CN114670990A - Ship hull repairing robot - Google Patents
Ship hull repairing robot Download PDFInfo
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- CN114670990A CN114670990A CN202210387778.7A CN202210387778A CN114670990A CN 114670990 A CN114670990 A CN 114670990A CN 202210387778 A CN202210387778 A CN 202210387778A CN 114670990 A CN114670990 A CN 114670990A
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- transmission
- beating
- cutting
- driving
- striking
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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
- B63B81/00—Repairing or maintaining vessels
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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
- B05B13/0278—Arrangement or mounting of spray heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P6/00—Restoring or reconditioning objects
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides a ship hull repairing robot and relates to the technical field of marine equipment. The ship hull repairing robot comprises a carrying platform, a rough grinding mechanism and a fine repairing mechanism. This steamer hull repair robot, can repair the operation to the hull local damage of steamer, earlier adsorb the carrying platform in the hull, make drive roller move to the regional position of waiting to restore along the hull, wait to restore regional attachment to the hull and clear away through thick grinding mechanism, the manipulator alternative of utilizing finishing mechanism connects ultrasonic flaw detector, abolish the unit of repairing, welding unit and the unit of spraying paint, utilize ultrasonic flaw detector to survey the inside position that has the defect of hull waiting to restore regional, utilize abolish the unit of repairing to cut the position that has the defect to the hull, hit and polish the operation, utilize the transfer arm to carry the hull material in the feed bin to the working bin in, utilize the welding unit to weld the hull material to the hull, utilize the unit of spraying paint to carry out the operation of spraying paint to the operation region.
Description
Technical Field
The invention relates to the technical field of marine equipment, in particular to a robot for repairing a ship body of a ship.
Background
After the ship sails in the ocean for a certain time, the ship needs to be driven into a wharf or a dock regularly to overhaul and maintain the ship. When the hull of the ship is partially damaged, the ship still needs to be driven into the dock for restoration. The existing dock can be divided into a dry dock, a water injection dock and a floating dock, and no matter which kind of dock the steamship is driven into is repaired, the use cost of the dock is high, and the overhaul and maintenance cost of the steamship is greatly increased. Therefore, when the hull of the ship is only partially damaged, the hull repairing operation is carried out in a convenient and efficient mode, and the ship hull repairing method has high application value.
Disclosure of Invention
The invention aims to provide a ship hull repairing robot for a ship, which is used for realizing local repairing of a ship hull.
In order to achieve the above purpose, the technical solution adopted by the invention is as follows:
a robot for repairing a ship body of a ship comprises a carrying platform, a rough grinding mechanism and a fine repairing mechanism;
the bottom of the carrying platform is rotatably connected with a driving roller, a carrying driving motor and a carrying transmission mechanism are arranged in the carrying platform, and the carrying driving motor is connected with the driving roller through the carrying transmission mechanism;
a first electromagnet is arranged inside the carrying platform or the driving roller;
the rough polishing mechanism is arranged at one end of the carrying platform and comprises a first support arm frame and a rough polishing disc, one end of the first support arm frame is connected with the carrying platform, and the other end of the first support arm frame is connected with the rough polishing disc;
the other end of the carrying platform is provided with the fine trimming mechanism, the fine trimming mechanism comprises a second support arm frame and a fine trimming assembly, one end of the second support arm frame is connected with the carrying platform, and the other end of the second support arm frame is connected with the fine trimming assembly;
the fine repair assembly includes working bin and feed bin, the inside manipulator, ultrasonic flaw detector, abolish and maintain unit, welding unit and the unit that sprays paint that is provided with of working bin, the ultrasonic flaw detector is connected in the alternative of manipulator, abolishes and maintains unit, welding unit and the unit that sprays paint, at least one feed bin is arranged to the side of working bin, the hull material has been placed in the feed bin, be provided with the transfer arm in the feed bin, the transfer arm can with the hull material is carried to the working bin inside.
Preferably, the manipulator comprises a slewing bearing, a first servo motor, a driving gear, a supporting frame, a second servo motor, a screw rod, a nut, a sliding rod, a sliding seat, a first electric push rod and a gripper;
the rotating ring of the slewing bearing can rotate relative to the fixed ring of the slewing bearing, the fixed ring of the slewing bearing is fixedly connected with the working bin, and the rotating ring of the slewing bearing is provided with a gear ring;
the first servo motor is fixedly connected with the working bin, an output rotating shaft of the first servo motor is provided with the driving gear, and the driving gear is meshed with the gear ring;
the support frame is fixedly connected with a rotating ring of the slewing bearing, a second servo motor is arranged on the support frame, an output rotating shaft of the second servo motor is connected with the screw rod, and the screw rod is matched with the nut;
the sliding rod is arranged on the supporting frame, the sliding rod and the screw rod are arranged in parallel, the sliding rod is connected with the sliding seat in a sliding mode, and the sliding seat is fixedly connected with the nut;
the first electric push rod is arranged on the sliding seat and arranged in the vertical direction, the gripper is arranged at the tail end of the first electric push rod and used for selecting and connecting the ultrasonic flaw detector, the breaking and trimming unit, the welding unit and the paint spraying unit.
