CN115475718A - Tiltable all-directional spraying double-arm robot for ship segmentation - Google Patents
Tiltable all-directional spraying double-arm robot for ship segmentation Download PDFInfo
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- CN115475718A CN115475718A CN202211183424.7A CN202211183424A CN115475718A CN 115475718 A CN115475718 A CN 115475718A CN 202211183424 A CN202211183424 A CN 202211183424A CN 115475718 A CN115475718 A CN 115475718A
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- 238000005507 spraying Methods 0.000 title claims abstract description 113
- 230000011218 segmentation Effects 0.000 title claims abstract description 18
- 239000007921 spray Substances 0.000 claims abstract description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
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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
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a tiltable all-directional spraying double-arm robot for ship segmentation, which comprises: the left automatic spraying part comprises a left X-direction moving part, a left Y-direction moving part and a left Z-direction moving spraying part, the left X-direction moving part drives the left Y-direction moving part to move along the X direction in the spraying operation area, and the left Z-direction moving spraying part is driven by the left Y-direction moving part to move along the Y direction and automatically move in the Z direction on the left Y-direction moving part so as to automatically spray the segmented ship body; and the right automatic spraying part comprises a right X-direction moving guide rail, a right X-direction moving part and a right Z-direction moving spraying part. The automatic spraying device has the advantages of simple structure, reasonable structural design and high automation degree, and can be used for automatically spraying the inclined plane and the vertical plane of the ship body segment according to a preset program, so that the spraying operation efficiency is obviously improved, and the labor intensity and the spraying operation cost of the spraying operation are obviously reduced.
Description
Technical Field
The invention relates to the technical field of ship equipment, in particular to a tiltable all-directional spraying double-arm robot for ship segmentation.
Background
The ship sectional coating is an important link in ship coating operation, and due to the limitation that the curvature of the ship body sections is large in change and the shapes of the ship body sections are not uniform, the spraying work of the outer surfaces of the ship sections still adopts the traditional manual operation mode, so that the spraying efficiency is low, and the stability of the spraying quality is poor. At present, the existing automation equipment mainly comprises a single mechanical arm and a plurality of mechanical arms, wherein the single mechanical arm mainly adopts a portal frame type, the mechanism is simple, but the spraying efficiency is low, the limitation of the spraying range is large, and the terminal point shakes seriously, so that the spraying quality is poor. The double mechanical arms mainly move by adopting ground rails on two sides, the double-arm spraying efficiency is high, but when a typical section of a spraying ship is sprayed, such as an inclined plane on the outer surface of a triangular cabin, the condition that the inclined plane cannot be sprayed due to limited accessible space is achieved. Therefore, a tiltable all-directional spraying double-arm robot for ship sections is needed.
Disclosure of Invention
In order to overcome the defects, the invention provides a tiltable all-directional spraying double-arm robot for ship sections, which specifically adopts the following technical scheme:
a full spray double armed robot of tilting for boats and ships segmentation includes:
the left automatic spraying part is arranged in the spraying operation area and comprises a left X-direction moving part, a left Y-direction moving part and a left Z-direction moving spraying part, the left X-direction moving part drives the left Y-direction moving part to move along the X direction in the spraying operation area, and the left Z-direction moving spraying part is driven by the left Y-direction moving part to automatically move along the Z direction while moving along the Y direction on the left Y-direction moving part so as to automatically spray the segmented ship body;
the automatic spraying piece in right side, it sets up in the spraying operation district, it includes right X to remove guide rail, right X to moving member and right Z to removing the spraying piece, right X is in to removing the guide rail setting in the spraying operation district, right X is in to the moving member right X drives on to removing the guide rail right Z removes along the X direction to removing the spraying piece, and right Z is to removing the spraying piece along Z direction automatically move to carry out automatic spraying to the segmentation hull.
Preferably, the left X-direction moving part comprises a left X-direction moving guide rail, a left X-direction moving seat and a left X-direction moving power part, the left X-direction moving guide rail is arranged in the spraying operation area, the left X-direction moving seat is arranged on the left X-direction moving guide rail, and the left X-direction moving power part is arranged on the left X-direction moving seat.
