CN107225581B - Detection and maintenance method for surface of ship steel plate shell - Google Patents
Detection and maintenance method for surface of ship steel plate shell Download PDFInfo
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- CN107225581B CN107225581B CN201710471665.4A CN201710471665A CN107225581B CN 107225581 B CN107225581 B CN 107225581B CN 201710471665 A CN201710471665 A CN 201710471665A CN 107225581 B CN107225581 B CN 107225581B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a detection and maintenance method for the surface of a ship steel plate shell.A robot comprises a frame and rollers arranged at the bottom of the frame and used for being matched with the surface of the shell, wherein permanent magnets used for adsorbing and pressing the frame on the surface of the shell are arranged at four corners of the frame; the frame is provided with a detection cylinder for installing and maintaining parts; the roller wheels positioned on the same side of the frame are also connected with elastic rubber belts, and the outer surfaces of the elastic rubber belts are provided with magnetic plates for increasing the magnetic adsorption of the roller wheels and the surface of the shell. Through using this application the robot can drive the robot and climb to the shell surface, to the boats and ships steel sheet shell surface that has appeared the problem carry out the spraying operation, prevent that the shell surface degree of depth from corroding, through the dual adsorption affinity of permanent magnet and magnetic sheet and housing face, can be stable adsorb the frame in the shell surface to remove through the gyro wheel.
Description
The application is a divisional application of the Chinese patent application with the application number of 2015108415638 on 11/28 th of 2015.
Technical Field
The invention relates to a magnetic adsorption type robot for detecting the surface of a ship steel plate shell.
Background
As is well known, a typical ship is composed of a hull, a hull frame, a deck, a cabin and a superstructure. The hull is also called a hull plate, and the hull of the ship comprises a side plate and a bottom plate. The geometry of the hull is determined by the shape of the hull plates. Various external forces such as longitudinal bending force, water pressure, wave impact force and the like borne by the ship body firstly act on the hull plate. The existing ship shell is formed by welding and splicing special ship steel plates, the surface of the ship steel plate shell needs to be detected in the maintenance process of a ship, and anti-corrosion liquid needs to be additionally sprayed when an anti-corrosion layer on the surface of the shell is fallen off. The operation is difficult because the ship shell is huge. If the robot can be driven to be adsorbed on the surface of the shell for maintenance operation, a lot of trouble can be saved. However, how to realize stable adsorption is a technical problem which needs to be solved urgently in the prior art. The prior art urgently needs a magnetic adsorption type ship steel plate shell surface detection robot which can conveniently maintain the surface of a shell and can stably adsorb.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a magnetic adsorption type ship steel plate shell surface detection robot which can conveniently maintain the shell surface and has stable adsorption.
In order to achieve the purpose, the technical scheme of the invention is to provide a magnetic adsorption type robot for detecting the surface of a steel plate shell of a ship, which comprises a frame and rollers arranged at the bottom of the frame and used for being matched with the surface of the shell, wherein permanent magnets used for adsorbing and pressing the frame on the surface of the shell are arranged at four corners of the frame; the frame is provided with a detection cylinder for installing and maintaining parts; the roller wheels positioned on the same side of the frame are also connected with elastic rubber belts, the surface of each roller wheel is provided with an annular connecting groove, the elastic rubber belts are stretched and sleeved on the adjacent roller wheels, and the elastic rubber belts are matched and sunk into the annular connecting grooves; and a magnetic plate for increasing the magnetic adsorption between the roller and the surface of the shell is arranged on the outer surface of the elastic rubber belt. Through using this application the robot can drive the robot and climb to the shell surface, to the boats and ships steel sheet shell surface that has appeared the problem carry out the spraying operation, prevent that the shell surface degree of depth from corroding, through the dual adsorption affinity of permanent magnet and magnetic sheet and housing face, can be stable adsorb the frame in the shell surface to remove through the gyro wheel.
