CN103934138A - Novel hull wall-climbing spraying device - Google Patents
Novel hull wall-climbing spraying device Download PDFInfo
- Publication number
- CN103934138A CN103934138A CN201410070533.7A CN201410070533A CN103934138A CN 103934138 A CN103934138 A CN 103934138A CN 201410070533 A CN201410070533 A CN 201410070533A CN 103934138 A CN103934138 A CN 103934138A
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- China
- Prior art keywords
- connecting rod
- hydraulically extensible
- afterbody
- stem
- crossbeam
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Spray Control Apparatus (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a novel hull wall-climbing spraying device. The novel hull wall-climbing spraying device comprises a spraying gun and a hull wall-climbing carrying platform where the spraying gun is placed. The hull wall-climbing carrying platform comprises two magnetic drive units, four belt tightness regulating mechanisms, a head cross beam, a middle cross beam, a tail cross beam, four flexible longitudinal ribs and an equipment carrying base. Through matching between the four flexible longitudinal ribs and the four belt tightness regulating mechanisms, the novel hull wall-climbing spraying device can stretch, contract and bend freely within certain limits so as to be attached to the surface of a hull, and the equipment carrying base can be kept in the balanced posture. Thus, the spraying gun can carry out the spraying work in the steady posture and complete the hull spraying work efficiently.
Description
Technical field
The present invention relates to a kind of spray equipment, the hull that relates in particular to a kind of flexible back bone is climbed wall spray equipment.
Background technology
The device for the operation of boats and ships surface spraying occurring at present, the permanent magnet crawler belt adsorption technologies that adopt more, the most caterpillar belt structure of such device is stiff, being difficult to realize curvature frequently in motion process changes, less with the attachment surface of hull surface, absorption affinity is not strong, therefore there are two problems: the one, at the process larger hull surface place of curvature, effective contact area of crawler belt and hull surface reduces, boats and ships initial and tail sections for example, the position that some curved surface radians such as the turn of the bilge are larger, crawler belt or the driving wheel of device can not reach with hull surface the minimum of a value of effective fitting area of normal job requirement, therefore reduced absorption affinity, cause whole device normally not advance, even there is falling accident, the 2nd,, due to self relatively-stationary crawler belt and inner structure form, different and change larger hull surface in curvature, the spraying equipment that device carries can not keep a good operation attitude, affects hull surface spraying operation quality.
Summary of the invention
The object of the invention is to overcome defect of the prior art and deficiency, provide a kind of novel hull to climb wall spray equipment, this device, by self distinctive flexible back bone version and caterpillar belt structure, carries out the spraying operation of hull surface.
For addressing the above problem, the technical solution adopted in the present invention is: a kind of novel hull is climbed wall spray equipment, comprise spray gun, also comprise that the hull of placing described spray gun climbs wall carrying platform, described hull is climbed wall carrying platform and is comprised two magnetic drive unit, quadruplet belt tightness adjustment mechanism, first crossbeam, middle cross beam, transom beam, four vertical bones of flexibility and an equipment carry base, and wherein magnetic drive unit comprises that stem motor, middle part motor, afterbody motor, first driving wheel, inferior driving wheel, tail driving wheel, crawler belt connect hinge, permanent magnet and driving belt, belt tightness adjustment mechanism comprises shrinking connecting-rod slide rail, stem hydraulically extensible connecting rod, middle front part hydraulically extensible connecting rod, postmedian hydraulically extensible connecting rod, afterbody hydraulically extensible connecting rod, hydraulically extensible connecting rod pulley, stem hydraulic connecting rod bracket, middle part hydraulic connecting rod bracket and afterbody hydraulic connecting rod bracket, permanent magnet connects the hinge composition crawler belt that is connected by crawler belt, and be fixed on driving belt, the outward flange grooving of driving belt, shrinking connecting-rod slide rail embeds and is fixed in the outer peripheral groove of driving belt, stem hydraulically extensible connecting rod, middle front part hydraulically extensible connecting rod, postmedian hydraulically extensible connecting rod, the two ends up and down of afterbody hydraulically extensible connecting rod are all fixedly connected with hydraulically extensible connecting rod pulley, hydraulically extensible connecting rod pulley embeds in shrinking connecting-rod slide rail and can in shrinking connecting-rod slide rail, be free to slide, stem crossbeam, middle beam, afterbody crossbeam respectively with first driving wheel, inferior driving wheel, tail driving wheel is connected, stem motor is installed on stem crossbeam, middle part motor is installed on middle beam, afterbody motor is installed on afterbody crossbeam, four vertical bones of flexibility are fixed on stem crossbeam, between middle beam and afterbody crossbeam, one end of hydraulic connecting rod bracket is fixedly connected with crossbeam, the other end is fixedly connected with hydraulically extensible connecting rod, equipment carries base and is fixedly welded on middle beam.
