CN116175596A - Mobile processing robot device for ship surface treatment - Google Patents
Mobile processing robot device for ship surface treatment Download PDFInfo
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- CN116175596A CN116175596A CN202211409797.1A CN202211409797A CN116175596A CN 116175596 A CN116175596 A CN 116175596A CN 202211409797 A CN202211409797 A CN 202211409797A CN 116175596 A CN116175596 A CN 116175596A
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- branched
- link
- large arm
- driving device
- turntable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
Abstract
The invention discloses a mobile processing robot device for ship surface treatment, which comprises: a mobile platform truck; a large arm turntable; a large arm turntable driving device; a large arm support; a large arm body lever; a large arm main body lever driving device; a large arm telescopic rod; a large arm telescopic rod driving device; a tandem mechanism swing lever; a tandem mechanism swing lever drive; a serial mechanism turntable; a tandem turntable drive; a series mechanism guide rail; a series mechanism slider; a serial mechanism slider driving device; a planar parallel driving mechanism; and an execution device. The mobile processing robot device for ship surface treatment provided by the embodiment of the invention can reduce the risk coefficient of operators, and has the advantages of good flexibility, strong applicability, stable treatment quality, high treatment efficiency and the like.
Description
Technical Field
The invention relates to the technical field of robot manufacturing, in particular to a movable processing robot device for ship surface treatment.
Background
The anti-corrosion coating of the ship is used as one of three operations of shell outfitting in ship construction, is a key point of whether the ship can stably run for a long time, is also the most important ring in ship repair, and the main working contents comprise anti-corrosion rust removal and spraying operation of the ship.
The processing mode of corrosion prevention, rust removal and coating of the ship surface in the related art is operated manually or by using semi-automatic equipment, and an operator is required to stand on an overhead working truck to hold a rust removal tool and a spray gun for rust removal and spraying. Pollution sources such as noise, dust and VOCs (command organic matters) generated in the rust removal and spraying operation process can cause harm to the health of operators. Meanwhile, the risk coefficient of the high-altitude operation is high, and the safety of operators is threatened. On the other hand, the manual operation efficiency is low, the spraying quality also depends on the experience level of operators, and the spraying quality is difficult to ensure.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the movable processing robot device for the ship surface treatment, which can reduce the risk coefficient of operators and has the advantages of good flexibility, strong applicability, stable treatment quality, high treatment efficiency and the like.
To achieve the above object, according to an embodiment of the present invention, there is provided a mobile processing robot apparatus for surface treatment of a ship, the mobile processing robot apparatus for surface treatment of a ship including: a mobile platform truck; the large arm turntable is rotatably arranged on the mobile platform truck, and the rotation axis is oriented in the vertical direction; the large arm turntable driving device is arranged on the mobile platform truck and is in transmission connection with the large arm turntable; the large arm support is arranged on the large arm turntable; the main arm body rod is rotatably arranged on the main arm support and the rotation axis is oriented in the horizontal direction; the large arm main body rod driving device is arranged on the large arm turntable and is in transmission connection with the large arm main body rod; the large arm telescopic rod can be movably arranged in the large arm main body rod along the length direction of the large arm main body rod; the large arm telescopic rod driving device is in transmission connection with the large arm telescopic rod; the serial mechanism swinging rod is rotatably arranged at one end of the large arm telescopic rod, which is far away from the large arm turntable, and the rotating axis of the serial mechanism swinging rod is oriented along the horizontal direction; the serial mechanism swinging rod driving device is arranged on the large arm telescopic rod and is in transmission connection with the serial mechanism swinging rod; the serial mechanism turntable is rotatably arranged on the serial mechanism swinging rod, and the rotation axis is oriented along the direction perpendicular to the rotation axis of the serial mechanism swinging rod; the serial mechanism turntable driving device is arranged on the serial mechanism swinging rod and is in transmission connection with the serial mechanism turntable; the serial mechanism guide rail is arranged on the serial mechanism turntable; the serial mechanism sliding block is slidably arranged on the serial mechanism guide rail, and the sliding direction of the serial mechanism sliding block is perpendicular to the rotation axis of the serial mechanism turntable; the serial mechanism sliding block driving device is arranged on the serial mechanism guide rail and is in transmission connection with the serial mechanism sliding block; the plane parallel driving mechanism is arranged on the sliding block of the serial mechanism; and the executing device is arranged on the plane parallel driving mechanism.
