CN220346273U - Self-adaptive ship spraying manipulator base - Google Patents
Self-adaptive ship spraying manipulator base Download PDFInfo
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- CN220346273U CN220346273U CN202321809099.0U CN202321809099U CN220346273U CN 220346273 U CN220346273 U CN 220346273U CN 202321809099 U CN202321809099 U CN 202321809099U CN 220346273 U CN220346273 U CN 220346273U
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- turntable
- swinging
- base
- interface
- manipulator
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- 238000005507 spraying Methods 0.000 title claims abstract description 27
- 238000001179 sorption measurement Methods 0.000 claims abstract description 14
- 239000007921 spray Substances 0.000 claims description 19
- 230000003044 adaptive effect Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 3
- 230000001105 regulatory effect Effects 0.000 abstract 1
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 description 3
- 238000010422 painting Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 150000001299 aldehydes Chemical class 0.000 description 1
- 150000001412 amines Chemical class 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005202 decontamination Methods 0.000 description 1
- 230000003588 decontaminative effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000005488 sandblasting Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Spray Control Apparatus (AREA)
Abstract
The utility model relates to a ship spraying manipulator base which comprises a workbench, a control system, a swinging system and a connecting component. The bottom of workstation sets up automatically regulated post and electromagnetism adsorption wheel. The swinging system consists of a turntable and a swinging interface, wherein the turntable comprises an upper turntable and a lower turntable, and the swinging interface comprises a base and a swinging part. The lower turntable is fixedly connected with the workbench, and the upper turntable is fixedly connected with the base. The connecting assembly comprises a horizontal supporting rod, two vertical lifting rods, a horizontal moving rod and a manipulator interface turntable arranged on the horizontal moving rod. The horizontal strut is fixedly connected with the swinging component; the horizontal support rod is connected with the horizontal moving rod through two vertical lifting rods. The upper end of the connecting piece is connected with the mechanical arm through threads, and the lower section is fixedly connected with the mechanical arm interface turntable. The utility model can automatically adapt to the surfaces of various ship bodies, not only realizes the stability and safety of the operation of the manipulator, but also overcomes the defects of uneven spraying and non-corner spraying, and improves the spraying efficiency.
Description
Technical Field
The utility model belongs to the field of machinery, and relates to a ship spraying manipulator base, in particular to a self-adaptive ship spraying manipulator base.
Background
The ship coating is the construction of carrying out surface painting operation after polishing, sand blasting and the like on a ship body, a cabin, accessories and the like during ship building and reaching the requirements of rust removal, decontamination, scale removal and scar removal. In order to better bear the weight and reduce the resistance of water flow, the ship body is generally in an inverted trapezoid shape with a large top and a small bottom, and the side surface is in an arc shape, so that the ship is very troublesome in painting, and a large ship needs to climb when painting, so that danger is easily brought to workers. In addition, a great amount of harmful substances and gases generated in the spraying process, such as benzene, aldehydes, amines and the like, can seriously affect the health of operators.
In order to solve the technical problems, the spraying manipulator has developed, and the problems of low manual spraying efficiency and high danger are solved to a certain extent. However, the spraying manipulator needs the assistance of the base to flexibly move and spray, so that the traditional spraying manipulator cannot complete the operation satisfactorily due to the diversity and complexity of the ship body to be coated. Therefore, a spray robot base having a corresponding function is required to assist the spray robot in completing a spray operation.
The existing spraying manipulator base is relatively fixed in style and cannot be flexibly adapted to different ship bodies; common bases include multi-legged wall-mounted bases, and ganged bases. The multi-supporting leg structure is characterized in that supporting legs are arranged in the depth of the upper part of the wallboard so as to be better fixed, and parallel angle steel is used for assembling; the wall-hanging type lifting structure mainly comprises single-rod lifting, and the electromagnetic adsorption wheel mainly has a fixed length; the combined base is provided with the supporting legs of the multi-supporting-leg base, but the combined base is longer, and is also provided with a panel with larger occupied area, angle steel and skid are required to be additionally arranged on part of the panel, so that the combined base is difficult to position and has higher space requirements.
Disclosure of Invention
Aiming at the problems of the ship spraying manipulator base in the prior art, the utility model provides the ship spraying manipulator base. The utility model realizes the automatic adaptation of the base to the surfaces of various ship bodies, improves the spraying work efficiency, and the stability and safety of the work of the manipulator, and overcomes the defects of uneven spraying and non-corner spraying in the prior art.
