CN108906389A - A kind of hull spraying operation automatic device and method - Google Patents
A kind of hull spraying operation automatic device and method Download PDFInfo
- Publication number
- CN108906389A CN108906389A CN201811050553.2A CN201811050553A CN108906389A CN 108906389 A CN108906389 A CN 108906389A CN 201811050553 A CN201811050553 A CN 201811050553A CN 108906389 A CN108906389 A CN 108906389A
- Authority
- CN
- China
- Prior art keywords
- bottom plate
- cabinet
- spraying operation
- hull
- automatic device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B05B13/005—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
Abstract
A kind of hull spraying operation automatic device and method, the device includes bottom plate, there are two front walking wheels for one end rotation connection of bottom plate, there are two rear walking wheels for the other end rotation connection of bottom plate, cabinet is fixedly installed on bottom plate, driving motor is fixedly installed in cabinet, orientation adjusting motor is fixedly installed in cabinet, vertical support rod is coaxially fixed on the output shaft of orientation adjusting motor, cylindrical directed cavity is offered at the top of vertical support rod, the side of cylindrical directed cavity is uniformly installed with several check valves, the upper end of vertical support rod is vertically fixed with vertical draft tube, the upper end of vertical draft tube is provided with and communicated with horizontal diversion pipe, horizontal diversion pipe is communicated with several spray heads vertically downward, paint can is further fixedly arranged at the top of cabinet, the outlet of paint can is horizontally disposed with and passes through check valve to be connected with cylindrical directed cavity.The present invention can carry out automatic spraying to hull, can cover the place that corner etc. is difficult to spray, while the coating sprayed is evenly distributed.
Description
Technical field
The present invention relates to shipbuilding field, specifically a kind of hull spraying operation automatic device and method.
Background technique
Spraying operation is one of three big technologies of shipbuilding, and very important work is played during shipbuilding
With.Ship spraying for a long time is since ship volume is big, and structure is complicated, and existing mill construction has limitation, general to be made using artificial
Industry.But the problems such as hand spray is more difficult, and painting quality is difficult to ensure, that there are production efficiencys is low, unstable quality.Separately
Outside, the pernicious gases such as a large amount of benzene, the aldehydes that generate in the process cause environmental pollution, influence the health of operator
And labour mood, and coating quality is affected by factors such as technical level, the moods of employee, and noise spraying process returns spray
Rate is higher, constrains production capacity.
The device for marine surface spraying operation occurred at present, mostly uses permanent magnet crawler belt adsorption technology, such dress
It is stiff to set most caterpillar belt structure, it is difficult to frequent Curvature varying is realized during the motion, it is smaller with the attachment surface of hull surface,
Adsorption capacity is not strong, therefore there are problems that two：First is that by the biggish hull surface of curvature, crawler belt and hull surface
Effective contact area reduces, such as some biggish positions of curved surface radian such as ship initial and tail sections, turn of the bilge, the crawler belt or driving wheel of device
The minimum value for working normally desired effective fitting area cannot be reached with hull surface, therefore reduce adsorption capacity, caused whole
A device cannot normally advance, or even falling accident occurs；Second is that since itself relatively-stationary crawler belt and internal junction are configured
Formula, in the hull surface that curvature is different and changes greatly, device spraying equipment mounted is not able to maintain one well
Operation posture, influence hull surface spraying operation quality.
Summary of the invention
In order to solve the deficiencies in the prior art, the present invention provides a kind of hull spraying operation automatic device and method, can
Automatic spraying is carried out to hull, the place that corner etc. is difficult to spray can be covered, will not leave behind dead angle, while the coating sprayed
It is evenly distributed, it is functional.
In order to achieve the above object, the present invention provides the following technical solutions：A kind of hull spraying operation automatic device, including
Rectangular bottom plate, there are two front walking wheel, the other end of the bottom plate is rotatablely connected for one end rotation connection of the bottom plate
There are two rear walking wheel, it is fixedly installed cabinet on the bottom plate, is fixedly installed in the cabinet for driving the rear row
The driving motor of wheel rotation is walked, is fixedly installed orientation adjusting motor in the cabinet, the output shaft of the orientation adjusting motor is vertically upward
It is arranged, is coaxially fixed with vertical support rod on the output shaft of the orientation adjusting motor, the vertical support rod is pierced by the case upwards
Body offers cylindrical directed cavity at the top of the vertical support rod, if the side of the cylinder directed cavity is uniformly installed with
Dry check valve, the conducting direction of the check valve are from outside to inside that the upper end of the vertical support rod is vertically fixed with vertically
Diversion pipe, the vertical draft tube are connected with the cylindrical directed cavity, and the upper end of the vertical draft tube is provided with and communicated with
Horizontal diversion pipe, the horizontal diversion pipe are communicated with several spray heads vertically downward, and the top of the cabinet is also fixedly installed
There is paint can, the outlet of the paint can is horizontally disposed with and is connected by the check valve with the cylindrical directed cavity, institute
It states and is fixedly installed power supply on the roof of box house, the driving motor and the orientation adjusting motor are electrically connected with the power supply
It connects.
