CN113617554A - Movable cable parallel spraying equipment for ship sectional coating - Google Patents
Movable cable parallel spraying equipment for ship sectional coating Download PDFInfo
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- CN113617554A CN113617554A CN202110800502.2A CN202110800502A CN113617554A CN 113617554 A CN113617554 A CN 113617554A CN 202110800502 A CN202110800502 A CN 202110800502A CN 113617554 A CN113617554 A CN 113617554A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- 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 three-dimensional [3D] surfaces
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
Abstract
本发明公开一种用于船舶分段涂装的移动式索并联喷涂装备，包括支撑行架、空中Y向移动机构、空中X向移动机构、Z向调整机构以及地轨Y向移动液压升降平台；空中Y向移动机构架置在支撑行架上，实现Y向运动；空中X向移动机构安装在空中Y向移动机构上，实现X向运动；Z向调整机构安装在空中X向移动机构下方，喷涂机械手臂安装在其末端；地轨Y向移动液压升降平台设置在Z向调整机构一侧，通过并联索组和Z向调整机构柔性连接，其通过联动来稳固喷涂机械手臂、实现角度的微调，通过托举地轨卷扬机至一定高度，有效避免并联索组与被喷涂船体之间的干涉。本发明可实现大行程、多角度的联动控制，能够满足大型分段船舶构件的喷涂需求。
The invention discloses a mobile cable-parallel spraying equipment used for subsection painting of ships, comprising a supporting carriage, a Y-direction moving mechanism in the air, an X-direction moving mechanism in the air, a Z-direction adjusting mechanism and a ground rail Y-direction moving hydraulic lifting platform ;The air Y-direction moving mechanism is mounted on the supporting frame to realize Y-direction movement; the air X-direction moving mechanism is installed on the air Y-direction moving mechanism to realize X-direction movement; the Z-direction adjustment mechanism is installed below the air X-direction moving mechanism , the spraying robot arm is installed at its end; the ground rail Y-direction mobile hydraulic lifting platform is set on the side of the Z-direction adjustment mechanism, and is flexibly connected with the Z-direction adjustment mechanism through the parallel cable group, which stabilizes the spraying robot arm through linkage and realizes the angle adjustment. Fine-tuning, by lifting the ground rail hoist to a certain height, effectively avoids the interference between the parallel cable group and the hull to be painted. The invention can realize the linkage control of large stroke and multiple angles, and can meet the spraying requirements of large segmented ship components.
Description
Technical Field
The invention relates to ship spraying equipment, in particular to movable cable parallel spraying equipment for ship section coating.
Background
At present, most domestic shipyards still adopt the traditional manual spraying mode to carry out spraying to the segmentation hull. Because the ship body is huge, the coating workers are conveyed to a high position for manual coating by adopting a scaffold type, a mechanical equipment lifting type and a mechanical equipment hoisting type. The mode is dangerous and easy to cause safety accidents, and the ship coating contains a large amount of toxic substances, thereby causing great threat to the health of workers.
Among the prior art, automatic spraying equipment is mostly for multiaxis serial-type robotic arm afterbody installs the spray gun additional and carries out automatic spraying, because sectional type hull structure is comparatively complicated, the shower nozzle need reach various different spraying positions, spraying posture, in order to realize unmanned automatic spraying, need to whole hoist and mount spraying device, apply X to, Y to, Z to the equidimension degree of freedom, but three problem can appear equally: firstly, all adopt the tandem system to connect, realize the multiaxis linkage, can accumulative error, the precision is lower when arriving the end. Secondly, if only X-direction, Y-direction and Z-direction moving mechanisms are added, when the structure of a piece to be sprayed is too complex and dead angles are too large, the whole device cannot be subjected to angle adjustment, so that the details are not processed in place, the spraying is not uniform, and the back spraying rate is high. Thirdly, the mechanisms formed in series are all formed by components with high rigidity, the motion inertia is large when the multiple shafts are linked, and when the mechanisms reach nine shafts or more, the tail end inertia is large, so that the final spraying precision is low.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention aims to provide a movable cable parallel spraying device for ship section coating, which can realize large-stroke and multi-angle linkage control, meet the spraying requirements of large-scale section ship components and ensure the spraying quality and efficiency of narrow and complex areas.
