CN108906389B - Automatic device and method for ship body spraying operation - Google Patents
Automatic device and method for ship body spraying operation Download PDFInfo
- Publication number
- CN108906389B CN108906389B CN201811050553.2A CN201811050553A CN108906389B CN 108906389 B CN108906389 B CN 108906389B CN 201811050553 A CN201811050553 A CN 201811050553A CN 108906389 B CN108906389 B CN 108906389B
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- Prior art keywords
- bottom plate
- guide pipe
- box
- rotatably connected
- fixedly arranged
- Prior art date
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- Expired - Fee Related
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- 238000005507 spraying Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims description 17
- 239000007921 spray Substances 0.000 claims abstract description 20
- 230000002093 peripheral effect Effects 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 8
- 239000003973 paint Substances 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 2
- 238000010422 painting Methods 0.000 claims 4
- 239000011248 coating agent Substances 0.000 abstract description 11
- 238000000576 coating method Methods 0.000 abstract description 11
- 238000009827 uniform distribution Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000036651 mood Effects 0.000 description 2
- 150000001299 aldehydes Chemical class 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
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- Catching Or Destruction (AREA)
Abstract
The device comprises a bottom plate, one end of the bottom plate is rotatably connected with two front travelling wheels, the other end of the bottom plate is rotatably connected with two rear travelling wheels, a box body is fixedly arranged on the bottom plate, a driving motor is fixedly arranged in the box body, a direction-adjusting motor is fixedly arranged in the box body, a vertical support rod is coaxially and fixedly connected onto an output shaft of the direction-adjusting motor, a cylindrical guide cavity is formed in the top of the vertical support rod, a plurality of one-way valves are uniformly and fixedly arranged on the peripheral side of the cylindrical guide cavity, a vertical guide pipe is vertically and fixedly connected to the upper end of the vertical support rod, a horizontal guide pipe is communicated with the upper end of the vertical guide pipe, a plurality of vertically downward spray heads are communicated with the horizontal guide pipe, a coating tank is fixedly arranged on the top of the box body, and the. The invention can carry out automatic spraying on the ship body, can cover corners and other places which are difficult to spray, and has uniform distribution of the sprayed coating.
Description
Technical Field
The invention relates to the field of ship manufacturing, in particular to an automatic device and a method for ship body spraying operation.
Background
The spraying operation is one of three major process technologies in ship manufacturing, and plays a very important role in the ship manufacturing process. For a long time, ship spraying is generally carried out manually because ships are large in size and complex in structure and the existing factory building structure is limited. However, manual spraying is difficult, the quality of a paint film is difficult to guarantee, and the problems of low production efficiency, unstable quality and the like exist. In addition, a large amount of harmful gases such as benzene and aldehydes generated in the process cause environmental pollution, the physical health and the working mood of operators are influenced, the spraying quality is greatly influenced by factors such as the technical level and the mood of workers, the return spraying rate of a noise spraying process is high, and the production capacity is limited.
