CN107225581A - The detection maintaining method of shipbuilding steel plate case surface - Google Patents
The detection maintaining method of shipbuilding steel plate case surface Download PDFInfo
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- CN107225581A CN107225581A CN201710471665.4A CN201710471665A CN107225581A CN 107225581 A CN107225581 A CN 107225581A CN 201710471665 A CN201710471665 A CN 201710471665A CN 107225581 A CN107225581 A CN 107225581A
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- China
- Prior art keywords
- spray coating
- case surface
- coating liquor
- vehicle frame
- rubber band
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Classifications
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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
-
- 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
- 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
-
- 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)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of detection maintaining method of shipbuilding steel plate case surface, the robot of use includes vehicle frame and sets the roller that bottom of frame is used for and case surface coordinates, and the vehicle frame corner, which is provided with, to be used to adsorbing vehicle frame into the permanent magnetic iron compressed on shell surface；The vehicle frame is provided with the detection cylinder for being used to install apparatus of repair parts；Elastic rubber band is also associated with the roller of vehicle frame homonymy, the elastic rubber band outer surface, which is provided with, to be used to increase the magnetic sheet of roller and case surface magnetic suck.By using robot described herein robot climbing can be driven to arrive case surface, spraying operation is carried out to the shipbuilding steel plate case surface that there is a problem, prevent case surface deep erosions, pass through permanent magnetic iron and the double suck force of magnetic sheet and surface of shell, what can be stablized is adsorbed in vehicle frame case surface, and is moved by roller.
Description
It is the Chinese invention patent application of Application No. 2015108415638 on November 28th, 2015 applying date that the application, which is,
Divisional application.
Technical field
Robot is detected the present invention relates to a kind of magnetic adsorption type shipbuilding steel plate case surface.
Background technology
It is well known that general ship is built by shell, hull framing, deck, cabin and upper strata and constituted.Shell is also known as ship
Coverboard, the shell of ship, it includes strake and floor.The geometry of hull is determined by the shape of planking.Hull
The various external force such as the buckling power, water pressure, the wave impact force that bear are acted on planking first.Existing ship housing
It is spliced by special shipbuilding steel plate welding, it is necessary to enter to the surface of shipbuilding steel plate shell in the maintenance process of ship
Row detection, for the corrosion-resistant coating in case surface come off, it is necessary to the anticorrosion liquid that fills spray.Because ship housing is huge,
Operation is relatively difficult.If many fiber crops just can be saved by driving robot to be adsorbed onto case surface progress upkeep operation
It is tired.But how to realize that relatively stable absorption is the technical problem that prior art is badly in need of solving.Prior art is badly in need of one
Plant to facilitate and stable magnetic adsorption type shipbuilding steel plate case surface detection robot is safeguarded and adsorbed to case surface.
The content of the invention
It is an object of the invention to overcome defect present in prior art there is provided one kind can facilitate to carry out case surface
Safeguard and the stable magnetic adsorption type shipbuilding steel plate case surface of absorption detects robot.
To achieve the above object, the technical scheme is that there is provided a kind of inspection of magnetic adsorption type shipbuilding steel plate case surface
Survey robot, including vehicle frame and be arranged at bottom of frame be used for and case surface coordinate roller, the vehicle frame corner provided with use
In by vehicle frame adsorb compress shell surface permanent magnetic iron；The vehicle frame is provided with the detection cylinder for being used to install apparatus of repair parts；
Elastic rubber band is also associated with the roller of vehicle frame homonymy, the roller surface offers annular link slot, the elasticity
Rubber strip stretching is socketed on adjacent roller, and the elastic rubber band, which coordinates, to be absorbed in annular link slot；The elastic caoutchouc
Being provided with outer surface is used to increase the magnetic sheet of roller and case surface magnetic suck.Can be with by using robot described herein
Drive robot climbing to arrive case surface, spraying operation is carried out to the shipbuilding steel plate case surface that there is a problem, prevented
Case surface deep erosions, by permanent magnetic iron and the double suck force of magnetic sheet and surface of shell, what can be stablized inhales vehicle frame
Case surface is invested, and is moved by roller.