Preferably, the spray head there are two one end connections of the horizontal diversion pipe, other the one of the horizontal diversion pipe
There are four the spray heads for end connection.
Preferably, one end of the bottom plate is rotatably connected to front axle, and fixation is set in two front walking wheels respectively
The both ends of the front axle, the other end of the bottom plate are rotatably connected to hind axle, and two rear walking wheels are fixed respectively
The both ends of the hind axle are set in, are provided with tread plate on the front walking wheel and the rear walking wheel.
Preferably, the middle part of the hind axle is connected with transmission shaft by gearbox drive, and the transmission shaft is along the bottom
The length direction of plate extends, and fixing sleeve is equipped with driven gear, fixing sleeve on the output shaft of the driving motor on the transmission shaft
Equipped with driving gear, the driving gear and the driven gear are meshed.
Preferably, the bottom plate is rotatablely connected by several second bearings and the transmission shaft.
Preferably, the bottom plate is rotatablely connected by several first bearings and the hind axle.
Preferably, the bottom plate is rotatablely connected by the middle part of a shaft and the front axle, also solid on the bottom plate
Surely it is provided with cylinder, the output shaft of the cylinder is rotatablely connected by one end of connector and the front axle.
Preferably, the connector is cylindrical, and limit chamber is offered at the center of the connector, and the limit chamber is in
The output shaft of hourglass shape, the cylinder is fixedly connected from side with the connector, length of the front axle along the connector
Degree direction is passed through from the limit chamber.
Preferably, it is rotatablely connected between the vertical support rod and the roof of the cabinet by angular contact bearing.
Preferably, wireless communication device, the wireless communication device are further fixedly arranged on the roof of the box house
It is electrically connected with antenna, the antenna is pierced by the cabinet upwards.
In order to achieve the above object, the present invention provides the following technical solutions：A kind of hull spraying operation automated process uses
Above-mentioned hull spraying operation automatic device, and include the following steps：
S1, the shape for wanting application element and corresponding device track route are pre-entered in controller；
S2, device are moved along track route；
S3, paint can（9）Interior coating is from spray head（19）In downwards spray realize spraying.
The present invention can carry out automatic spraying to hull, more efficient, and can cover corner etc. and be difficult to and spray
Place will not leave behind dead angle, while the coating sprayed is evenly distributed, functional.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the overall structure diagram of the embodiment of the present invention.
Fig. 2 is the kind of drive schematic diagram of the embodiment of the present invention.
Fig. 3 is the connecting-piece structure schematic diagram of the embodiment of the present invention.
Fig. 4 is the operation process chart of the embodiment of the present invention.
Appended drawing reference：1- tread plate, 2- rear walking wheel, 3- bottom plate, 4- front walking wheel, 5- cabinet, 6- driving motor, 7- master
Moving gear, 8- power supply, 9- paint can, 10- orientation adjusting motor, 11- wireless communication device, 12- antenna, 13- angular contact bearing, 14-
Vertical support rod, 15- cylinder directed cavity, 16- vertical draft tube, 17- check valve, the horizontal diversion pipe of 18-, 19- spray head, 20-
Front axle, 21- connector, 22- shaft, 23- cylinder, 24- first bearing, 25- gear-box, 26- transmission shaft, 27- second bearing,
28- driven gear, 29- limit chamber, 30- hind axle.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The overall structure diagram that Fig. 1 to 4, Fig. 1 is the embodiment of the present invention is please referred to, Fig. 2 is the biography of the embodiment of the present invention
Flowing mode schematic diagram, Fig. 3 are the connecting-piece structure schematic diagrames of the embodiment of the present invention, and Fig. 4 is the work flow of the embodiment of the present invention
Figure.
