CN106378274A - Feeding and paint mist recovery protective cover system of ship shell plate towing spraying type robot and operation method of feeding and paint mist recovery protective cover system - Google Patents
Feeding and paint mist recovery protective cover system of ship shell plate towing spraying type robot and operation method of feeding and paint mist recovery protective cover system Download PDFInfo
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- CN106378274A CN106378274A CN201611003853.6A CN201611003853A CN106378274A CN 106378274 A CN106378274 A CN 106378274A CN 201611003853 A CN201611003853 A CN 201611003853A CN 106378274 A CN106378274 A CN 106378274A
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- protective cover
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- vacuum
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- 230000001681 protective effect Effects 0.000 title claims abstract description 74
- 238000011084 recovery Methods 0.000 title claims abstract description 55
- 239000003973 paint Substances 0.000 title claims abstract description 47
- 238000005507 spraying Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 10
- 239000003595 mist Substances 0.000 title abstract 8
- 239000011248 coating agent Substances 0.000 claims description 143
- 238000000576 coating method Methods 0.000 claims description 143
- 239000007921 spray Substances 0.000 claims description 33
- 239000002699 waste material Substances 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 14
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims description 13
- 238000002347 injection Methods 0.000 claims description 12
- 239000007924 injection Substances 0.000 claims description 12
- 230000009194 climbing Effects 0.000 claims description 8
- 239000011148 porous material Substances 0.000 claims description 7
- 239000011521 glass Substances 0.000 claims description 5
- 210000001124 body fluid Anatomy 0.000 claims description 3
- 239000010839 body fluid Substances 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000004804 winding Methods 0.000 abstract description 11
- 230000006378 damage Effects 0.000 abstract description 5
- 238000005452 bending Methods 0.000 abstract description 3
- 230000002265 prevention Effects 0.000 abstract 2
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010422 painting Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
- B05B14/30—Arrangements for collecting, re-using or eliminating excess spraying material comprising enclosures close to, or in contact with, the object to be sprayed and surrounding or confining the discharged spray or jet but not the object to be sprayed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area
- B05B12/20—Masking elements, i.e. elements defining uncoated areas on an object to be coated
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a feeding and paint mist recovery protective cover system of a ship shell plate towing spraying type robot and an operation method of the feeding and paint mist recovery protective cover system and belongs to the technical field of ship shell plate spraying intelligent devices in ship and ocean engineering. The feeding and paint mist recovery protective cover system mainly comprises a spraying and protective cover part, a spraying feeding part, a paint mist vacuum recovery part, a towing pipeline bending moment and winding prevention part and the like and has the technical characteristics that by fully considering the practical engineering application requirements and the economy, the structure is simple and novel, the functions are perfect, and the operation is convenient; by utilizing a robot to carry a spraying gun and a thin-walled hemispherical protective cover which carry out large-span operation with always left-and-right movement and a towing pipeline bending moment and winding prevention connection device, the problems of atmospheric pollution due to paint mist, robot carrying body protection, warping or winding of a towing pipeline and damage of a sprayed region are well solved; and the feeding and paint mist recovery protective cover system has the advantages of safety, reliability, high efficiency and the like and has a high engineering application value.
Description
Technical field
The present invention relates to a kind of feed of ship plank Tuo Tu formula robot and coating cloud reclaim protective cover system and its operation
Method, belongs to the intelligent equipment technology field of the ship plank spraying in Naval Architecture and Ocean Engineering.
Background technology
Ship plank application is the extreme trace of painting operation before lower water in whole shipbuilding technology, is currently mostly man-hour manually hand-held spray
Rifle open type sprays, even if there being conceptual design to propose to carry spraying using robot, being also all using open type spraying, coating cloud not being entered
Row reclaims.Easily cause the pollution of dust coating, it is attached in a large number that time length can produce coating cloud to the robot body surface carrying operation
, destroy robot carrying equipment.
The feed of ship plank Pa Bituotu formula robot and coating cloud reclaim protective cover system and mainly include robot is sprayed
The supply of paint coating, particularly carries out useless paint and reclaims, implement is protected, makes the robot of operation to the coating cloud spraying
Body avoids the attachment of coating cloud, avoids equipment dirt and maintenance difficult that long-term coating cloud adheres to and produces, so that atmospheric environment is exempted from
In the pollution of coating cloud, also ensure spraying painting quality.