Preferably, the breaking and trimming unit comprises a first seat body, a second electric push rod, a third servo motor, a main transmission rod, a striking mechanism, a polishing mechanism and a cutting mechanism; the fixed end of the second electric push rod is fixedly connected with the first seat body, the telescopic end of the second electric push rod is provided with a third servo motor, the output rotating shaft of the third servo motor is connected with the main transmission rod, and the main transmission rod is provided with a first transmission end, a second transmission end and a third transmission end; but first transmission end transmission is connected hit beats the mechanism, but second transmission end transmission is connected grinding mechanism, but third transmission end transmission is connected cutting mechanism.
Preferably, the striking mechanism comprises a striking driving gear, a striking first driven gear, a striking first transmission rod, a striking second driven gear, a striking third driven gear, a striking second transmission rod, a striking cam, a striking pressure rod, a striking lever, a striking support and a striking hammer; a first transmission groove is formed in the middle of the lower end of the driving gear, the first transmission end can be matched in the first transmission groove, the driving gear is meshed with the first beating driven gear, the first beating driven gear is connected with the second beating driven gear through a first beating transmission rod, the first beating driven gear, the first beating transmission rod and the second beating driven gear are coaxially arranged, the second beating driven gear is meshed with the third beating driven gear, the axis of the second beating driven gear is perpendicular to the axis of the third beating driven gear, the third beating driven gear is connected with the beating cam through a second beating transmission rod, the edge of the beating cam is hinged to one end of a beating compression rod, the other end of the beating compression rod is hinged to one end of a beating lever, the beating compression rod is arranged in the vertical direction, and the middle of the beating lever is hinged to a beating support, the other end of the striking lever is provided with the striking hammer.
Preferably, the grinding mechanism comprises a grinding driving seat, a driving sleeve and a fine grinding disc; the polishing driving seat is rotatably connected to the first seat body, a second transmission groove is formed in the middle of the upper end of the polishing driving seat, the second transmission end can be matched in the second transmission groove, the polishing driving seat is fixedly connected with the driving sleeve, and the lower end of the driving sleeve is provided with the fine polishing disc.
Preferably, the cutting mechanism comprises a cutting driving sleeve, a first bevel gear, a cutting supporting seat, a second bevel gear, a cutting transmission shaft, a cutting sheet, an armature, a spring and a second electromagnet; the third transmission end is provided with a spline shaft, a spline groove is formed in the middle of the upper end of the cutting driving sleeve, the spline shaft is located in the spline groove, a first bevel gear is arranged at the lower end of the cutting driving sleeve, and the cutting driving sleeve and the first bevel gear are coaxially arranged; the cutting support seat is positioned in the middle of the fine polishing disc, the cutting support seat is rotatably connected with the second bevel gear, the second bevel gear is connected with the cutting piece through a cutting transmission shaft, and the second bevel gear and the cutting transmission shaft are coaxially arranged; the cutting support seat is provided with an armature, the spring is connected between the cutting support seat and the driving sleeve, the second electromagnet is arranged on one side of the cutting support seat, and after the second electromagnet is electrified, the armature is adsorbed to drive the cutting support seat to turn over relative to the fine polishing disc, so that the second bevel gear is meshed with the first bevel gear.
Preferably, the welding unit comprises a second base body, a solder discharging mechanism and a welding gun, and the solder discharging mechanism and the welding gun are arranged on the second base body.
Preferably, the paint spraying unit comprises a third base and a plurality of paint spraying heads, and the third base is provided with the paint spraying heads.
Preferably, the inside water pump that still is provided with of working bin, the inlet tube is connected to the end of intaking of water pump, the inlet tube is located inside the working bin, the play water end connection drain pipe of water pump, the end of drain pipe is located the working bin is outside.