Flexible vertical bone comprises vertical osteon and vertical osteon clasp, and the two ends of each vertical osteon have vertical osteon connecting hole, and vertical osteon clasp is arranged in vertical osteon connecting hole, will indulge osteon and connect and form flexible vertical bone.
The coated one deck of permanent magnet outer surface is for the protection of the rubber with increasing friction force.
Spray gun is fixed on equipment by the spray gun collar and carries on base.
Compared with prior art, the invention has the beneficial effects as follows: by flexible vertical bone is installed, make this hull climb wall spray equipment and can realize bending by a relatively large margin, when walking is during at the larger hull surface of curvature, this hull is climbed wall spray equipment and still can be fitted tightly and firmly be adsorbed on hull surface, avoid, because adsorption area minimizing, absorption affinity weaken, device fall accident occurs, effectively reduce risk.Because equipment carries base, be fixedly welded on middle beam simultaneously, make the position of spray gun mounted thereto relatively fixing, kept good operation attitude.The present invention is based on Ship Building and Repairing enterprise hull and climbs the practical problem that wall spray equipment easily falls with spraying operation poor effect, simple in structure, low cost of manufacture, and technical concept is advanced practical, easily by enterprise, is accepted, and has higher business promotion using value.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is front view of the present invention;
Fig. 3 is that the A-A of Fig. 2 is to cutaway view;
Fig. 4 is top view of the present invention;
Fig. 5 is spraying equipment scheme of installation of the present invention;
Fig. 6 is the vertical bone schematic diagram of flexibility of the present invention;
Fig. 7 is vertical osteon connection diagram of the present invention;
Fig. 8 is the vertical cyrtosis view of flexibility of the present invention.
In above-mentioned accompanying drawing, in the middle part of 1-crawler belt connection hinge 2-permanent magnet 3-shrinking connecting-rod slide rail 4-driving belt 5-stem motor 6-stem hydraulically extensible connecting rod 7-middle front part hydraulically extensible connecting rod 8-, the flexible vertical osteon clasp 26-of the first crossbeam 22-of the bone 20-equipment lift-launch base 21-middle cross beam 23-vertical osteon connecting hole 25-of transom beam 24-that indulges of 16-driving wheel 17-tail driving wheel 18-hydraulically extensible connecting rod pulley 19-of the motor 9-postmedian hydraulically extensible connecting rod 10-afterbody hydraulically extensible connecting rod 11-afterbody motor 12-stem hydraulic connecting rod bracket 13-middle part hydraulic connecting rod bracket 14-afterbody hydraulic connecting rod first driving wheel of bracket 15-indulges the osteon 27-rubber layer 28-spray gun 29-spray gun collar
The specific embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is further described.