The technical scheme of the utility model is as follows:
the self-adaptive ship manipulator base comprises a workbench 4, and a control system 5, a swing system and a connecting component which are arranged on the workbench 4, wherein the control system is respectively connected with the swing system and the connecting component.
The swinging system consists of a turntable 8 and a swinging interface 9, wherein the turntable 8 comprises a rotatable upper turntable 8-1 and a fixed lower turntable 8-2, and the swinging interface 9 comprises a base 9-1 and a swinging component 9-2. The upper rotary table 8-1 and the lower rotary table 8-2 are connected through a rotary shaft matched bearing. The motor is arranged inside the swinging component 9-2, and the control system 5 realizes the swinging of the swinging component 9-2 through the motor. Wherein, the lower turntable 8-2 is fixedly connected with the workbench 4, and the upper turntable 8-1 is fixedly connected with the base 9-1 and realizes rotation through the control system 5.
The connecting assembly comprises a horizontal support rod 10, two vertical lifting rods 11, a horizontal moving rod 12 and a manipulator interface turntable 13. Wherein the horizontal strut 10 is fixedly connected with the swinging component 9-2; one ends of the two vertical lifting rods 11 are fixedly connected with two ends of the horizontal supporting rod 10 respectively, two ends of the horizontal moving rod 12 are slidably connected with the two vertical lifting rods 11 through a screw rod connector, and the manipulator interface turntable 13 is arranged on the horizontal moving rod 12. The robot interface turret 13 may be rotatable and may be adapted for use with various types of spray robots. The inside of the vertical lifting rod 11 is provided with a stepping motor, the control system 5 is connected with a screw rod through the stepping motor to realize the vertical movement of the vertical lifting rod 11, and then the horizontal movement rod 12 is driven to realize the movement of the manipulator interface turntable 13 in the vertical direction.
The self-adaptive ship manipulator base further comprises an information transmission interface 7 and a connecting piece 15. The control system 5 is connected with the mechanical arm through the information transmission interface 7 to realize data transmission. The lower end of the connecting piece 15 is provided with a clamping positioner 15-1, and the clamping positioner 15-1 is clamped with a clamping groove on the manipulator interface turntable 13; the upper end of the connecting piece 15 is provided with a threaded connecting port 15-2 which is connected with the mechanical arm through threads.
Preferably, the bottom end of the workbench 4 is provided with an automatic adjusting column 3 and an electromagnetic adsorption wheel 2 fixedly connected with the automatic adjusting column; the workbench 4 is connected with the ship body through the electromagnetic adsorption wheel 2. The number of the automatic adjusting columns 3 and the electromagnetic adsorption wheels 2 is 4. The electromagnetic adsorption wheel 2 can adjust the length of the automatic adjusting column 3 according to the surface condition of the ship body, so that the automatic adjusting column is automatically adapted to the surface condition of the ship body to adsorb, and the working safety and stability of the manipulator are greatly improved.
Preferably, a moving guide rail is disposed on the horizontal moving rod 12, and the manipulator interface turntable 13 is slidably connected with the horizontal moving rod 12 through the moving guide rail, so that the manipulator interface turntable 13 horizontally moves on the horizontal moving rod 12.
Preferably, the two vertical lifting rods 11 are provided with a stop block 14 at one end far away from the horizontal support rod 10, so as to limit the moving range of the horizontal moving rod 12 on the vertical lifting rods.
Operation principle: when the control system 5 sends out a signal, the rotation of the upper turntable 8-1 is controlled, and the base 9-1 fixedly connected with the upper turntable is driven to rotate. The base 9-1 drives the horizontal strut 10 fixedly connected with the base to rotate through the swinging component 9-2. The horizontal support rod 10 drives the horizontal moving rod 12 through the two vertical lifting rods 11, and then drives the manipulator interface turntable 13 arranged on the horizontal moving rod 12 to rotate, and further realizes the rotation of the manipulator through the connecting piece 15. Meanwhile, the control system 5 controls the swinging of the swinging component 9-2 through a motor, and the swinging of the mechanical arm is finally realized through the horizontal supporting rod 10, the two vertical lifting rods 11, the horizontal moving rod 12 and the mechanical arm interface turntable 13 in sequence. Furthermore, the control system 5 achieves a horizontal movement of the robot interface turret 13 on the horizontal movement bar 12 by moving the guide rails. The control system 5 realizes the vertical movement of the vertical lifting rod 11 through a stepping motor, and further realizes the vertical movement of the manipulator interface turntable 13 through a horizontal movement rod 12.
