CN113682444A - Special work platform with wall climbing capability - Google Patents
Special work platform with wall climbing capability Download PDFInfo
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- CN113682444A CN113682444A CN202111048296.0A CN202111048296A CN113682444A CN 113682444 A CN113682444 A CN 113682444A CN 202111048296 A CN202111048296 A CN 202111048296A CN 113682444 A CN113682444 A CN 113682444A
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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
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
- B63B73/10—Building or assembling vessels from prefabricated hull blocks, i.e. complete hull cross-sections
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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
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
- B63B73/60—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by the use of specific tools or equipment; characterised by automation, e.g. use of robots
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Abstract
本发明公开了一种具有爬壁能力的特种作业平台，属于船舶制造技术领域。包括：云端服务系统、控制系统、爬壁特种作业平台设备、接口以及工具模块，所述云端服务系统与控制系统连接，所述控制系统与爬壁特种作业平台设备连接，所述爬壁特种作业平台设备通过接口与工具模块连接。通过接口可实现与多种工具模块进行对接与解除对接，使本申请具备多工具集成能力及功能的自定义，以及通过控制系统使本申请具备灵活的运动控制能力，从而实现可安装于不同的作业系统，满足不同的作业需求，提升了作业效率和质量。
The invention discloses a special operation platform with wall-climbing ability, which belongs to the technical field of shipbuilding. Including: cloud service system, control system, wall-climbing special operation platform equipment, interface and tool module, the cloud service system is connected with the control system, the control system is connected with the wall-climbing special operation platform equipment, the wall-climbing special operation platform The platform device is connected with the tool module through the interface. Through the interface, it can realize the docking and de-docking with a variety of tool modules, so that the application has multi-tool integration capabilities and function customization, and through the control system, the application has flexible motion control capabilities, so that it can be installed in different The operation system can meet different operation needs and improve the operation efficiency and quality.
Description
Technical Field
The invention relates to a special operation platform with wall climbing capability, and belongs to the technical field of ship manufacturing.
Background
In the field of ship manufacturing, a large number of straight welding seams in the vertical, horizontal and horizontal directions of ship side walls and the horizontal direction of a ship bottom exist during ship modular assembly, and the welding seams are required to be coated subsequently. Before the coating treatment, the surface treatment is needed to be carried out on the seam area, rust and welding slag on the surface are removed, and the area is strengthened. The vertical height of the side wall of the large ship reaches about 30 meters, and some of the side walls are even higher. The traditional way of handling is to set up the scaffold first, then use the hand-held grinding tool of manual mode to carry out the manual grinding. The unevenness of hand sanding often results in poor quality of the subsequent painted surface. Actual shot peening is a more attractive approach because it results in a more uniform surface quality. However, in a relatively open environment, steel grit or ore sand used in shot blasting causes great dust pollution in the working process, and the recovery of the steel grit or ore sand also requires more manpower and material resources. Similar problems occur when dealing with horizontal welds at the bottom of ships. Although the work of ascending a height is not needed, the long-time looking-up work causes the labor intensity of the operators to be extremely high and the efficiency to be low.
Like shot blasting, the welding, surface coating, and other processes in the vertical and horizontal directions of a ship body or in the horizontal direction of a ship bottom are still mainly performed manually. The operations of welding, coating, and the like in the vertical and horizontal directions of the hull or the horizontal direction of the bottom of the ship are hereinafter referred to as special operations, and the strength, danger, efficiency, and operation quality of these operations are all to be solved and improved.
Therefore, a special work platform capable of replacing manual work is needed, wherein the special work platform can vertically or horizontally move on the side surface of a large member such as a ship and the like, and can move in a hanging-down manner at the bottom, and different work systems can be installed on the special work platform while the special work platform moves, so that different work requirements can be met.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the special operation platform with the wall climbing capability solves the problems of welding and surface coating of a ship body in the vertical and horizontal directions or the horizontal direction of a ship bottom in the prior art in a manual operation mode.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a special work platform with wall climbing capability comprising: the wall climbing special operation platform comprises a control system, wall climbing special operation platform equipment, an interface and a tool module, wherein the control system is connected with the wall climbing special operation platform equipment, and the wall climbing special operation platform equipment is connected with the tool module through the interface.