As preferred, T-shaped shackle member is provided with the inside of the magnetic sheet, the outer surface of the elastic rubber band is evenly equipped with multiple
The T-shaped neck coordinated with T-shaped shackle member；The magnetic sheet is coordinated by T-shaped shackle member and T-shaped neck to be realized and elastic rubber band
Connection.It can be firmly connected on elastic caoutchouc band, be run in magnetic sheet to close to case surface by such design magnetic sheet
When can with shell produce suction, under the limitation of T-shaped neck, will not drop out.Meanwhile, T-shaped shackle member is with T-shaped neck
Detachable connection, elastic rubber band and shell can be adjusted by the quantity for adjusting clamping T-shaped shackle member on elastic caoutchouc band
The absorption affinity size on surface.Meanwhile, such structure design, it is semi-detached state with elastic rubber band that can cause magnetic sheet,
When magnetic sheet turns to roller end portions, it is in connection status with elastic rubber band that magnetic sheet can be kept by T-shaped shackle member, but magnetic sheet
Plate body end is separated with elastic rubber band so that magnetic sheet can be by the bending section of running orbit, it is to avoid straight panel can not be bent
The drawbacks of.
As preferred, multiple arcs neck, the inner surface of the elastic rubber band are offered on the annular link slot
It is evenly equipped with multiple arc fins coordinated with arc-shaped slot；Coordinated when the roller is rotated by arc-shaped slot and arc fin and driven
Dynamic elasticity rubber strip is rolled together.It can be coordinated by such design by arc-shaped slot and arc fin, wheel body band is moved
Property rubber strip run together, realize dynamic absorption.
As preferred, the magnetic sheet and T-shaped shackle member are integrally formed, the elastic rubber band and T-shaped neck and arc
Shape fin is integrally formed.Such design is beneficial to the stabilization connected between part.
As preferred, the T-shaped shackle member towards the surface of elastic rubber band side be arcwall face, the arcwall face
Radian is engaged with the radian of annular link slot.Such design is beneficial to when magnetic sheet is by scroll wheel positions, T-shaped shackle member and bullet
Property rubber strip is completely embedded, and prevents it from coming off.
It is described to detect the spray assembly that cylinder includes cylinder shell and is arranged in cylinder shell, the inspection as preferred
Survey cylinder to be connected with vehicle frame rotation, the driving wheel of driving detection cylinder reciprocating rotation is additionally provided with the vehicle frame, the driving wheel is with turning
Dynamic motor connection.Such design is beneficial to, in spraying, spray assembly is aligned into position to be sprayed, then driven by rotary electric machine
Dynamic detection cylinder reciprocating rotation, expands the spray range of spraying group valency.
Described to detect cylinder for cylindricality as preferred, the detection cylinder side of the cylindricality is provided with arcuate surface, the circle
Arc table sells face provided with hairbrush, and the hairbrush when detection cylinder turns to bottom of frame with case surface cooperation with contacting.This
Case surface position to be sprayed can be first passed through hairbrush polishing, the decortication soon come off is cleared up, so by the design of sample
Spraying operation again, improves the adhesion-tight degree of spray coating liquor afterwards.
As preferred, the vehicle frame is provided with connecting plate, and the detection cylinder two ends are provided with the rotating shaft being connected with connecting plate,
The rotating shaft is rotated by bearing with connecting plate and is connected, and the driving wheel engages driving, the rotary electric machine with arcuate surface
For servomotor.This design is beneficial to detection cylinder and drives it to rotate by driving wheel, and hairbrush and spray assembly are constantly cut
Shift to pending case surface position.
As preferred, the spray assembly includes spray assembly shell and the spraying being enclosed in spray assembly shell
Liquid, the spraying hydraulic coupling is stored in spray coating liquor reservoir bag, and the spray assembly outer casing bottom is provided with shower nozzle, and the shower nozzle leads to
Catheter is crossed with being connected inside spray coating liquor reservoir bag, the catheter is provided with application valve body.By the way that spraying hydraulic coupling is stored
In can be transported spray assembly to case surface, opening controlling valve body by vehicle frame in spray coating liquor reservoir bag, spray coating liquor is from spray
It is forced out in masking liquid reservoir bag, is sprayed on case surface.
As preferred, the spray assembly shell is fixed in detection cylinder, and the shower nozzle is outside through arcuate surface
Stretch out.Realization and conversion hairbrush between of such design beneficial to spraying.
As preferred, the spray coating liquor reservoir bag is elastic emulsion bag, and the spray coating liquor pours into elastic breast by external pressure
Poly-bag is interior and forces spray coating liquor reservoir bag to be in swelling state in spray assembly enclosure, when application valve body is in opening
Under, spray coating liquor is squeezed out shower nozzle by spray coating liquor by spray coating liquor reservoir bag convergent force.Such design is by elastic emulsion bag
Convergent force realize the spraying of spray coating liquor, enrich design.