Preferably, the bin can swing relative to the working bin through a swing mechanism, the bin can swing downwards to be in butt joint with the working bin, and a door leaf capable of being opened and closed is arranged on the side face of the working bin at the butt joint position of the bin and the working bin;
swing mechanism includes arc spout, arc slide rail and arc sliding sleeve, the one end fixed connection of arc spout the outer wall of working bin, arc spout internal sliding connection the arc slide rail, the arc slide rail can be followed the other end of arc spout is stretched out or is retracted, the arc sliding sleeve nestification is on arc spout and arc slide rail, the arc sliding sleeve can slide for arc spout and arc slide rail, arc sliding sleeve fixed connection the outer wall of feed bin.
The beneficial technical effects of the invention are as follows:
the ship hull repairing robot can repair local damage of a ship hull, firstly, a carrying platform is adsorbed on the ship hull, a driving roller is made to move to the position of an area to be repaired along the ship hull, attachments of the area to be repaired of the ship hull are removed through a rough polishing mechanism, a manipulator of a fine repairing mechanism is used for selecting and connecting an ultrasonic flaw detector, a breaking and trimming unit, a welding unit and a paint spraying unit, the position with a defect in the area to be repaired of the ship hull is detected through the ultrasonic flaw detector, the position with the defect in the ship hull is cut, beaten and polished through the breaking and trimming unit, ship hull materials in a storage bin are conveyed into a working bin through a conveying arm, the ship hull materials are welded to the ship hull through the welding unit, and paint spraying operation is carried out on the operation area through the paint spraying unit.
Drawings
Fig. 1 is a perspective view of a ship hull rehabilitation robot according to an embodiment of the present invention;
FIG. 2 is a perspective view of a finishing assembly according to an embodiment of the present invention;
FIG. 3 is a bottom view of a finishing assembly according to an embodiment of the present invention;
FIG. 4 is a perspective view of a portion of the interior of the finishing assembly in accordance with one embodiment of the present invention;
FIG. 5 is a perspective view of a second embodiment of the finishing assembly according to the present invention;
FIG. 6 is a perspective view of a portion of the interior of the finishing assembly in accordance with an embodiment of the present invention;
FIG. 7 is a perspective view of a breaking and trimming unit according to an embodiment of the present invention;
FIG. 8 is a front view of a breaking trim unit of an embodiment of the present invention;
FIG. 9 is a cross-sectional view A-A of FIG. 8;
fig. 10 is a perspective view of a partial structure of the inside of the trimming unit according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings in combination with the specific embodiments. Certain embodiments of the invention now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. Indeed, various embodiments of the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.
In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In an embodiment of the present invention, a robot for repairing a ship body is provided, please refer to fig. 1 to 10.
A robot for repairing a ship body of a ship comprises a carrying platform 1, a rough grinding mechanism 2 and a fine repairing mechanism;
the front end and the rear end of the bottom of the carrying platform 1 are both rotatably connected with the driving roller 11, a carrying driving motor and a carrying transmission mechanism are arranged inside the carrying platform 1, and the carrying driving motor is connected with the driving roller 11 through the carrying transmission mechanism. The driving rollers 11 are driven to rotate by the carrying driving motor so that the driving rollers 11 move along the hull.
The first electromagnet is disposed inside the carrying platform 1 or the driving roller 11, in this embodiment, the first electromagnet is disposed inside the driving roller 11, and the driving roller 11 is made of magnetic metal (such as iron). After the first electromagnet is electrified, the driving roller 11 can be adsorbed on the ship body.
One end of the carrying platform 1 is provided with a coarse polishing mechanism 2, the coarse polishing mechanism 2 comprises a first support arm support and a coarse polishing disc 23, one end of the first support arm support is connected with the carrying platform 1, and the other end of the first support arm support is connected with the coarse polishing disc 22.
The first supporting arm frame comprises a first front arm 211 and a second front arm 212, the lower end of the first front arm 211 is hinged with the carrying platform 1, the upper end of the first front arm 211 is hinged with one end of the second front arm 212, and the other end of the second front arm 212 is provided with a rough grinding seat 221; a rough grinding driving motor is arranged in the rough grinding seat 221, and an output rotating shaft of the rough grinding driving motor is assembled with a rough grinding disc 23; a first front hydraulic cylinder 241 is connected between the carrying platform 1 and the first front arm 211, and a second front hydraulic cylinder 242 is connected between the first front arm 211 and the second front arm 212. The first front arm 211 is driven to swing relative to the carrying platform 1 by the extension and contraction of the first front hydraulic cylinder 241, and the second front arm 212 is driven to swing relative to the first front arm 211 by the extension and contraction of the second front hydraulic cylinder 242, so that the rough grinding disc 23 is placed at a designated position for operation. The rough grinding disc 23 is driven to rotate by the rough grinding driving motor so as to realize the cleaning operation of the attachments in the area to be repaired of the ship body.