Preferably, the left X-direction moving power part includes a left X-direction moving motor, a first gear and a first rack, the left X-direction moving motor is disposed on the left X-direction moving seat, and a rotating shaft of the left X-direction moving motor penetrates through the left X-direction moving seat, the first gear is fixedly sleeved on the rotating shaft of the left X-direction moving motor, the first rack is disposed on a side surface of the left X-direction moving guide rail, and the first rack is engaged with the first gear.
Preferably, the left Y-direction moving member comprises a fixed frame, a left Z-direction guide rail and a left Y-direction power member, the fixed frame is arranged on the left X-direction moving seat, the left Z-direction guide rails are spliced into a rectangular frame through connecting rods, and one end of the left Z-direction guide rail is hinged to the left X-direction moving seat; the left Y-direction power part comprises a winch and a fixed pulley, the winch is arranged on the left X-direction moving seat, the fixed pulley is arranged on the top surface of the fixed frame, and the free end of a steel wire rope of the winch penetrates through the fixed pulley and then is fixedly connected with the top end of the left Z-direction guide rail.
Preferably, the left Z-direction movable spraying part comprises a left Z-direction movable seat, a left Z-direction power part and a left mechanical arm, the left Z-direction movable seat is arranged on the left Z-direction guide rail, and the left Z-direction power part and the left mechanical arm are both arranged on the left Z-direction movable seat; the left Z-direction moving seat is provided with a rectangular frame which is formed by a plurality of left Z-direction guide rails and two ends which are respectively embedded in the rectangular frame, and slides along the left Z-direction guide rails.
Preferably, the left Z-direction power part comprises a left Z-direction motor, a second gear and a second rack, the left Z-direction motor is arranged on the left Z-direction moving seat, the second gear is fixedly sleeved on a rotating shaft of the left Z-direction motor, the second rack is fixedly arranged on the left Z-direction guide rail, and the second rack is meshed with the second gear.
Preferably, a first spray gun is arranged on the left mechanical arm, and the first spray gun is communicated with the high-pressure spraying equipment through a first high-pressure hose.
Preferably, the right X-direction moving part comprises a right X-direction moving seat, a right X-direction motor, a third gear and a third rack, the right X-direction moving seat is arranged on the right X-direction moving guide rail, the right X-direction motor is arranged on the right X-direction moving seat, the third gear is fixedly sleeved on a rotating shaft of the right X-direction motor, the third rack is fixedly arranged on the right X-direction moving guide rail, and the third rack is meshed with the third gear.
Preferably, the right Z-direction moving spraying part comprises a right Z-direction guide rail, a right Z-direction sliding power part and a right mechanical arm, the right Z-direction guide rail is arranged on the right X-direction moving seat, the right Z-direction sliding power part is arranged on the right Z-direction guide rail, and the right mechanical arm is arranged on the right Z-direction sliding power part; two the right Z is to the equal perpendicular setting of the mutual parallel of guide rail of right side on the X is to removing the seat, two in addition the mutual parallel equal perpendicular fixation of right Z is to the guide rail of right side sets up another on the X is to removing the seat of right side for four the Z is to the guide rail of right side and is rectangular frame form.
Preferably, the right Z-direction sliding power part includes a right Z-direction sliding seat, a right Z-direction motor, a fourth gear and a fourth rack, two ends of the right Z-direction sliding seat are respectively embedded in a rectangular frame formed by four right Z-direction guide rails, the right Z-direction motor is fixedly arranged on the right Z-direction sliding seat, the fourth gear is fixedly sleeved on a rotating shaft of the right Z-direction motor, the fourth rack is fixedly arranged on the right Z-direction guide rail, and the fourth rack is engaged with the fourth gear; and a second spray gun is arranged on the right mechanical arm and is communicated with the high-pressure spraying equipment through a second high-pressure hose.