Preferably, the inner side of the magnetic plate is provided with a T-shaped clamping piece, and the outer surface of the elastic rubber belt is uniformly provided with a plurality of T-shaped clamping grooves matched with the T-shaped clamping piece; the magnetic plate is connected with the elastic rubber belt through the cooperation of the T-shaped clamping piece and the T-shaped clamping groove. Through the design, the magnetic plate can be firmly clamped on the elastic rubber belt, the magnetic plate can generate suction with the shell when running to the surface close to the shell, and the magnetic plate cannot fall out under the limitation of the T-shaped clamping groove. Simultaneously, T shape joint spare is detachable connection with T shape draw-in groove, can adjust the adsorption affinity size on elastic rubber area and the shell surface through the quantity of the joint T shape joint spare on the adjustment elastic rubber area. Simultaneously, such structural design can be so that magnetic sheet and elastic rubber area are half separation state, when the magnetic sheet rotated to the gyro wheel tip, can rely on T shape joint spare to keep magnetic sheet and elastic rubber area to be the connected state, but magnetic sheet plate body tip and elastic rubber area separation for the magnetic sheet can be through the flexion of orbit, has avoided the drawback that straight board can' T buckle.
Preferably, a plurality of arc-shaped clamping grooves are formed in the annular connecting groove, and a plurality of arc-shaped convex ribs matched with the arc-shaped clamping grooves are uniformly distributed on the inner surface of the elastic rubber belt; when the roller rotates, the elastic rubber belt is driven to roll together through the matching of the arc-shaped clamping grooves and the arc-shaped convex ridges. Can pass through arc draw-in groove and arc bead cooperation through such design, the wheel body drives the operation of elastic rubber area together, realizes dynamic absorption.
Preferably, the magnetic plate and the T-shaped clamping piece are integrally formed, and the elastic rubber belt, the T-shaped clamping groove and the arc-shaped convex edge are integrally formed. Such a design facilitates the stability of the connection between the components.
Preferably, the surface of one side, facing the elastic rubber belt, of the T-shaped clamping piece is an arc-shaped surface, and the radian of the arc-shaped surface is matched with that of the annular connecting groove. Such design does benefit to when the magnetic sheet passes through the gyro wheel position, and T shape joint spare is connected closely with elastic rubber area, prevents that it from droing.
Preferably, the detection cylinder comprises a cylinder shell and a spraying assembly arranged in the cylinder shell, the detection cylinder is rotatably connected with the frame, a driving wheel for driving the detection cylinder to rotate in a reciprocating manner is further arranged on the frame, and the driving wheel is connected with the rotating motor. The design is favorable for aligning the spraying component to the position to be sprayed when spraying, and then the detection cylinder is driven to rotate in a reciprocating manner by the rotating motor, so that the spraying range of the spraying component price is enlarged.
Preferably, the detection cylinder is cylindrical, an arc-shaped surface is arranged on one side of the cylindrical detection cylinder, a hairbrush is arranged on the arc-shaped surface, and the hairbrush is in fit contact with the surface of the shell when rotating to the bottom of the frame along with the detection cylinder. Such design can be with the shell surface position of treating the spraying, polish through the brush earlier, clear up the desquamation that will drop soon, then the operation of spraying improves the adhesion firmness of spraying liquid.
Preferably, the frame is provided with a connecting plate, two ends of the detection cylinder are provided with rotating shafts connected with the connecting plate, the rotating shafts are rotatably connected with the connecting plate through bearings, the driving wheels are meshed with the arc-shaped surfaces to drive, and the rotating motor is a servo motor. This arrangement facilitates the detection cartridge being driven in rotation by the drive wheel to constantly switch the brush and spray assembly to the position of the housing surface to be treated.
Preferably, the spraying component comprises a spraying component shell and spraying liquid sealed in the spraying component shell, the pressure of the spraying liquid is stored in a spraying liquid storage bag, a spray head is arranged at the bottom of the spraying component shell and is communicated with the inner part of the spraying liquid storage bag through a liquid guide pipe, and a control valve body is arranged on the liquid guide pipe. Through depositing spraying hydraulic pressure and can transport spraying assembly to shell surface in spraying liquid storage bag through the frame, open control valve body, spraying liquid is pressed out in the spraying liquid storage bag, and the spraying is on shell surface.
Preferably, the spray assembly housing is fixed in the detection cylinder, and the spray head extends outwards through the circular arc surface. The design is beneficial to the realization of spraying and the conversion between the spraying and the brush.
As preferred, the spraying liquid storage bag is elasticity emulsion bag, the spraying liquid is irritated into in the elasticity emulsion bag and forces the spraying liquid storage bag to be the inflation state inside the spraying subassembly shell through the external pressure, is in under the open mode when control valve body, and the spraying liquid relies on spraying liquid storage bag shrink power to extrude the spraying liquid shower nozzle. The design realizes the spraying of the spraying liquid by depending on the contraction force of the elastic latex bag, and enriches the design scheme.