Preferably, the spray assembly enclosure is additionally provided with the magnetic patch slided along above and below spray assembly shell, institute
State magnetic patch to be arranged between spray coating liquor reservoir bag and spray assembly cover top portion, the magnetic patch is used for and case surface adsorbs to add
Extruding to spray coating liquor reservoir bag by force；The spray assembly shell is non-ironware.Such design allows spray coating liquor to rely on
The collective effect of the convergent force of spray coating liquor reservoir bag and the pressure of magnetic patch and realize spraying；Masking liquid reservoir bag and magnetic patch are matched somebody with somebody simultaneously
Conjunction be conducive to spray pressure to tend under a relatively stable state, beginning state, magnetic patch apart from case surface farther out, pressure compared with
It is small, and the elastic module of spray coating liquor reservoir bag is larger, convergent force is stronger, with the Stepwize Shrink of spray coating liquor reservoir bag, and elasticity becomes
Amount reduces, and magnetic patch is progressively close apart from case surface, and attraction is strengthened, and pressure is increased, and so entirely spray coating liquor is being extruded
During, can mutually be made up between the convergent force and magnetic patch pressure of spray coating liquor reservoir bag, summation tend to one it is relatively stable
State, be conducive to the realization of spraying effect.Eliminate simultaneously outside for by the compression pump of strong spray pressure, simplifying structure
Same technique effect is reached.
Preferably, the spray assembly shell is fixed with detection cylinder grafting.Such design spray assembly and detection
Cylinder be connected firmly, and the spray coating liquor in spray assembly using finishing when, a new spray is changed after can spray assembly be dismantled
Component is applied, the activity duration is improved.
Preferably, the roller and motor drive connection, and the roller of vehicle frame both sides and different driving electricity
Machine is connected, and when turning, the roller differential operation of vehicle frame both sides, realizes and turn to.The operation of car body is realized by said structure and turned
To, by spray assembly transport to need safeguard case surface；The roller control mode of the application is remote control, power drive structure
It is mechanism general in existing remote-control car with steering structure, does not repeat herein.
Preferably, air-vent is offered on the spray assembly shell.Such design is beneficial to magnetic patch in spraying group
Slide in part shell and spray coating liquor reservoir bag expanded in spray assembly shell or during contraction distortion gas suction and discharge.
Preferably, the elastic emulsion bag is internal is additionally provided with a latex balloon, the latex balloon and elasticity breast
Connected at the top of poly-bag；The elastic emulsion bag thickness is 0.5~3mm；The latex balloon thickness is 0.1~1mm.It is such to set
When the spray coating liquor that meter is beneficial in elastic emulsion bag has soon been sprayed, it is to avoid magnetic patch is to elastic emulsion bag excessive compression；In elasticity
After latex rubber bag restores to the original state, if extruded it, folding and folding line are easily formed at extruding, the elasticity of latex is reduced
Can, latex balloon is arranged in elastic emulsion bag, elastic emulsion bag can be realized by latex balloon and supported, prevent its shape
Into folding and folding line.Latex balloon in elastic emulsion bag can the progressively volume increasing with the reduction of internal spray liquid usage amount
Greatly, support is advantageously implemented, is poured into again after spray coating liquor, due to the pressure increase in elastic emulsion bag, latex balloon volume
It can reduce, such design can realize protection of the latex balloon to elastic emulsion bag, again will not be because of latex balloon volume mistake
Cause greatly to take space in elastic emulsion bag, cause spray coating liquor storage area not enough.
Preferably, the magnetic patch and spray coating liquor reservoir bag contact position are be bonded by binding agent.Such design profit
When spray coating liquor reservoir bag is in expansion and contraction magnetic patch can be driven to move together；It is in level in spray assembly shell, magnetic patch is needed
Overcome certain frictional force, such design can be shunk by spray coating liquor reservoir bag pulls magnetic patch to apart from case surface
Nearer position, beneficial to the formation of magnetic patch and case surface absorption affinity；The shower nozzle of spray assembly shell upward when, magnetic patch need gram
Self gravitation is taken, such design can be shunk by spray coating liquor reservoir bag pulls magnetic patch to the position nearer apart from case surface
Put, beneficial to the formation of magnetic patch and case surface absorption affinity.
Preferably, it is additionally provided with brass magnetic isolation unit part between magnetic patch and the spray assembly cover top portion.It is such to set
Meter can completely cut off the attraction of the outer bound pair magnetic patch of spray assembly cover top portion, it is to avoid the unnecessary interference of other iron components.