Preferably, the special operation platform further comprises a cloud service system, the cloud service system is connected with the control system, and the cloud service system is a server or a server cluster.
Preferably, the wall-climbing special work platform equipment comprises a mechanical connection module, a left driving module and a right driving module, wherein the left driving module and the right driving module are respectively arranged at two ends of the mechanical connection module, and the left driving module and the right driving module are connected with a control system.
More preferably, the mechanical connection module is a frame structure, wherein a first installation part and a second installation part are respectively arranged at two ends of the frame structure, and the connection between the left driving module and the first installation part and the connection between the right driving module and the second installation part are both connected through universal joints.
Further, left side drive module includes drive support and two at least magnetic force wheels, and drive support's bottom is equipped with two at least mounting grooves, is equipped with a magnetic force wheel in every mounting groove, and left side drive module and right drive module structure are the same, and left side drive module and right drive module's drive support is connected with first installation department and second installation department respectively.
Furthermore, handles are arranged on one sides of the driving supports of the left driving module and the right driving module, wherein the handles are located on one side in the opposite direction.
More preferably, the interface is arranged on the mechanical connection module, the interface is an expandable interface, and the expandable interface comprises one or more of a mounting hole, a quick plug port, a liquid path connection port and a gas path connection socket.
Preferably, the tool module comprises one or more of a shot blasting tool, a welding system, a painting system, a flaw detection tool, a cleaning tool, a grinding tool, a cutting tool and a hot melting tool.
Preferably, the connection mode of the control system and the wall-climbing special work platform equipment comprises circuit connection, gas circuit connection or liquid circuit connection, wherein the circuit connection comprises wired connection and wireless connection.
The invention has the beneficial effects that:
according to the special operation platform with the wall climbing capability, the interface can be used for realizing butt joint and butt joint release with a plurality of tool modules, so that the special operation platform has the multi-tool integration capability and self-definition of functions, and has flexible motion control capability through the control system, so that the special operation platform can be installed in different operation systems, different operation requirements are met, and the operation efficiency and quality are improved.
Drawings
FIG. 1 is a general system block diagram of a special work platform of the present invention.
Fig. 2 is a schematic structural diagram of the wall-climbing special work platform equipment of the invention.
FIG. 3 is a schematic view showing the structure of a shot-peening tool used in the present invention.
Fig. 4 is a schematic structural diagram of the wall climbing special work platform equipment provided with the shot blasting tool.
In the figure: 1. a first mounting portion; 2. a second mounting portion; 3. a mechanical connection module; 4. a left drive module; 5. a right drive module; 6. a drive bracket; 7. a magnetic wheel; 8. a handle; 9. a shot blasting shield; 10. brushing; 11. a sand suction port; 12. a shot-blasting gun swing mechanism; 13. a shot-blasting gun.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purpose and the efficacy of the invention easy to understand, the invention is further described with reference to the specific drawings.
Referring to fig. 1-4, a special work platform with wall climbing capability of the present application includes: the wall climbing system comprises a cloud service system, a control system, wall climbing special operation platform equipment, an interface and a tool module, wherein the cloud service system is connected with the control system, the control system is connected with the wall climbing special operation platform equipment, and the wall climbing special operation platform equipment is connected with the tool module through the interface, which is shown in figure 1.
The control system is a terminal overall control center, is provided with a microprocessor and is used for controlling calculation, has the functions of internet connection, internet of things connection, online automatic upgrade and data storage, can store state data and transmits the state data to the cloud service system through a network.
The control system can be arranged in the wall-climbing special operation platform equipment and also can be connected with the wall-climbing special operation platform equipment in a split mode.
In a preferred embodiment, the cloud service system is a server or a server cluster, the cloud service system is a service erected on the internet cloud, the cloud service system provides software upgrading service, state diagnosis service, control algorithm calculation service and data storage service for the control system, and the cloud service system can provide more value-added service interfaces for expert parameter library service and updating of different tools when the control system is in need. The staff can obtain the operating condition of climbing wall special type work platform equipment and tool module through visiting the high in the clouds service system, also can carry out remote control to climbing wall special type work platform equipment and tool module through high in the clouds service system to make the staff accessible internet equipment such as cell-phone, flat board, PC visit high in the clouds service system.