According to the mobile processing robot device for ship surface treatment, provided by the embodiment of the invention, the dangerous coefficient of an operator can be reduced, and the mobile processing robot device has the advantages of good flexibility, strong applicability, stable processing quality, high processing efficiency and the like.
In addition, the mobile processing robot device for surface treatment of a ship according to the above-described embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the invention, the planar parallel drive mechanism is a three-branched planar parallel drive mechanism.
According to one embodiment of the invention, the planar parallel drive mechanism comprises: the actuator support is provided with the actuator device; the base is arranged on the sliding block of the serial mechanism; the middle part of the pitching bracket is rotatably arranged on the base, and the rotation axis is oriented along the horizontal direction; a first branched first link, a first end of the first branched first link rotatably coupled to a first end of the pitch bracket and a rotational axis oriented in a horizontal direction; a first branched second link, a first end of the first branched second link rotatably coupled to a second end of the first branched first link and a rotational axis oriented in a horizontal direction; a second branched first link, a first end of the second branched first link rotatably coupled to a second end of the pitch bracket and a rotational axis oriented in a horizontal direction; a second branched second link, a first end of the second branched second link rotatably coupled to a second end of the second branched first link and having a rotational axis oriented in a horizontal direction, a second end of the second branched second link rotatably coupled to a first end of the actuator bracket and having a rotational axis oriented in a horizontal direction; a third branched first link, a first end of the third branched first link rotatably coupled to a second end of the pitch bracket and a rotational axis oriented in a horizontal direction; a third branched second link, a first end of the third branched second link rotatably coupled to a second end of the third branched first link and a rotational axis oriented in a horizontal direction; a third branched third link, a first end of the third branched third link rotatably coupled to a second end of the third branched second link and having a rotational axis oriented in a horizontal direction, a second end of the third branched third link rotatably coupled to a second end of the second branched first link and a first end of the second branched second link and having a rotational axis oriented in a horizontal direction; a first branched third connecting member rotatably connected to the second end of the first branched second connecting rod, the second end of the actuator bracket, the second end of the third branched second connecting rod, and the first end of the third branched third connecting rod, respectively, and having a rotation axis oriented in a horizontal direction; the pitching support driving device is arranged on the base and is in transmission connection with the pitching support; the first branched chain driving device is arranged on the pitching bracket and is in transmission connection with the first branched chain first connecting rod; the second branched chain driving device is arranged on the pitching bracket and is in transmission connection with the second branched chain first connecting rod; and the third branched chain driving device is arranged on the pitching bracket and is in transmission connection with the third branched chain first connecting rod.
According to one embodiment of the present invention, the first branched third link is a triangle formed by connecting three rod pieces end to end and has a first vertex rotatably connected to the second end of the first branched second link and having a rotation axis oriented in a horizontal direction, a second vertex rotatably connected to the second end of the actuator bracket and having a rotation axis oriented in a horizontal direction, and a third vertex rotatably connected to the second end of the third branched second link and the first end of the third branched third link and having a rotation axis oriented in a horizontal direction, the third branched third link having a length equal to the length of the third branched first link and equal to the length of the actuator bracket, the third branched second link having a length equal to the length of the second branched first link, and the third branched third link having a third link length equal to the length of the second link of the first branched third link.
According to one embodiment of the invention, the tandem turntable is connected to the middle of the tandem rail.
According to one embodiment of the invention, the large arm turntable driving device, the serial mechanism swing rod driving device and the serial mechanism turntable driving device are all motors.
According to one embodiment of the invention, the main boom body bar driving device is a hydraulic bar.
According to one embodiment of the present invention, the serial mechanism slider driving device includes: the sliding block motor is arranged on the guide rail of the serial mechanism; the screw rod is in transmission connection with a motor shaft of the slider motor and is in threaded fit with the slider of the serial mechanism.
According to one embodiment of the invention, the boom extension bar driving device is a hydraulic driving device.
According to one embodiment of the invention, the executing device is one or more of a spray gun, a polishing device or a rust removing device.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a schematic structural view of a mobile processing robot device for surface treatment of a ship according to an embodiment of the present invention.