Preferably, magnetic patch side wall is provided with PTFE anti-wear with spray assembly outer casing inner wall contact position
Layer.Such design is beneficial to reduce the frictional force between magnetic patch and spray assembly outer casing inner wall, while enhancing magnetic patch outer wall
Wearability.
Preferably, it is coated with lubricating oil on the spray assembly outer casing inner wall.Such design is beneficial to smaller spraying
The frictional force of package shell inwall, is slided beneficial to magnetic patch in spray assembly shell, beneficial to spray coating liquor reservoir bag in spray assembly
It is damaged less when the interior expansion of shell or contraction distortion with being rubbed in spray assembly shell.
Preferably, the shower nozzle is sealed with catheter junction and set, and the catheter connects with spray coating liquor reservoir bag
Place's sealing is connect to set.Such design causes shower nozzle to be connected with catheter, by forming high pressure sealing connection in junction, keeps away
Exempt to should be during spraying pressure is excessive and leakage；Such design causes catheter to be connected with spray coating liquor reservoir bag, by even
The place of connecing forms high pressure sealing connection, it is to avoid should be that pressure is excessive during spraying and leakage.The spraying etch-proof spray coating liquor of liquid level,
For example paint, the liquid coating such as epoxy resin coating.
The advantages of the present invention are：Robot can be driven to climb by using robot described herein
Case surface is climbed to, spraying operation is carried out to the shipbuilding steel plate case surface that there is a problem, case surface depth is prevented
Corrosion.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is elastic rubber band and roller matching mechanism schematic diagram；
Fig. 3 is structure enlarged diagram at A in Fig. 2；
Fig. 4 is T-shaped shackle member and T-shaped exact separation structural representation in Fig. 3；
Fig. 5 is detection cylinder internal structure schematic diagram.
In figure：1st, spray assembly shell；2nd, spray coating liquor；3rd, shower nozzle；4th, catheter；5th, application valve body；6th, elastic emulsion bag；
7th, magnetic patch；8th, case surface；9th, brass magnetic isolation unit part；10th, PTFE anti-wear layer；11st, air-vent；12nd, latex balloon；
13rd, roller；17th, permanent magnetic iron；19th, vehicle frame；20th, cylinder is detected；21st, cylinder shell；22nd, driving wheel；23rd, rotary electric machine；24th, circle
Curved surfaces；25th, hairbrush；26th, connecting plate；28th, rotating shaft；29th, elastic rubber band；30th, annular link slot；31st, magnetic sheet；32nd, T-shaped
Shackle member；33rd, T-shaped neck；34th, arc-shaped slot；35th, arc fin；36th, arcwall face.
Embodiment
With reference to the accompanying drawings and examples, the embodiment to the present invention is further described.Following examples are only
For clearly illustrating technical scheme, and it can not be limited the scope of the invention with this.
As Figure 1-Figure 5, a kind of magnetic adsorption type shipbuilding steel plate case surface detection robot, including vehicle frame 19 and setting
In the roller 13 that the bottom of vehicle frame 19 is used for and case surface 8 coordinates, 19 4 jiaos of the vehicle frame, which is provided with, to be used for the adsorption pressure of vehicle frame 19
The tight permanent magnetic iron 17 in case surface 8；The vehicle frame 19 is provided with the detection cylinder 20 for being used to install apparatus of repair parts；Positioned at vehicle frame
Elastic rubber band 29 is also associated with the roller 13 of 19 homonymies, the surface of roller 13 offers annular link slot 30, the bullet
Property the stretching of rubber strip 29 be socketed on adjacent roller 13, the elastic rubber band 29, which coordinates, to be absorbed in annular link slot 30；Institute
Stating the outer surface of elastic rubber band 29 and being provided with is used to increase the magnetic sheet 31 of roller 13 and the magnetic suck of case surface 8.
The inner side of magnetic sheet 31 is provided with T-shaped shackle member 32, and the outer surface of the elastic rubber band 29 is evenly equipped with multiple and T-shaped
The T-shaped neck 33 that shackle member 32 coordinates；The magnetic sheet 31 is coordinated by T-shaped shackle member 32 and T-shaped neck 33 to be realized and elastic rubber
The connection of adhesive tape 29.
Multiple arcs neck 34 is offered on the annular link slot 30, the inner surface of the elastic rubber band 29 is evenly equipped with
Multiple arc fins 35 coordinated with arc-shaped slot 34；The roller 13 is matched somebody with somebody when rotating by arc-shaped slot 34 and arc fin 35
Driving elastic rubber band 29 is closed to roll together.
