results show that the best overlap area is 50% when the dual guns are sprayed in this system.