Preferably, a magnetic block sliding up and down along the spraying component shell is further arranged inside the spraying component shell, the magnetic block is arranged between the spraying liquid storage bag and the top of the spraying component shell, and the magnetic block is adsorbed to the surface of the shell to enhance extrusion of the spraying liquid storage bag; the spraying component shell is a non-ferrous part. The design enables the spraying liquid to realize spraying by means of the combined action of the contraction force of the spraying liquid storage bag and the pressure of the magnetic block; meanwhile, the matching of the coating liquid storage bag and the magnetic block is favorable for the trend of the spraying pressure to a stable state, in the starting state, the magnetic block is far away from the surface of the shell, the pressure is small, the elastic variable of the coating liquid storage bag is large, the contraction force is strong, along with the gradual contraction of the coating liquid storage bag, the elastic variable is reduced, the magnetic block is gradually close to the surface of the shell, the attraction force is enhanced, the pressure is increased, in the whole process of extruding the coating liquid, the contraction force of the coating liquid storage bag and the pressure of the magnetic block can be mutually compensated, the sum tends to a stable state, and the realization of the spraying effect is favorable. Meanwhile, a pressure pump for applying strong spraying pressure to the outside is omitted, the structure is simplified, and the same technical effect is achieved.
Preferably, the spraying assembly shell is fixedly connected with the detection barrel in an inserting mode. According to the design, the spraying component is firmly connected with the detection cylinder, and when the spraying liquid in the spraying component is used, the spraying component can be replaced by a new spraying component after being detached, so that the operation time is prolonged.
Preferably, the rollers are in driving connection with driving motors, the rollers on the two sides of the frame are connected with different driving motors, and the rollers on the two sides of the frame run at different speeds during turning to achieve steering. The running and steering of the vehicle body are realized through the structure, and the spraying component is transported to the surface of the shell needing to be maintained; the roller control mode is remote control, and the power driving structure and the steering structure are universal mechanisms in the existing remote control automobile and are not repeated here.
Preferably, the spraying component shell is provided with a vent hole. The design is beneficial to the sliding of the magnetic block in the spraying assembly shell and the suction and discharge of gas when the spraying liquid storage bag expands or contracts and deforms in the spraying assembly shell.
Preferably, a latex air bag is further arranged inside the elastic latex bag, and the latex air bag is connected with the top of the elastic latex bag; the thickness of the elastic latex bag is 0.5-3 mm; the thickness of the latex air bag is 0.1-1 mm. The design is beneficial to avoiding the magnetic block from excessively extruding the elastic latex bag when the spraying liquid in the elastic latex bag is about to be sprayed; after elasticity emulsion bag reconversion, if extrude it, fold and the crease is formed in extrusion department easily, reduces the elasticity performance of latex, sets up the latex gasbag in elasticity emulsion bag, can realize supporting elasticity emulsion bag through the latex gasbag, prevents that it from forming folding and crease. The latex gasbag in the elastic latex bag can be along with the reduction of inside spraying liquid use amount and gradual volume increase, be favorable to realizing the support, after pouring the spraying liquid again, because the pressure increase in the elastic latex bag, the latex gasbag volume can reduce, such design can realize the protection of latex gasbag to the elastic latex bag, can not lead to occuping the elastic latex bag inner space because latex gasbag volume is too big again, lead to spraying liquid storage space not enough.
Preferably, the contact position of the magnetic block and the spraying liquid storage bag is bonded through an adhesive. The design is beneficial to driving the magnetic block to move together when the spraying liquid storage bag expands and contracts; the shell of the spraying component is horizontal, the magnetic block needs to overcome a certain friction force, and the design can pull the magnetic block to a position close to the surface of the shell through the contraction of the spraying liquid storage bag, so that the formation of the adsorption force between the magnetic block and the surface of the shell is facilitated; when the shower nozzle of spraying assembly shell up, self gravity need be overcome to the magnetic path, and such design can be drawn the magnetic path to the nearer position apart from the shell surface through the shrink of spraying liquid storage bag, does benefit to the formation of magnetic path and shell surface adsorption affinity.
Preferably, a brass magnetic isolation component is further arranged between the magnetic block and the top of the spraying component shell. The design can isolate the external attraction to the magnetic block at the top of the spraying assembly shell, and avoid unnecessary interference of other iron parts.