The magnetic sheet 31 and T-shaped shackle member 32 are integrally formed, and the elastic rubber band 29 and T-shaped neck 33 and arc are convex
Rib 35 is integrally formed.
The T-shaped shackle member 32 towards the side of elastic rubber band 29 surface be arcwall face 36, the arc of the arcwall face 36
Spend and be engaged with the radian of annular link slot 30.
The detection cylinder 20 includes cylinder shell 21 and the spray assembly being arranged in cylinder shell 21, the detection cylinder 20
Rotate and be connected with vehicle frame 19, the driving wheel 22 of the driving detection reciprocating rotation of cylinder 20, the driving wheel are additionally provided with the vehicle frame 19
22 are connected with rotary electric machine 23.
The detection cylinder 20 is cylindricality, and 20 sides of detection cylinder of the cylindricality are provided with arcuate surface 24, the circular arc
Table sells face provided with hairbrush 25, and the hairbrush 25 with case surface 8 when detection cylinder 20 turns to 19 bottom of vehicle frame with matching somebody with somebody splice grafting
Touch.
The vehicle frame 19 is provided with connecting plate 26, and detection cylinder 20 two ends are provided with the rotating shaft 28 being connected with connecting plate 26,
The rotating shaft 28 is rotated by bearing with connecting plate 26 and is connected, and the driving wheel 22 engages driving with arcuate surface 24, described
Rotary electric machine 23 is servomotor.
The spray assembly includes spray assembly shell 1 and the spray coating liquor 2 being enclosed in spray assembly shell 1, the spray
The pressure of masking liquid 2 is stored in the reservoir bag of spray coating liquor 2, and the bottom of spray assembly shell 1 is provided with shower nozzle 3, and the shower nozzle 3 is by leading
Liquid pipe 4 inside the reservoir bag of spray coating liquor 2 with connecting, and the catheter 4 is provided with application valve body 5.
The spray assembly shell 1 is fixed in detection cylinder 20, and the shower nozzle 3 is protruding through arcuate surface 24.
The reservoir bag of spray coating liquor 2 be elastic emulsion bag 6, the spray coating liquor 2 by external pressure pour into elastic emulsion bag 6 in and
It is in swelling state inside spray assembly shell 1 to force the reservoir bag of spray coating liquor 2, when application valve body 5 is under opening, is sprayed
Spray coating liquor 2 is squeezed out shower nozzle 3 by liquid 2 by the reservoir bag convergent force of spray coating liquor 2.
The magnetic patch 7 slided along spray assembly shell about 1 is additionally provided with inside the spray assembly shell 1, the magnetic patch 7 is set
Put between the reservoir bag of spray coating liquor 2 and the top of spray assembly shell 1, the magnetic patch 7 is used for and case surface 8 is adsorbed with reinforcement pair
The extruding of the reservoir bag of spray coating liquor 2；The spray assembly shell 1 is non-ironware.The preferred permanent magnet of magnetic patch 7.
Spray assembly shell 1 and vehicle frame 19 can be the working of plastics or Al-alloy parts of hard, to mitigate the weight of system
Amount.
Air-vent 11 is offered on the spray assembly shell 1.
A latex balloon 12 is additionally provided with inside the elastic emulsion bag 6, the latex balloon 12 is pushed up with elastic emulsion bag 6
Portion is connected；6 thickness of the elastic emulsion bag are 0.5~3mm；The thickness of latex balloon 12 is 0.1~1mm.
The magnetic patch 7 and the reservoir bag contact position of spray coating liquor 2 are be bonded by binding agent.
Brass magnetic isolation unit part 9 is additionally provided between the top of magnetic patch 7 and spray assembly shell 1.It can be brass magnetic isolation plate
31 or there is the sprayed coating of brass material, can be arranged on magnetic patch 7 can also be in the top inner wall of spray assembly shell 1.
The side wall of magnetic patch 7 is provided with PTFE anti-wear layer 10 with the inwall contact position of spray assembly shell 1.
Lubricating oil is coated with the inwall of spray assembly shell 1.
The shower nozzle 3 is sealed with the junction of catheter 4 and set, and the catheter 4 is sealed with the reservoir bag junction of spray coating liquor 2
Set.