The invention at least comprises the following beneficial effects:
1) The tiltable all-directional spraying double-arm robot for the ship section has the advantages of simple structure, reasonable structural design and high automation degree, can automatically spray the inclined plane and the vertical plane of the ship section according to a preset program, obviously improves the spraying operation efficiency, and obviously reduces the labor intensity and the spraying operation cost of the spraying operation;
2) The tiltable all-directional spraying double-arm robot for the ship section is provided with a left X-direction moving piece, a left Y-direction moving piece, a left Z-direction power piece and a left mechanical arm, wherein the left mechanical arm is automatically moved to a preset position through the left X-direction moving piece, the left Y-direction moving piece and the left Z-direction power piece according to a preset program and then sprays the inclined plane of the ship section; the right mechanical arm automatically moves to a preset position through the right X-direction moving part and the right Z-direction sliding power part according to a preset program and then sprays the vertical surface of the ship section;
3) The tiltable all-directional spraying double-arm robot for the ship segmentation has the advantages that the tilting all-directional spraying double-arm robot for the ship segmentation is linked through control, the moving spraying range is wide, large workpieces to be sprayed such as segmented ships can be sprayed, unmanned spraying can be realized, and the human health is not harmed; the problems of large single robot spraying device and inflexible movement are solved through reasonable structural design;
4) The tiltable all-dimensional spraying double-arm robot for the ship section utilizes the tiltable vertical guide rail to match the mechanical arm to spray aiming at the inclined plane of the typical section of the ship, such as the inclined plane of a triangular cabin, so that all-dimensional spraying of the outer surface of the ship section is realized, and the conditions of unavailable spraying and uneven spraying are avoided.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic perspective view of a tiltable omnidirectional spraying double-arm robot for ship segmentation according to the present invention;
FIG. 2 is a front view of the tiltable all-directional spraying double-arm robot for ship sections according to the present invention;
FIG. 3 is a schematic perspective view of the tiltable all-directional spraying double-arm robot for ship segment according to the present invention after the spraying operation area is deleted;
FIG. 4 is a schematic perspective view of a tiltable all-directional spraying double-arm robot for ship sections to spray ship sections according to the present invention;
FIG. 5 is a front view of the tiltable all-directional spraying double-arm robot for ship section of the present invention spraying ship section;
FIG. 6 is a partial enlarged view of A of FIG. 3 of the tiltable all-directional spray dual-arm robot for ship sections of the present invention;
FIG. 7 is a schematic diagram of a right side elevation perspective structure of a tiltable all-directional spraying double-arm robot for ship segmentation according to the present invention;
FIG. 8 is a partial enlarged view of B of FIG. 7 of the tiltable all-directional spray painting dual-arm robot for vessel sections of the present invention;
FIG. 9 is a schematic diagram of a left side three-dimensional structure of a tiltable all-directional spraying double-arm robot for ship segmentation according to the present invention;
fig. 10 is a partial enlarged view of C in fig. 9 of the tiltable all-directional spraying double-arm robot for ship section of the present invention.
Wherein: 1-spraying operation area, 2-left X-direction moving guide rail, 3-left X-direction moving seat, 4-left X-direction moving motor, 5-first gear, 6-first rack, 7-fixed frame, 8-left Z-direction guide rail, 9-connecting rod, 10-winch, 11-fixed pulley, 12-left Z-direction moving seat, 13-left mechanical arm, 14-right X-direction moving guide rail, 15-right X-direction moving seat, 16-right Z-direction guide rail, 17-right mechanical arm, 18-right Z-direction sliding seat, 19-shaft sleeve, 20-fixed ring and 21-ship segmentation.
Detailed Description
Technical solutions of the present invention will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
The term "and/or" herein is merely an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: the presence of a alone, and both cases a and B alone, and further, the character "/" herein generally means that the former and latter associated objects are in an "or" relationship.
According to fig. 1-10, the tiltable all-round spraying double-arm robot for ship segmentation comprises a left automatic spraying piece and a right automatic spraying piece, wherein the left automatic spraying piece and the right automatic spraying piece are both arranged in a spraying operation area 1. The automatic spraying piece in left side includes that left X is to moving member, left Y to moving member and left Z to removing the spraying piece, left side X is in to moving member setting in the spraying operation district 1, left side Y is in to moving member setting left side X is to moving member is last, left side Z is to removing the spraying piece setting left side Y is to moving member is last.