Fig. 2 is a partial structural schematic view of a mobile processing robot device for surface treatment of a ship according to an embodiment of the present invention.
Fig. 3 is a partial structural schematic view of a mobile processing robot device for surface treatment of a ship according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of a planar parallel driving mechanism of a mobile processing robot apparatus for surface treatment of a ship according to an embodiment of the present invention.
Reference numerals: the mobile working robot device 1 for the surface treatment of a ship, the mobile platform truck 10, the boom turret 20, the boom turret driving device 21, the boom support 22, the boom main body lever 30, the boom main body lever driving device 31, the boom extension lever 40, the tandem mechanism swing lever 50, the tandem mechanism swing lever driving device 51, the tandem mechanism turret 60, the tandem mechanism turret driving device 61, the tandem mechanism rail 70, the tandem mechanism slider 71, the tandem mechanism slider driving device 72, the planar parallel driving mechanism 80, the actuator support 81, the base 82, the pitch support 83, the pitch support driving device 84, the first branch first link 811, the first branch second link 812, the first branch third link 813, the first branch driving device 814, the second branch first link 821, the second branch second link 822, the second branch driving device 823, the third branch first link 832, the third branch third link 833, the third branch driving device 834, and the actuator 90.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
A mobile processing robot device 1 for surface treatment of a ship according to an embodiment of the present invention is described below with reference to the accompanying drawings.
As shown in fig. 1 to 4, a mobile working robot apparatus 1 for surface treatment of a ship according to an embodiment of the present invention includes a mobile platform truck 10, a boom turret 20, a boom turret driving device 21, a boom support 22, a boom main body bar 30, a boom main body bar driving device 31, a boom extension bar 40, a tandem mechanism swing bar 50, a tandem mechanism swing bar driving device 51, a tandem mechanism turret 60, a tandem mechanism turret driving device 61, a tandem mechanism rail 70, a tandem mechanism slider 71, a tandem mechanism slider driving device 72, a planar parallel driving mechanism 80, and an executing device 90.
Specifically, the mobile platform truck 10 may be a wheeled mobile platform truck, here preferably a four wheeled mobile platform truck.
By providing the mobile platform truck 10, the entire movement and steering of the mobile processing robot device 1 for the surface treatment of the ship can be realized, and the entire mobile processing robot device 1 for the surface treatment of the ship can be easily moved to the vicinity of the ship to be treated.
The boom turret 20 is rotatably provided on the mobile platform truck 10 with the rotation axis oriented in the vertical direction. The boom turret driving device 21 is provided on the mobile platform truck 10 and is in transmission connection with the boom turret 20. The boom support 22 is provided on the boom turret 20.
Thus, the horizontal steering of the large arm turntable 20 and other components on the large arm turntable 20 relative to the mobile platform truck 10 can be realized.
The boom body bar 30 is rotatably provided on the boom support 22 with the rotation axis oriented in the horizontal direction. The boom main body lever driving device 31 is provided on the boom turret 20 and is in transmission connection with the boom main body lever 30.
This allows the main boom body bar 30 to swing up and down as well as other parts of the main boom body bar 30.
The boom extension and retraction lever 40 is provided in the boom main body lever 30 so as to be movable in the longitudinal direction of the boom main body lever 30. The large arm telescopic rod driving device is in transmission connection with the large arm telescopic rod 40.
Thus, the overall length of the boom can be adjusted by moving the boom extension lever 40, thereby adjusting the position of the boom extension lever 40 and other components on the boom extension lever 40 in the length direction of the boom main body lever 30.
Therefore, the large arm assembly formed by the large arm turntable 20, the large arm main body rod 30 and the large arm telescopic rod 40 can drive the execution device 90 to horizontally rotate, vertically swing and adjust the position of the execution device 90 in the large arm length direction, so that the position adjustment of the execution device 90 in at least three degrees of freedom is realized.
The tandem-mechanism swing lever 50 is rotatably provided at an end of the boom extension lever 40 remote from the boom turret 20 with the rotation axis oriented in the horizontal direction. The tandem swing lever driving device 51 is provided on the boom extension lever 40 and is in transmission connection with the tandem swing lever 50.
This allows the tandem swing lever 50 to swing up and down with respect to the large arm extension lever 40 by other members on the tandem swing lever 50.