The utility model has the beneficial effects that:
(1) The utility model provides a self-adaptive ship spraying manipulator base, which utilizes the efficient matching of an electromagnetic adsorption wheel and an automatic adjusting column to realize the automatic adaptation of the base to the surfaces of various ship bodies and has wide application range.
(2) According to the self-adaptive ship spraying manipulator base, 360-degree rotation, 180-degree swinging, horizontal movement and vertical movement of the manipulator are realized through the cooperation of the swinging system and the connecting assembly, and the defects that the spraying is uneven and the spraying cannot reach corners in the traditional technology are overcome.
(3) According to the self-adaptive ship spraying manipulator base, through the structural optimization, the spraying working efficiency is improved, and the working stability and safety of the spraying manipulator are greatly improved.
Drawings
FIG. 1 is a schematic structural view of a base of an adaptive marine spray robot of the present utility model;
FIG. 2 is a top view of the adaptive marine spray robot base of the present utility model;
FIG. 3 is a schematic structural view of the adaptive marine spray robot base swing system of the present utility model;
FIG. 4 is a schematic view of the adaptive marine spray robot base connection of the present utility model;
in the figure, 1, a ship body; 2. an electromagnetic adsorption wheel; 3. automatically adjusting the column; 4. a work table; 5. a control system; 7. an information transmission interface; 8. a turntable; 8-1 an upper turntable, 8-2 and a lower turntable; 9. a swinging interface; a base 9-1 and a swinging member 9-2; 10. a horizontal strut; 11. a vertical lifting rod; 12. a horizontal moving rod; 13. a manipulator interface turntable; 14. a baffle; 15. a connecting piece; 15-1 joint locator, 15-2 threaded connection mouth.
Detailed Description
The utility model is further illustrated below with reference to examples.
Example 1:
the self-adaptive ship manipulator base comprises a workbench 4, and a control system 5, a swing system and a connecting component which are arranged on the workbench 4, wherein the control system is respectively connected with the swing system and the connecting component. The bottom end of the workbench 4 is provided with an automatic adjusting column 3 and an electromagnetic adsorption wheel 2 fixedly connected with the automatic adjusting column; the workbench 4 is connected with the ship body 1 through the electromagnetic adsorption wheel 2. The number of the automatic adjusting columns 3 and the electromagnetic adsorption wheels 2 is 4.
The swinging system consists of a turntable 8 and a swinging interface 9, wherein the turntable 8 comprises a rotatable upper turntable 8-1 and a fixed lower turntable 8-2, and the swinging interface 9 comprises a base 9-1 and a swinging component 9-2. The upper rotary table 8-1 and the lower rotary table 8-2 are connected through a rotary shaft matched bearing. The motor is arranged inside the swinging component 9-2, and the control system 5 realizes the swinging of the swinging component 9-2 through the motor. Wherein, the lower turntable 8-2 is fixedly connected with the workbench 4, and the upper turntable 8-1 is fixedly connected with the base 9-1 and realizes rotation through the control system 5.
The connecting assembly comprises a horizontal support rod 10, two vertical lifting rods 11, a horizontal moving rod 12 and a manipulator interface turntable 13. Wherein the horizontal strut 10 is fixedly connected with the swinging component 9-2; one ends of the two vertical lifting rods 11 are fixedly connected with two ends of the horizontal strut 10 respectively, and the other ends of the two vertical lifting rods are provided with stop blocks 14. The two ends of the horizontal moving rod 12 are connected with the two vertical lifting rods 11 in a sliding way through screw connectors, and the manipulator interface turntable 13 is arranged on the horizontal moving rod 12. The robot interface turret 13 may be rotatable and may be adapted for use with various types of spray robots. The inside of the vertical lifting rod 11 is provided with a stepping motor, the control system 5 is connected with a screw rod through the stepping motor to realize the vertical movement of the vertical lifting rod 11, and then the horizontal movement rod 12 is driven to realize the movement of the manipulator interface turntable 13 in the vertical direction.
The self-adaptive ship manipulator base further comprises an information transmission interface 7 and a connecting piece 15. The control system 5 is connected with the mechanical arm through the information transmission interface 7 to realize data transmission. The lower end of the connecting piece 15 is provided with a clamping positioner 15-1, and the clamping positioner 15-1 is clamped with a clamping groove on the manipulator interface turntable 13; the upper end of the connecting piece 15 is provided with a threaded connecting port 15-2 which is connected with the mechanical arm through threads.