Because wall operation is climbed by robot, can turn on ship plank surface or rotate, therefore, the vacuum recovery tube that carried
Road and material feeding pipe road are easy to stress prying or knotting, or even can be wrapped in robot body, with robot body other
Position is interfered, or the prying because of traction pipeline, so that traction pipeline is connect with the ship plank surface having sprayed again
Touch, cause to apply the destruction of paint film.So, a kind of anti-moment of flexure of traction pipeline and wound section, using flexible pipeline connector, cloth
Put the inner passage of each pipeline fluid medium, make each pipeline freely sagging all the time, so that robot body is not stressed, can make
The robot climbing wall class preferably adsorbs in surface of steel plate.Consider certain height simultaneously, do not make traction pipeline with robot originally
Body miscellaneous part is interfered.Traction pipeline is made freely to dangle all the time.
A kind of feed of ship plank Tuo Tu formula robot and coating cloud reclaim protective cover system, and its technical characterstic is：Using
Spraying and protective cover, using the spray gun constantly moving large span operation about robot carrying, using thin-wall semi body protective cover
Coating cloud is prevented to be scattered in robot body and air；Using coating cloud vacuum recovery system, in the next ground configuration vacuum recovery pump
Group, coating cloud is reclaimed, it is to avoid in protective cover, coating cloud is piled up, simultaneously, it is to avoid low temperature reclaims coating cloud attachment vessel wall occlusion and reclaims
Pipe, centre arranges coating cloud on robot body and reclaims heater, makes coating cloud keep high temperature to be easy to atomization and reclaims；Using traction
The anti-moment of flexure of pipeline and winding, it is to avoid robot turns or rotates, cause pipeline prying to produce strength moment and are unfavorable for wall-climbing device
People is adsorbed, and avoids pipeline winding machine human body, interferes with other positions of robot body, and due to traction pipeline
Prying, makes traction pipeline contact with the surface having sprayed again, causes to apply the destruction of paint film.
A kind of feed of ship plank Tuo Tu formula robot and coating cloud reclaim protective cover system, can efficiently solve coating cloud
Body protection, traction pipeline prying or winding are carried in atmospheric pollution, robot and destruction has applied region, improve coating quality.Mesh
Before, being close to of research both at home and abroad climb wall type spray robot equipment, all adopt open type spraying, there are no the guard system of closing.
Content of the invention
The present invention provides a kind of feed of ship plank Tuo Tu formula robot and coating cloud to reclaim protective cover system and its operation
Method, this system has taken into full account practical implementation requirement and economy, and structure is novel, and perfect in shape and function is easy to operate, very well
Solve coating cloud atmospheric pollution, robot carries body protection, traction pipeline prying or winding and destroys and has applied asking of region
Topic.There is safe and reliable and efficient, great engineering application value.
The technical solution used in the present invention is：A kind of feed of ship plank Tuo Tu formula robot and coating cloud reclaim protective cover
System, it includes the body frame of robot, control system, and it is true that it also includes spraying protective cover, spraying feed piping, coating cloud
Backlash closed tube system, the anti-moment of flexure of traction pipeline and wind；Described spraying protective cover is arranged on coating cloud protective cover paint spray nozzle
Hemisphere center, the coating cloud containment envelope of hard plastic material linked into an integrated entity with the coating cloud protective cover of hard plastic material, and coating cloud protects
Outer housing is connected to the edge of coating cloud protective cover, and tinfoil protecting film is pasted in inside, is arranged in the spray of protecting cover RC coating
Mouth is arranged on nozzle distance adjustable apparatus, and nozzle distance adjusting screw is arranged on inside nozzle distance adjustable apparatus, with
Ship plank surface keeps the distance of 200-500mm, and coating cloud protective cover is welded on coating cloud shielding support, and coating cloud protective cover props up
Frame is arranged on paint spray nozzle transverse moving left and right leading screw framework, nozzle traversing spindle motor output shaft and paint spray nozzle transverse moving left and right silk
Thick stick connects；Described spraying feed piping adopts paint spray nozzle input front end to connect robot body portion coating feeder sleeve, injection control
Valve processed is arranged on the next feeder sleeve of feed tank, and paint spray nozzle material feeding pipe internal with protective cover is connected, protective cover
Internal material feeding pipe is connected with robot body portion coating feeder sleeve, and robot body portion coating feeder sleeve is revolved with free circumference