In a preferred embodiment, the wall-climbing special work platform equipment comprises a mechanical connection module 3, a left driving module 4 and a right driving module 5, wherein the left driving module 4 and the right driving module 5 are respectively arranged at two ends of the mechanical connection module 3, and the left driving module 4 and the right driving module 5 are connected with a control system, see fig. 2.
The control system controls the left driving module 4 and the right driving module 5 to independently operate or jointly operate, and when the left driving module 4 and the right driving module 5 have the same speed, the wall climbing special operation platform equipment can realize linear operation; when the left driving module 4 and the right driving module 5 have different speeds or opposite speeds, the steering of the wall climbing special operation platform equipment can be realized. Under the control of the control system, path programming can be realized, the control system can realize the combined control of the left driving module 4 and the right driving module 5, and the wall climbing special operation platform equipment can move according to the required path.
In another preferred embodiment, the left driving module 4 includes a driving bracket 6 and four magnetic wheels 7, the bottom of the driving bracket 6 is provided with four mounting grooves, the four mounting grooves are distributed in a matrix, each mounting groove is provided with one magnetic wheel 7, the left driving module 4 and the right driving module 5 have the same structure, and the driving bracket 6 of the left driving module 4 and the right driving module 5 is respectively connected with the first mounting part 1 and the second mounting part 2. The mechanical connection module 3 is a frame structure, wherein the two ends of the frame structure are respectively provided with a first installation part 1 and a second installation part 2, and the connection of the left driving module 4 and the first installation part 1 and the connection of the right driving module 5 and the second installation part 2 are connected through universal joints. The universal joint can assist the posture adjustment of the left driving module 4 and the right driving module 5, so that the magnetic force wheel 7 can be kept attached to the working plane, and the method is shown in fig. 2.
In another preferred embodiment, the driving brackets 6 of the left driving module 4 and the right driving module 5 are provided with handles 8 at one side, wherein the handles 8 are located at one side in the opposite direction, i.e. below the two ends of the mechanical connecting module 3, so as to facilitate the carrying of the wall climbing special work platform equipment, see fig. 2.
In another preferred embodiment, the interface is disposed in the middle of the mechanical connection module 3, and the interface is an expandable interface, and the expandable interface includes one or more of a mounting hole, a quick plug port, a liquid path connection port, and a gas path connection socket.
The mounting hole that expandable interface includes, quick plug mouth, liquid way connector, gas circuit connection socket can connect the instrument module of multiple difference, wherein:
mounting holes: the tool module is used for installing and fixing the expandable interface;
quick plugging and unplugging: the control circuit for the tool module communicates with the control system and provides power to the tool module;
a liquid path connector: the hydraulic power supply device is used for supplying hydraulic power to the tool module with the hydraulic equipment, and supplying circulating cooling liquid, a high-pressure cleaning water path and the like;
air circuit connection socket: for providing pneumatic power to a tool module with pneumatic equipment or for providing cutting gases such as oxygen, acetylene, etc.
In a preferred embodiment, the tool module comprises one or more of a shot peening tool, a welding system, a painting system, a flaw detection tool, a cleaning tool, a grinding tool, a cutting tool, and a heat staking tool.
Specifically, taking a shot blasting tool as an example, a shot blasting shield 9 of the shot blasting tool is of a hollow structure, a right wear-resistant buffer material is fixed on the inner surface of the shot blasting shield 9, so that damage to the shot blasting shield 9 caused by shot blasting rebound can be prevented, bristles 10 are arranged around the bottom of the shot blasting shield 9, bristles 10 are also arranged on the top of the shot blasting shield 9, and the bristles 10 can effectively prevent shot blasting materials such as iron sand or ore sand from flying out; the side of the shot blasting protection cover 9 is provided with a sand suction interface 11, the sand suction interface 11 is connected with a sand suction pipe, and the sand suction pipe can suck out gas in the sand suction interface 11 to generate negative pressure and discharge shot blasting materials such as iron sand or ore sand. The back of the shot blasting protection cover 9 is provided with a shot blasting gun swing mechanism 12, the tail end of the shot blasting gun swing mechanism 12 is provided with a shot blasting gun 13, the shot blasting gun 13 can swing under the driving of the swing mechanism, and the effective swing can effectively improve the width of shot blasting. The shot blasting tool is connected with a mounting hole on the mechanical connection module 3 and fixed on the wall climbing special operation platform equipment, and refer to fig. 3 and 4.