The other end of the carrying platform 1 is provided with a fine trimming mechanism, the fine trimming mechanism comprises a second supporting arm support 3 and a fine trimming assembly 4, one end of the second supporting arm support 3 is connected with the carrying platform 1, and the other end of the second supporting arm support 3 is connected with the fine trimming assembly 4.
The second supporting arm frame 3 comprises a first rear arm 311 and a second rear arm 312, the lower end of the first rear arm 311 is hinged with the carrying platform 1, the upper end of the first rear arm 311 is hinged with one end of the second rear arm 312, and the other end of the second rear arm 312 is assembled with the finishing assembly 4; a first rear hydraulic cylinder 321 is connected between the carrier platform 1 and the first rear arm 311, and a second rear hydraulic cylinder 322 is connected between the first rear arm 311 and the second rear arm 312. The first rear arm 311 is driven to swing relative to the carrying platform 1 by the extension and contraction of the first rear hydraulic cylinder 321, and the second rear arm 312 is driven to swing relative to the first rear arm 311 by the extension and contraction of the second rear hydraulic cylinder 322, so that the finishing assembly 4 is placed at a specified position for operation.
The finishing assembly 4 comprises a working bin 41 and a storage bin 42, wherein a manipulator 5, an ultrasonic flaw detector 6, a breaking and trimming unit 7, a welding unit 8 and a paint spraying unit 9 are arranged inside the working bin. The manipulator 5 can be selectively connected with an ultrasonic flaw detector 6, a breaking and trimming unit 7, a welding unit 8 and a painting unit 9. Two storage bins 42 are arranged on the side of the working bin 41, the ship hull materials are placed in the storage bins 42, and a transfer arm 420 is arranged in each storage bin 42, and the ship hull materials can be conveyed to the inside of the working bin 41 by the transfer arm 420.
The bin 42 can swing relative to the working bin 41 through a swing mechanism, the bin 42 can swing downwards to butt against the working bin 41, and an openable and closable door leaf 412 is arranged on the side surface of the working bin 41 at the butt joint position of the bin 42 and the working bin 41. The swing mechanism comprises an arc sliding groove 421, an arc sliding rail 422 and an arc sliding sleeve 423, one end of the arc sliding groove 421 is fixedly connected with the outer wall of the working bin 41, the arc sliding groove 421 is connected with the arc sliding rail 422 in a sliding manner, the arc sliding rail 422 can extend out or retract from the other end of the arc sliding groove 421, the arc sliding sleeve 423 is nested on the arc sliding groove 421 and the arc sliding rail 422, the arc sliding sleeve 423 can slide relative to the arc sliding groove 421 and the arc sliding rail 422, and the arc sliding sleeve 423 is fixedly connected with the outer wall of the bin 42. When the swing mechanism is in a retracted state, the arc-shaped slide rail 422 is retracted into the arc-shaped slide groove 421, so that the overall dimension of the swing mechanism can be reduced. When the swing mechanism extends, the arc-shaped sliding rail 422 extends relative to the other end of the arc-shaped sliding groove 421, so that the arc-shaped sliding groove 421 and the arc-shaped sliding rail 422 together form a guide track, and the arc-shaped sliding sleeve 423 can slide along the guide track, so that the storage bin 42 is abutted to the position of the door 412 of the working bin 41.