Turn connector support to connect, free circumference rotary connector installed by free circumference rotary connector bearing, rotate feed joint
Pipe connects the next feeder sleeve, and the next feeder sleeve connects feed tank, and injection control valve is arranged on feed tank exit；Described coating cloud
Vacuum reclaims piping and coating cloud vacuum recovery chamber is arranged on coating cloud protective cover hemisphere center, and coating cloud vacuum reclaims lumen pore in coating cloud
Protective cover half ball center pours perforate, and 8 coating cloud vacuum reclaim lumen pore perforate and are located at the bottom that coating cloud vacuum reclaims chamber, and coating cloud is true
Backlash is received top of chamber and is connected with the vacuum recovery soft plastic pipe on robot body, and vacuum reclaims soft plastic pipe and reclaims heater with coating cloud
Connect, coating cloud reclaims heater and is arranged on robot body framework, coating cloud reclaims heater rear end and paint heater rear end
Vacuum recovery tube connects, and paint heater rear end vacuum recovery tube is connected with free circumference rotary connector bearing, free circumference
Rotary connector is arranged on free circumference rotary connector bearing, and the rotation of rigidity reclaims junction block with the next recovery tube even
Connect, the next recovery tube connects waste recovery case；The anti-moment of flexure of described traction pipeline and wind are free circumference rotary connector
It is arranged on the free circumference rotary connector bearing of robot body, rotation feed junction block and rigid of rigidity rotate back to
Receive junction block to be connected with the next feeder sleeve and the next recovery tube respectively, free circumference rotary connector connects robot originally respectively
It is high that junction block size is reclaimed in body coating feeder sleeve and paint heater rear end vacuum recovery tube, rotation feed junction block and rotation
In robot body other parts.
Described waste recovery case connects vacuum driving motor-driven vacuum recovery pump；Waste material sight glass and integrated monitor panel
It is arranged on waste recovery case, the electronic circuit of integrated monitor panel is connected with the temperature and moisture sensors on coating cloud protective cover.
A kind of described feed of ship plank Tuo Tu formula robot and the operational method of coating cloud recovery protective cover system：Behaviour
Author starts climbing robot first and carries operation, during Control During Paint Spraying by Robot, starts vacuum recovery pump, carries out constantly coating cloud and return
Receive；Meanwhile, after every ship end of job, ultrasonic thickness instrument is periodically adopted to check the shape of tinfoil attachment coating cloud in protective cover
State, if coating cloud thickness is more than 1mm, tinfoil is changed, more renews tinfoil；After every ship end of job, check that vacuum reclaims and add
Hot device state is not it is ensured that heater body fluid media (medium) is piled up；When climbing robot Remote carries operation, observe it and dragged
State with pipeline；When robot starts, after robot is subject to Remote to enter spraying area, nozzle just shoots to spray, by
Injection control valve is subject to artificial remote operation；By sight glass, operator checks whether vacuum collection box has filled up, determine when
Discharging.
The invention has the beneficial effects as follows：The feed of this ship plank Tuo Tu formula robot and coating cloud reclaim protective cover system
And its operational method, take into full account practical implementation requirement and economy, structure is simply novel, perfect in shape and function, operation side
Just, solve coating cloud atmospheric pollution well, robot carries body protection, traction pipeline prying or winding and destroys Yi Tu area
The problem in domain, using spraying and protective cover, using the spray gun constantly moving large span operation about robot carrying, using thin-walled
Hemisphere protective cover prevents coating cloud to be scattered in robot body and air；Using coating cloud vacuum recovery system, in the next ground cloth
Put vacuum and reclaim pump group, coating cloud is reclaimed, it is to avoid in protective cover, coating cloud is piled up, simultaneously, it is to avoid low temperature reclaims coating cloud attachment
Vessel wall occlusion recovery tube, centre arranges coating cloud on robot body and reclaims heater, makes coating cloud keep high temperature to be easy to be atomized
Reclaim；Using the anti-moment of flexure of traction pipeline and winding, it is to avoid robot turns or rotates, pipeline prying is caused to produce strength moment not
Beneficial to climbing robot absorption, and avoid pipeline winding machine human body, interfere with other positions of robot body, Yi Jiyou
In the prying of traction pipeline, so that traction pipeline is contacted with the surface having sprayed again, cause to apply the destruction of paint film；There is peace
Entirely, functions reliably and efficiently the advantages of, great engineering application value.