Left side X is including left X to removal guide rail 2, left X to removing seat 3 and left X to removing power spare to the moving member, left side X is in to removal guide rail 2 sets up in the spraying operation district 1, left side X is in to removing seat 3 setting left side X is to removing on the guide rail 2, left side X is in to removing power spare setting left side X is to removing on the seat 3. As an option, the left X-directional moving guide 2 is a double rail to improve the stability of the left X-directional moving base 3 when sliding along the X-direction.
The left X-direction moving seat 3 is plate-shaped, a sliding block is arranged on the left X-direction moving seat 3, and the left X-direction moving seat 3 is arranged on the left X-direction moving guide rail 2 through the sliding block, so that the left X-direction moving seat 3 can slide on the left X-direction moving guide rail 2 through the sliding block.
The left X-direction moving power part comprises a left X-direction moving motor 4, a first gear 5 and a first rack 6, the left X-direction moving motor 4 is arranged on the left X-direction moving seat 3, the first gear 5 is arranged on the left X-direction moving motor 4, and the first rack 6 is arranged on the left X-direction moving guide rail 2. The left X-direction moving motor 4 is fixedly arranged on the top surface of the left X-direction moving seat 3, a rotating shaft of the left X-direction moving motor 4 penetrates through the left X-direction moving seat 3, and the first gear 5 is fixedly sleeved on the rotating shaft of the left X-direction moving motor 4. The first rack 6 is horizontally and fixedly arranged on the side surface of the left X-direction moving guide rail 2, and the first rack 6 is meshed with the first gear 5. When the left X-direction moving motor 4 drives the first gear 5 to rotate, the left X-direction moving seat 3 is urged to slide on the left X-direction moving guide rail 2 through the first rack 6. Alternatively, the left X-direction moving motor 4 is a servo motor.
The left Y-direction moving part comprises a fixed frame 7, a left Z-direction guide rail 8 and a left Y-direction power part, and the fixed frame 7, the left Z-direction guide rail 8 and the left Y-direction power part are arranged on the left X-direction moving seat 3. The fixing frame 7 is in a door frame shape, and the fixing frame 7 is vertically and fixedly arranged on the left X-direction moving seat 3. Left side Z is provided with four to guide rail 8, four left side Z is to guide rail 8 through the concatenation of connecting rod 9 and is rectangular frame, left side Z is to 8 one end of guide rail through axle sleeve 19 articulated connection on left side X is to removing 3 top surfaces of seat, and left side Z is to guide rail 8 left side X is to removing 3 upward swing direction with mount 7 is perpendicular. The left Y-direction power part comprises a winch 10 and a fixed pulley 11, the winch 10 is arranged on the left X-direction moving seat 3, and the fixed pulley 11 is fixedly arranged on the top surface of the fixed frame 7. The free end of the steel wire rope of the winch 10 penetrates through the fixed pulley 11 and is fixedly connected with the top end of the left Z-direction guide rail 8 through a fixed ring 20. When the winch 10 retracts the steel wire rope, the left Z-direction guide rail 8 is driven to swing along the Y direction, and then the left Z-direction movable spraying piece arranged on the left Z-direction guide rail 8 is driven to move along the Y direction. As an option, the left Y-direction power parts are provided with two sets, and the two sets of left Y-direction power parts are symmetrically distributed to improve the stability of the left Z-direction guide rail 8 in the Y-direction swinging process.
Left side Z is to removing spraying spare and includes left Z to removing seat 12, left Z to power spare and left robotic arm 13, left side Z is to removing seat 12 setting left side Z is to on the guide rail 8, left side Z to power spare with left side robotic arm 13 all sets up left side Z is to removing on the seat 12. The left Z-direction moving base 12 is plate-shaped, and both ends of the left Z-direction moving base 12 are respectively embedded in a rectangular frame formed by the four left Z-direction guide rails 8 and slide along the left Z-direction guide rails 8.