The tandem turntable 60 is rotatably provided on the tandem swinging rod 50 with the rotation axis oriented in a direction perpendicular to the rotation axis of the tandem swinging rod 50. The tandem turntable driving device 61 is provided on the tandem swing lever 50 and is in transmission connection with the tandem turntable 60.
This allows the rotation of the tandem turntable 60 and other components on the tandem turntable 60 relative to the tandem swing lever 50.
The tandem mechanism guide rail 70 is provided on the tandem mechanism turntable 60. The tandem mechanism slider 71 is slidably provided on the tandem mechanism guide rail 70 with a sliding direction perpendicular to the rotation axis of the tandem mechanism turntable 60. The tandem slider driving device 72 is provided on the tandem guide rail 70 and is in transmission connection with the tandem slider 71.
This allows movement of the tandem slide 71 and other components on the tandem slide 71 relative to the tandem guide rail 70 and tandem turntable 60.
The tandem mechanism composed of the tandem mechanism swinging rod 50, the tandem mechanism turntable 60, the tandem mechanism guide rail 70 and the tandem mechanism slider 71 can thereby drive the swinging of the actuator 90 in the up-down direction, the rotation perpendicular to the swinging direction and the translation perpendicular to the rotation direction, thereby realizing the positional adjustment of the actuator 90 in at least three degrees of freedom.
The planar parallel drive mechanism 80 is provided on the serial mechanism slider 71. The actuator 90 is provided on the planar parallel drive mechanism 80.
This allows for further adjustment of the position of the actuator 90 using the planar parallel drive mechanism 80.
According to the mobile processing robot device 1 for ship surface treatment of the embodiment of the present invention, the entire movement and steering of the mobile processing robot device 1 for ship surface treatment are realized by the mobile platform truck 10, so that the mobile processing robot device 1 for ship surface treatment is easily transported as a whole to a position suitable for treatment near a ship to be treated.
Further, by the boom table 20, the boom main body lever 30, and the boom extension lever 40, it is possible to realize position adjustment of the actuator 90 in at least three degrees of freedom, to increase the movement range of the actuator 90, and to increase the range that the actuator 90 can handle.
In addition, by the tandem mechanism swing lever 50, the tandem mechanism turntable 60, the tandem mechanism guide rail 70, and the tandem mechanism slider 71, it is possible to realize position adjustment of the actuator 90 in at least three degrees of freedom, further making the position adjustment of the actuator 90 more flexible, making the actuator 90 facilitate treatment of the vessel surface at different angles, so that the mobile machining robot device 1 for vessel surface treatment can be applied to different positions of the vessel surface, improving flexibility and applicability of the mobile machining robot device 1 for vessel surface treatment.
Further, by providing the planar parallel driving mechanism 80, the planar parallel driving mechanism 80 and the serial mechanism together form a serial-parallel mechanism, and the serial-parallel mechanism can realize the position adjustment of the execution device 90 on a plurality of degrees of freedom, so that the range and flexibility of the position adjustment of the execution device 90 are further improved, and the flexibility and applicability of the mobile processing robot device 1 for ship surface treatment are further improved.
Further, since the processing process of the ship surface is mainly arc-shaped motion in the plane perpendicular to the ship surface, for example, in the spraying process, after spraying a strip-shaped area from top to bottom, a certain distance is moved horizontally again to spray the next strip-shaped area from top to bottom, but since the ship surface generally has a certain radian, the main motion track of the execution device 90 is arc-shaped motion in the plane perpendicular to the ship surface, by arranging the plane parallel driving mechanism 80, the execution device 90 can conveniently realize more flexible plane arc-shaped motion perpendicular to the ship surface, the execution device 90 can conveniently perform plane motion in the track conforming to the shape of the ship surface, the processing requirement of the complex ship surface can be conveniently met, and the applicability and flexibility of the mobile processing robot device 1 for processing the ship surface can be conveniently improved.
Therefore, the mobile processing robot device 1 for ship surface treatment is arranged, so that the processing requirement on the ship surface can be met, compared with the ship surface treatment mode in the related art, the mobile processing robot device 1 for ship surface treatment can finish the processing of the ship surface through the motion driving execution device 90 of each structure without manually holding a spray gun or a rust removing tool for operation, thereby avoiding the aerial work of operators, enabling the operators to be far away from the execution device 90, avoiding the harm of noise, dust and VOCs to the health of the operators, ensuring that the processing quality of the mobile processing robot device 1 for ship surface treatment is more stable and higher in efficiency, and avoiding the problem of uneven quality and efficiency caused by depending on experience level during manual processing.