Brief description
Fig. 1 is a kind of feed of ship plank Tuo Tu formula robot and coating cloud reclaims protective cover system axonometric chart.
Fig. 2 is the front view that a kind of feed of ship plank Tuo Tu formula robot and coating cloud reclaim protective cover system.
Fig. 3 is the A-A sectional view in Fig. 2.
Fig. 4 is the B-B sectional view in Fig. 2.
Tu5Shi robot carries the positive up figure of protective cover traction pipeline.
The positive up state diagram of Tu6Shi robot traction pipeline.
Tu7Shi robot carries protective cover traction pipeline downlink system figure.
The positive descending state diagram of Tu8Shi robot traction pipeline.
In figure：1a, coating cloud protective cover, 1b, coating cloud containment envelope, 1c, tinfoil protecting film, 2a, coating cloud vacuum reclaim lumen pore,
2b, coating cloud vacuum reclaim chamber, and 2c, vacuum reclaim soft plastic pipe, and 2d, coating cloud reclaim heater, and 2e, paint heater rear end vacuum are returned
Closed tube, 2f, rotation reclaim junction block, 2g, the next recovery tube, 2h, waste recovery case, 2m, waste material sight glass, 2n, comprehensively monitoring
Platform, 2q, vacuum recovery pump, 2t, vacuum driving motor, 3a, paint spray nozzle, the internal material feeding pipe of 3b, protective cover, 3c, machine
Human body portion coating feeder sleeve, 3d, rotation feed junction block, 3e, the next feeder sleeve, 3f, feed tank, 3g, injection control valve,
4a, free circumference rotary connector, 4b, free circumference rotary connector bearing, 5, temperature and moisture sensors, 6a, coating spray
Mouth transverse moving left and right leading screw framework, 6b, paint spray nozzle transverse moving left and right leading screw, the traversing spindle motor of 6c, nozzle, 7a, coating cloud protective cover
Support, 7b, nozzle distance adjusting screw, 7c, nozzle distance adjustable apparatus, 8, robot body framework, 9, ship plank,
10th, ground.
Specific embodiment
Referring to the drawings the structure of the present invention is described further.
Fig. 1,2,3,4,5,6,7,8 show that the feed of ship plank Tuo Tu formula robot and coating cloud reclaim protective cover system
Structure chart.This system mainly includes spraying and protective cover part, spraying feed section, coating cloud vacuum recovery section, traction pipe
The anti-moment of flexure in road and wound portion are graded composition.Described spraying and protective cover part embed coating cloud protective cover 1a center by paint spray nozzle 3a
The heart, coating cloud containment envelope 1b connects outside coating cloud protective cover 1a, forms integral protection cover, integral protection cover material is all hard plastic group
Become, for preventing from being subject to the external force loading effect suddenly such as strong wind during robot manipulating task, protective cover is provided in round, and adopts hard plastic to reduce
Weight；Described spraying feed section embeds coating cloud protective cover 1a center by paint spray nozzle 3a, and paint spray nozzle 3a input front end is even
Welding robot body coating feeder sleeve 3c, the shooting function of injection application is by being placed in the next feeder sleeve 3e feed tank 3f nearby
Injection control valve 3g carry out injection shooting control；Described coating cloud vacuum recovery section reclaims chamber 2b by coating cloud vacuum and passes through coating cloud
Vacuum reclaims the waste recovery that paint spray nozzle 3a is sprayed by lumen pore 2a, and realizes returning of coating cloud by some row vacuum recovery piping
Receive, to protect robot body to be polluted by coating cloud, it is to avoid the environmental pollution of painting operation；The anti-moment of flexure of described traction pipeline and winding
Part is arranged on the free circumference rotary connector bearing 4b being placed in robot body by free circumference rotary connector 4a, rotation
Turn feed junction block 3d and rotation recovery junction block 2f as rigidly fixing port, connect the next feeder sleeve 3e and the next time respectively
Closed tube 2g, free circumference rotary connector 4a connects the pipeline of robot body part in the front end of robot body, connects respectively
Welding robot body coating feeder sleeve 3c and paint heater rear end vacuum recovery tube 2e, by 360 ° of axial-rotation, makes rotation
Turn feed junction block 3d and the action of gravity that junction block 2f is subject to institute traction bottom feeder sleeve 3e and the next recovery tube 2g reclaimed in rotation,
Remain and carry over ship plank surface freely downwards, it is to avoid cause because Robot ship plank surface turns, turns to
Institute's traction pipeline upwarp, larger bending moment force is caused to robot body absorption, meanwhile, rotation feed junction block 3d and rotation
Reclaiming junction block 2f height is higher than robot body other parts, it is to avoid because Robot ship plank surface is turned, turned to
And the traction pipeline that causes is antiwind.