As shown in the figure, a kind of novel hull is climbed wall spray equipment, comprise spray gun 28, also comprise that the hull of placing described spray gun 28 climbs wall carrying platform, described hull is climbed wall carrying platform and is comprised two magnetic drive unit, quadruplet belt tightness adjustment mechanism, first crossbeam 21, middle cross beam 22, transom beam 23, four vertical bones 19 of flexibility and an equipment carry base 20, and wherein magnetic drive unit comprises that stem motor 5, middle part motor 8, afterbody motor 11, first driving wheel 15, inferior driving wheel 16, tail driving wheel 17, crawler belt connect hinge 1, permanent magnet 2 and driving belt 4, belt tightness adjustment mechanism comprises shrinking connecting-rod slide rail 3, stem hydraulically extensible connecting rod 6, middle front part hydraulically extensible connecting rod 7, postmedian hydraulically extensible connecting rod 9, afterbody hydraulically extensible connecting rod 10, hydraulically extensible connecting rod pulley 18, stem hydraulic connecting rod bracket 12, middle part hydraulic connecting rod bracket 13 and afterbody hydraulic connecting rod bracket 14, permanent magnet 2 connects the hinge 1 composition crawler belt that is connected by crawler belt, and be fixed on driving belt 4, the outward flange grooving of driving belt 4, shrinking connecting-rod slide rail 3 embeds and is fixed in the outer peripheral groove of driving belt 4, stem hydraulically extensible connecting rod 6, middle front part hydraulically extensible connecting rod 7, postmedian hydraulically extensible connecting rod 9, the two ends up and down of afterbody hydraulically extensible connecting rod 10 are all fixedly connected with hydraulically extensible connecting rod pulley 18, hydraulically extensible connecting rod pulley 18 embeds in shrinking connecting-rod slide rail 3 and can in shrinking connecting-rod slide rail 3, be free to slide, stem crossbeam 21, middle beam 22, afterbody crossbeam 23 respectively with first driving wheel 15, inferior driving wheel 16, tail driving wheel 17 is connected, stem motor 5 is installed on stem crossbeam 21, middle part motor 8 is installed on middle beam 22, afterbody motor 11 is installed on afterbody crossbeam 23, four vertical bones 19 of flexibility are fixed on stem crossbeam 21, between middle beam 22 and afterbody crossbeam 23, one end of stem hydraulic connecting rod bracket 12 is fixedly connected with first crossbeam 21, the other end is fixedly connected with stem hydraulically extensible connecting rod 6, one end of middle part hydraulic connecting rod bracket 13 is fixedly connected with middle front part hydraulically extensible connecting rod 7, the other end is fixedly connected with postmedian hydraulically extensible connecting rod 9, its middle part is fixed on middle cross beam 22, one end of afterbody hydraulic connecting rod bracket 14 is fixedly connected with transom beam 23, the other end is fixedly connected with afterbody hydraulically extensible connecting rod 10, equipment carries base 20 and is fixedly welded on middle beam 22.
Flexible vertical bone 19 comprises vertical osteon 26 and vertical osteon clasp 25, and the two ends of each vertical osteon 26 have vertical osteon connecting hole 24, and vertical osteon clasp 25 is arranged in vertical osteon connecting hole 24, will indulge osteon 26 and connect and form flexible vertical bone 19.
The coated one deck of permanent magnet 2 outer surfaces is for the protection of the rubber layer 27 with increasing friction force.
Spray gun 28 is fixed on equipment by the spray gun collar 29 and carries on base 20.
Working procedure of the present invention is as follows:
Before hull surface operation starts, operating personnel is arranged on equipment with the spray gun collar 29 by spray gun 28 and carries on base 20, then hull is climbed to wall spray equipment and be positioned over ship side surface, utilize the suction of permanent magnet 2, this hull is climbed wall spray equipment can firmly be adsorbed in hull surface.When needs are advanced operation, stem motor 5, middle part motor 8, afterbody motor 11 drive respectively first driving wheel 15, inferior driving wheel 16 and tail driving wheel 17 to rotate, three driving wheels drive the driving belt 4 being wound around thereon to rotate, and driving belt 4 drives crawler belt fixed thereon to rotate again.Shrinking connecting-rod slide rail 3 embeds and is fixed in the outer peripheral groove of driving belt 4, hydraulically extensible connecting rod pulley 18 embeds in shrinking connecting-rod slide rail 3, when advancing operation, driving belt 4 rotates and drives shrinking connecting-rod slide rail 3 to rotate, hydraulically extensible connecting rod pulley 18 is in the interior slip of shrinking connecting-rod slide rail 3, thereby guaranteed the proper motion of driving belt 4; At hull, climb in wall spray equipment traveling process, different according to the curvature of hull surface, stem hydraulically extensible connecting rod 6, middle front part hydraulically extensible connecting rod 7, postmedian hydraulically extensible connecting rod 9 can carry out adaptability with afterbody hydraulically extensible connecting rod 10 and stretch, thereby guaranteed that driving belt 4 fits tightly all the time on three driving wheels, can not come off.