The welding system is used for welding the surface of a ship body or certain large components, is connected with a mounting hole and a quick plugging port in the mechanical connection module 3, is fixed on the wall-climbing special operation platform equipment through the mounting hole, and provides communication connection and a necessary power supply for the welding system through the quick plugging port.
The paint spraying system is used for spraying paint on the surface of a ship body or certain large components, is connected with a mounting hole and a quick plugging port in the mechanical connection module 3, is fixed on the wall-climbing special operation platform equipment through the mounting hole, and provides communication connection and necessary power supply for the paint spraying system through the quick plugging port.
The flaw detection tool is used for carrying out flaw detection on the surface of a ship body, a pipeline or some welding components, is connected with a mounting hole and a quick plugging port in the mechanical connection module 3, is fixed on wall-climbing special operation platform equipment through the mounting hole, and provides communication connection and a necessary power supply for the flaw detection tool through the quick plugging port.
The cleaning tool is used for cleaning the surface of a ship body or certain large components, removing paint and rust, is connected with a mounting hole, a quick plugging port and a liquid path connector on the mechanical connection module 3, is fixed on the wall-climbing special operation platform equipment through the mounting hole, provides communication connection and necessary power supply for the cleaning tool through the quick plugging port, and provides water path cleaning power for the cleaning tool through the liquid path connector.
Grinding tool is used for polishing hull surface or some large components, and grinding tool is connected with mounting hole, quick plug mouth, the gas circuit connection socket on the mechanical connection module 3, fixes on climbing wall special type work platform equipment through the mounting hole, provides communication connection and necessary power for grinding tool through quick plug mouth, provides atmospheric pressure power for grinding tool through gas circuit connection socket.
Cutting means is used for cutting metals such as hull, pipeline, flat board, head, and cutting means is connected with mounting hole, quick plug mouth, the gas circuit connection socket on the mechanical connection module 3, fixes on climbing wall special type work platform equipment through the mounting hole, provides communication connection and necessary power for cutting means through quick plug mouth, provides cutting gas such as oxygen acetylene for cutting means through gas circuit connection socket.
The hot melting tool is used for carrying out hot melting on surfaces such as pipelines and removing anticorrosive coatings, is connected with a mounting hole and a quick plug port in the mechanical connection module 3, is fixed on wall-climbing special operation platform equipment through the mounting hole, and provides communication connection and necessary power supply for the hot melting tool through the quick plug port.
In a preferred embodiment, the connection mode of the control system and the wall-climbing special operation platform equipment comprises circuit connection, gas circuit connection or liquid circuit connection, wherein the circuit connection comprises wired connection and wireless connection, the connection mode of the control system and the wall-climbing special operation platform equipment is different in different application scenes, and the appropriate connection mode can be adjusted and selected according to needs.
In conclusion, the special operation platform has flexible motion control capability and can realize programmable path control; the system has the integrated control capability of multiple tools and supports the realization of control of different process parameters under the condition of different tools; the docking and undocking of various tool systems can be supported, and the self-definition of the functions of the equipment can be conveniently carried out; the cloud service system can provide remote upgrading service, state diagnosis service, control algorithm calculation service, data storage service, expert parameter library service and updating for different tools, and the cloud service system has more remote capability than a common localization system.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111048296.0A CN113682444A (en) | 2021-09-08 | 2021-09-08 | Special work platform with wall climbing capability |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111048296.0A CN113682444A (en) | 2021-09-08 | 2021-09-08 | Special work platform with wall climbing capability |
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| CN113682444A true CN113682444A (en) | 2021-11-23 |
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| CN202111048296.0A Pending CN113682444A (en) | 2021-09-08 | 2021-09-08 | Special work platform with wall climbing capability |
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| CN113029023A (en) * | 2021-03-01 | 2021-06-25 | 李柏松 | Wall-climbing robot, working method and three-dimensional health diagnosis method for large equipment |
| CN216003019U (en) * | 2021-09-08 | 2022-03-11 | 宣邦机器人(苏州)有限公司 | Special work platform with wall climbing capability |
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2021
- 2021-09-08 CN CN202111048296.0A patent/CN113682444A/en active Pending
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Application publication date: 20211123 |