The left Z-direction power part comprises a left Z-direction motor, a second gear and a second rack, the left Z-direction motor is fixedly arranged on the left Z-direction moving seat 12, the second gear is fixedly sleeved on a rotating shaft of the left Z-direction motor, the second rack is fixedly arranged on the left Z-direction guide rail 8, and the second rack is meshed with the second gear. When the left Z-direction motor drives the second gear to rotate, the left Z-direction moving seat 12 is driven by the second gear to slide along the left Z-direction guide rail 8, and then the left mechanical arm 13 is driven to move in the Z direction. And a first spray gun is arranged on the left mechanical arm 13 and is communicated with high-pressure spraying equipment through a first high-pressure hose. And the first spray gun is moved to a preset position by the left X-direction moving piece, the left Y-direction moving piece and the left Z-direction moving spraying piece according to a preset program, and then automatic quick spraying operation is carried out on the vertical surface and the inclined surface of the ship section 21.
Automatic spraying piece in right side includes that right X is to moving guide rail 14, right X to moving member and right Z to moving spraying piece, right side X is in to moving guide rail 14 setting in the spraying operation district 1, right side Z is in to moving spraying piece setting right side X is to moving guide rail 14 is last. The right X-direction moving piece comprises a right X-direction moving seat 15, a right X-direction motor, a third gear and a third rack, the right X-direction moving seat 15 is arranged on the right X-direction moving guide rail 14, and the right X-direction moving seat 15 can slide on the right X-direction moving guide rail 14. The right X is in to the motor setting on the right X is to removing the seat 15, the fixed suit of third gear is in on the pivot of right X is to the motor, the fixed setting of third rack is in on the right X is to removing guide rail 14, and the third rack with third gear engagement. Alternatively, the right X-direction motor is a servo motor.
The spraying piece is moved to right Z includes right Z to guide rail 16, right Z to slip power spare and right robotic arm 17, right Z sets up to guide rail 16 right X is in to moving on the seat 15, right Z sets up to the power spare that slides right Z is to on the guide rail 16, right robotic arm 17 sets up right Z is to sliding on the power spare. The two right Z-direction guide rails 16 are parallel to each other and are vertically fixed on one of the right X-direction moving seat 15, and the other two right Z-direction guide rails 16 are parallel to each other and are vertically fixed on the other of the right X-direction moving seat 15, so that the four right Z-direction guide rails 16 are distributed in a rectangular frame shape.
The right Z-direction sliding power part comprises a right Z-direction sliding seat 18, a right Z-direction motor, a fourth gear and a fourth rack, the right Z-direction sliding seat 18 and the fourth rack are arranged on the right Z-direction guide rail 16, the right Z-direction motor is arranged on the right Z-direction sliding seat 18, and the fourth gear is arranged on the right Z-direction motor. The right Z-direction sliding seat 18 is plate-shaped, and both ends of the right Z-direction sliding seat 18 are respectively fitted into a rectangular frame formed by the four right Z-direction guide rails 16 and are movable along the right Z-direction guide rails 16. The right Z-direction motor is fixedly arranged on the right Z-direction sliding seat 18, the fourth gear is fixedly sleeved on a rotating shaft of the right Z-direction motor, the fourth rack is fixedly arranged on the right Z-direction guide rail 16, and the fourth rack is meshed with the fourth gear. And a second spray gun is arranged on the right mechanical arm 17 and is communicated with the high-pressure spraying equipment through a second high-pressure hose. To facilitate painting of the vertical surface of the ship section 21.
While embodiments of the invention have been described above, it is not intended to be limited to the details shown, described and illustrated herein, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed, and to such extent that such modifications are readily available to those skilled in the art, and it is not intended to be limited to the details shown and described herein without departing from the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A all-round spraying double-arm robot of tilting for boats and ships segmentation, its characterized in that includes:
the left automatic spraying part is arranged in the spraying operation area and comprises a left X-direction moving part, a left Y-direction moving part and a left Z-direction moving spraying part, the left X-direction moving part drives the left Y-direction moving part to move along the X direction in the spraying operation area, and the left Z-direction moving spraying part is driven by the left Y-direction moving part to move along the Y direction and automatically move along the Z direction on the left Y-direction moving part so as to automatically spray the segmental ship body;
and the right automatic spraying part is arranged in the spraying operation area and comprises a right X-direction moving guide rail, a right X-direction moving part and a right Z-direction moving spraying part, the right X-direction moving guide rail is arranged in the spraying operation area, the right X-direction moving part drives the right X-direction moving guide rail to move along the X direction, and the right Z-direction moving spraying part automatically moves along the Z direction to automatically spray the segmental ship body.