As shown in Figure 7, after vertical osteon clasp 25 is arranged on vertical osteon connecting hole 24, vertical osteon connecting hole 24 still has certain space more than needed, again owing to also thering is certain distance between vertical osteon 26, this has guaranteed the longitudinal extension of flexible vertical bone 19, on smooth surface, the shape of flexible vertical bone 19 as shown in Figure 6, at hull, climb wall spray equipment and march to curved surface place, the shape of flexible vertical bone 19 as shown in Figure 8, at initial and tail sections, the hull surface that some curvature such as the turn of the bilge are larger, the vertical bone 19 of four flexibilities and hydraulically extensible connecting rod match, make hull climb wall spray equipment free-extension and crooked with laminating hull surface in certain limit, and keep equipment to carry the statokinetic of base 20, thereby make spray gun 28 under stable attitude, carry out spraying operation, complete efficiently hull spraying work.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (4)
1. a novel hull is climbed wall spray equipment, comprise spray gun (28), it is characterized in that: the hull that also comprises the described spray gun of placement (28) is climbed wall carrying platform, described hull is climbed wall carrying platform and is comprised two magnetic drive unit, quadruplet belt tightness adjustment mechanism, first crossbeam (21), middle cross beam (22), transom beam (23), four vertical bones (19) of flexibility and an equipment carry base (20), described magnetic drive unit comprises stem motor (5), middle part motor (8), afterbody motor (11), first driving wheel (15), inferior driving wheel (16), tail driving wheel (17), crawler belt connects hinge (1), permanent magnet (2) and driving belt (4), described belt tightness adjustment mechanism comprises shrinking connecting-rod slide rail (3), stem hydraulically extensible connecting rod (6), middle front part hydraulically extensible connecting rod (7), postmedian hydraulically extensible connecting rod (9), afterbody hydraulically extensible connecting rod (10), hydraulically extensible connecting rod pulley (18), stem hydraulic connecting rod bracket (12), middle part hydraulic connecting rod bracket (13) and afterbody hydraulic connecting rod bracket (14), permanent magnet (2) connects hinge (1) the composition crawler belt that is connected by crawler belt, and be fixed on driving belt (4), the outward flange grooving of driving belt (4), shrinking connecting-rod slide rail (3) embeds and is fixed in the outer peripheral groove of driving belt (4), stem hydraulically extensible connecting rod (6), middle front part hydraulically extensible connecting rod (7), postmedian hydraulically extensible connecting rod (9), the two ends up and down of afterbody hydraulically extensible connecting rod (10) are all fixedly connected with hydraulically extensible connecting rod pulley (18), hydraulically extensible connecting rod pulley (18) embeds in shrinking connecting-rod slide rail (3) and can in shrinking connecting-rod slide rail (3), be free to slide, stem crossbeam (21), middle beam (22), afterbody crossbeam (23) respectively with first driving wheel (15), inferior driving wheel (16), tail driving wheel (17) is connected, the upper stem motor (5) of installing of stem crossbeam (21), the upper middle part motor (8) of installing of middle beam (22), the upper afterbody motor (11) of installing of afterbody crossbeam (23), four vertical bones (19) of flexibility are fixed on stem crossbeam (21), between middle beam (22) and afterbody crossbeam (23), one end of stem hydraulic connecting rod bracket (12) is fixedly connected with first crossbeam (21), the other end is fixedly connected with stem hydraulically extensible connecting rod (6), one end of middle part hydraulic connecting rod bracket (13) is fixedly connected with middle front part hydraulically extensible connecting rod (7), the other end is fixedly connected with postmedian hydraulically extensible connecting rod (9), its middle part is fixed on middle cross beam (22), one end of afterbody hydraulic connecting rod bracket (14) is fixedly connected with transom beam (23), the other end is fixedly connected with afterbody hydraulically extensible connecting rod (10), equipment carries base (20) and is fixedly welded on middle beam (22).