The technical scheme is as follows: a portable cable parallel spraying equipment for boats and ships segmentation coating includes:
the supporting travelling frames are arranged along the Y direction and comprise one or more Y-direction rails;
the aerial Y-direction moving mechanism is erected on the supporting travelling frame and is in sliding connection with the Y-direction track of the supporting travelling frame to realize Y-direction movement; the aerial Y-direction moving mechanism comprises at least one X-direction track;
the aerial X-direction moving mechanism is arranged on the aerial Y-direction moving mechanism and is in sliding connection with the X-direction track to realize X-direction movement;
the Z-direction adjusting mechanism is arranged below the aerial X-direction moving mechanism through a hoisting platform, and the hoisting platform is provided with a lifting mechanism;
the spraying mechanical arm is arranged on the lifting mechanism of the Z-direction adjusting mechanism;
the ground rail Y-direction moving hydraulic lifting platform is arranged on one side of the Z-direction adjusting mechanism and is flexibly connected with the Z-direction adjusting mechanism; specifically, the ground rail Y-direction moving hydraulic lifting platform comprises a hydraulic lifting platform, a ground rail Y-direction transmission mechanism, a ground rail and a first parallel cable group; the ground rail is arranged along the Y direction, and the hydraulic lifting platform is arranged on the ground rail and can move along the ground rail under the driving of the ground rail Y-direction transmission mechanism; the hydraulic lifting platform is provided with a ground rail winch, one end of the first parallel cable set is wound on the ground rail winch, the other end of the first parallel cable set is connected with the Z-direction adjusting mechanism, and the first parallel cable set is wound and unwound under the control of the ground rail winch to achieve fine adjustment of the angle of the Z-direction adjusting mechanism.
Further, the aerial Y-direction moving mechanism comprises a bearing platform, an X-direction track, a Y-direction servo motor, a Y-direction guide wheel mechanism, a Y-direction gear and a Y-direction rack;
the aerial X-direction moving mechanism is arranged on the bearing platform; the Y-direction rack is arranged on the inner side of the Y-direction track, and the Y-direction gear is connected with an output shaft of the Y-direction servo motor for meshing transmission; the Y-direction guide wheel mechanism is matched with a Y-direction track of the supporting travelling frame and used for bearing and guiding the aerial Y-direction movement.
Further, the aerial X-direction moving mechanism comprises an X-direction servo motor, a bearing trolley, an X-direction guide wheel mechanism, an X-direction gear and an X-direction rack; the hoisting platform is arranged at the bottom of the bearing trolley;
the X-direction rack is arranged on the inner side of the X-direction track, and the X-direction gear is connected with an output shaft of the X-direction servo motor for meshing transmission; the X-direction guide wheel mechanism is arranged on one side of the bearing trolley, is matched with the X-direction track of the air Y-direction moving mechanism, and is used for bearing and guiding the air X-direction movement.
Furthermore, the lifting mechanism comprises a second parallel cable group, a Z-direction winch and a manipulator mounting platform; the spraying mechanical arm is arranged at the bottom of the mechanical arm mounting platform; the Z-direction winch is installed on a hoisting platform, a plurality of fixed pulleys are installed on the hoisting platform, and each fixed pulley is correspondingly provided with a rotatable hanging ring; a plurality of movable pulleys are arranged on the mechanical arm mounting platform;
one end of the second parallel cable group is fixed on a rotatable lifting ring of the hoisting platform, and the other end of the second parallel cable group passes through a movable pulley of the mechanical arm mounting platform and then returns to a fixed pulley of the hoisting platform and returns to the Z-direction winch through the fixed pulley; and the second parallel cable group is controlled by a Z-direction winch to be retracted and extended, so that the Z-direction movement and angle adjustment of the mechanical arm mounting platform are realized.