The manipulator comprises a rotary support 51, a first servo motor 521, a driving gear 522, a support frame 53, a second servo motor 54, a screw 551, a nut 552, a slide bar 561, a slide base 562, a first electric push rod 57 and a gripper 58. The rotating ring of the slewing bearing 51 can rotate relative to the fixed ring of the slewing bearing 51, the fixed ring of the slewing bearing 51 is fixedly connected with the working bin 41, and the rotating ring of the slewing bearing 51 is provided with a gear ring 511. The first servo motor 521 is fixedly connected with the working bin 41, a driving gear 522 is arranged on an output rotating shaft of the first servo motor 521, and the driving gear 522 is meshed with the gear ring 511. The first servo motor 521 rotates the drive gear 522, and the drive gear 522 meshes with the ring gear 511 to rotate the rotating ring of the slewing bearing 51 relative to the fixed ring of the slewing bearing 51. The supporting frame 53 is fixedly connected with a rotating ring of the slewing bearing 51, and the rotating ring of the slewing bearing 51 rotates to drive the supporting frame 53 to synchronously rotate. The support frame 53 is provided with a second servo motor 54, an output rotating shaft of the second servo motor 54 is connected with a screw rod 551, and the screw rod 551 is matched with a nut 552. A sliding rod 561 is arranged on the supporting frame 53, the sliding rod 561 is arranged in parallel with the screw rod 551, the sliding rod 561 is connected with a sliding base 562 in a sliding mode, and the sliding base 562 is fixedly connected with a nut 552. The second servo motor 54 rotates the lead screw 551 to move the nut 552 along the lead screw 551 and move the slide 562 along the slide bar 561. The sliding seat 562 is provided with a first electric push rod 57, the first electric push rod 57 is arranged along the vertical direction, the tail end of the first electric push rod 57 is provided with a gripper 58, and the first electric push rod 57 stretches and retracts along the vertical direction. The rotating ring of the slewing bearing 51 rotates relative to the fixed ring of the slewing bearing 51 and the first electric push rod 57 stretches and retracts in the vertical direction, so that the gripper 58 can reach any position in the working bin 41. The gripper 58 is used for selectively connecting the ultrasonic flaw detector 6, the breaking and trimming unit 7, the welding unit 8 and the painting unit 9.
The breaking and trimming unit 7 includes a first seat 71, a second electric push rod 72, a third servo motor 73, a main transmission rod 74, a striking mechanism, a polishing mechanism, and a cutting mechanism. The second electric push rod 72 is arranged along the vertical direction, the fixed end of the second electric push rod 72 is fixedly connected with the first seat 71, the telescopic end of the second electric push rod 72 is provided with a third servo motor 73, the output rotating shaft of the third servo motor 73 is connected with the main transmission rod 74 through a coupler, and the third servo motor 73 can drive the main transmission rod 74 to rotate. The main transmission rod 74 is provided with a first transmission end 741, a second transmission end 742 and a third transmission end 743, the first transmission end 741 can be in transmission connection with the striking mechanism, the second transmission end 742 can be in transmission connection with the grinding mechanism, and the third transmission end 743 can be in transmission connection with the cutting mechanism.
The striking mechanism comprises a striking driving gear 7511, a striking first driven gear 7512, a striking first transmission rod 7521, a striking second driven gear 7513, a striking third driven gear 7514, a striking second transmission rod 7522, a striking cam 753, a striking press rod 754, a striking lever 755, a striking support 756 and a striking hammer 757.
A first transmission groove 758 is formed in the middle of the lower end of the driving gear 7511, and the first transmission end 741 can be fitted into the first transmission groove 758. The inner contour of the first transmission groove 758 is frustum-shaped, the outer contour of the first transmission end 741 is frustum-shaped, a first bevel gear ring is arranged on the inner wall of the first transmission groove 758, a second bevel gear ring is arranged on the outer wall of the first transmission end 741, and the first bevel gear ring can be meshed with the second bevel gear ring. After the first transmission end 741 fits into the first transmission groove 758, the main transmission rod 74 rotates to rotate the driving gear 751.
The driving gear 7511 is engaged with and hits the first driven gear 7512, the hit first driven gear 7512 is connected to and hits the second driven gear 7513 through the hit first transmission rod 7521, and the hit first driven gear 7512, the hit first transmission rod 7521, and the hit second driven gear 7513 are coaxially arranged. The second driven gear 7513 is struck and meshed with the third driven gear 7514, and the axis of striking the second driven gear 7513 is arranged perpendicular to the axis of striking the third driven gear 7514. The striking third driven gear 7514 is connected to a striking cam 753 via a striking second transmission bar 7522. The edge position of the striking cam 753 is hinged with one end of a striking pressure rod 754, the other end of the striking pressure rod 754 is hinged with one end of a striking lever 755, the striking pressure rod 754 is arranged along the vertical direction, the middle position of the striking lever 755 is hinged with a striking support 756, and the other end of the striking lever 755 is provided with a striking hammer 757.
The driving gear 7511 rotates to drive the first driven gear 7512 to rotate, the first driven gear 7512 rotates to drive the second driven gear 7513 to synchronously rotate by hitting the first transmission rod 7521, the second driven gear 7513 rotates to drive the third driven gear 7514 to rotate, the third driven gear 7514 rotates to drive the hitting cam 753 to rotate by hitting the second transmission rod 7522, the hitting cam 753 rotates to drive the hitting pressure rod 754 to do linear reciprocating motion along the vertical direction, and the hitting pressure rod 754 drives one end of the hitting lever 755 to swing, so that the other end of the hitting lever 755 drives the hitting hammer 757 to swing to do hammering motion.