Therefore, the mobile processing robot device 1 for ship surface treatment according to the embodiment of the invention can reduce the risk coefficient of operators, and has the advantages of good flexibility, strong applicability, stable treatment quality, high treatment efficiency and the like.
A mobile processing robot device 1 for surface treatment of a ship according to a specific embodiment of the present invention will be described below with reference to the accompanying drawings.
In some embodiments of the present invention, as shown in fig. 1 to 4, a mobile working robot apparatus 1 for surface treatment of a ship according to an embodiment of the present invention includes a mobile platform truck 10, a boom turret 20, a boom turret driving device 21, a boom support 22, a boom main body bar 30, a boom main body bar driving device 31, a boom telescopic bar 40, a tandem-mechanism swing bar 50, a tandem-mechanism swing bar driving device 51, a tandem-mechanism turret 60, a tandem-mechanism turret driving device 61, a tandem-mechanism guide rail 70, a tandem-mechanism slider 71, a tandem-mechanism slider driving device 72, a planar parallel driving mechanism 80, and an executing device 90.
Specifically, as shown in fig. 4, the planar parallel drive mechanism 80 is a three-branched planar parallel drive mechanism 80. Thus, the three branched chains can be used for driving the executing device 90, so that more flexible and changeable position adjustment is realized, and the plane parallel driving mechanism 80 can be suitable for more complex ship surfaces.
More specifically, as shown in fig. 4, the planar parallel drive mechanism 80 includes an actuator bracket 81, a base 82, a pitch bracket 83, a first branched first link 811, a first branched second link 812, a second branched first link 821, a second branched second link 822, a third branched first link 831, a third branched second link 832, a third branched third link 833, a first branched third link 813, a pitch bracket drive 84, a first branched drive 814, a second branched drive 823, and a third branched drive 834.
The actuator 90 is provided on the actuator bracket 81. The base 82 is provided on the tandem mechanism slider 71. The center portion of the pitch bracket 83 is rotatably provided on the base 82 with the rotation axis oriented in the horizontal direction.
A first end of the first branched first link 811 is rotatably connected to a first end of the pitch bracket 83 with the rotation axis oriented in the horizontal direction. A first end of the first branched second link 812 is rotatably connected to a second end of the first branched first link 811 and the rotation axis is oriented in the horizontal direction. The first end of the second branched first link 821 is rotatably connected to the second end of the pitching bracket 83 with the rotation axis oriented in the horizontal direction. The first end of the second branched second link 822 is rotatably connected to the second end of the second branched first link 821 with the rotation axis oriented in the horizontal direction, and the second end of the second branched second link 822 is rotatably connected to the first end of the actuator bracket 81 with the rotation axis oriented in the horizontal direction. The first end of the third branched first link 831 is rotatably connected to the second end of the pitch bracket 83 with the rotation axis oriented in the horizontal direction. The first end of the third branched second link 832 is rotatably coupled to the second end of the third branched first link 831 with the rotation axis oriented in a horizontal direction. The first end of the third branched third link 833 is rotatably coupled to the second end of the third branched second link 832 with the rotation axis oriented in the horizontal direction, and the second end of the third branched third link 833 is rotatably coupled to the second end of the second branched first link 821 and the first end of the second branched second link 822 with the rotation axis oriented in the horizontal direction. The first branched third link 813 is rotatably connected to the second end of the first branched second link 812, the second end of the actuator bracket 81, the second end of the third branched second link 832, and the first end of the third branched third link 833, respectively, and the rotation axis is oriented in the horizontal direction.
A pitch bracket drive 84 is provided on the base and is in driving connection with the pitch bracket 83. The first branched driving device 814 is provided on the pitch bracket 83 and is in transmission connection with the first branched first link 811. The second branched driving device 823 is provided on the pitching frame 83 and is connected to the second branched first link 821 in a transmission manner. The third branched chain driving device 834 is arranged on the pitching frame 83 and is in transmission connection with the third branched chain first connecting rod 831.