Coating cloud containment envelope 1b connects outside coating cloud protective cover 1a, forms integral protection cover profile, integral protection cover material
It is all hard plastic composition, internal arrangement tinfoil protecting film 1c, this protecting film can be carried out according to the coating coating cloud amount of surface attachment
Simple replacing, prevents coating from adhering to protective cover interior surface for a long time.Paint spray nozzle 3a is arranged in protecting cover center, with ship
Oceangoing ship outer plate surfaces keep the distance of 200-500mm, and to ensure coating quality, paint spray nozzle 3a distance is filled by nozzle distance scalable
Put 7c to adjust, nozzle distance controlled in the distance in 200-500mm according to technological requirement, nozzle distance adjusting screw 7b according to
Technique needs rotation to adjust height.Coating cloud containment envelope 1b, with coating cloud shielding support 7a for supporting, is simultaneously attached to coating spray
On mouth transverse moving left and right leading screw framework 6a, it is anti-that nozzle traversing spindle motor 6c drives paint spray nozzle transverse moving left and right leading screw 6b to pass through coating cloud
Shield stand 7a drives the spraying motion of coating cloud protective cover 1a transverse moving left and right large span.
Paint spray nozzle 3a is arranged on coating cloud protective cover 1a center, and material feeding pipe 3b internal with protective cover is connected, protection
The internal material feeding pipe 3b of cover is connected with robot body portion coating feeder sleeve 3c, robot body portion coating feeder sleeve 3c and oneself
Connected by circumference rotary connector bearing 4b, free circumference rotary connector bearing 4b installs free circumference rotary connector
4a, by feeder sleeve UNICOM admittance to rotating feed junction block 3d, rotation feed junction block 3d is connected with the next feeder sleeve 3e, under
Position feeder sleeve 3e connects feed tank（3f）, injection control valve 3g is arranged in feed tank 3f exit.
8 coating cloud vacuum reclaim the bottom that chamber 2b is reclaimed in lumen pore 2a perforate in coating cloud vacuum, and coating cloud vacuum reclaims chamber 2b top
Portion reclaims soft plastic pipe 2c with the coating cloud vacuum on robot body and is connected, and vacuum reclaims soft plastic pipe 2c and reclaims heater 2d with coating cloud
It is connected, coating cloud reclaims heater 2d and is arranged on robot body framework 8, and its rear end is connected with paint heater rear end vacuum and returns
Closed tube 2e, paint heater rear end vacuum recovery tube 2e is connected with free circumference rotary connector bearing 4b, free circumference rotation
Free circumference rotary connector 4a is installed on connector support 4b, vacuum recovery tube UNICOM is reclaimed junction block to rigid rotation
2f, rotation is reclaimed junction block 2f and is connected with the next recovery tube 2g, and the next recovery tube 2g terminal sends into waste recovery case 2h, waste material
Waste material sight glass 2m and integrated monitor panel 2n, temperature on integrated monitor panel 2n monitoring coating cloud protective cover 1a are arranged on collection box 2h
The temperature and humidity signal gathering with humidity sensor 5 and other motion-promotion force signals, waste recovery case 2h connects vacuum and returns
Receive 2q and connect corresponding vacuum driving motor 2t.