A kind of hull spraying operation automatic device, including rectangular bottom plate 3, one end of bottom plate 3 are rotatably connected to front-wheel
Axis 20, bottom plate 3 are rotatablely connected by the middle part of a shaft 22 and front axle 20, and each fixing sleeve in the both ends of front axle 20 is equipped with one
A front walking wheel 4, the other end of bottom plate 3 are rotatably connected to hind axle 30, and bottom plate 3 passes through several first bearings 24 and rear-wheel
Axis 30 is rotatablely connected, and each fixing sleeve in the both ends of hind axle 30 is equipped with a rear walking wheel 2, and the middle part of hind axle 30 passes through gear-box
25 are sequentially connected with transmission shaft 26, and bottom plate 3 is rotatablely connected by several second bearings 27 and transmission shaft 26, and transmission shaft 26 is the bottom of along
The length direction of plate 3 extends, and fixing sleeve is equipped with driven gear 28 on transmission shaft 26.
It is fixedly installed cabinet 5 on bottom plate 3, the driving electricity for driving rear walking wheel 2 to rotate is fixedly installed in cabinet 5
Machine 6, fixing sleeve is equipped with driving gear 7 on the output shaft of driving motor 6, and driving gear 7 and driven gear 28 are meshed.Preceding walking
Tread plate 1 is provided on wheel 4 and rear walking wheel 2.Cylinder 23 is further fixedly arranged on bottom plate 3, the output shaft of cylinder 23 passes through
One end of connector 21 and front axle 20 is rotatablely connected.Connector 21 is cylindrical, and limit is offered at the center of connector 21
Chamber 29, limit chamber 29 are in hourglass shape, and the output shaft of cylinder 23 is fixedly connected from side with connector 21, and front axle 20 is along connector
21 length direction is passed through from limit chamber 29.
Orientation adjusting motor 10 is fixedly installed in cabinet 5, the output shaft of orientation adjusting motor 10 is arranged vertically upward, orientation adjusting motor 10
Output shaft on be coaxially fixed with vertical support rod 14, vertical support rod 14 is pierced by cabinet 5, vertical support rod 14 and cabinet upwards
It is rotatablely connected between 5 roof by angular contact bearing 13.The top of vertical support rod 14 offers cylindrical directed cavity 15, circle
The side of cylindricality directed cavity 15 is uniformly installed with several check valves 17, and the conducting direction of check valve 17 is from outside to inside, vertically
The upper end of support rod 14 is vertically fixed with vertical draft tube 16, and vertical draft tube 16 is connected with cylindrical directed cavity 15, vertically
The upper end of diversion pipe 16 is provided with and communicated with horizontal diversion pipe 18, and horizontal diversion pipe 18 is communicated with several spray heads vertically downward
19, specifically there are two spray head 19, the other end of horizontal diversion pipe 18 is communicated with four for one end connection of horizontal diversion pipe 18
A spray head 19.The top of cabinet 5 is further fixedly arranged on paint can 9, the outlet of paint can 9 be horizontally disposed with and pass through check valve 17 with
Cylindrical directed cavity 15 is connected, and power supply 8 and controller is further fixedly arranged on the roof inside cabinet 5, the controller can
To use STM32 series monolithic, STC series monolithic etc..
Wireless communication device 11 is further fixedly arranged on roof inside cabinet 5, wireless communication device 11 is electrically connected with day
Line 12, antenna 12 are pierced by cabinet 5 upwards.Driving motor 6, orientation adjusting motor 10, cylinder 23 and wireless communication device 11 with power supply 8
It is electrically connected with controller.
Before use, the shape for wanting application element and corresponding device track route can be pre-entered in controller.
When in use, device can be moved along the route set, pass through driving gear 7 and driven gear 28 by driving motor 6
Engagement drive transmission shaft 26 to rotate, and then drive hind axle 30 to rotate by gear-box 25 by transmission shaft 26, it is final drive after
It is mobile that traveling wheel 2 rotates pushing meanss.When needing to turn to, controller drives the output of cylinder 23 or withdraws, Jin Ertong
Crossing connector 21 drives front axle 20 and front walking wheel 4 to rotate, and realizes and turns to.Painting of the device in moving process, in paint can 9
Material is injected in cylindrical directed cavity 15, mobile then along vertical draft tube 16 and horizontal diversion pipe 18, finally from spray head 19
It sprays downwards and realizes spraying.When encountering corner, controller can be driven vertical by the rotation of control orientation adjusting motor 10
Support rod 14, vertical draft tube 16, horizontal diversion pipe 18 and spray head 19 rotate, so that the place for being difficult to spray to corner etc. carries out
Spraying, because the conducting direction of check valve 17 is that from outside to inside, coating will not in 14 rotation process of vertical support rod
It is flowed out out of cylindrical directed cavity 15.The quantity of spray head 19 can be set to asymmetric form, can be to the spray of different in width
It applies component or spraying position is sprayed, avoiding part, repeatedly spraying causes coating layer thickness uneven, to guarantee coating
Energy.