The first branched first link 811, the first branched second link 812 and the first branched third link 813 may constitute a first branched chain, and the rotation of the first branched first link 811 is driven by the first branched driving device 814 to move the first branched second link 812 and the first branched third link 813, thereby driving the actuator bracket 81 to move.
The second branched first link 821 and the second branched second link 822 may form a second branched chain, and the second branched first link 821 is driven to rotate by the second branched driving device 823 to drive the second branched second link 822 to move, thereby driving the actuator bracket 81 to move.
The third branch first link 831, the third branch second link 832 and the third branch third link 833 may form a third branch, and the third branch first link 831 is driven by the third branch driving device 834 to rotate to drive the third branch second link 832 and the third branch third link 833 to move, thereby driving the first branch third link 813 and the second branch second link 822 to move, and finally driving the actuator bracket 81 to move.
Rotation of the pitching frame 83 relative to the base 82 drives the three branches connected to the pitching frame 83 to pitch as a whole, thereby driving the actuator 90 to pitch.
The pitch bracket 83 and the three-branched linkage can be used to drive the actuator bracket 81 for flexible in-plane movement, so that the planar parallel drive mechanism 80 is suitable for more complex ship surfaces.
Specifically, the pitch bracket drive 84, the first branch drive 814, the second branch drive 823, and the third branch drive 834 may each be motors.
The tandem-mechanism swing lever 50, the actuator mount 81, the base 82, the pitch mount 83, the first branched first link 811, the first branched second link 812, the first branched third link 813, the second branched first link 821, the second branched second link 822, the third branched first link 831, the third branched second link 832, and the third branched third link 833 may be provided with weight reduction grooves. The weight of the series-parallel mechanism is reduced, the light-weight design of the series-parallel mechanism is realized, the loads of the large arm mechanism and the mobile platform car are reduced, the dynamic response capability of the series-parallel mechanism is improved, the flexibility of the mobile processing robot device 1 for ship surface treatment is further improved, and the treatment efficiency is improved.
Further, as shown in fig. 4, the first branched third link 813 is a triangle formed by connecting three levers end to end and has a first vertex rotatably connected to the second end of the first branched second link 812 and having a rotation axis oriented in a horizontal direction, a second vertex rotatably connected to the second end of the pitch bracket 83 and having a rotation axis oriented in a horizontal direction, and a third vertex rotatably connected to the second end of the third branched second link 832 and the first end of the third branched third link 833 and having a rotation axis oriented in a horizontal direction, the length of the third branched third link 833 is equal to the length of the third branched first link 831 and is equal to the length of the actuator bracket 81, the length of the third branched second link 832 is equal to the length of the second branched first link 821, and one of the three levers of the first branched third link 813 connected to the actuator bracket 81, the third branched second link 832 and the third branched third link 833 is equal to the length of the second branched third link 822. In this way, the second branched first link 821, the third branched first link 831, the third branched second link 832 and the third branched third link 833 may be used to form a parallelogram linkage, and one rod of the actuator bracket 81, the second branched second link 822, the third branched third link 833 and the first branched third link 813 may be used to form another parallelogram linkage, so that the driving force of the driving device is conveniently transmitted to the actuator bracket 81, so that the driving device 90 is conveniently driven to realize more angular movement, the flexibility of the driving device 90 is further improved, and the flexibility and applicability of the mobile processing robot device 1 for surface treatment of a ship are further improved.
Advantageously, as shown in fig. 1 and 3, the tandem turntable 60 is connected to the middle of the tandem guide rail 70. In this way, compared with the way that the tandem turntable 60 is connected with the end of the tandem guide rail 70, the maximum distance of the tandem turntable 60 when the tandem slider 71 moves to a position far away from the tandem turntable 60 can be shortened, the tandem slider 71 and other components on the tandem slider can be prevented from moving to a position far away from the tandem turntable 60, the moment arm of the tandem guide rail 70 is prevented from being too long, the moment born by the tandem guide rail 70 is prevented from being too large, and the stability and reliability of the actuator 90 can be improved.
Alternatively, the large arm turret driving device 21, the tandem-mechanism swing-lever driving device 51, and the tandem-mechanism turret driving device 61 are all motors. This facilitates the driving of the rotation of the large arm turret 20, the tandem-mechanism swing lever 50, and the tandem-mechanism turret 60.