The sanding mechanism includes a sanding drive seat 761, a drive sleeve 762, and a precision sanding disc 763. The polishing driving seat 761 is rotatably connected to the first seat 71 through a bearing, a second transmission groove 7611 is formed in the middle of the upper end of the polishing driving seat 761, and the second transmission end 742 can be fitted in the second transmission groove 7611. The inner contour of the second transmission groove 7611 is inverted frustum-shaped, the outer contour of the second transmission end 742 is inverted frustum-shaped, a third bevel gear ring is arranged on the inner wall of the second transmission groove 7611, a fourth bevel gear ring is arranged on the outer wall of the second transmission end 742, and the third bevel gear ring can be meshed with the fourth bevel gear ring. After the second transmission end 742 is fitted in the second transmission groove 7611, the main transmission rod 74 rotates to drive the polishing driving seat 761 to rotate. The grinding driving seat 761 is fixedly connected with a driving sleeve 762, and a fine grinding disc 763 is arranged at the lower end of the driving sleeve 762. The polishing driving seat 761 rotates to drive the fine polishing disc 763 to rotate so as to realize fine polishing operation.
The cutting mechanism comprises a cutting driving sleeve 771, a first bevel gear 7721, a cutting supporting seat 773, a second bevel gear 7722, a cutting transmission shaft 774, a cutting sheet 775, an armature 776, a spring 777 and a second electromagnet. The third transmission end 743 is provided with a spline shaft, a spline groove is formed in the middle of the upper end of the cutting drive sleeve 771, the spline shaft is located in the spline groove, and the spline shaft can slide relative to the spline groove along the extending direction of the spline groove. The lower end of the cutting driving sleeve 771 is connected with a first bevel gear 7721 through a transition rod, and the cutting driving sleeve 771 and the first bevel gear 7721 are coaxially arranged. A round notch is formed in the middle of the fine grinding disc 763, the cutting support 773 is located in the round notch in the middle of the fine grinding disc 763, and two opposite sides of the cutting support 773 are rotatably connected with the fine grinding disc 763. The cutting support base 773 is rotatably connected with a second bevel gear 7722, the second bevel gear 7722 is connected with the cutting plate 775 through a cutting transmission shaft 774, and the second bevel gear 7722 and the cutting transmission shaft 774 are coaxially arranged. Armatures 776 are arranged on two sides of the upper end face of the cutting support base 773, and a spring 777 is connected between the cutting support base 773 and the driving sleeve 762. A second electromagnet is arranged on one side of the cutting support base 773, and after the second electromagnet is electrified, the armature 776 is adsorbed by the second electromagnet and drives the cutting support base 773 to turn over relative to the fine grinding disc 763, so that the second bevel gear 7722 is meshed with the first bevel gear 7721.
The rotation of the main transmission rod 74 can drive the cutting driving sleeve 771 to rotate, and the cutting driving sleeve 771 rotates to drive the first bevel gear 7721 to rotate. After the second electromagnet is electrified, the armature 776 is adsorbed by the second electromagnet to drive the cutting support base 773 to turn over relative to the fine grinding disc 763, and the second bevel gear 7722 is engaged with the first bevel gear 7721. The first bevel gear 7721 rotates to drive the second bevel gear 7722 to rotate, and further drives the cutting plate 775 to rotate through the cutting transmission shaft 774, so as to realize the cutting operation. When the cutting operation is finished, the second electromagnet is powered off, the cutting support base 773 is reset under the action of the spring 777, and the second bevel gear 7722 is separated from the first bevel gear 7721.
The welding unit 8 includes a second base 81, a solder discharging mechanism 82, and a welding gun 83, and the solder discharging mechanism 82 and the welding gun 83 are disposed on the second base 81. The solder discharging mechanism 82 is filled with solder, and the solder discharging mechanism 82 can deliver the solder to the end position of the welding gun 83 to cooperate with the welding gun 83 to perform welding operation.
The painting operation is effected by a painting unit 9. The paint spraying unit 9 comprises a third seat 91 and paint spraying heads 92, wherein the third seat 91 is provided with a plurality of paint spraying heads 92, and each paint spraying head 92 is used for spraying paint of different types.
The ship hull repairing robot of the embodiment can also operate underwater, a water pump is further arranged inside the working bin 41, the water inlet end of the water pump is connected with a water inlet pipe, the water inlet pipe is located inside the working bin 41, the water outlet end of the water pump is connected with a water drainage pipe 411, and the tail end of the water drainage pipe 411 is located outside the working bin 41. The water pump discharges the water inside the working chamber 41 through the water inlet pipe out of the working chamber 41 through the water discharge pipe 411.