Optionally, the spraying mechanical arm is mounted at the lower end of the mechanical arm mounting platform in a bolt connection mode, the spraying device is mounted at the tail end of the spraying mechanical arm, and spraying work is carried out through movement of the mechanical arm.
Further, the ground rail Y-direction transmission mechanism comprises a ground rail Y-direction transmission motor, a ground rail Y-direction gear and a ground rail Y-direction rack; the ground rail Y-direction rack is arranged in a track of the ground rail, and the ground rail Y-direction gear is connected with an output shaft of the ground rail Y-direction transmission motor for meshing transmission.
Has the advantages that:
compared with the prior art, the invention has the following remarkable advantages:
(1) the invention can realize linkage control with large stroke and multiple angles, has wide motion spraying range, and can spray large workpieces to be sprayed, such as segmented ships and the like; and the spraying quality and efficiency of narrow and complex areas can be ensured.
(2) Compared with a pure serial type spraying robot, the robot has the advantages that the tail end accumulative error is smaller during linkage, and the adjustable angle is wider.
(3) The parallel cable group is driven by the ground rail Y-direction winch and linked with the whole mechanism to stabilize the suspended mechanical arm mounting platform, so that the whole system is more stable.
(4) The invention adopts cable parallel type driving in the Z direction, and has excellent shock-absorbing performance when linkage is carried out.
(5) The cable driving mode of the invention uses the labor-saving principle of the movable pulley, so that the type of the aerial winch is more widely selected, and the lighter winch can be selected.
(6) The cable driving mode of the invention uses the principle of the waste distance of the movable pulley, increases the allowable error range of the winch and improves the precision of Z-direction movement and angle adjustment of the suspended mechanical arm mounting platform.
(7) The invention is modularized assembly, which is convenient for installation, repair and assembly.
(8) Can realize unmanned spraying and is harmless to human health.
Drawings
FIG. 1 is the general structure of the present invention;
FIGS. 2(a) - (b) are aerial Y-direction moving mechanisms;
FIG. 3 is an aerial X-direction movement mechanism;
FIG. 4 is a Z-direction adjustment mechanism employing parallel drive;
FIG. 5 is a sliding pulley type of fastener;
fig. 6 is a hydraulic lifting platform moving in the Y direction of the ground rail.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the following examples and accompanying drawings.
A movable cable parallel spraying device for ship section coating comprises a supporting travelling frame 1, an air Y-direction moving mechanism 2, an air X-direction moving mechanism 3, a Z-direction adjusting mechanism 4, a ground rail Y-direction moving hydraulic lifting platform 5 and a spraying mechanical arm 6.
As shown in fig. 1, a pair of parallel support carriages 1 are arranged extending in the Y-direction, each support carriage 1 comprising a Y-track 13. The aerial Y-direction moving mechanism 2 is transversely erected between the two supporting traveling frames 1, two ends of the aerial Y-direction moving mechanism are connected with the Y-direction rails 13 of the supporting traveling frames 1 in a sliding mode, and the motion of the spraying mechanical arm 6 in the Y direction is achieved through gear and rack transmission. The aerial X-direction moving mechanism 3 is arranged on the aerial Y-direction moving mechanism 2, and the motion of the spraying mechanical arm 6 in the X direction is realized through gear and rack transmission. The Z-direction adjusting mechanism 4 is arranged at the bottom of the aerial X-direction moving mechanism 3 and comprises a lifting mechanism, and the spraying mechanical arm 6 is arranged at the tail end of the lifting mechanism and used for realizing the movement of the spraying mechanical arm 6 in the Z direction. The ground rail Y-direction moving hydraulic lifting platform 5 is arranged on one side of the Z-direction adjusting mechanism 4 and is flexibly connected with the Z-direction adjusting mechanism 4.
