CN209078735U - A kind of hull outer surface wire saws parallel connection spray robot - Google Patents
A kind of hull outer surface wire saws parallel connection spray robot Download PDFInfo
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- CN209078735U CN209078735U CN201821489649.4U CN201821489649U CN209078735U CN 209078735 U CN209078735 U CN 209078735U CN 201821489649 U CN201821489649 U CN 201821489649U CN 209078735 U CN209078735 U CN 209078735U
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Abstract
A kind of hull outer surface wire saws parallel connection spray robot, it include two upper rails and lower guideway for being oppositely arranged on profile, sliding is provided with lower bottom base on lower guideway, sliding is provided with upper bed-plate on upper rail, lower bottom base and upper bed-plate are along being provided with support frame group perpendicular to lower guideway extending direction, support frame group includes two support rods disposed in parallel, the sliding block for being provided with slideway on support rod and being slidably arranged on slideway；It is provided with idler wheel on sliding block, rope is arranged on idler wheel, one end of rope is fixedly connected with executive item, and the other end is connected with length adjustment device；It is connect by the rope on sliding block with two support frame groups on executive item；Executive item includes the spray head for spraying paint；The regulating device for controlling sliding block is additionally provided on support rod, it uses wirerope as actuated element, and the movement of driver and power are transmitted to spray gun；Ability is fast moved in spray-coating surface by control spray gun, with realizing hull two sides large area wall surface efficiently spraying.
Description
Technical field
The utility model relates to argosy external surfaces to spray field, and in particular to a kind of hull outer surface wire saws are in parallel
Spray robot.
Background technique
In the shipbuilding and cleaning of larger cargo ships, outer surface spray painting is an essential workflow.High-altitude wall surface
Operation and the big equal contextual factors of spraying operation area are the difficulties that spraying application must overcome.Under normal conditions, these Spray Painter
It is all that spray gun is held by worker to complete.There are problems for hand spray mode: worker's great work intensity；Worker high-altitude
Operation relative risk；Coating is big to the injury of worker's body.
For these reasons, under the premise of ensureing coating quality, hand labor is substituted using spray robot, it can not only
Worker is freed from heavy, prolonged labour, but also can be reduced spray painting injury caused by human body.Therefore, it answers
Spray painting operation is carried out to cargo ship outer surface with spray robot, there is important society and economic value.
The technical difficult points of hull outer surface spraying are: how robot carries out wall surface climbing.Climbing robot is
It is a kind of can in the automatic machinery people that vertical walls are climbed and are fulfiled assignment, it gathered machinery, electronics, computer, control,
The multidisciplinary theoretical and technology such as sensing and artificial intelligence.According to the difference (such as cargo ship outer surface sprays) for climbing wall job requirements, climb
Wall robot need to have related operation function (as sprayed).Therefore, climbing wall spray robot is that one kind can be in vertical walls
Climbing, and carry out the robot continuously sprayed automatically.
Existing hull sprays climbing robot, mainly there is electromagnetic adsorption type climbing robot, vacuum adsorption type wall-climbing device
People etc..Electromagnetic adsorption type climbing robot mainly has electromagnet absorption and permanent magnet absorption, has a disadvantage in that: permanent magnet absorption is led
It causes robot self weight to increase, reduces attached wall ability and weight ratio, movement speed are slow；And electromagnet absorption needs electric energy to maintain to inhale
Attached ability, and structure is larger.The defect of vacuum adsorption type climbing robot is: to the more demanding of absorption surface, vacuum is inhaled
Attached effect is not easy to control, and there are the risks of vacuum power down, and movement speed is equally relatively slow, and there are improvements for the prior art.
Utility model content
In order to solve the above technical problems, it uses steel the utility model proposes a kind of wire saws parallel connection spray robot
Cord is transmitted to spray gun as actuated element, by the movement of driver and power；Pass through quick shifting of the control spray gun in spray-coating surface
Kinetic force, with realizing hull two sides large area wall surface efficiently spraying.
In order to achieve the above objectives, the technical solution of the utility model is as follows: a kind of hull outer surface wire saws parallel connection spraying
Robot includes two upper rails and lower guideway for being oppositely arranged on profile, and sliding is provided with bottom on the lower guideway
, sliding is provided with upper bed-plate on the upper rail, and the lower bottom base and upper bed-plate are along perpendicular to the lower guideway extension side
To support frame group is provided with, support frame as described above group includes two support rods disposed in parallel, is provided with roll adjustment on the support rod
Slideway and the first sliding block being slidably arranged on the roll adjustment slideway；Being horizontally disposed on first sliding block has the first idler wheel,
The axis direction of first idler wheel is arranged with rope on first idler wheel, institute perpendicular to the length direction of the support rod
The one end for stating rope is fixedly connected with executive item, and the other end is connected with rope length regulating device；The executive item passes through described first
Rope on sliding block is connect with two support frame as described above groups；The executive item includes the spray head for spraying paint；The support
The limit slideway for first sliding block sliding and the regulating device for adjusting the first slide position are additionally provided on bar.