Preferably, a polytetrafluoroethylene wear-resistant layer is arranged at the contact position of the side wall of the magnetic block and the inner wall of the spraying assembly shell. Such design does benefit to and reduces the frictional force between magnetic path and the spraying assembly shell inner wall, has strengthened the wearability of magnetic path outer wall simultaneously.
Preferably, the inner wall of the spraying component shell is coated with lubricating oil. Such design does benefit to the frictional force of less spraying assembly shell inner wall, and the magnetic path is favorable to sliding in the spraying assembly shell, does benefit to spraying liquid storage bag and spraying assembly shell internal friction and receive the damage less when the spraying assembly shell internal expansion or shrink deformation.
Preferably, the connection part of the spray head and the liquid guide pipe is arranged in a sealing way, and the connection part of the liquid guide pipe and the spraying liquid storage bag is arranged in a sealing way. The design ensures that the spray head and the liquid guide pipe can be communicated, and high-pressure sealing connection is formed at the joint, so that liquid leakage caused by overlarge pressure during spraying is avoided; the design ensures that the liquid guide pipe can be communicated with the spraying liquid storage bag, and the high-pressure sealing connection is formed at the joint, so that the leakage of liquid caused by overlarge pressure during spraying is avoided. The spraying liquid level is anticorrosive spraying liquid, such as paint, epoxy resin coating and other liquid coatings.
The invention has the advantages and beneficial effects that: through using this application the robot can drive the robot and climb to the shell surface, carry out the spraying operation to the boats and ships steel sheet shell surface that has appeared the problem, prevent that the shell surface degree of depth from corroding.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a mechanism for engaging an elastic rubber belt with a roller;
FIG. 3 is an enlarged view of the structure at A in FIG. 2;
FIG. 4 is a schematic diagram showing a separation structure of the T-shaped clip member and the T-shaped clip groove in FIG. 3;
fig. 5 is a schematic view of the internal structure of the detection cartridge.
In the figure: 1. a spray assembly housing; 2. spraying liquid; 3. a spray head; 4. a catheter; 5. a control valve body; 6. an elastic latex bag; 7. a magnetic block; 8. a housing surface; 9. a brass magnetic isolation member; 10. a polytetrafluoroethylene wear layer; 11. air holes are formed; 12. a latex air bag; 13. a roller; 17. a permanent magnet; 19. a frame; 20. a detection cylinder; 21. a barrel housing; 22. a drive wheel; 23. rotating the motor; 24. a circular arc surface; 25. a brush; 26. a connecting plate; 28. a rotating shaft; 29. an elastic rubber band; 30. an annular connecting groove; 31. a magnetic plate; 32. a T-shaped clamping piece; 33. a T-shaped clamping groove; 34. an arc-shaped clamping groove; 35. an arc-shaped rib; 36. an arc-shaped surface.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1-5, the magnetic adsorption type robot for detecting the surface of the steel plate shell of the ship comprises a frame 19 and rollers 13 arranged at the bottom of the frame 19 and used for matching with the surface 8 of the shell, wherein permanent magnets 17 for adsorbing and pressing the frame 19 on the surface 8 of the shell are arranged at four corners of the frame 19; the frame 19 is provided with a detection cylinder 20 for installing maintenance parts; the roller 13 positioned on the same side of the frame 19 is also connected with an elastic rubber belt 29, the surface of the roller 13 is provided with an annular connecting groove 30, the elastic rubber belt 29 is stretched and sleeved on the adjacent roller 13, and the elastic rubber belt 29 is matched and sunk into the annular connecting groove 30; the outer surface of the elastic rubber band 29 is provided with a magnetic plate 31 for increasing magnetic attraction between the roller 13 and the housing surface 8.
A T-shaped clamping piece 32 is arranged on the inner side of the magnetic plate 31, and a plurality of T-shaped clamping grooves 33 matched with the T-shaped clamping piece 32 are uniformly distributed on the outer surface of the elastic rubber belt 29; the magnetic plate 31 is connected with the elastic rubber belt 29 through the cooperation of the T-shaped clamping piece 32 and the T-shaped clamping groove 33.
A plurality of arc-shaped clamping grooves 34 are formed in the annular connecting groove 30, and a plurality of arc-shaped convex ribs 35 matched with the arc-shaped clamping grooves 34 are uniformly distributed on the inner surface of the elastic rubber belt 29; when the roller 13 rotates, the arc-shaped clamping groove 34 and the arc-shaped convex rib 35 are matched to drive the elastic rubber belt 29 to roll together.