The boom main body lever driving device 31 is a hydraulic lever. Thus, not only can the large arm main body rod 30 be conveniently driven, but also the large arm main body rod 30 can be supported by utilizing the hydraulic rod, so that the stability of the large arm main body rod 30 can be conveniently ensured.
The tandem slide drive 72 includes a slide motor and a lead screw, the slide motor being disposed on the tandem guide rail 70. The lead screw is in transmission connection with a motor shaft of the slider motor and is in threaded fit with the serial mechanism slider 71. In this way, the rotation of the screw rod driven by the slide motor can be converted into the translational motion of the serial mechanism slide 71 along the axial direction of the screw rod through the threaded cooperation of the screw rod and the serial mechanism slide 71, so that the serial mechanism slide 71 is driven.
The large arm telescopic rod driving device is a hydraulic driving device. Thus, the large arm telescopic rod 40 can be conveniently driven, and the stability of the large arm telescopic rod 40 can be conveniently ensured.
The execution device 90 is one or more of a spray gun, a polishing device or a rust removing device. This facilitates the spraying, sanding and rust removal of the marine surface by means of the actuator 90.
Other constructions and operations of the mobile processing robot device 1 for surface treatment of a ship according to an embodiment of the present invention are known to those skilled in the art, and will not be described in detail herein.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A mobile machining robot device for surface treatment of a ship, comprising:
a mobile platform truck;
the large arm turntable is rotatably arranged on the mobile platform truck, and the rotation axis is oriented in the vertical direction;
the large arm turntable driving device is arranged on the mobile platform truck and is in transmission connection with the large arm turntable;
the large arm support is arranged on the large arm turntable;
the main arm body rod is rotatably arranged on the main arm support and the rotation axis is oriented in the horizontal direction;
the large arm main body rod driving device is arranged on the large arm turntable and is in transmission connection with the large arm main body rod;
the large arm telescopic rod can be movably arranged in the large arm main body rod along the length direction of the large arm main body rod;
the large arm telescopic rod driving device is in transmission connection with the large arm telescopic rod;
the serial mechanism swinging rod is rotatably arranged at one end of the large arm telescopic rod, which is far away from the large arm turntable, and the rotating axis of the serial mechanism swinging rod is oriented along the horizontal direction;
the serial mechanism swinging rod driving device is arranged on the large arm telescopic rod and is in transmission connection with the serial mechanism swinging rod;
the serial mechanism turntable is rotatably arranged on the serial mechanism swinging rod, and the rotation axis is oriented along the direction perpendicular to the rotation axis of the serial mechanism swinging rod;
the serial mechanism turntable driving device is arranged on the serial mechanism swinging rod and is in transmission connection with the serial mechanism turntable;
the serial mechanism guide rail is arranged on the serial mechanism turntable;
the serial mechanism sliding block is slidably arranged on the serial mechanism guide rail, and the sliding direction of the serial mechanism sliding block is perpendicular to the rotation axis of the serial mechanism turntable;
the serial mechanism sliding block driving device is arranged on the serial mechanism guide rail and is in transmission connection with the serial mechanism sliding block;
the plane parallel driving mechanism is arranged on the sliding block of the serial mechanism;
and the executing device is arranged on the plane parallel driving mechanism.
2. The mobile processing robot device for surface treatment of a vessel according to claim 1, wherein the planar parallel drive mechanism is a three-branched planar parallel drive mechanism.