A device for boats and ships surface coating operation that appears at present adopts permanent magnet track adsorption technique more, and the most track structure of this type of device is stiff, is difficult to realize frequent curvature change in the motion process, and is less with the adhesion surface on hull surface, and the adsorption affinity is not strong, consequently has two problems: firstly, at the position of the hull surface with larger curvature, the effective contact area between the track and the hull surface is reduced, for example, at the positions with larger curved surface radians, such as the head and tail parts of a ship, the bilge part and the like, the track or the driving wheel of the device can not reach the minimum value of the effective joint area required by normal work with the hull surface, so that the adsorption force is reduced, and the whole device can not normally advance and even has a falling accident; secondly, due to the relatively fixed crawler belt and the internal structure form, on the surface of the ship body with different curvatures and large changes, the spraying equipment carried by the device cannot keep a good operation posture, and the spraying operation quality of the surface of the ship body is influenced.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides an automatic device and a method for ship body spraying operation, which can automatically spray a ship body, can cover corners and other places which are difficult to spray, can not leave dead corners, and can uniformly distribute a sprayed coating with good performance.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic device for ship body spraying operation comprises a rectangular bottom plate, wherein one end of the bottom plate is rotatably connected with two front travelling wheels, the other end of the bottom plate is rotatably connected with two rear travelling wheels, a box body is fixedly arranged on the bottom plate, a driving motor for driving the rear travelling wheels to rotate is fixedly arranged in the box body, a direction-adjusting motor is fixedly arranged in the box body, an output shaft of the direction-adjusting motor is vertically and upwards arranged, a vertical supporting rod is coaxially and fixedly connected onto the output shaft of the direction-adjusting motor, the vertical supporting rod upwards penetrates out of the box body, a cylindrical guide cavity is formed in the top of the vertical supporting rod, a plurality of check valves are uniformly and fixedly arranged on the peripheral side of the cylindrical guide cavity, the conduction direction of the check valves is from outside to inside, a vertical guide pipe is vertically and fixedly connected onto the upper end of the vertical supporting rod, the upper end intercommunication of perpendicular honeycomb duct is provided with horizontal honeycomb duct, horizontal honeycomb duct intercommunication has the perpendicular decurrent shower nozzle of a plurality of, the top of box is still fixed and is provided with scribbles the jar, scribble the export level of jar and set up and pass through the check valve with cylindrical direction chamber is linked together, the fixed power that is provided with on the roof of box inside, driving motor with turn to the motor all with the power electricity is connected.
Preferably, one end of the horizontal flow guide pipe is communicated with two spray heads, and the other end of the horizontal flow guide pipe is communicated with four spray heads.
Preferably, the one end of bottom plate is rotated and is connected with the front wheel axle, two fixed cover respectively of preceding walking wheel is established the both ends of front wheel axle, the other one end of bottom plate is rotated and is connected with the rear wheel axle, two fixed cover is established respectively to the rear walking wheel the both ends of rear wheel axle, preceding walking wheel with all be provided with the antislip strip on the rear walking wheel.
Preferably, the middle part of the rear wheel shaft is connected with a transmission shaft through a gear box in a transmission manner, the transmission shaft extends along the length direction of the bottom plate, a driven gear is fixedly sleeved on the transmission shaft, a driving gear is fixedly sleeved on an output shaft of the driving motor, and the driving gear is meshed with the driven gear.
Preferably, the bottom plate is rotatably connected with the transmission shaft through a plurality of second bearings.
Preferably, the base plate is rotatably connected to the rear wheel shaft by a plurality of first bearings.
Preferably, the bottom plate is rotatably connected with the middle part of the front wheel shaft through a rotating shaft, the bottom plate is further fixedly provided with an air cylinder, and an output shaft of the air cylinder is rotatably connected with one end of the front wheel shaft through a connecting piece.
Preferably, the connecting piece is cylindrical, a limiting cavity is formed in the center of the connecting piece and is hourglass-shaped, the output shaft of the air cylinder is fixedly connected with the connecting piece from the side, and the front wheel shaft penetrates through the limiting cavity along the length direction of the connecting piece.
Preferably, the vertical support rod is rotatably connected with the top wall of the box body through an angular contact bearing.
Preferably, a wireless communication device is further fixedly arranged on the top wall inside the box body, the wireless communication device is electrically connected with an antenna, and the antenna penetrates out of the box body upwards.
In order to achieve the purpose, the invention provides the following technical scheme: the automatic ship spraying operation method adopts the automatic ship spraying operation device and comprises the following steps:
s1, inputting the shape of the part to be sprayed and the corresponding device walking route in the controller in advance;
s2, moving the device along the walking line;
s3, the paint in the paint tank (9) is sprayed downwards from the spray head (19) to realize spraying.
The invention can carry out automatic spraying on the ship body, has higher efficiency, can cover corners and other places which are difficult to spray, can not leave dead corners, and has uniform distribution of the sprayed coating and good performance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.