When carrying out attended operation, vehicle frame 19 is adsorbed by permanent magnetic iron 17 compressed on shell surface 8, either first
The bottom surface of vehicle frame 19 can realize absorption connection towards any direction；Secondly, the magnetic sheet 31 and shell on elastic rubber band 29 are passed through
Surface 8 is adsorbed, and magnetic sheet 31 receives absorption affinity and pulls elastic rubber band 29 and roller 13 is relatively stable by T-shaped shackle member 32
Absorption in case surface 8；
Control roller 13 is rotated, and vehicle frame 19 is moved into case surface 8 position damaged occurs；Driven by rotary electric machine 23
Dynamic driving wheel 22 is rotated, and driving wheel 22 drives detection cylinder 20 to rotate, and hairbrush 25 is turned into the lower end of vehicle frame 19, and and case surface
8 pending positions coordinate contact, control the forward and reverse alternate run of rotary electric machine 23, and hairbrush 25 polish case surface 8, general back and forth
The anticorrosive coat polishing of decortication is clean；Similarly spray assembly is turned to by the driving detection cylinder 20 of rotary electric machine 23 and just polished
Pending position so that shower nozzle 3 is towards the locality to be sprayed of case surface 8；Opening controlling valve body 5, spray coating liquor 2 is by spray
The reservoir bag convergent force of masking liquid 2, and magnetic patch 7 is adsorbed with case surface 8 and the extruding force to the reservoir bag of spray coating liquor 2 squeezes spray coating liquor 2
Shower nozzle 3 is extruded, so as to realize spraying operation.Spraying closes application valve body 5 after finishing, and next position is carried out if desired
Spraying operation can circulate aforesaid operations；If spraying is finished, vehicle frame 19 is removed in car body remote control to lower position；
Because magnetic sheet 31 is with the operation of elastic rubber band 29, when in straight position, magnetic sheet 31 and elastic caoutchouc
Band 29 is in state, when needing the crooked place by roller 13, except other parts of magnetic sheet 31 of T-shaped shackle member 32
It can temporarily be separated with elastic rubber band 29, to realize the bending of elastic rubber band 29, treat that operation is close to elastic rubber band 29
During case surface 8, magnetic sheet 31 can be by the larger suction of shell, but is due to the limitation for having T-shaped shackle member 32 and T-shaped neck 33
Effect, magnetic sheet 31 is restricted to the close of case surface 8, but elastic rubber band 29 is pressed on into case surface 8 simultaneously.Realize
The auxiliary adsorption function of elastic rubber band 29.
As a preferred embodiment, by the cooperation of the reservoir bag of spray coating liquor 2 and magnetic patch 7, spray coating liquor 2 can be stored up by spray coating liquor 2
Deposit the collective effect of the convergent force of bag and the pressure of magnetic patch 7 and realize spraying；The cooperation of masking liquid reservoir bag and magnetic patch 7 is favourable simultaneously
Tend in spray pressure under a relatively stable state, beginning state, apart from case surface 8 farther out, pressure is smaller for magnetic patch 7,
And the elastic module of the reservoir bag of spray coating liquor 2 is larger, convergent force is stronger, with the Stepwize Shrink of the reservoir bag of spray coating liquor 2, elastic module
Reduce, and magnetic patch 7 is progressively close apart from case surface 8, attraction is strengthened, and pressure is increased, and so entirely spray coating liquor 2 is being extruded
During, can mutually be made up between the convergent force and the pressure of magnetic patch 7 of the reservoir bag of spray coating liquor 2, summation tend to one it is more steady
Fixed state, is conducive to the realization of spraying effect.Eliminate simultaneously outside for by the compression pump of strong spray pressure, simplification to finish
Structure has reached same technique effect；
After elastic emulsion bag 6 restores to the original state, latex balloon 12 is arranged in elastic emulsion bag 6, can pass through latex gas
Capsule 12 is realized to elastic emulsion bag 6 and supported, and is prevented the excessive extrusion of magnetic patch 7 and is formed folding and folding line；Now pass through external equipment
Spray coating liquor 2 is filled with again into elastic emulsion bag 6, and due to the pressure increase in elastic emulsion bag 6, the volume of latex balloon 12 can be by
It is tapered small.
In spray assembly spraying process, it can control to detect the low-angle reciprocating rotation of cylinder 20, can so improve spraying
The area of covering, improves the efficiency of spraying.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as the protection domain of invention.