As shown in fig. 2(a) and 2(b), the aerial Y-direction moving mechanism 2 includes a carriage 8, an X-direction rail 9, a Y-direction servo motor 10, a Y-direction guide wheel mechanism 16, and a rack-and-pinion mechanism (a Y-direction gear 11, a Y-direction rack 12).
The bearing platform 8 mainly functions to mount the aerial X-direction moving mechanism 3 and parts thereof thereon, thereby realizing the movement of the aerial X-direction moving mechanism 3 in the X direction.
The Y-direction gear 11, the Y-direction rack 12, the Y-direction servo motor 10 and the Y-direction track 13 form a driving structure. The Y-direction rack 12 is arranged on the inner side of the track, the structure is compact, the Y-direction gear 11 is arranged on the Y-direction servo motor 10, and the whole Y-direction movement in the air is realized through meshing transmission.
The Y-direction guide wheel mechanism 16 is matched and installed with the Y-direction track 13 and is used for bearing motion guide in the aerial Y direction.
As shown in fig. 3, the aerial X-direction moving mechanism 3 includes an X-direction servo motor 14, a carriage 15, an X-direction guide wheel mechanism 22, a rack-and-pinion mechanism (X-direction gear, X-direction rack), and a hoisting platform 17.
The hoisting platform 17 is installed at the bottom of the bearing trolley 15 through a connecting piece and is used for bearing the Z-direction adjusting mechanism 4 and driving the Z-direction adjusting mechanism to move together. The gear rack mechanism, the X-direction servo motor 14 and the X-direction track 9 form a driving structure together. The X-direction rack is arranged on the inner side of the X-direction track, the structure is compact, and the X-direction gear is arranged on the X-direction servo motor 14 and is engaged for transmission to realize integral X-direction movement in the air.
The X-direction guide wheel mechanism 22 is arranged on the bearing trolley 15, is matched with the X-direction track 9 and is used for bearing the motion guide in the X direction in the air.
The function of the Z-direction adjustment mechanism 4 is to achieve Z-direction movement of the suspended robot arm mounting platform and angular adjustment of the platform. In this embodiment, the Z-direction adjustment mechanism is a cable parallel drive type structure, and includes a robot arm mounting platform 24 and four cable groups (i.e., a second parallel cable group 7). The Z-direction winch is arranged on the hoisting platform 17, and the Z-direction movement of the hoisted mechanical arm mounting platform and the angle adjustment of the platform are realized through the retraction of four groups of cables.
As shown in fig. 4, the hoisting platform 17 of the present embodiment is a square platform, and the hoisting platform 17 includes four sets of Z-directional winches 19, four fixed pulleys 20, and four rotatable hoisting rings 21. The square platform is horizontally arranged at the bottom of a bearing trolley 15 of the aerial X-direction moving mechanism 3. Four groups of Z-direction winches 19 are arranged on the square platform; four fixed pulleys 20 are arranged at four corners of the square platform, and four rotatable hanging rings 21 are in one-to-one correspondence with the fixed pulleys 20 and arranged at the four corners below the square platform.
The mechanical arm mounting platform 24 is a square hoisted platform and is positioned under the hoisting platform 17, four groups of movable pulleys 25 are mounted at four corners of the square hoisted platform, and the square hoisted platform is connected with the hoisting platform 17 through a second parallel cable group 7. Specifically, one end of each of the four groups of cables is fixed on each of the four rotatable hoisting rings 21 of the hoisting platform, the other end of each of the four groups of cables passes through the movable pulley 25 of the hoisted manipulator mounting platform and then returns to the fixed pulley 20 of the upper hoisting platform, and the other end of each of the four groups of cables returns to the four groups of Z-direction winches 19 through the fixed pulleys 20, and the connection mode is shown in fig. 5. The four groups of cables are respectively controlled to be retracted and extended by four groups of Z-direction winches of the hoisting platform, and the Z-direction movement of the hoisted manipulator mounting platform and the platform angle adjustment are realized in a synchronous retraction or independent retraction mode. For example, the hoisting and releasing cable sets of four sets of Z-directional winches 19 can be controlled to retract and release cable sets at the same speed, so that the whole of the suspended manipulator mounting platform can move in the Z direction, and the height of the spraying manipulator 6 can be adjusted; each Z-directional winch 19 can also work independently, and when one or more Z-directional winches 19 are independently retracted, the lower end of the Z-directional winch is inclined by the mounting platform of the suspended mechanical arm, so that the angle adjustment is realized.