3. The mobile processing robot apparatus for surface treatment of a ship according to claim 2, wherein the planar parallel driving mechanism comprises:
the actuator support is provided with the actuator device;
the base is arranged on the sliding block of the serial mechanism;
the middle part of the pitching bracket is rotatably arranged on the base, and the rotation axis is oriented along the horizontal direction;
a first branched first link, a first end of the first branched first link rotatably coupled to a first end of the pitch bracket and a rotational axis oriented in a horizontal direction;
a first branched second link, a first end of the first branched second link rotatably coupled to a second end of the first branched first link and a rotational axis oriented in a horizontal direction;
a second branched first link, a first end of the second branched first link rotatably coupled to a second end of the pitch bracket and a rotational axis oriented in a horizontal direction;
a second branched second link, a first end of the second branched second link rotatably coupled to a second end of the second branched first link and having a rotational axis oriented in a horizontal direction, a second end of the second branched second link rotatably coupled to a first end of the actuator bracket and having a rotational axis oriented in a horizontal direction;
a third branched first link, a first end of the third branched first link rotatably coupled to a second end of the pitch bracket and a rotational axis oriented in a horizontal direction;
a third branched second link, a first end of the third branched second link rotatably coupled to a second end of the third branched first link and a rotational axis oriented in a horizontal direction;
a third branched third link, a first end of the third branched third link rotatably coupled to a second end of the third branched second link and having a rotational axis oriented in a horizontal direction, a second end of the third branched third link rotatably coupled to a second end of the second branched first link and a first end of the second branched second link and having a rotational axis oriented in a horizontal direction;
a first branched third connecting member rotatably connected to the second end of the first branched second connecting rod, the second end of the actuator bracket, the second end of the third branched second connecting rod, and the first end of the third branched third connecting rod, respectively, and having a rotation axis oriented in a horizontal direction;
the pitching support driving device is arranged on the base and is in transmission connection with the pitching support;
the first branched chain driving device is arranged on the pitching bracket and is in transmission connection with the first branched chain first connecting rod;
the second branched chain driving device is arranged on the pitching bracket and is in transmission connection with the second branched chain first connecting rod;
and the third branched chain driving device is arranged on the pitching bracket and is in transmission connection with the third branched chain first connecting rod.
4. A mobile working robot apparatus for surface treatment of a vessel according to claim 3, wherein the first branched third link is a triangle formed by three links connected end to end and has a first apex rotatably connected to the second end of the first branched second link and having a rotation axis oriented in a horizontal direction, a second apex rotatably connected to the second end of the actuator bracket and having a rotation axis oriented in a horizontal direction, and a third apex rotatably connected to the second end of the third branched second link and having a first end of the third branched third link and having a length equal to the length of the third branched first link and equal to the length of the actuator bracket, and a third branch third link of three links rotatably connected to the second end of the actuator bracket, the third branched third link and the third link having a length equal to the length of the second branched first link.
5. The mobile processing robot apparatus for surface treatment of a vessel according to claim 1, wherein the tandem turntable is connected to a middle portion of the tandem rail.
6. The mobile processing robot apparatus for surface treatment of a vessel according to claim 1, wherein the large arm turret driving device, the tandem-mechanism swing-lever driving device, and the tandem-mechanism turret driving device are motors.
7. The mobile processing robot apparatus for surface treatment of a ship according to claim 1, wherein the large arm main body bar driving means is a hydraulic bar.
8. The mobile processing robot apparatus for surface treatment of a ship according to claim 1, wherein the tandem mechanism slider driving apparatus comprises:
the sliding block motor is arranged on the guide rail of the serial mechanism;
the screw rod is in transmission connection with a motor shaft of the slider motor and is in threaded fit with the slider of the serial mechanism.
9. The mobile working robot apparatus for treating a surface of a ship according to claim 1, wherein the boom extension bar driving means is a hydraulic driving means.
10. The mobile machining robot for ship surface treatment according to claim 1, wherein the performing means is one or more of a spray gun, a grinding means or a rust removing means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211409797.1A CN116175596A (en) | 2022-11-10 | 2022-11-10 | Mobile processing robot device for ship surface treatment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211409797.1A CN116175596A (en) | 2022-11-10 | 2022-11-10 | Mobile processing robot device for ship surface treatment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116175596A true CN116175596A (en) | 2023-05-30 |
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ID=86435209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211409797.1A Pending CN116175596A (en) | 2022-11-10 | 2022-11-10 | Mobile processing robot device for ship surface treatment |
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| Country | Link |
|---|---|
| CN (1) | CN116175596A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116872176A (en) * | 2023-09-06 | 2023-10-13 | 广东电网有限责任公司广州供电局 | Live working robot |
-
2022
- 2022-11-10 CN CN202211409797.1A patent/CN116175596A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116872176A (en) * | 2023-09-06 | 2023-10-13 | 广东电网有限责任公司广州供电局 | Live working robot |
| CN116872176B (en) * | 2023-09-06 | 2023-12-22 | 广东电网有限责任公司广州供电局 | Live working robot |
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