Claims (1)
1. the detection maintaining method of shipbuilding steel plate case surface, the maintaining method uses robot：The robot include vehicle frame and
Be arranged at bottom of frame be used for and case surface coordinate roller, the vehicle frame corner be provided be used for by vehicle frame absorption compression outside
The permanent magnetic iron on shell surface；The vehicle frame is provided with the detection cylinder for being used to install apparatus of repair parts；On the roller of vehicle frame homonymy
Elastic rubber band is also associated with, the roller surface offers annular link slot, and the elastic rubber band stretching is socketed in adjacent
Roller on, the elastic rubber band, which coordinates, to be absorbed in annular link slot；The elastic rubber band outer surface, which is provided with, to be used to increase
The magnetic sheet of roller and case surface magnetic suck；
T-shaped shackle member is provided with the inside of the magnetic sheet, the outer surface of the elastic rubber band is evenly equipped with multiple and T-shaped shackle member and coordinated
T-shaped neck；The magnetic sheet coordinates the connection realized with elastic rubber band by T-shaped shackle member and T-shaped neck；
Multiple arcs neck is offered on the annular link slot, the inner surface of the elastic rubber band is evenly equipped with multiple and arc
The arc fin that neck coordinates；Driving elastic rubber band is coordinated together by arc-shaped slot and arc fin when the roller is rotated
Roll；
The magnetic sheet and T-shaped shackle member are integrally formed, and the elastic rubber band is integrally formed with T-shaped neck and arc fin；
The T-shaped shackle member is arcwall face towards the surface of elastic rubber band side, and the radian of the arcwall face is connected with annular
The radian of groove is engaged；
The detection cylinder includes cylinder shell and the spray assembly being arranged in cylinder shell, and the detection cylinder is rotated with vehicle frame to be connected
Connect, the driving wheel of driving detection cylinder reciprocating rotation is additionally provided with the vehicle frame, the driving wheel is connected with rotary electric machine；
The detection cylinder is cylindricality, and the detection cylinder side of the cylindricality is provided with arcuate surface, and the circular arc table is sold to be set on face
There is a hairbrush, the hairbrush when detection cylinder turns to bottom of frame with case surface cooperation with contacting；
The vehicle frame is provided with connecting plate, and the detection cylinder two ends are provided with the rotating shaft being connected with connecting plate, and the rotating shaft is with being connected
Plate is rotated by bearing and connected, and the driving wheel engages driving with arcuate surface, and the rotary electric machine is servomotor；
The spray assembly includes spray assembly shell and the spray coating liquor being enclosed in spray assembly shell, the spraying hydraulic coupling
It is stored in spray coating liquor reservoir bag, the spray assembly outer casing bottom is provided with shower nozzle, the shower nozzle passes through catheter and spray coating liquor
Connected inside reservoir bag, the catheter is provided with application valve body；
The spray assembly shell is fixed in detection cylinder, and the shower nozzle is protruding through arcuate surface；
The spray coating liquor reservoir bag is elastic emulsion bag, and the spray coating liquor is poured into elastic emulsion bag by external pressure and forces spraying
Liquid reservoir bag is in swelling state in spray assembly enclosure, and when application valve body is under opening, spray coating liquor is by spraying
Spray coating liquor is squeezed out shower nozzle by liquid reservoir bag convergent force；
The spray assembly enclosure is additionally provided with the magnetic patch slided along above and below spray assembly shell, and the magnetic patch is arranged on spraying
Between liquid reservoir bag and spray assembly cover top portion, the magnetic patch is used for and case surface adsorbs to strengthen to spray coating liquor reservoir bag
Extruding；
The spray assembly shell is non-ironware；
The spray assembly shell is fixed with detection cylinder grafting；
Air-vent is offered on the spray assembly shell；
The elastic emulsion bag is internal to be additionally provided with a latex balloon, and the latex balloon is connected with elastic emulsion bag top；Institute
It is 0.5~3mm to state elastic emulsion bag thickness；The latex balloon thickness is 0.1~1mm；
The magnetic patch and spray coating liquor reservoir bag contact position are be bonded by binding agent；
Brass magnetic isolation unit part is additionally provided between magnetic patch and the spray assembly cover top portion；
Magnetic patch side wall is provided with PTFE anti-wear layer with spray assembly outer casing inner wall contact position；
Lubricating oil is coated with the spray assembly outer casing inner wall；
The shower nozzle is sealed with catheter junction and set, and the catheter is sealed with spray coating liquor reservoir bag junction and set；
This method is comprised the following steps that：When carrying out detection attended operation, vehicle frame is adsorbed by permanent magnetic iron compressed first
In case surface, either vehicle frame bottom surface can be realized towards any direction adsorbs connection；Secondly, by elastic caoutchouc band