The feed of this ship plank Tuo Tu formula robot and the operational method of coating cloud recovery protective cover system：Operator is first
First start climbing robot and carry operation, during Control During Paint Spraying by Robot, start vacuum recovery pump, carry out constantly coating cloud and reclaim.With
When, after every ship end of job, periodically adopt ultrasonic thickness instrument to check the state of tinfoil attachment coating cloud in protective cover, if
Coating cloud thickness is more than 1mm, tinfoil is changed, more renews tinfoil.After every ship end of job, check that vacuum reclaims heater shape
State is not it is ensured that heater body fluid media (medium) is piled up.When climbing robot Remote carries operation, observe its traction pipeline
State, because using free circumference rotary connector, it is ensured that institute of robot traction pipeline is not to robot, the absorption of attached wall is made
Become extra moment, will not destroy simultaneously and apply region, when particularly robot runs from top to bottom, pipeline still can freely hang
Hang down, and height is higher than robot body, be unlikely to interfere with robot body.When robot starts, when robot is subject to remotely
After remote control enters spraying area, nozzle just can shoot to spray, and is subject to artificial remote operation by injection control valve.Operator passes through to see
Examine mirror and check whether vacuum collection box has filled up, determine when discharging.
The important technological parameters (can according to user it needs to be determined that) of the present invention：
Robotically-driven wheel distance（Periphery）:0.8 m
Nozzle distance ship plank adjustable-height:200-500mm
Feed decorum pressure：270bar
Vacuum pressure：-0.6bar
Jet control valve outlet pressure adjustable extent：150-350 bar
Protective cover weight（kg）：＜ 1.5
Protective cover size：Radius 150mm.
Claims (3)
1. a kind of feed of ship plank Tuo Tu formula robot and coating cloud reclaim protective cover system, and it includes the body of robot
Framework, control system, is characterized in that：It also includes spraying protective cover, spraying feed piping, coating cloud vacuum recovery piping, traction
The anti-moment of flexure of pipeline and wind；Described spraying protective cover is paint spray nozzle（3a）It is arranged on coating cloud protective cover（1a）Hemisphere in
At the heart, the coating cloud containment envelope of hard plastic material（1b）Coating cloud protective cover with hard plastic material（1a）Link into an integrated entity, coating cloud protects
Outer housing（1b）It is connected to coating cloud protective cover（1a）Edge, tinfoil protecting film is pasted in inside（1c）, just it is being arranged in protecting cover
The paint spray nozzle at center（3a）It is arranged on nozzle distance adjustable apparatus（7c）On, nozzle distance adjusting screw（7b）It is arranged on spray
Mouth is apart from adjustable apparatus（7c）Inside, keeps the distance of 200-500mm, coating cloud protective cover with ship plank surface（1a）Welding
In coating cloud shielding support（7a）On, coating cloud shielding support（7a）It is arranged on paint spray nozzle transverse moving left and right leading screw framework（6a）
On, the traversing spindle motor of nozzle（6c）Output shaft and paint spray nozzle transverse moving left and right leading screw（6b）Connect；Described spraying feed piping
Using paint spray nozzle（3a）Input front end connects robot body portion coating feeder sleeve（3c）, injection control valve（3g）It is arranged on and connect
Nearly feed tank（3f）The next feeder sleeve（3e）On, paint spray nozzle（3a）The internal material feeding pipe with protective cover（3b）It is connected, prevent
The internal material feeding pipe of guard shield（3b）With robot body portion coating feeder sleeve（3c）It is connected, robot body portion coating feeder sleeve
（3c）With free circumference rotary connector bearing（4b）Connect, free circumference rotary connector bearing（4b）The free circumference of upper installation
Rotary connector（4a）, rotate feed junction block（3d）Connect the next feeder sleeve（3e）, the next feeder sleeve（3e）Connect feed tank
（3f）, injection control valve（3g）It is arranged on feed tank（3f）Exit；Described coating cloud vacuum reclaims piping and coating cloud vacuum is reclaimed
Chamber（2b）It is arranged on coating cloud protective cover（1a）Hemisphere center, coating cloud vacuum reclaims lumen pore（2a）In coating cloud protective cover（1a）Hemisphere