Further, extend the adjusting rod for being parallel to the support rod on the upper rail or the lower guideway, it is described
Adjusting rod is respectively arranged with adjusting slideway along length direction, and sliding is provided with the second sliding block in the adjusting slideway, described
Second sliding block is slidably arranged in the adjusting slideway by regulating device；It is arranged between the actuator and second sliding block
Have and adjust rope group, the adjusting rope group includes two adjusting ropes connecting with the actuator；It is rotated on second sliding block
It is provided with the second idler wheel that two are parallel to each other and second idler wheel is parallel to first idler wheel, described one end for adjusting rope is solid
Fixed to be arranged on the executive item, the other end is connect with length adjustment device, the executive item and two fixations for adjusting rope
Point is arranged along adjusting rod length direction interval, and the two sides of the adjusting rod, which are respectively arranged with, adjusts the adjusting rope length degree
The described one end far from the executive item of restricting that adjusts is adjusted to connect with the regulating device.
Further, the regulating device includes the adjusting motor and fixed block positioned at the both ends of the drive lead screw,
The drive lead screw and the fixed block are rotatablely connected, and the fixed block and the adjusting motor are arranged in pairs in the support rod
On the adjusting rod, the fixed block is fixed on the support rod and adjusting rod；First sliding block and described
The two sliding blocks drive lead screw corresponding with itself is threadedly coupled.
Further, the length adjustment device includes haulage drum and traction electric machine, and the rope is fixed on described
On haulage drum, the haulage drum axis direction is overlapped with the main-shaft axis direction of the traction electric machine and is fixed on described lead
Draw on the main shaft of motor.
Further, the both ends of the adjusting rod are respectively arranged with two regulating devices, two institutes on the adjusting rod
Adjusting rope is stated to connect with two regulating devices respectively
Further, the adjusting slideway is arranged on the lower bottom base.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described.
Fig. 1 is a kind of overall structure diagram of hull outer surface wire saws parallel connection spray robot；
Fig. 2 is the overall structure diagram of lower bottom base；
Fig. 3 is the working state schematic representation of coating robot coats' curved surfaces；
Fig. 4 is the side status schematic diagram of coating robot coats' curved surfaces；
Fig. 5 is the side status schematic diagram on coating robot coats' curved surfaces top；
Fig. 6 is the side status schematic diagram of coating robot coats' curved surfaces lower part.
In figure: 1, upper rail；2, lower guideway；3, lower bottom base；4, upper bed-plate；5, support frame group；51, support rod；6, it executes
Part；61, spray head；7, rope；8, adjusting rod；9, rope is adjusted；10, screw rod；11, motor；12, the first sliding block；121, the first idler wheel；
13, the second sliding block；131, the second idler wheel；14, length adjuster；141, traction electric machine；142, haulage drum；15, hull surface；
16, fixed block.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As depicted in figs. 1 and 2, a kind of hull outer surface wire saws parallel connection spray robot includes two to be oppositely arranged on
The upper rail 1 and lower guideway 2 of profile, sliding is provided with lower bottom base 3 on lower guideway 2, and sliding is provided with bottom on upper rail 1
Along being provided with 5 groups of support frame perpendicular to 2 extending direction of lower guideway, 5 groups of support frame include for seat 4, lower bottom base 3 and upper bed-plate 4
Two support rods 51 disposed in parallel, first for being provided with roll adjustment slideway on support rod 51 and being slidably arranged on roll adjustment slideway are sliding
Block 12；Being horizontally disposed on first sliding block 12 has the first idler wheel 121, and the axis direction of the first idler wheel 121 is perpendicular to support rod 51
Length direction is arranged with rope 7 on the first idler wheel 121, and one end of rope 7 is fixedly connected with executive item 6, and the other end is connected with rope
Length regulating device；Executive item 6 passes through 5 groups of connections of rope 7 and two support frames on the first sliding block 12；Executive item 6 includes to be used for
Spray the spray head 61 of paint；It is additionally provided on support rod 51 for the limit slideway of the first sliding block 12 sliding and for adjusting first
The regulating device of 12 position of sliding block.