For the hull assembled, magnetic material can be set by front walking wheel 4 and rear walking wheel 2, to make
Device can be adsorbed on hull surface and be sprayed.
The present invention can carry out automatic spraying to hull, more efficient, and can cover corner etc. and be difficult to and spray
Place will not leave behind dead angle, while the coating sprayed is evenly distributed, functional.
Various modifications to these embodiments will be readily apparent to those skilled in the art, herein
Defined General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and new
The consistent widest scope of clever feature.
Claims (10)
1. a kind of hull spraying operation automatic device, it is characterised in that：Including rectangular bottom plate（3）, the bottom plate（3）One
There are two front walking wheels for end rotation connection（4）, there are two rear walking wheels for the other end rotation connection of the bottom plate（2）, described
Bottom plate（3）On be fixedly installed cabinet（5）, the cabinet（5）It is inside fixedly installed for driving the rear walking wheel（2）Rotation
Driving motor（6）, the cabinet（5）Inside it is fixedly installed orientation adjusting motor（10）, the orientation adjusting motor（10）Output shaft hang down
It directly sets up, the orientation adjusting motor（10）Output shaft on be coaxially fixed with vertical support rod（14）, the vertical support rod
（14）It is pierced by the cabinet upwards（5）, the vertical support rod（14）Top offer cylindrical directed cavity（15）, the circle
Cylindricality directed cavity（15）Side be uniformly installed with several check valves（17）, the check valve（17）Conducting direction be from outer
Inwardly, the vertical support rod（14）Upper end be vertically fixed with vertical draft tube（16）, the vertical draft tube（16）With institute
State cylindrical directed cavity（15）It is connected, the vertical draft tube（16）Upper end be communicated with horizontal diversion pipe（18）, the water
Flat diversion pipe（18）It is communicated with several spray heads vertically downward（19）, the cabinet（5）Top be further fixedly arranged on coating
Tank（9）, the paint can（9）Outlet be horizontally disposed with and pass through the check valve（17）With the cylindrical directed cavity（15）Phase
Connection, the cabinet（5）Power supply is fixedly installed on internal roof（8）, the driving motor（6）With the orientation adjusting motor
（10）With the power supply（8）Electrical connection.
2. a kind of hull spraying operation automatic device as described in claim 1, it is characterised in that：The horizontal diversion pipe（18）
One end connection there are two the spray head（19）, the horizontal diversion pipe（18）Other end connection there are four the spray head
（19）.
3. a kind of hull spraying operation automatic device as described in claim 1, it is characterised in that：The bottom plate（3）One end
It is rotatably connected to front axle（20）, two front walking wheels（4）Fixation is set in the front axle respectively（20）Both ends, institute
State bottom plate（3）Other end be rotatably connected to hind axle（30）, two rear walking wheels（2）It is fixed described in being set in respectively
Hind axle（30）Both ends, the front walking wheel（4）With the rear walking wheel（2）On be provided with tread plate（1）.
4. a kind of hull spraying operation automatic device as claimed in claim 3, it is characterised in that：The hind axle（30）In
Portion passes through gear-box（25）It is sequentially connected with transmission shaft（26）, the transmission shaft（26）Along the bottom plate（3）Length direction prolong
It stretches, the transmission shaft（26）Upper fixing sleeve is equipped with driven gear（28）, the driving motor（6）Output shaft on fixing sleeve be equipped with
Driving gear（7）, the driving gear（7）With the driven gear（28）It is meshed.
5. a kind of hull spraying operation automatic device as claimed in claim 4, it is characterised in that：The bottom plate（3）If by
Dry second bearing（27）With the transmission shaft（26）Rotation connection；The bottom plate（3）Pass through several first bearings（24）With
The hind axle（30）Rotation connection.
6. a kind of hull spraying operation automatic device as claimed in claim 3, it is characterised in that：The bottom plate（3）Pass through one
A shaft（22）With the front axle（20）Middle part rotation connection, the bottom plate（3）On be further fixedly arranged on cylinder（23）, institute
State cylinder（23）Output shaft pass through connector（21）With the front axle（20）One end rotation connection.
7. a kind of hull spraying operation automatic device as claimed in claim 7, it is characterised in that：The connector（21）In circle
Cylindricality, the connector（21）Center at offer limit chamber（29）, the limit chamber（29）In hourglass shape, the cylinder
（23）Output shaft from side and the connector（21）It is fixedly connected, the front axle（20）Along the connector（21）Length
Direction is spent from the limit chamber（29）In pass through.