The four groups of movable pulleys are hoisted in a mode of saving half force of the movable pulleys, so that the type selection of the aerial Z-direction winch is wider, and the lighter winch can be selected. Meanwhile, due to the principle that the movable pulley saves labor and wastes twice the distance, the allowable error range of the winch can be enlarged, and the Z-direction movement and angle adjustment precision of the mechanical arm mounting platform to be hoisted is improved.
It should be noted that the number and the position of the movable pulley block, the fixed pulley block, the winch unit and the cable group in the Z-direction adjusting mechanism 4 can be adaptively changed according to the size and the shape of the hoisting platform and the installation platform of the suspended manipulator arm, the precision requirement of angle adjustment and other factors.
The spraying mechanical arm 6 is used for installing a spraying device and realizing spraying work in various complex postures. Optionally, the spraying mechanical arm is mounted at the lower end of the suspended mechanical arm mounting platform in a bolt connection mode, the spraying device is mounted at the tail end of the spraying mechanical arm, and spraying work is performed through movement of the mechanical arm.
The ground rail Y-direction movable hydraulic lifting platform 5 is arranged on one side of the Z-direction adjusting mechanism 4 and is flexibly connected with the mechanical arm mounting platform 24 through the first parallel cable group 18. As shown in fig. 6, in this embodiment, the hydraulic lifting platform 5 includes a ground rail 30, a gear-rack mechanism (a gear 28 in the Y direction of the ground rail, a rack 29 in the Y direction of the ground rail) in the Y direction of the ground rail, a transmission motor 27 in the Y direction of the ground rail, a hydraulic lifting platform 26, and a winch 2 set in the Y direction of the ground rail.
The ground rail 30 is installed on the ground of the workshop, the hydraulic lifting platform 26 is placed on the ground rail 30, the ground rail Y-direction transmission motor 27 is located at the rear end of the hydraulic lifting platform 26, the ground rail Y-direction rack 29 is installed in the rail of the ground rail 30, and the ground rail Y-direction gear 28 is installed on the ground rail Y-direction transmission motor 27 for meshing transmission. The two groups of ground rail winches 23 are arranged on the upper panel of the hydraulic lifting platform 26 and move along the Y direction and the Z direction along with the hydraulic lifting platform.
After the mechanical arm mounting platform 24 completes the XYZ-direction movement, the tensioning states of the first parallel cable group 18 and the mechanical arm mounting platform 24 are adjusted through a ground rail Y-direction winch, and the mechanical arm mounting platform is stabilized; when the angle of the mechanical arm mounting platform 24 is adjusted, the hydraulic lifting platform 26 is controlled to move along the Y direction, and the first parallel cable group 18 drags the mechanical arm mounting platform 24 to realize the angle adjustment of the mechanical arm mounting platform; this scheme is come firm by the hoist manipulator mounting platform through the linkage to and realize the fine setting of angle, through lifting two sets of hoists of ground rail to take the altitude, can effectively avoid the cable and by the interference between the spraying hull.