Fig. 2 is a schematic diagram of the transmission mode of the embodiment of the invention.
Fig. 3 is a schematic view of a connector structure according to an embodiment of the present invention.
FIG. 4 is a flowchart of the operation of an embodiment of the present invention.
Reference numerals: 1-antislip strip, 2-rear traveling wheel, 3-bottom plate, 4-front traveling wheel, 5-box, 6-driving motor, 7-driving gear, 8-power supply, 9-paint can, 10-steering motor, 11-wireless communication device, 12-antenna, 13-angular contact bearing, 14-vertical support rod, 15-cylindrical guide cavity, 16-vertical guide pipe, 17-one-way valve, 18-horizontal guide pipe, 19-spray head, 20-front wheel shaft, 21-connecting piece, 22-rotating shaft, 23-air cylinder, 24-first bearing, 25-gear box, 26-transmission shaft, 27-second bearing, 28-driven gear, 29-limit cavity and 30-rear wheel shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, fig. 1 is an overall structural schematic diagram of an embodiment of the present invention, fig. 2 is a transmission mode schematic diagram of the embodiment of the present invention, fig. 3 is a connecting member structural schematic diagram of the embodiment of the present invention, and fig. 4 is an operation flow chart of the embodiment of the present invention.
The utility model provides a hull spraying operation automatic device, including rectangular bottom plate 3, the one end of bottom plate 3 is rotated and is connected with front axle 20, bottom plate 3 rotates through the middle part of a pivot 22 with front axle 20 and is connected, each fixed cover in both ends of front axle 20 is equipped with a preceding walking wheel 4, the other one end of bottom plate 3 is rotated and is connected with rear axle 30, bottom plate 3 rotates with rear axle 30 through the first bearing 24 of a plurality of and is connected, each fixed cover in both ends of rear axle 30 is equipped with a rear walking wheel 2, the middle part of rear axle 30 is connected with transmission shaft 26 through the transmission of gear box 25, bottom plate 3 rotates with transmission shaft 26 through a plurality of second bearing 27 and is connected, transmission shaft 26 extends along the length direction of bottom plate 3, the last fixed cover of transmission shaft 26.
The bottom plate 3 is fixedly provided with a box body 5, a driving motor 6 for driving the rear travelling wheel 2 to rotate is fixedly arranged in the box body 5, an output shaft of the driving motor 6 is fixedly sleeved with a driving gear 7, and the driving gear 7 is meshed with a driven gear 28. The front walking wheels 4 and the rear walking wheels 2 are both provided with anti-slip strips 1. The bottom plate 3 is also fixedly provided with a cylinder 23, and an output shaft of the cylinder 23 is rotatably connected with one end of the front wheel shaft 20 through a connecting piece 21. The connecting piece 21 is cylindrical, a limiting cavity 29 is formed in the center of the connecting piece 21, the limiting cavity 29 is hourglass-shaped, the output shaft of the air cylinder 23 is fixedly connected with the connecting piece 21 from the side, and the front wheel shaft 20 penetrates through the limiting cavity 29 along the length direction of the connecting piece 21.
The direction-adjusting motor 10 is fixedly arranged in the box body 5, an output shaft of the direction-adjusting motor 10 is vertically arranged upwards, a vertical supporting rod 14 is coaxially and fixedly connected to the output shaft of the direction-adjusting motor 10, the vertical supporting rod 14 upwards penetrates out of the box body 5, and the vertical supporting rod 14 is rotatably connected with the top wall of the box body 5 through an angular contact bearing 13. Cylindrical direction chamber 15 has been seted up at the top of vertical support pole 14, cylindrical direction chamber 15's week side has evenly set firmly a plurality of check valve 17, the direction of switch on of check valve 17 is from outside-in, vertical support pole 14's upper end has linked firmly perpendicular honeycomb duct 16 perpendicularly, perpendicular honeycomb duct 16 is linked together with cylindrical direction chamber 15, the upper end intercommunication of perpendicular honeycomb duct 16 is provided with horizontal honeycomb duct 18, horizontal honeycomb duct 18 intercommunication has a plurality of perpendicular decurrent shower nozzle 19, specific horizontal honeycomb duct 18's one end intercommunication has two shower nozzles 19, horizontal honeycomb duct 18's other one end intercommunication has four shower nozzles 19. The top of box 5 still fixedly is provided with scribbles the jar 9, scribbles the export level setting of jar 9 and is linked together through check valve 17 and cylindrical direction chamber 15, still fixedly on the roof of box 5 inside is provided with power 8 and controller, the controller can adopt STM32 series singlechip, STC series singlechip etc..