2. The tiltable all-directional double-arm robot for ship segmentation of claim 1, wherein the left X-directional moving member comprises a left X-directional moving guide rail, a left X-directional moving seat and a left X-directional moving power member, the left X-directional moving guide rail is disposed in the spraying operation area, the left X-directional moving seat is disposed on the left X-directional moving guide rail, and the left X-directional moving power member is disposed on the left X-directional moving seat.
3. The tiltable all-directional spraying double-arm robot for ship sections as claimed in claim 2, wherein said left X-directional moving power member comprises a left X-directional moving motor, a first gear and a first rack, said left X-directional moving motor is disposed on said left X-directional moving base, and a rotating shaft of said left X-directional moving motor penetrates said left X-directional moving base, said first gear is fixedly mounted on the rotating shaft of said left X-directional moving motor, said first rack is disposed on the side of said left X-directional moving guide rail, and said first rack is engaged with said first gear.
4. The tiltable all-directional spraying double-arm robot for ship sections as claimed in claim 2 or 3, wherein said left Y-directional moving member comprises a fixed frame, a left Z-directional guide rail and a left Y-directional power member, said fixed frame is arranged on said left X-directional moving seat, a plurality of said left Z-directional guide rails are spliced into a rectangular frame by connecting rods, one end of said left Z-directional guide rail is hinged on said left X-directional moving seat; the left Y-direction power part comprises a winch and a fixed pulley, the winch is arranged on the left X-direction moving seat, the fixed pulley is arranged on the top surface of the fixed frame, and the free end of a steel wire rope of the winch penetrates through the fixed pulley and then is fixedly connected with the top end of the left Z-direction guide rail.
5. The tiltable all-directional spraying double-arm robot for ship sections as claimed in claim 4, wherein said left Z-directional movable spraying member comprises a left Z-directional movable seat, a left Z-directional power member and a left robotic arm, said left Z-directional movable seat is disposed on said left Z-directional guide rail, and said left Z-directional power member and said left robotic arm are both disposed on said left Z-directional movable seat; the left Z-direction moving seat is provided with a rectangular frame which is formed by a plurality of left Z-direction guide rails and two ends which are respectively embedded in the rectangular frame, and slides along the left Z-direction guide rails.
6. The tiltable all-directional spraying double-arm robot for ship segmentation as claimed in claim 5, wherein the left Z-directional power member comprises a left Z-directional motor, a second gear and a second rack, the left Z-directional motor is disposed on the left Z-directional movable seat, the second gear is fixedly sleeved on the rotating shaft of the left Z-directional motor, the second rack is fixedly disposed on the left Z-directional guide rail, and the second rack is engaged with the second gear.
7. The tiltable all-directional spraying double-arm robot for ship sections as claimed in claim 5 or 6, wherein the left mechanical arm is provided with a first spray gun, and the first spray gun is communicated with the high-pressure spraying equipment through a first high-pressure hose.
8. The tiltable all-directional spraying double-arm robot for ship segmentation as claimed in claim 7, wherein the right X-directional moving member comprises a right X-directional moving seat, a right X-directional motor, a third gear and a third rack, the right X-directional moving seat is disposed on the right X-directional moving guide rail, the right X-directional motor is disposed on the right X-directional moving seat, the third gear is fixedly sleeved on the rotating shaft of the right X-directional motor, the third rack is fixedly disposed on the right X-directional moving guide rail, and the third rack is engaged with the third gear.
9. The tiltable all directional spray coating double-arm robot for ship section according to claim 8, wherein said right Z-directional moving spray coating member comprises a right Z-directional guide rail disposed on said right X-directional moving seat, a right Z-directional sliding power member disposed on said right Z-directional guide rail, and a right robot arm disposed on said right Z-directional sliding power member; two the right Z is to the equal perpendicular setting of the mutual parallel of guide rail of right side on the X is to removing the seat, two in addition the mutual parallel equal perpendicular fixation of right Z is to the guide rail of right side sets up another on the X is to removing the seat of right side for four the Z is to the guide rail of right side and is rectangular frame form.