Claims (6)
1. A portable parallelly connected spraying of cable is equipped for boats and ships segmentation application which characterized in that includes:
the supporting travelling frame (1) is arranged along the Y direction and comprises one or more Y-direction rails (13);
the aerial Y-direction moving mechanism (2) is erected on the supporting travelling frame (1) and is in sliding connection with a Y-direction track (13) of the supporting travelling frame (1) to realize Y-direction movement; the aerial Y-direction moving mechanism (2) comprises at least one X-direction track (9);
the aerial X-direction moving mechanism (3) is arranged on the aerial Y-direction moving mechanism (2) and is in sliding connection with the X-direction track (9) to realize X-direction movement;
the Z-direction adjusting mechanism (4) is arranged below the aerial X-direction moving mechanism (2) through a hoisting platform (17), and a lifting mechanism is arranged on the hoisting platform (17);
the spraying mechanical arm (6) is arranged on the lifting mechanism of the Z-direction adjusting mechanism (4);
the ground rail Y-direction moving hydraulic lifting platform (5) is arranged on one side of the Z-direction adjusting mechanism (4) and is flexibly connected with the Z-direction adjusting mechanism (4); specifically, the ground rail Y-direction moving hydraulic lifting platform (5) comprises a hydraulic lifting platform (26), a ground rail Y-direction transmission mechanism, a ground rail (30) and a first parallel cable group (18); the ground rail (30) is arranged along the Y direction, and the hydraulic lifting platform (26) is arranged on the ground rail (30) and can move along the ground rail (30) under the driving of the ground rail Y-direction transmission mechanism; the hydraulic lifting platform (26) is provided with a ground rail winch (23), one end of the first parallel cable group (18) is wound on the ground rail winch (23), the other end of the first parallel cable group is connected with the Z-direction adjusting mechanism (4), and the first parallel cable group (18) is wound and unwound under the control of the ground rail winch (23) to achieve fine adjustment of the angle of the Z-direction adjusting mechanism (4).
2. The mobile cable parallel spraying equipment as claimed in claim 1, wherein the aerial Y-direction moving mechanism (2) comprises a bearing platform (8), an X-direction track (9), a Y-direction servo motor (10), a Y-direction guide wheel mechanism (16), a Y-direction gear (11) and a Y-direction rack (12);
the aerial X-direction moving mechanism (3) is arranged on a bearing platform (8); a Y-direction rack (12) is arranged on the inner side of the Y-direction track (13), and a Y-direction gear (11) is connected with an output shaft of the Y-direction servo motor (10) for meshing transmission; the Y-direction guide wheel mechanism (16) is matched with a Y-direction track (13) of the supporting travelling frame (1) and is used for bearing and guiding aerial Y-direction movement.
3. The mobile cable parallel spraying equipment as claimed in claim 1, wherein the aerial X-direction moving mechanism (3) comprises an X-direction servo motor (14), a carrying trolley (15), an X-direction guide wheel mechanism (22), an X-direction gear and an X-direction rack; the hoisting platform (17) is arranged at the bottom of the bearing trolley (15);
the X-direction rack is arranged on the inner side of the X-direction track (9), and the X-direction gear is connected with an output shaft of the X-direction servo motor (14) to carry out meshing transmission; the X-direction guide wheel mechanism (22) is arranged on one side of the bearing trolley (15), is matched with the X-direction track (9) of the aerial Y-direction moving mechanism (2), and is used for bearing and guiding aerial X-direction movement.
4. The mobile cable parallel spraying equipment of claim 1, wherein: the lifting mechanism comprises a second parallel cable group (7), a Z-direction winch (19) and a manipulator mounting platform (24);
the spraying mechanical arm (6) is arranged at the bottom of the mechanical arm mounting platform (24); the Z-direction winch (19) is installed on the hoisting platform (17), a plurality of fixed pulleys (20) are installed on the hoisting platform (17), and each fixed pulley (20) is correspondingly provided with a rotatable hanging ring (21); a plurality of movable pulleys (25) are arranged on the mechanical arm mounting platform (24);
one end of the second parallel cable group (7) is fixed on a rotatable lifting ring (21) of the hoisting platform (17), and the other end of the second parallel cable group passes through a movable pulley (25) of a mechanical arm mounting platform (24) and then returns to a fixed pulley (20) of the hoisting platform (17), and returns to the Z-direction winch (19) through the fixed pulley (20); the second parallel cable group (7) is controlled by a Z-direction winch (19) to be retracted and extended, and Z-direction movement and angle adjustment of the mechanical arm mounting platform (24) are achieved.