8. a kind of hull spraying operation automatic device as described in claim 1, it is characterised in that：The vertical support rod（14）
With the cabinet（5）Roof between pass through angular contact bearing（13）Rotation connection.
9. a kind of hull spraying operation automatic device as described in claim 1, it is characterised in that：The cabinet（5）Internal
Wireless communication device is further fixedly arranged on roof（11）, the wireless communication device（11）It is electrically connected with antenna（12）, described
Antenna（12）It is pierced by the cabinet upwards（5）.
10. a kind of hull spraying operation automated process, it is characterised in that：Using hull spraying operation as described in claim 1
Automatic device, and include the following steps：
S1, the shape for wanting application element and corresponding device track route are pre-entered in controller；
S2, device are moved along track route；
S3, paint can（9）Interior coating is from spray head（19）In downwards spray realize spraying.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811050553.2A CN108906389B (en) | 2018-09-10 | 2018-09-10 | Automatic device and method for ship body spraying operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811050553.2A CN108906389B (en) | 2018-09-10 | 2018-09-10 | Automatic device and method for ship body spraying operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108906389A true CN108906389A (en) | 2018-11-30 |
| CN108906389B CN108906389B (en) | 2020-08-14 |
Family
ID=64407437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811050553.2A Active CN108906389B (en) | 2018-09-10 | 2018-09-10 | Automatic device and method for ship body spraying operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108906389B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2657877Y (en) * | 2003-09-30 | 2004-11-24 | 高建华 | Automatic spraying manipulator |
| KR20080093536A (en) * | 2007-04-17 | 2008-10-22 | 박원철 | Rov for cleaning and inspection of ship hull |
| CN201482643U (en) * | 2009-08-20 | 2010-05-26 | 陈显忠 | Intelligent spray system |
| CN102189055A (en) * | 2010-03-15 | 2011-09-21 | 郑绍春 | Operation vehicle for carrying out automatic spraying on outside plate of hull |
| CN203750748U (en) * | 2014-02-28 | 2014-08-06 | 浙江海洋学院 | Adsorption type spraying equipment for hull outer plate |
| CN105643587A (en) * | 2016-03-04 | 2016-06-08 | 哈尔滨工业大学 | Thirteen-freedom spraying robot for outer surface of large ship body |
| CN207188053U (en) * | 2017-06-05 | 2018-04-06 | 天津全通船舶自动化工程有限公司 | One kind absorption walking ship cabin spray painting repair apparatus |
| CN108339702A (en) * | 2018-02-28 | 2018-07-31 | 浙江欧导自动化设备有限公司 | A kind of motor housing spray-painting plant with drying function |
-
2018
- 2018-09-10 CN CN201811050553.2A patent/CN108906389B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2657877Y (en) * | 2003-09-30 | 2004-11-24 | 高建华 | Automatic spraying manipulator |
| KR20080093536A (en) * | 2007-04-17 | 2008-10-22 | 박원철 | Rov for cleaning and inspection of ship hull |
| CN201482643U (en) * | 2009-08-20 | 2010-05-26 | 陈显忠 | Intelligent spray system |
| CN102189055A (en) * | 2010-03-15 | 2011-09-21 | 郑绍春 | Operation vehicle for carrying out automatic spraying on outside plate of hull |
| CN203750748U (en) * | 2014-02-28 | 2014-08-06 | 浙江海洋学院 | Adsorption type spraying equipment for hull outer plate |
| CN105643587A (en) * | 2016-03-04 | 2016-06-08 | 哈尔滨工业大学 | Thirteen-freedom spraying robot for outer surface of large ship body |
| CN207188053U (en) * | 2017-06-05 | 2018-04-06 | 天津全通船舶自动化工程有限公司 | One kind absorption walking ship cabin spray painting repair apparatus |
| CN108339702A (en) * | 2018-02-28 | 2018-07-31 | 浙江欧导自动化设备有限公司 | A kind of motor housing spray-painting plant with drying function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108906389B (en) | 2020-08-14 |
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Address after: No. 188, Lingshi Road, Bantou, Yonghe Town, Jinjiang City, Quanzhou City, Fujian Province Patentee after: Fujian Fubei Manyi Technology Co.,Ltd. Address before: 362200, Quanzhou City, Fujian province Yonghe Town, Jinjiang Tau Industrial Zone Patentee before: JINJIANG MINGZHU MARINE EQUIPMENT TECHNOLOGY Co.,Ltd. |
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