10. The tiltable all-directional spraying double-arm robot for ship segmentation according to claim 9, wherein the right Z-directional sliding power part comprises a right Z-directional sliding seat, a right Z-directional motor, a fourth gear and a fourth rack, two ends of the right Z-directional sliding seat are respectively embedded in a rectangular frame formed by four right Z-directional guide rails, the right Z-directional motor is fixedly arranged on the right Z-directional sliding seat, the fourth gear is fixedly sleeved on a rotating shaft of the right Z-directional motor, the fourth rack is fixedly arranged on the right Z-directional guide rails, and the fourth rack is meshed with the fourth gear; and a second spray gun is arranged on the right mechanical arm and is communicated with the high-pressure spraying equipment through a second high-pressure hose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211183424.7A CN115475718A (en) | 2022-09-27 | 2022-09-27 | Tiltable all-directional spraying double-arm robot for ship segmentation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211183424.7A CN115475718A (en) | 2022-09-27 | 2022-09-27 | Tiltable all-directional spraying double-arm robot for ship segmentation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115475718A true CN115475718A (en) | 2022-12-16 |
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| CN202211183424.7A Pending CN115475718A (en) | 2022-09-27 | 2022-09-27 | Tiltable all-directional spraying double-arm robot for ship segmentation |
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| CN108079589A (en) * | 2017-12-20 | 2018-05-29 | 李秀梨 | A kind of children are with adjustable squirt toy |
| CN208101935U (en) * | 2018-04-24 | 2018-11-16 | 文珍 | A kind of glass for vehicle window self-help cleaning washing and spraying mechanism |
| CN113600381A (en) * | 2021-06-28 | 2021-11-05 | 江苏科技大学 | Double-series-parallel 3P-6R robot collaborative spraying device |
| CN216836780U (en) * | 2021-12-20 | 2022-06-28 | 天元建设集团有限公司 | ALC board lifts by crane installation device |
| CN114932038A (en) * | 2022-06-27 | 2022-08-23 | 上海外高桥造船有限公司 | Flexible cantilever type boats and ships segmentation automatic spraying device |
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| US2345834A (en) * | 1941-10-01 | 1944-04-04 | Howard V Schweitzer | Painting machine |
| JPH05104043A (en) * | 1991-06-11 | 1993-04-27 | Kensetsusho Kyushu Chiho Kensetsu Kyokucho | Structure painting robot |
| US20100251963A1 (en) * | 2007-06-25 | 2010-10-07 | Frank Herre | Coating zone with inclined guide rails |
| CN101412008A (en) * | 2007-10-18 | 2009-04-22 | 山东科技大学 | Special type rust-cleaning spraying robot for building cabin of shipping |
| CN203899084U (en) * | 2014-04-15 | 2014-10-29 | 云南云健体育用品有限公司 | Suspension collection type basketball stand |
| CN204122295U (en) * | 2014-09-29 | 2015-01-28 | 秦皇岛思泰意达科技发展有限公司 | A kind of spraying hoisting type truss mechanical arm |
| CN205894838U (en) * | 2016-06-30 | 2017-01-18 | 国家电网公司 | Pole is embraced in full -automatic rotation |
| CN205754158U (en) * | 2016-07-15 | 2016-11-30 | 张彬彬 | Solar-cell panel support |
| CN108079589A (en) * | 2017-12-20 | 2018-05-29 | 李秀梨 | A kind of children are with adjustable squirt toy |
| CN107930931A (en) * | 2017-12-29 | 2018-04-20 | 镇江蓝舶科技股份有限公司 | A kind of spray gun for paint mounting bracket and auto spray painting mobile platform |
| CN208101935U (en) * | 2018-04-24 | 2018-11-16 | 文珍 | A kind of glass for vehicle window self-help cleaning washing and spraying mechanism |
| CN113600381A (en) * | 2021-06-28 | 2021-11-05 | 江苏科技大学 | Double-series-parallel 3P-6R robot collaborative spraying device |
| CN216836780U (en) * | 2021-12-20 | 2022-06-28 | 天元建设集团有限公司 | ALC board lifts by crane installation device |
| CN114932038A (en) * | 2022-06-27 | 2022-08-23 | 上海外高桥造船有限公司 | Flexible cantilever type boats and ships segmentation automatic spraying device |
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