5. The mobile cable parallel spraying equipment as claimed in claim 1, wherein the spraying mechanical arm (6) is mounted at the lower end of the mechanical arm mounting platform (24) in a bolt connection manner, and the spraying device is mounted at the tail end of the spraying mechanical arm and performs spraying work through the movement of the mechanical arm.
6. The mobile cable parallel spraying equipment of claim 1, wherein: the ground rail Y-direction transmission mechanism comprises a ground rail Y-direction transmission motor (27), a ground rail Y-direction gear (28) and a ground rail Y-direction rack (29); the ground rail Y-direction rack (29) is arranged in a track of a ground rail (30), and a ground rail Y-direction gear (28) is connected with an output shaft of a ground rail Y-direction transmission motor (27) for meshing transmission.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110800502.2A CN113617554B (en) | 2021-07-15 | 2021-07-15 | Movable cable parallel spraying equipment for ship sectional coating |
| PCT/CN2022/099415 WO2023284482A1 (en) | 2021-07-15 | 2022-06-17 | Movable and parallel-cable spraying apparatus for ship segmented coating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110800502.2A CN113617554B (en) | 2021-07-15 | 2021-07-15 | Movable cable parallel spraying equipment for ship sectional coating |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113617554A true CN113617554A (en) | 2021-11-09 |
| CN113617554B CN113617554B (en) | 2022-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110800502.2A Active CN113617554B (en) | 2021-07-15 | 2021-07-15 | Movable cable parallel spraying equipment for ship sectional coating |
Country Status (2)
| Country | Link |
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| CN (1) | CN113617554B (en) |
| WO (1) | WO2023284482A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114749310A (en) * | 2022-05-09 | 2022-07-15 | 江苏科技大学 | A truss-like spraying equipment for spraying in boats and ships cabin |
| CN115025914A (en) * | 2022-06-27 | 2022-09-09 | 上海外高桥造船有限公司 | Ship sectional spraying device |
| CN115194715A (en) * | 2022-07-15 | 2022-10-18 | 中国科学技术大学 | Installation auxiliary device and method for scientific-grade CCD splicing |
| WO2023284482A1 (en) * | 2021-07-15 | 2023-01-19 | 江苏科技大学 | Movable and parallel-cable spraying apparatus for ship segmented coating |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116393287B (en) * | 2023-03-11 | 2025-09-16 | 山东德齐华仪防腐工程有限公司 | Spraying equipment in heat exchanger tube |
| CN117123401A (en) * | 2023-08-28 | 2023-11-28 | 中国十七冶集团有限公司 | An intelligent equipment and construction method for automatically spraying fire-retardant coatings on steel structures at high altitudes |
| CN119368368B (en) * | 2024-11-06 | 2025-10-31 | 昆山昆楚同创智能科技有限公司 | A vehicle body painting scaffolding robot |
| CN120023043B (en) * | 2025-03-25 | 2026-01-09 | 上海船舶工艺研究所(中国船舶集团有限公司第十一研究所) | A painting robot for joining sections of a ship |
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| WO2023284482A1 (en) * | 2021-07-15 | 2023-01-19 | 江苏科技大学 | Movable and parallel-cable spraying apparatus for ship segmented coating |
| CN114749310A (en) * | 2022-05-09 | 2022-07-15 | 江苏科技大学 | A truss-like spraying equipment for spraying in boats and ships cabin |
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| Publication number | Publication date |
|---|---|
| CN113617554B (en) | 2022-05-24 |
| WO2023284482A1 (en) | 2023-01-19 |
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