Magnetic sheet and case surface are adsorbed, and magnetic sheet receives absorption affinity and pulls elastic rubber band and roller is more steady by T-shaped shackle member
Fixed absorption is in case surface；
Control roller to rotate, vehicle frame is moved to case surface and the position damaged occurs；Pass through rotary electric machine driving driving rotation
Dynamic, driving wheel drives detection cylinder to rotate, and hairbrush is turned into vehicle frame lower end, and match somebody with somebody splice grafting with the pending position of case surface
Touch, control the forward and reverse alternate run of rotary electric machine, hairbrush is polished case surface back and forth, the anticorrosive coat of decortication is polished clean；Together
Reason turns to spray assembly the pending position just polished by rotary electric machine driving detection cylinder so that shower nozzle is outside
Shell surface locality to be sprayed；Opening controlling valve body, spray coating liquor relies on spray coating liquor reservoir bag convergent force, and magnetic patch and shell table
Face is adsorbed and spray coating liquor is squeezed out into shower nozzle to the extruding force of spray coating liquor reservoir bag, so as to realize spraying operation；After spraying is finished
Application valve body is closed, the spraying operation of next position is carried out if desired can circulate aforesaid operations；If spraying is finished,
By car body remote control to lower position, vehicle frame is removed；Due to magnetic sheet as elastic rubber band is run, in straight position
When, magnetic sheet is in state with elastic rubber band, when needing the crooked place by roller, except its of T-shaped shackle member
He temporarily can separate magnetic sheet part with elastic rubber band, to realize the bending of elastic rubber band, treat operation to elastic rubber band
During close to case surface, magnetic sheet can be by the larger suction of shell, but is due to have T-shaped shackle member and the limitation of T-shaped neck to make
With magnetic sheet is restricted to the close of case surface, but elastic rubber band is pressed on into case surface simultaneously, realizes elastic caoutchouc
With 29 auxiliary adsorption function；By the cooperation of spray coating liquor reservoir bag and magnetic patch, spray coating liquor can be by spray coating liquor reservoir bag
The collective effect of the pressure of convergent force and magnetic patch and realize spraying；Masking liquid reservoir bag and being combined with for magnetic patch are pressed beneficial to spraying simultaneously
Power tends under a relatively stable state, beginning state, and apart from case surface farther out, pressure is smaller for magnetic patch, and spray coating liquor is stored up
The elastic module for depositing bag is larger, and convergent force is stronger, and with the Stepwize Shrink of spray coating liquor reservoir bag, elastic module reduces, and magnetic patch
Progressively close apart from case surface, attraction is strengthened, and pressure is increased, so during entirely extruding spray coating liquor, spraying
Can mutually it be made up between the convergent force and magnetic patch pressure of liquid reservoir bag, summation tends to a relatively stable state, is conducive to
The realization of spraying effect, while eliminating outside for by the compression pump of strong spray pressure, simplifying structure and having reached equally
Technique effect；After elastic emulsion bag restores to the original state, latex balloon is arranged in elastic emulsion bag, can pass through latex balloon pair
Elastic emulsion bag realizes support, prevents magnetic patch excessive extrusion and forms folding and folding line；It is now newborn to elasticity by external equipment
Spray coating liquor is filled with poly-bag again, due to the pressure increase in elastic emulsion bag, latex balloon volume can be gradually reduced；In spraying
In component spraying process, it can control to detect cylinder low-angle reciprocating rotation, can so improve the area of spraying covering, improve spray
The efficiency of painting.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107225581A true CN107225581A (en) | 2017-10-03 |
| CN107225581B CN107225581B (en) | 2020-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
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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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| Country | Link |
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| CN (2) | CN107225581B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108100185A (en) * | 2017-12-19 | 2018-06-01 | 上海飞浪气垫船有限公司 | A kind of aircushion vehicle method for anticorrosion treatment |
| CN108979038A (en) * | 2018-06-21 | 2018-12-11 | 浙江大丰建筑装饰工程有限公司 | A kind of arenas decoration wall construction method |
| CN117299435A (en) * | 2023-11-30 | 2023-12-29 | 江苏微特利电机股份有限公司 | Paint spraying equipment for motor shell production |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| BE1030598B1 (en) * | 2022-12-14 | 2024-01-09 | Viage SPRL | Automatic topographical marking system on the underside and vertically |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105438301A (en) | 2016-03-30 |
| CN107225581B (en) | 2020-08-04 |
| CN105438301B (en) | 2017-09-15 |
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