Up to this point, the present embodiment has been described in detail with reference to the accompanying drawings. From the above description, those skilled in the art should clearly recognize the ship hull repairing robot of the present invention. The ship hull repairing robot of the invention can repair the local damage of the ship hull, firstly the carrying platform 1 is absorbed on the ship hull, the driving roller 11 moves to the position of the area to be repaired along the ship hull, the method comprises the steps of clearing attachments in an area to be repaired of a ship body through a rough polishing mechanism 2, selecting and connecting an ultrasonic flaw detector 6, a breaking and trimming unit 7, a welding unit 8 and a paint spraying unit 9 through a manipulator 5 of a finishing mechanism, detecting the position with a defect in the area to be repaired of the ship body through the ultrasonic flaw detector 6, cutting, striking and polishing the position with the defect of the ship body through the breaking and trimming unit 7, conveying ship body materials in a storage bin 42 into a working bin 41 through a conveying arm 420, welding the ship body materials to the ship body through the welding unit 8, and spraying paint on the paint in the working area through the paint spraying unit 9.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a ship hull repair robot which characterized in that: comprises a carrying platform, a rough grinding mechanism and a fine trimming mechanism;
the bottom of the carrying platform is rotatably connected with a driving roller, a carrying driving motor and a carrying transmission mechanism are arranged in the carrying platform, and the carrying driving motor is connected with the driving roller through the carrying transmission mechanism;
a first electromagnet is arranged inside the carrying platform or the driving roller;
the rough polishing mechanism is arranged at one end of the carrying platform and comprises a first support arm frame and a rough polishing disc, one end of the first support arm frame is connected with the carrying platform, and the other end of the first support arm frame is connected with the rough polishing disc;
the other end of the carrying platform is provided with the fine trimming mechanism, the fine trimming mechanism comprises a second support arm frame and a fine trimming assembly, one end of the second support arm frame is connected with the carrying platform, and the other end of the second support arm frame is connected with the fine trimming assembly;
the fine repair assembly includes working bin and feed bin, the inside manipulator, ultrasonic flaw detector, abolish and maintain unit, welding unit and the unit that sprays paint that is provided with of working bin, the ultrasonic flaw detector is connected in the alternative of manipulator, abolishes and maintains unit, welding unit and the unit that sprays paint, at least one feed bin is arranged to the side of working bin, the hull material has been placed in the feed bin, be provided with the transfer arm in the feed bin, the transfer arm can with the hull material is carried to the working bin inside.
2. The robot of claim 1, wherein: the manipulator comprises a slewing bearing, a first servo motor, a driving gear, a supporting frame, a second servo motor, a lead screw, a nut, a sliding rod, a sliding seat, a first electric push rod and a gripper;
the rotating ring of the slewing bearing can rotate relative to the fixed ring of the slewing bearing, the fixed ring of the slewing bearing is fixedly connected with the working bin, and the rotating ring of the slewing bearing is provided with a gear ring;
the first servo motor is fixedly connected with the working bin, an output rotating shaft of the first servo motor is provided with the driving gear, and the driving gear is meshed with the gear ring;
the support frame is fixedly connected with the rotating ring of the slewing bearing, a second servo motor is arranged on the support frame, an output rotating shaft of the second servo motor is connected with the screw rod, and the screw rod is matched with the nut;
the sliding rod is arranged on the supporting frame, the sliding rod and the screw rod are arranged in parallel, the sliding rod is connected with the sliding seat in a sliding mode, and the sliding seat is fixedly connected with the nut;
the first electric push rod is arranged on the sliding seat and arranged in the vertical direction, the gripper is arranged at the tail end of the first electric push rod and used for selecting one of the gripper to be connected with the ultrasonic flaw detector, the breaking and trimming unit, the welding unit and the paint spraying unit.
3. The robot of claim 1, wherein: the breaking and trimming unit comprises a first seat body, a second electric push rod, a third servo motor, a main transmission rod, a striking mechanism, a polishing mechanism and a cutting mechanism; the fixed end of the second electric push rod is fixedly connected with the first seat body, the telescopic end of the second electric push rod is provided with a third servo motor, the output rotating shaft of the third servo motor is connected with the main transmission rod, and the main transmission rod is provided with a first transmission end, a second transmission end and a third transmission end; but first transmission end transmission is connected hit beats the mechanism, but second transmission end transmission is connected grinding mechanism, but third transmission end transmission is connected cutting mechanism.