The top wall in the box body 5 is also fixedly provided with a wireless communication device 11, the wireless communication device 11 is electrically connected with an antenna 12, and the antenna 12 upwards penetrates out of the box body 5. The driving motor 6, the direction adjusting motor 10, the air cylinder 23 and the wireless communication device 11 are all electrically connected with the power supply 8 and the controller.
Before use, the shape of the part to be painted and the corresponding travel path of the device can be pre-entered in the controller. When the device is used, the device can move along a set route, the driving motor 6 drives the transmission shaft 26 to rotate through the meshing of the driving gear 7 and the driven gear 28, the transmission shaft 26 drives the rear wheel shaft 30 to rotate through the gear box 25, and finally the rear travelling wheel 2 is driven to rotate to push the device to move. When the steering is needed, the controller drives the cylinder 23 to output or withdraw, and then the front wheel shaft 20 and the front road wheels 4 are driven to rotate through the connecting piece 21, so that the steering is realized. During the movement of the device, the coating in the coating tank 9 is sprayed into the cylindrical guide cavity 15, then moves along the vertical guide pipe 16 and the horizontal guide pipe 18, and finally is sprayed downwards from the spray head 19 to realize spraying. When meeting corners, the controller can drive the vertical support rod 14, the vertical guide pipe 16, the horizontal guide pipe 18 and the spray head 19 to rotate by controlling the direction-adjusting motor 10 to rotate, so that the corners and other places which are difficult to spray are sprayed, and because the conduction direction of the one-way valve 17 is from outside to inside, the coating cannot flow out of the cylindrical guide cavity 15 in the rotation process of the vertical support rod 14. The number of the spray heads 19 can be set to be asymmetrical, so that spray parts or spray parts with different widths can be sprayed, the phenomenon that the thickness of the coating is uneven due to local multiple spraying is avoided, and the coating performance is guaranteed.
For the hull that has been assembled, can set up preceding walking wheel 4 and back walking wheel 2 as the magnetism material to make the device adsorb and carry out the spraying on the hull surface.
The invention can carry out automatic spraying on the ship body, has higher efficiency, can cover corners and other places which are difficult to spray, can not leave dead corners, and has uniform distribution of the sprayed coating and good performance.
Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. An automatic ship body spraying operation method is characterized in that: adopt hull spraying operation automatic device, hull spraying operation automatic device includes rectangular bottom plate (3), the one end of bottom plate (3) is rotated and is connected with two walking wheels (4) before, the other one end of bottom plate is rotated and is connected with two back walking wheels (2), fixed being provided with box (5) on bottom plate (3), box (5) internal fixation is provided with and is used for driving back walking wheel (2) pivoted driving motor (6), box (5) internal fixation is provided with and transfers to motor (10), the output shaft of transferring to motor (10) is upwards set up perpendicularly, coaxial vertical support pole (14) that has linked firmly on the output shaft of transferring to motor (10), vertical support pole (14) upwards wear out box (5), cylindrical direction chamber (15) have been seted up at the top of vertical support pole (14), a plurality of one-way valves (17) are uniformly and fixedly arranged on the peripheral side of the cylindrical guide cavity (15), the conduction direction of the one-way valve (17) is from outside to inside, the upper end of the vertical support rod (14) is vertically and fixedly connected with a vertical guide pipe (16), the vertical guide pipe (16) is communicated with the cylindrical guide cavity (15), the upper end of the vertical guide pipe (16) is communicated with a horizontal guide pipe (18), the horizontal draft tube (18) is communicated with a plurality of vertically downward spray heads (19), a paint tank (9) is fixedly arranged at the top of the box body (5), an outlet of the paint tank (9) is horizontally arranged and communicated with the cylindrical guide cavity (15) through the one-way valve (17), a power supply (8) is fixedly arranged on the top wall in the box body (5), and the driving motor (6) and the direction-adjusting motor (10) are electrically connected with the power supply (8); one end of the horizontal guide pipe (18) is communicated with two spray heads (19), and the other end of the horizontal guide pipe (18) is communicated with four spray heads (19); one end of the bottom plate (3) is rotatably connected with a front wheel shaft (20), the two front traveling wheels (4) are respectively fixedly sleeved at two ends of the front wheel shaft (20), the other end of the bottom plate (3) is rotatably connected with a rear wheel shaft (30), the two rear traveling wheels (2) are respectively fixedly sleeved at two ends of the rear wheel shaft (30), and anti-skid strips (1) are respectively arranged on the front traveling wheels (4) and the rear traveling wheels (2); the bottom plate (3) is rotatably connected with the middle part of the front wheel shaft (20) through a rotating shaft (22), an air cylinder (23) is further fixedly arranged on the bottom plate (3), and an output shaft of the air cylinder (23) is rotatably connected with one end of the front wheel shaft (20) through a connecting piece (21); the connecting piece (21) is cylindrical, a limiting cavity (29) is formed in the center of the connecting piece (21), the limiting cavity (29) is hourglass-shaped, an output shaft of the air cylinder (23) is fixedly connected with the connecting piece (21) from the side, the front wheel shaft (20) penetrates through the limiting cavity (29) along the length direction of the connecting piece (21), and the method comprises the following steps:
s1, inputting the shape of the part to be sprayed and the corresponding device walking route in the controller in advance;
s2, moving the device along the walking line;
s3, the paint in the paint tank (9) is sprayed downwards from the spray head (19) to realize spraying.
2. An automatic method of painting a ship hull according to claim 1, characterized in that: the middle part of rear wheel axle (30) is connected with transmission shaft (26) through gear box (25) transmission, transmission shaft (26) are followed the length direction of bottom plate (3) extends, the fixed cover is equipped with driven gear (28) on transmission shaft (26), the fixed cover is equipped with driving gear (7) on the output shaft of driving motor (6), driving gear (7) with driven gear (28) mesh mutually.
3. An automatic method of painting a ship hull according to claim 2, characterized in that: the bottom plate (3) is rotatably connected with the transmission shaft (26) through a plurality of second bearings (27); the bottom plate (3) is rotatably connected with the rear wheel shaft (30) through a plurality of first bearings (24).
4. An automatic method of painting a ship hull according to claim 1, characterized in that: the vertical support rod (14) is rotatably connected with the top wall of the box body (5) through an angular contact bearing (13).
5. An automatic method of painting a ship hull according to claim 1, characterized in that: still be fixed on the inside roof of box (5) and be provided with wireless communication device (11), wireless communication device (11) electricity is connected with antenna (12), antenna (12) upwards wear out box (5).
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 CN108906389A (en) | 2018-11-30 |
| CN108906389B true CN108906389B (en) | 2020-08-14 |
Family
ID=64407437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811050553.2A Expired - Fee Related 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) |
Family Cites Families (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 |
| CN102189055B (en) * | 2010-03-15 | 2015-09-30 | 武汉理工大学 | 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 |
| CN105643587B (en) * | 2016-03-04 | 2017-08-25 | 哈尔滨工业大学 | Thirteen-degree-of-freedom argosy external surface spray robot |
| 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 not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN108906389A (en) | 2018-11-30 |
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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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