The magnetic plate 31 and the T-shaped clamping piece 32 are integrally formed, and the elastic rubber belt 29, the T-shaped clamping groove 33 and the arc-shaped convex rib 35 are integrally formed.
The surface of the T-shaped clamping piece 32, which faces one side of the elastic rubber belt 29, is an arc-shaped surface 36, and the radian of the arc-shaped surface 36 is matched with that of the annular connecting groove 30.
The detection cylinder 20 comprises a cylinder shell 21 and a spraying assembly arranged in the cylinder shell 21, the detection cylinder 20 is rotatably connected with the frame 19, a driving wheel 22 for driving the detection cylinder 20 to rotate in a reciprocating manner is further arranged on the frame 19, and the driving wheel 22 is connected with a rotating motor 23.
The detection barrel 20 is cylindrical, one side of the cylindrical detection barrel 20 is provided with an arc surface 24, a hairbrush 25 is arranged on the arc surface, and the hairbrush 25 is in fit contact with the surface 8 of the shell when rotating to the bottom of the frame 19 along with the detection barrel 20.
The frame 19 is provided with a connecting plate 26, two ends of the detection barrel 20 are provided with rotating shafts 28 connected with the connecting plate 26, the rotating shafts 28 are rotatably connected with the connecting plate 26 through bearings, the driving wheel 22 is meshed with the circular arc surface 24 for driving, and the rotating motor 23 is a servo motor.
The spraying assembly comprises a spraying assembly shell 1 and spraying liquid 2 sealed in the spraying assembly shell 1, wherein 2 pressure of the spraying liquid is stored in a storage bag for the spraying liquid 2, a spray head 3 is arranged at the bottom of the spraying assembly shell 1, the spray head 3 is communicated with the interior of the storage bag for the spraying liquid 2 through a liquid guide pipe 4, and a control valve body 5 is arranged on the liquid guide pipe 4.
The spray assembly housing 1 is secured within the test cartridge 20 and the spray head 3 extends outwardly through the arcuate surface 24.
2 reservoir bags of spraying liquid are elasticity emulsion bag 6, 2 reservoir bags of spraying liquid are irritated into elasticity emulsion bag 6 through the external pressure and force 2 reservoir bags of spraying liquid to be the inflation state in 1 inside spraying assembly shell, are in under the open mode when control valve body 5, and 2 reservoir bag contractile force of spraying liquid 2 that rely on of spraying liquid extrude shower nozzle 3 with 2 reservoir bags of spraying liquid.
The magnetic block 7 which slides up and down along the spraying component shell 1 is further arranged in the spraying component shell 1, the magnetic block 7 is arranged between the spraying liquid 2 storage bag and the top of the spraying component shell 1, and the magnetic block 7 is used for being adsorbed to the surface 8 of the shell to enhance the extrusion of the spraying liquid 2 storage bag; the spraying component shell 1 is a non-ferrous part. The magnetic block 7 is preferably a permanent magnet.
The spray assembly housing 1 and the vehicle frame 19 may be rigid plastic or aluminum alloy pieces to reduce the weight of the system.
The spraying component shell 1 is provided with an air hole 11.
The latex air bag 12 is also arranged in the elastic latex bag 6, and the latex air bag 12 is connected with the top of the elastic latex bag 6; the thickness of the elastic latex bag 6 is 0.5-3 mm; the thickness of the latex air bag 12 is 0.1-1 mm.
The contact position of the magnetic block 7 and the storage bag of the spraying liquid 2 is bonded through a bonding agent.
And a brass magnetic isolation component 9 is also arranged between the magnetic block 7 and the top of the spraying component shell 1. The spraying layer can be a brass magnetic isolation plate 31 or a brass spraying layer, and can be arranged on the magnetic block 7 or on the inner wall of the top of the spraying component shell 1.
And a polytetrafluoroethylene wear-resistant layer 10 is arranged at the contact position of the side wall of the magnetic block 7 and the inner wall of the spraying component shell 1.
And lubricating oil is coated on the inner wall of the spraying component shell 1.
The connection part of the spray head 3 and the liquid guide pipe 4 is arranged in a sealing way, and the connection part of the liquid guide pipe 4 and the storage bag of the spraying liquid 2 is arranged in a sealing way.