2. a kind of novel hull according to claim 1 is climbed wall spray equipment, it is characterized in that: the vertical bone (19) of described flexibility comprises vertical osteon (26) and vertical osteon clasp (25), the two ends of each vertical osteon (26) have vertical osteon connecting hole (24), vertical osteon clasp (25) is arranged in vertical osteon connecting hole (24), will indulge osteon (26) and connect and form flexible vertical bone (19).
3. a kind of novel hull according to claim 1 is climbed wall spray equipment, it is characterized in that: the coated one deck of described permanent magnet (2) outer surface is for the protection of the rubber layer with increasing friction force (27).
4. a kind of novel hull according to claim 1 is climbed wall spray equipment, it is characterized in that: spray gun (28) is fixed on equipment by the spray gun collar (29) and carries on base (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410070533.7A CN103934138B (en) | 2014-02-28 | 2014-02-28 | A kind of new hull climbs wall spray equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410070533.7A CN103934138B (en) | 2014-02-28 | 2014-02-28 | A kind of new hull climbs wall spray equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103934138A true CN103934138A (en) | 2014-07-23 |
| CN103934138B CN103934138B (en) | 2016-02-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410070533.7A Active CN103934138B (en) | 2014-02-28 | 2014-02-28 | A kind of new hull climbs wall spray equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103934138B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260076A (en) * | 2014-09-26 | 2015-01-07 | 哈尔滨工程大学 | Omni-directional intelligent furniture paint spraying robot |
| CN104826760A (en) * | 2015-05-08 | 2015-08-12 | 浙江海洋学院 | Large ship surface painting wall-climbing machine |
| CN105435987A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Surface spraying robot for large stainless steel material storage tank |
| CN109365164A (en) * | 2018-10-24 | 2019-02-22 | 上海外高桥造船有限公司 | Protective device |
| CN114054262A (en) * | 2021-11-23 | 2022-02-18 | 陈洪 | Thick type fire retardant coating machine |
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| JP2004148893A (en) * | 2002-10-29 | 2004-05-27 | Sanwa Tekki Corp | Magnet belt type driving device |
| CN103171640A (en) * | 2013-04-15 | 2013-06-26 | 山东科技大学 | Wall-climbing robot based on permanent magnet adsorption structure |
| CN103303387A (en) * | 2013-05-24 | 2013-09-18 | 宁波大学 | Curved surface self-adaption magnetic adsorption wall-climbing robot |
| CN203750748U (en) * | 2014-02-28 | 2014-08-06 | 浙江海洋学院 | Adsorption type spraying equipment for hull outer plate |
-
2014
- 2014-02-28 CN CN201410070533.7A patent/CN103934138B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004148893A (en) * | 2002-10-29 | 2004-05-27 | Sanwa Tekki Corp | Magnet belt type driving device |
| CN103171640A (en) * | 2013-04-15 | 2013-06-26 | 山东科技大学 | Wall-climbing robot based on permanent magnet adsorption structure |
| CN103303387A (en) * | 2013-05-24 | 2013-09-18 | 宁波大学 | Curved surface self-adaption magnetic adsorption wall-climbing robot |
| CN203750748U (en) * | 2014-02-28 | 2014-08-06 | 浙江海洋学院 | Adsorption type spraying equipment for hull outer plate |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260076A (en) * | 2014-09-26 | 2015-01-07 | 哈尔滨工程大学 | Omni-directional intelligent furniture paint spraying robot |
| CN104826760A (en) * | 2015-05-08 | 2015-08-12 | 浙江海洋学院 | Large ship surface painting wall-climbing machine |
| CN105435987A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Surface spraying robot for large stainless steel material storage tank |
| CN109365164A (en) * | 2018-10-24 | 2019-02-22 | 上海外高桥造船有限公司 | Protective device |
| CN109365164B (en) * | 2018-10-24 | 2020-07-03 | 上海外高桥造船有限公司 | Protective device |
| CN114054262A (en) * | 2021-11-23 | 2022-02-18 | 陈洪 | Thick type fire retardant coating machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103934138B (en) | 2016-02-24 |
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