4. The robot of claim 3, wherein: the striking mechanism comprises a striking driving gear, a striking first driven gear, a striking first transmission rod, a striking second driven gear, a striking third driven gear, a striking second transmission rod, a striking cam, a striking compression rod, a striking lever, a striking support and a striking hammer; a first transmission groove is formed in the middle of the lower end of the driving gear, the first transmission end can be matched in the first transmission groove, the driving gear is meshed with the first beating driven gear, the first beating driven gear is connected with the second beating driven gear through a first beating transmission rod, the first beating driven gear, the first beating transmission rod and the second beating driven gear are coaxially arranged, the second beating driven gear is meshed with the third beating driven gear, the axis of the second beating driven gear is perpendicular to the axis of the third beating driven gear, the third beating driven gear is connected with the beating cam through a second beating transmission rod, the edge of the beating cam is hinged to one end of a beating compression rod, the other end of the beating compression rod is hinged to one end of a beating lever, the beating compression rod is arranged in the vertical direction, and the middle of the beating lever is hinged to a beating support, the other end of the striking lever is provided with the striking hammer.
5. The robot of claim 4, wherein: the polishing mechanism comprises a polishing driving seat, a driving sleeve and a fine polishing disc; the polishing driving seat is rotatably connected to the first seat body, a second transmission groove is formed in the middle of the upper end of the polishing driving seat, the second transmission end can be matched in the second transmission groove, the polishing driving seat is fixedly connected with the driving sleeve, and the lower end of the driving sleeve is provided with the fine polishing disc.
6. The robot of claim 5, wherein: the cutting mechanism comprises a cutting driving sleeve, a first bevel gear, a cutting supporting seat, a second bevel gear, a cutting transmission shaft, a cutting piece, an armature, a spring and a second electromagnet; the third transmission end is provided with a spline shaft, a spline groove is formed in the middle of the upper end of the cutting driving sleeve, the spline shaft is located in the spline groove, a first bevel gear is arranged at the lower end of the cutting driving sleeve, and the cutting driving sleeve and the first bevel gear are coaxially arranged; the cutting support seat is positioned in the middle of the fine polishing disc, the cutting support seat is rotationally connected with the second bevel gear, the second bevel gear is connected with the cutting piece through a cutting transmission shaft, and the second bevel gear and the cutting transmission shaft are coaxially arranged; the cutting support seat is provided with an armature, the spring is connected between the cutting support seat and the driving sleeve, the second electromagnet is arranged on one side of the cutting support seat, and after the second electromagnet is electrified, the armature is adsorbed to drive the cutting support seat to turn over relative to the fine polishing disc, so that the second bevel gear is meshed with the first bevel gear.
7. The robot of claim 1, wherein: the welding unit comprises a second base body, a solder discharging mechanism and a welding gun, wherein the solder discharging mechanism and the welding gun are arranged on the second base body.
8. The robot of claim 1, wherein: the paint spraying unit comprises a third base body and a plurality of paint spraying heads, and the third base body is provided with the paint spraying heads.
9. The robot of claim 1, wherein: the working bin is internally provided with a water pump, the water inlet end of the water pump is connected with a water inlet pipe, the water inlet pipe is positioned inside the working bin, the water outlet end of the water pump is connected with a water drainage pipe, and the tail end of the water drainage pipe is positioned outside the working bin.
10. The robot of claim 1, wherein: the bin can swing relative to the working bin through a swing mechanism, the bin can swing downwards to be in butt joint with the working bin, and a door leaf capable of being opened and closed is arranged on the side face of the working bin at the butt joint position of the bin and the working bin;
swing mechanism includes arc spout, arc slide rail and arc sliding sleeve, the one end fixed connection of arc spout the outer wall of working bin, arc spout internal sliding connection the arc slide rail, the arc slide rail can be followed the other end of arc spout is stretched out or is retracted, the arc sliding sleeve nestification is on arc spout and arc slide rail, the arc sliding sleeve can slide for arc spout and arc slide rail, arc sliding sleeve fixed connection the outer wall of feed bin.
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| CN202210387778.7A CN114670990B (en) | 2022-04-13 | 2022-04-13 | Ship body repairing robot |
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| CN202210387778.7A CN114670990B (en) | 2022-04-13 | 2022-04-13 | Ship body repairing robot |
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Cited By (1)
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| CN115180095A (en) * | 2022-09-13 | 2022-10-14 | 临沂杰航海洋科技有限责任公司 | Repairing device for ship surface renovation |
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| Publication number | Publication date |
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| CN114670990B (en) | 2023-07-07 |
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