When maintenance operation is carried out, firstly, the frame 19 is adsorbed and pressed on the surface 8 of the shell by the permanent magnet 17, and adsorption connection can be realized no matter the bottom surface of the frame 19 faces any direction; secondly, the magnetic plate 31 on the elastic rubber belt 29 is adsorbed on the surface 8 of the shell, and the magnetic plate 31 is subjected to adsorption force and pulls the elastic rubber belt 29 through the T-shaped clamping piece 32 so as to adsorb the roller 13 on the surface 8 of the shell stably;
controlling the rollers 13 to rotate, and moving the carriage 19 to a position where the shell surface 8 is damaged; the driving wheel 22 is driven to rotate by the rotating motor 23, the driving wheel 22 drives the detection cylinder 20 to rotate, the brush 25 rotates to the lower end of the frame 19 and is in matched contact with the position to be processed of the surface 8 of the shell, the rotating motor 23 is controlled to alternately operate in the forward and reverse directions, the brush 25 polishes the surface 8 of the shell back and forth, and the peeled anticorrosive layer is polished clean; similarly, the rotating motor 23 drives the detection cylinder 20 to rotate the spraying component to the position to be treated which is just polished, so that the spray head 3 faces the direction of the position to be sprayed on the surface 8 of the outer shell; open control valve body 5, 2 spraying liquid rely on 2 storage bag shrink power of spraying liquid, and magnetic path 7 and shell surface 8 adsorb and will spray 2 extrusion nozzle 3 of the extrusion force of 2 storage bags of spraying liquid to realize the spraying operation. After the spraying is finished, the control valve body 5 is closed, and the operation can be circulated if the spraying operation of the next position is required; if the spraying is finished, the vehicle body is remotely controlled to a lower position, and the vehicle frame 19 is taken down;
since the magnetic plate 31 is moved along with the elastic rubber band 29, when the magnetic plate 31 is in a flat position, the magnetic plate 31 and the elastic rubber band 29 are in a close state, when the magnetic plate is required to pass through the bending position of the roller 13, the magnetic plate 31 except the T-shaped clamping piece 32 is temporarily separated from the elastic rubber band 29 so as to realize the bending of the elastic rubber band 29, when the magnetic plate is moved until the elastic rubber band 29 is close to the shell surface 8, the magnetic plate 31 receives a larger suction force from the shell, but due to the restriction effect of the T-shaped clamping piece 32 and the T-shaped clamping groove 33, the approach of the magnetic plate 31 to the shell surface 8 is restricted, and the elastic rubber band 29 is pressed on the shell surface 8 at the same time. The auxiliary adsorption function of the elastic rubber belt 29 is realized.
Preferably, through the matching of the storage bag of the spraying liquid 2 and the magnetic block 7, the spraying liquid 2 can realize spraying by means of the combined action of the contraction force of the storage bag of the spraying liquid 2 and the pressure of the magnetic block 7; meanwhile, the matching of the coating liquid storage bag and the magnetic block 7 is favorable for the trend of the spraying pressure to a stable state, in the starting state, the magnetic block 7 is far away from the surface 8 of the shell, the pressure is small, the elastic variable of the storage bag of the coating liquid 2 is large, the contraction force is strong, along with the gradual contraction of the storage bag of the coating liquid 2, the elastic variable is reduced, the magnetic block 7 is gradually close to the surface 8 of the shell, the attraction is enhanced, the pressure is increased, in the whole process of extruding the coating liquid 2, the contraction force of the storage bag of the coating liquid 2 and the pressure of the magnetic block 7 can be compensated mutually, the sum tends to a stable state, and the realization of the spraying effect is favorable. Meanwhile, a pressure pump used for applying strong spraying pressure to the outside is omitted, the structure is simplified, and the same technical effect is achieved;
after the elastic latex bag 6 is restored, the latex air bag 12 is arranged in the elastic latex bag 6, and the elastic latex bag 6 can be supported by the latex air bag 12, so that the magnetic block 7 is prevented from being excessively extruded to form folding and crease; at this time, the spraying liquid 2 is refilled into the elastic latex bag 6 through the external equipment, and the volume of the latex air bag 12 is gradually reduced due to the increase of the pressure in the elastic latex bag 6.
In the spraying process of the spraying assembly, the detection cylinder 20 can be controlled to rotate back and forth at a small angle, so that the spraying coverage area can be increased, and the spraying efficiency can be improved.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the technical principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the invention.
