Development of a climbing robot for grit blasting operations in shipyards (original) (raw)

A Robot for the Unsupervised Grit-Blasting of Ship Hulls

International Journal of Advanced Robotic Systems, 2012

This paper describes the design and the control architecture of an unsupervised robot developed for grit blasting ship hulls in shipyards. Grit blasting is a very common and environmentally unfriendly operation, required for preparing metallic surfaces for painting operations. It also implies very unhealthy and hazardous working conditions for the operators that must carry it out. The robot presented here has been designed to reduce the environmental impact of these operations and completely eliminate the health associated risks for the operators. It is based on a double frame main body with magnetic legs that are able to avoid the accumulation of ferromagnetic dust during its operation. The control system presents a layered structure with four layers that are physically distributed into two separate components in order to facilitate different operational modes as well as to increase the safety requirements of the system. A low-level control component has been implemented on the robotic unit itself, and a mission planning and control component has been developed on a base station that is also used for interaction with the operator, when the monitoring of the robot's operation is required. This base station component contains three layers of the control system that permit the manual, semiautonomous and autonomous operation of the whole system. A prototype of the robot has been implemented and tested in realistic environments, ascertaining that the design and the control system are perfectly suited to the functions which the robot must carry out.

GOYA: a Teleoperated System for Blasting Applied to Ships Maintenance

2000

This paper presents the GOYA Project, a teleoperated system for blasting applied to hull cleaning in ship maintenance. The objective of the project is to develop a reliable and cost effective technology regarding hull grit blasting, obtaining a high quality surface preparation together with a dramatic reduction of waste and zero emissions to environment. Present technology for hull cleaning and the problematic in shipbuilding industry are analysed. Selection of blasting technologies and materials is also approached in this paper, showing the different tests carried out to achieve a hull surface cleanliness of SA 2 ½. The desing of the robot is also presented, showing aspects of mechanical, control unit, teleoperation system and blasting head design. It also shows the consecution of a smooth hull surface and the reduction of operation costs atmospheric contamination. It also eliminates the hard working conditions of the operators in the present manual operation. This work is supported by the Spanish government and the European Union (CICYT-FEDER) and is tested in BAZAN Co.

Design of Sand Blasting Machine

International Journal for Research in Applied Science & Engineering Technology (IJRASET), 2022

When a metal is exposed to atmosphere, it gets corroded by atmospheric air. To overcome this sand blasting process are used. When machining leaves the sharp burrs or edges on an object, sandblasters can smooth it until it is safe to handle. Sand blasting is a method used to clean, polish or strengthen metal with the help of abrasive material. Sand blasting is used in almost every industry that uses metal, including aerospace, automotive, construction, shipbuilding, rail, and many others. Sand blasting machines uses abrasive material like steel grit, glass bead, sand. The blast media is pneumatically accelerated by compressed air and projected by nozzles onto the component to roughen a smooth surface, shape a surface or remove surface contaminants. For the application of sand blasting process on a big component, which may require secondary surface treatment, which is carried out in a confined space, so many times we have to shift jobs to confined room. Due to this material handling cost increases. To avoid this, there is need of design of portable type of sand blasting machine.

Technology for safety and environmental control in blasting operations

Blasting operations cause several adverse environmental effects and may result in safety problems. With the development of new explosives systems and initiation devices, blast design and execution techniques, the blasting process has now become more efficient and safer than before. Use of tools for blast design, support in execution, blast monitoring and analysis make it possible that damages and dangers from blasting can be predicted before blasting. Several software are available for prediction of vibrations, airblast, wave front reinforcement, flyrock, dust plume movement resulting from blasting. This paper also gives examples of prediction tools can be used before carrying out blasts to control environmental impacts and follow safety norms.

Fully Automated Shotcrete Robot for Rock Support

Computer-Aided Civil and Infrastructure Engineering, 2001

Optimized shotcrete application techniques are required in particular tunneling projects. Today, any spraying can be done by hand or by manipulator. With the development in the material technologies, the range of possible operation was enlarged. With automation of the application, an important contribution to improve performance and quality and to reduce rebound may be achieved. At the Swiss Federal Institute of Technology, Zurich, systematic research is done to develop the fully automated process control, focusing on the wet shotcrete method. With the development of the fully automated shotcrete robot, the user will have a very effective tool at his or her disposal to spray concrete shells (fully automated). With the new robot, the user may choose from three different modes: manual, semiautomated, and fully automated spraying. Especially the fully automated mode facilitates higher performance with less danger to the worker's health. Quality control is inherent in the applicatio...

IRJET- CASE STUDY OF CONTROL BLASTING IN GRANITE MINES

IRJET, 2020

Mining activity plays a major role for economic development of nation.drilling and blasting are two key operations in mining industry.Execution of these rows activities generates two main problems they are ground vibrations, and flyrocks and also some disturbances to the environment like noise pollution,air pollution soil pollution apart from that there also ground vibrations.Ground vibrations are very difficult to control.In blasting and drilling generally more noise pollution and vibrations will occur.These vibrations are very much dangerous to our intact structures.Even tough mining activity is done far from the resendial areas there are some structures at mine like mine office,workshop,material handeling plant and so on.From these vibrations there will a great threat. These vibrations from blasting may effect on the structures, to reduce these vibrations from blasting we implemented and used a techniques called control blasting techniques in mines. They are very much attentive and useful to control ground vibrations from blasting and fly rocks. Control blasting techniques are used both in opencast and underground mines also. Due to the severity and impact of ground vibrations the techniques are implemented. This techniques are very useful to control various hazards like noise pollution and ground vibrations and fly rocks.

IRJET-Design and Development of A Mechanical System for Civil Construction Work :An Overview

This research paper deals with the study of Mechanical systems used in Civil Construction works. In construction field there are plenty of mechanical systems are exists already and still there is much development is necessary in the construction field in the form of machineries and automation .Building construction plastering is very important as finishing the wall to increase its aesthetical values and to prevent the wall from environmental hazards. Plastering or Rendering is very strenuous job and need skilled labor work .For wall rendering very few mechanical systems are been developed and more work need to done .Our Aim is to design and develop a mechanical system which will reduce the human efforts and minimize the constructional cost and time .

Anti -Bomb Remote Controlled Inspection Robot

The advances in electronics and the development of more efficient algorithms, allow for the designing of more complex and sophisticated automated systems. The new devices include lighter, faster, reliable, and stronger robot manipulators. One available technology, with relatively low cost, is a simple robot manipulator controlled by remote control. The device has been designed to be used in both mining and law enforcement, where it can be useful for inspection, rescue, gas analysis, and even to manipulate dangerous objects, such as explosives. The applications may even include the rescue of trapped miners in risky environments. The major advantage is the fact that the robot can be controlled with a remote and monitored through a video camera, minimizing human exposure to hazardous areas, where robots can perform tasks in an aggressive atmosphere and confined spaces. This article presents a mining robot manipulator controlled by remote control, using video cameras for positioning and sensors for movements, which are located on the operator's arm. With this system, it is possible to create a sensation of virtual reality, allowing easy operation for anyone trained in dealing with explosives, rescues, or other dangerous tasks. Blasting and mining are becoming perfect applications for robots, and its use should increase very soon. The results are discussed and presented for the brand new Xiru 01 robot manipulator.