Extend the adjusting rod 8 for being parallel to support rod 51 on upper rail 1 or lower guideway 2, adjusting rod 8 is along length direction
It is respectively arranged with adjusting slideway, sliding is provided with the second sliding block 13 in adjusting slideway, and the second sliding block 13 is slided by regulating device
It is arranged in adjusting slideway；Be provided between actuator and the second sliding block 13 adjusting rope 9 groups, adjust rope 9 groups include two with
The adjusting rope 9 of actuator connection；Rotation is provided with the second idler wheel 131 and the second idler wheel that two are parallel to each other on second sliding block 13
131 are parallel to the first idler wheel 121, and the one end for adjusting rope 9 is fixed on executive item 6, and the other end and length adjustment device connect
It connects, the fixed point of executive item 6 and two adjusting ropes 9 is arranged along 8 length direction interval of adjusting rod, and the two sides of adjusting rod 8 are respectively set
There is the adjusting for adjusting 9 length of rope to adjust 9 one end far from executive item 6 of rope to connect with regulating device.
Further, regulating device includes the adjusting motor 11 and fixed block 16 positioned at the both ends of drive lead screw 10, is passed
Dynamic screw rod 10 is rotatablely connected with fixed block 16, and fixed block 16 and adjusting motor 11 are arranged in pairs on support rod 51 and adjusting rod 8,
Fixed block 16 is fixed on support rod 51 and adjusting rod 8；First sliding block 12 and the second sliding block 13 biography corresponding with itself
Dynamic screw rod 10 is threadedly coupled.
Further, length adjustment device includes haulage drum 142 and traction electric machine 14111, and rope 7 is fixed on traction
On roller 142,142 axis direction of haulage drum is overlapped with the main-shaft axis direction of traction electric machine 14111 and is fixed on traction electricity
On the main shaft of machine 14111.
Further, the both ends of adjusting rod 8 are respectively arranged with two regulating devices, on adjusting rod 8 two adjust rope 9 respectively with
The connection of two regulating devices
Further, adjusting slideway is arranged on lower bottom base 3.
Specific implementation process:
In conjunction with shown in Fig. 3 and Fig. 4, motor 11 drives screw rod 10 to rotate when spraying flat surface, and the first sliding block 121 can be
It is for linear motion on screw rod 10；First sliding block 121 is connect by rope 7 with executive item 6, and two connections on upper bed-plate 4 are passed through
Two tie points on point and lower bottom base 3 form four points in plane, and executive item 6 is between upper bed-plate 4 and lower bottom base 3
Adjusting fixed and that distance between spray head 61 and hull surface 15 is realized by the sliding of the first sliding block 121；It was actually using
By adjusting separately the kinematic parameter of each motor 11 in journey, executive item 6 can be enable to rapidly move to any in plane
Position.
In conjunction with shown in Fig. 5 and Fig. 6, when spraying curved surfaces, since hull surface 15 is not a plane, but one
Contour surface with radian, in order to guarantee coating quality, need to make spray head 6 always with 15 certain distance of hull surface；When spraying
When applying at the top of ship wall, the motor 11 of upper bed-plate 4 drives screw rod 10 to rotate, and makes the first sliding block 12 on upper bed-plate 4 to close to hull
The direction on surface 15 moves, and the motor 11 on lower bottom base 3 drives screw rod 10 to rotate, and makes the first sliding block 12 on lower bottom base 3 to remote
Disembarkation body avoids 15 direction from moving；Meanwhile the traction electric machine 141 on lower bottom base 3 drives haulage drum 142 to rotate, and passes through
Wound on haulage drum 142 adjusting rope 9 realize 61 pitch angles of spray head adjusting, it is ensured that spray head 61 always with hull surface 15
Certain distance is kept, ensure that the quality of spraying, and rope 7 and adjusting rope 9 do not interfere with hull.
When spraying curved surfaces, at 15 bottom of hull surface, the motor 11 on upper bed-plate 4 drives screw rod 10 to rotate, band
The first sliding block 12 on dynamic upper bed-plate 4 is directed away from the side movement of hull surface 15, and the motor 11 on lower bottom base 3 drives screw rod
10 rotations, the side for driving the first sliding block 12 on lower bottom base 3 to be directed away from hull surface 15 move simultaneously, on lower bottom base 3
Traction electric machine 141 drive haulage drum 142 to rotate, pass through the adjusting rope 9 that winds on haulage drum 142 and realize 61 pitching of spray head
The adjusting at angle, it is ensured that spray head 61 keeps certain distance with hull surface 15 always, ensure that the quality of spraying.
It should be pointed out that for those of ordinary skill in the art, before not departing from the concept of the present invention
It puts, various modifications and improvements can be made, and these are all within the protection scope of the present invention.