Claims (1)
1. The detection maintenance method of the surface of the ship steel plate shell adopts a robot: the robot comprises a frame and rollers arranged at the bottom of the frame and used for being matched with the surface of a shell, wherein permanent magnets used for adsorbing and pressing the frame on the surface of the shell are arranged at four corners of the frame; the frame is provided with a detection cylinder for installing and maintaining parts; the roller wheels positioned on the same side of the frame are also connected with elastic rubber belts, the surface of each roller wheel is provided with an annular connecting groove, the elastic rubber belts are stretched and sleeved on the adjacent roller wheels, and the elastic rubber belts are matched and sunk into the annular connecting grooves; the outer surface of the elastic rubber belt is provided with a magnetic plate for increasing the magnetic adsorption between the roller and the surface of the shell;
the inner side of the magnetic plate is provided with a T-shaped clamping piece, and the outer surface of the elastic rubber belt is uniformly provided with a plurality of T-shaped clamping grooves matched with the T-shaped clamping piece; the magnetic plate is matched with the T-shaped clamping groove through the T-shaped clamping piece to realize connection with the elastic rubber belt;
a plurality of arc-shaped clamping grooves are formed in the annular connecting groove, and a plurality of arc-shaped convex edges matched with the arc-shaped clamping grooves are uniformly distributed on the inner surface of the elastic rubber belt; when the roller rotates, the elastic rubber belt is driven to roll together through the matching of the arc-shaped clamping grooves and the arc-shaped convex ribs;
the magnetic plate and the T-shaped clamping piece are integrally formed, and the elastic rubber belt, the T-shaped clamping groove and the arc-shaped convex edge are integrally formed;
the surface of one side of the T-shaped clamping piece, which faces the elastic rubber belt, is an arc surface, and the radian of the arc surface is matched with that of the annular connecting groove;
the detection cylinder comprises a cylinder shell and a spraying assembly arranged in the cylinder shell, the detection cylinder is rotationally connected with the frame, the frame is also provided with a driving wheel for driving the detection cylinder to rotate in a reciprocating manner, and the driving wheel is connected with a rotating motor;
the detection cylinder is cylindrical, an arc-shaped surface is arranged on one side of the cylindrical detection cylinder, a hairbrush is arranged on the arc-shaped surface, and the hairbrush is in matched contact with the surface of the shell when rotating to the bottom of the frame along with the detection cylinder;
the frame is provided with a connecting plate, two ends of the detection cylinder are provided with rotating shafts connected with the connecting plate, the rotating shafts are rotatably connected with the connecting plate through bearings, the driving wheels are meshed with the arc-shaped surfaces for driving, and the rotating motor is a servo motor;
the spraying component comprises a spraying component shell and spraying liquid sealed in the spraying component shell, the pressure of the spraying liquid is stored in a spraying liquid storage bag, a spray head is arranged at the bottom of the spraying component shell, the spray head is communicated with the inner part of the spraying liquid storage bag through a liquid guide pipe, and a control valve body is arranged on the liquid guide pipe;
the spraying component shell is fixed in the detection cylinder, and the spray head penetrates through the arc-shaped surface and extends outwards;
the spraying liquid storage bag is an elastic latex bag, the spraying liquid is filled into the elastic latex bag through external pressure and is forced to be in an expansion state in the shell of the spraying component, and when the control valve body is in an opening state, the spraying liquid is extruded out of the spray head by virtue of the contraction force of the spraying liquid storage bag;
the magnetic block is arranged between the spraying liquid storage bag and the top of the spraying component shell and is used for being adsorbed on the surface of the shell so as to enhance the extrusion of the spraying liquid storage bag;
the spraying component shell is a non-ferrous part;
the spraying component shell is fixedly inserted with the detection cylinder; the spraying component shell is provided with air holes;
the latex air bag is arranged in the elastic latex bag and connected with the top of the elastic latex bag; the thickness of the elastic latex bag is 0.5-3 mm; the thickness of the latex air bag is 0.1-1 mm;
the contact position of the magnetic block and the spraying liquid storage bag is bonded through a binder;
a brass magnetic isolation component is arranged between the magnetic block and the top of the spraying component shell;
a polytetrafluoroethylene wear-resistant layer is arranged at the contact position of the side wall of the magnetic block and the inner wall of the spraying assembly shell; lubricating oil is coated on the inner wall of the shell of the spraying component;