Example 2:
unlike embodiment 1, the horizontal movement bar 12 is provided with a movement rail, and the robot interface turret 13 is slidably connected to the horizontal movement bar 12 via the movement rail, thereby realizing horizontal movement of the robot interface turret 13 on the horizontal movement bar 12.
The utility model has been described with reference to the working principles and embodiments. It should be noted that the description is not to be construed as limiting the utility model as many variations are possible in terms of specific embodiments and application scope in light of the inventive concepts by those skilled in the art.
Claims (10)
1. The self-adaptive ship spraying manipulator base comprises a workbench (4), and a control system (5), a swinging system and a connecting component which are arranged on the workbench (4), wherein the control system is respectively connected with the swinging system and the connecting component; the method is characterized in that: the swinging system consists of a turntable (8) and a swinging interface (9), wherein the turntable (8) comprises a rotatable upper turntable (8-1) and a fixed lower turntable (8-2), and the swinging interface (9) comprises a base (9-1) and a swinging component (9-2); the lower turntable (8-2) is fixedly connected with the workbench (4), and the upper turntable (8-1) is fixedly connected with the base (9-1) and realizes rotation through the control system (5); the connecting component consists of a horizontal supporting rod (10), two vertical lifting rods (11), a horizontal moving rod (12) and a manipulator interface turntable (13); wherein the horizontal strut (10) is fixedly connected with the swinging component (9-2); one end of each of the two vertical lifting rods (11) is fixedly connected with two ends of the horizontal supporting rod (10), two ends of the horizontal moving rod (12) are connected with the two vertical lifting rods (11) in a sliding mode through a screw rod connector, and the manipulator interface turntable (13) is arranged on the horizontal moving rod (12).
2. The adaptive marine spray robot base of claim 1, wherein: the base also comprises a connecting piece (15), wherein the lower end of the connecting piece (15) is provided with a clamping positioner (15-1), and the clamping positioner is clamped with a clamping groove arranged on the manipulator interface turntable (13); the upper end of the connecting piece (15) is provided with a threaded connecting port (15-2) which is connected with the mechanical arm through threads.
3. The adaptive marine spray robot base of claim 2, wherein: an automatic adjusting column (3) and an electromagnetic adsorption wheel (2) fixedly connected with the automatic adjusting column are arranged at the bottom end of the workbench (4); the workbench (4) is connected with the ship body through the electromagnetic adsorption wheel (2).
4. The adaptive marine spray robot base of claim 3, wherein: the number of the automatic adjusting columns (3) and the electromagnetic adsorption wheels (2) is 4.
5. The adaptive marine spray robot base of claim 3, wherein: the horizontal moving rod (12) is provided with a moving guide rail, and the manipulator interface turntable (13) is in sliding connection with the horizontal moving rod (12) through the moving guide rail.
6. The adaptive marine spray robot base of any of claims 1-5, wherein: one ends of the two vertical lifting rods (11) far away from the horizontal supporting rod (10) are provided with stop blocks (14).
7. The adaptive marine spray robot base of claim 6, wherein: the self-adaptive ship manipulator base also comprises an information transmission interface (7); the control system (5) is connected with the mechanical arm through the information transmission interface (7) to realize data transmission.
8. The adaptive marine spray robot base of claim 6, wherein: the inside of the vertical lifting rod (11) is provided with a stepping motor, and the control system (5) is connected with a screw rod through the stepping motor to realize the vertical movement of the vertical lifting rod (11).
9. The adaptive marine spray robot base of claim 6, wherein: the motor is arranged in the swinging component (9-2), and the control system (5) realizes the swinging of the swinging component (9-2) through the motor.
10. The adaptive marine spray robot base of claim 6, wherein: the upper rotary table (8-1) and the lower rotary table (8-2) are connected through a rotary shaft matched bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321809099.0U CN220346273U (en) | 2023-07-11 | 2023-07-11 | Self-adaptive ship spraying manipulator base |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321809099.0U CN220346273U (en) | 2023-07-11 | 2023-07-11 | Self-adaptive ship spraying manipulator base |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220346273U true CN220346273U (en) | 2024-01-16 |
Family
ID=89502013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321809099.0U Active CN220346273U (en) | 2023-07-11 | 2023-07-11 | Self-adaptive ship spraying manipulator base |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220346273U (en) |
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2023
- 2023-07-11 CN CN202321809099.0U patent/CN220346273U/en active Active
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