Center pours perforate, and 8 coating cloud vacuum reclaim lumen pore（2a）Perforate is located at coating cloud vacuum and reclaims chamber（2b）Bottom, coating cloud vacuum
Reclaim chamber（2b）Soft plastic pipe is reclaimed with the vacuum on robot body in top（2c）Connect, vacuum reclaims soft plastic pipe（2c）With coating cloud
Reclaim heater（2d）Connect, coating cloud reclaims heater（2d）It is arranged on robot body framework（8）On, coating cloud reclaims heater
（2d）Rear end and paint heater rear end vacuum recovery tube（2e）Connect, paint heater rear end vacuum recovery tube（2e）With freedom
Circumference rotary connector bearing（4b）Connect, free circumference rotary connector（4a）It is arranged on free circumference rotary connector bearing
（4b）On, junction block is reclaimed in the rotation of rigidity（2f）With the next recovery tube（2g）Connect, the next recovery tube（2g）Connect waste material to return
Receive case（2h）；The anti-moment of flexure of described traction pipeline and wind are free circumference rotary connector（4a）It is arranged on robot body
Free circumference rotary connector bearing（4b）On, the rotation feed junction block of rigidity（3d）Reclaim junction block with rigid rotation
（2f）Respectively with the next feeder sleeve（3e）With the next recovery tube（2g）Connect, free circumference rotary connector（4a）Connect respectively
Robot body portion coating feeder sleeve（3c）With paint heater rear end vacuum recovery tube（2e）, rotate feed junction block（3d）With
Junction block is reclaimed in rotation（2f）Size is higher than robot body other parts.
2. a kind of feed of ship plank Tuo Tu formula robot according to claim 1 and coating cloud reclaim protective cover system,
It is characterized in that：Described waste recovery case（2h）Connect vacuum driving motor（2t）The vacuum recovery pump driving（2q）；Waste material is observed
Mirror（2m）And integrated monitor panel（2n）It is arranged on waste recovery case（2h）On, integrated monitor panel（2n）Electronic circuit and coating cloud
Protective cover（1a）On temperature and moisture sensors（5）Connect.
3. the operation of the feed of a kind of ship plank Tuo Tu formula robot described in claim 1 and coating cloud recovery protective cover system
Method, is characterized in that：Operator starts climbing robot first and carries operation, during Control During Paint Spraying by Robot, starts vacuum and reclaims
Pump, carries out constantly coating cloud and reclaims；Meanwhile, after every ship end of job, ultrasonic thickness instrument is periodically adopted to check in protective cover
Tinfoil adheres to the state of coating cloud, if coating cloud thickness is more than 1mm, tinfoil is changed, more renews tinfoil；Every ship end of job
Afterwards, check that vacuum reclaims heater status it is ensured that heater body fluid media (medium) is not piled up；Climbing robot Remote carries
During operation, observe the state of its traction pipeline；When robot starts, after robot is subject to Remote to enter spraying area,
Nozzle just shoots to spray, and is subject to artificial remote operation by injection control valve；Whether operator checks vacuum collection box by sight glass
Fill up, determined when discharging.
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| CN201611003853.6A CN106378274B (en) | 2016-11-15 | 2016-11-15 | Feed and coating cloud the recycling protective cover system and its operational method of ship plank Tuo Tu formulas robot |
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| CN201611003853.6A CN106378274B (en) | 2016-11-15 | 2016-11-15 | Feed and coating cloud the recycling protective cover system and its operational method of ship plank Tuo Tu formulas robot |
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| CN106378274A true CN106378274A (en) | 2017-02-08 |
| CN106378274B CN106378274B (en) | 2018-08-14 |
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| CN108355864A (en) * | 2018-03-12 | 2018-08-03 | 苏州易昇光学材料有限公司 | A kind of portable solar paint maintenance spray equipment |
| CN112588492A (en) * | 2020-12-04 | 2021-04-02 | 南通中远克莱芬船舶工程有限公司 | Novel paint mist recycling device and recycling method thereof |
| CN113828440A (en) * | 2021-08-06 | 2021-12-24 | 安庆中船柴油机有限公司 | Protective spraying method for exposed surface of marine main engine |
| CN113996470A (en) * | 2021-11-26 | 2022-02-01 | 江苏科技大学 | Green spraying device for ship outer plate coating |
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