the joint of the spray head and the liquid guide pipe is arranged in a sealing way, and the joint of the liquid guide pipe and the spraying liquid storage bag is arranged in a sealing way;
the method comprises the following specific steps: when the detection and maintenance operation is carried out, firstly, the frame is adsorbed and pressed on the surface of the shell by the permanent magnet, and adsorption connection can be realized no matter the bottom surface of the frame faces any direction; secondly, the magnetic plate on the elastic rubber belt is adsorbed on the surface of the shell, and the magnetic plate is subjected to adsorption force to pull the elastic rubber belt through the T-shaped clamping piece so as to stably adsorb the roller on the surface of the shell;
controlling the roller to rotate, and moving the frame to a position where the surface of the shell is damaged; the rotating motor drives the driving wheel to rotate, the driving wheel drives the detection cylinder to rotate, the hairbrush rotates to the lower end of the frame and is in matched contact with a position to be treated on the surface of the shell, the rotating motor is controlled to alternately operate in the forward direction and the reverse direction, the hairbrush polishes the surface of the shell back and forth, and the peeled anticorrosive layer is polished clean; similarly, the detection cylinder is driven by the rotating motor to rotate the spraying component to the position to be treated which is just polished, so that the spray head faces the direction of the position to be sprayed on the surface of the outer shell; the control valve body is opened, spraying liquid depends on the shrinkage force of the spraying liquid storage bag and the extrusion force of the magnetic block and the surface of the shell to the spraying liquid storage bag to extrude the spraying liquid out of the spray head, and therefore spraying operation is achieved; closing the control valve body after finishing the spraying, and circulating the operation if the spraying operation of the next position is needed; if the spraying is finished, the vehicle body is remotely controlled to a lower position, and the vehicle frame is taken down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710471665.4A CN107225581B (en) | 2015-11-28 | 2015-11-28 | Detection and maintenance method for surface of ship steel plate shell |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510841563.8A CN105438301B (en) | 2015-11-28 | 2015-11-28 | A kind of magnetic adsorption type shipbuilding steel plate case surface detects robot |
| CN201710471665.4A CN107225581B (en) | 2015-11-28 | 2015-11-28 | Detection and maintenance method for surface of ship steel plate shell |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510841563.8A Division CN105438301B (en) | 2015-11-28 | 2015-11-28 | A kind of magnetic adsorption type shipbuilding steel plate case surface detects robot |
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| Publication Number | Publication Date |
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| CN107225581A CN107225581A (en) | 2017-10-03 |
| CN107225581B true CN107225581B (en) | 2020-08-04 |
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| CN201710471665.4A Expired - Fee Related CN107225581B (en) | 2015-11-28 | 2015-11-28 | Detection and maintenance method for surface of ship steel plate shell |
| CN201510841563.8A Expired - Fee Related CN105438301B (en) | 2015-11-28 | 2015-11-28 | A kind of magnetic adsorption type shipbuilding steel plate case surface detects robot |
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| CN201510841563.8A Expired - Fee Related CN105438301B (en) | 2015-11-28 | 2015-11-28 | A kind of magnetic adsorption type shipbuilding steel plate case surface detects robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428278B (en) * | 2016-10-25 | 2018-09-04 | 大连理工大学 | For steel hull structure face magnetic vehicle motion control device and its application method |
| CN108100185B (en) * | 2017-12-19 | 2019-05-24 | 上海飞浪气垫船有限公司 | A kind of aircushion vehicle method for anticorrosion treatment |
| CN108979038B (en) * | 2018-06-21 | 2020-08-25 | 浙江大丰建筑装饰工程有限公司 | Theater decorative wall construction method |
| BE1030598B1 (en) * | 2022-12-14 | 2024-01-09 | Viage SPRL | Automatic topographical marking system on the underside and vertically |
| CN117299435B (en) * | 2023-11-30 | 2024-01-30 | 江苏微特利电机股份有限公司 | Paint spraying equipment for motor shell production |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107225581A (en) | 2017-10-03 |
| CN105438301B (en) | 2017-09-15 |
| CN105438301A (en) | 2016-03-30 |
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Effective date of registration: 20200709 Address after: Li Shaojun residential building, group 5, Linchun, Longling Road, Jiyang District, Sanya City, Hainan Province, 572099 Applicant after: Hainan Jianke Electronic Technology Development Co.,Ltd. Address before: 414104 Jiangjia Villagers Group No. 10, Xingwang Village, Zhongzhou Township, Yueyang County, Hunan Province Applicant before: Qian Fanglin |
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