Claims (6)
1. a kind of hull outer surface wire saws parallel connection spray robot, which is characterized in that include two to be oppositely arranged on hull side
The upper rail (1) and lower guideway (2) in face are slided on the lower guideway (2) and are provided with lower bottom base (3), sliding on the upper rail (1)
Dynamic to be provided with upper bed-plate (4), the lower bottom base (3) and upper bed-plate (4) are arranged along perpendicular to the lower guideway (2) extending direction
Have support frame group (5), support frame as described above group (5) includes two support rods (51) disposed in parallel, is set on the support rod (51)
The first sliding block (12) for being equipped with roll adjustment slideway and being slidably arranged on the roll adjustment slideway；It is horizontal on first sliding block (12)
It is provided with the first idler wheel (121), the length side of the axis direction of first idler wheel (121) perpendicular to the support rod (51)
To being arranged with rope (7) on first idler wheel (121), one end of the rope (7) is fixedly connected with executive item (6), another
End is connected with rope length regulating device；The executive item (6) passes through rope (7) on first sliding block (12) and two supports
Frame group (5) connection；The executive item (6) includes the spray head (61) for spraying paint；It is also set up on the support rod (51)
There is the limit slideway for first sliding block (12) sliding and is used to adjust the regulating device of the first sliding block (12) position.
2. a kind of hull outer surface wire saws parallel connection spray robot according to claim 1, which is characterized in that on described
Extend the adjusting rod (8) for being parallel to the support rod (51), adjusting rod (8) edge on guide rail (1) or the lower guideway (2)
Length direction is respectively arranged with adjusting slideway, slides and is provided with the second sliding block (13) in the adjusting slideway, and described second
Sliding block (13) is slidably arranged in the adjusting slideway by regulating device；It is arranged between actuator and second sliding block (13)
Have and adjust rope group, the adjusting rope group includes two adjusting ropes (9) connecting with the actuator；Second sliding block (13)
Upper rotation is provided with the second idler wheel (131) that two are parallel to each other and second idler wheel (131) is parallel to first idler wheel
(121), described one end for adjusting rope (9) is fixed on the executive item (6), and the other end is connect with length adjustment device,
The executive item (6) is arranged with two fixed points for adjusting rope (9) along the adjusting rod (8) length direction interval, the tune
The two sides of pole (8), which are respectively arranged with, adjusts the adjusting for adjusting rope (9) length adjusting rope (9) far from the executive item
(6) one end is connect with the regulating device.
3. a kind of hull outer surface wire saws parallel connection spray robot according to claim 2, which is characterized in that the tune
Regulating device includes the adjusting motor (11) and fixed block (16) positioned at the both ends of drive lead screw (10), the drive lead screw (10)
It is rotatablely connected with the fixed block (16), the fixed block (16) and the adjusting motor (11) are arranged in pairs in the support rod
(51) and on the adjusting rod (8), the fixed block (16) is fixed on the support rod (51) and adjusting rod (8)；Institute
The first sliding block (12) and second sliding block (13) drive lead screw (10) corresponding with itself is stated to be threadedly coupled.
4. a kind of hull outer surface wire saws parallel connection spray robot according to claim 2 or 3, which is characterized in that institute
Stating length adjustment device includes haulage drum (142) and traction electric machine (141), and the rope (7) is fixed on the traction rolling
On cylinder (142), haulage drum (142) axis direction is overlapped and consolidates with the main-shaft axis direction of the traction electric machine (141)
Due on the main shaft of the traction electric machine (141).
5. a kind of hull outer surface wire saws parallel connection spray robot according to claim 4, which is characterized in that the tune
The both ends of pole (8) are respectively arranged with two regulating devices, the adjusting rope of two on the adjusting rod (8) (9) respectively with
The connection of two regulating devices.
6. a kind of hull outer surface wire saws parallel connection spray robot according to claim 2 or 3, which is characterized in that institute
Adjusting slideway is stated to be arranged on the lower bottom base (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821489649.4U CN209078735U (en) | 2018-09-12 | 2018-09-12 | A kind of hull outer surface wire saws parallel connection spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821489649.4U CN209078735U (en) | 2018-09-12 | 2018-09-12 | A kind of hull outer surface wire saws parallel connection spray robot |
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| Publication Number | Publication Date |
|---|---|
| CN209078735U true CN209078735U (en) | 2019-07-09 |
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ID=67116403
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821489649.4U Active CN209078735U (en) | 2018-09-12 | 2018-09-12 | A kind of hull outer surface wire saws parallel connection spray robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942897A (en) * | 2018-09-12 | 2018-12-07 | 杭州国辰机器人科技有限公司 | A kind of hull outer surface wire saws parallel connection spray robot |
| CN113318891A (en) * | 2021-06-08 | 2021-08-31 | 合肥工业大学 | Variable-curvature flexible cable traction spraying robot for large curved wall |
| WO2021196381A1 (en) * | 2020-03-31 | 2021-10-07 | 合肥工业大学 | Cable-driven hybrid spraying robot mechanism and operating method therefor |
| CN115007366A (en) * | 2022-06-27 | 2022-09-06 | 上海外高桥造船有限公司 | Spray coating device |
-
2018
- 2018-09-12 CN CN201821489649.4U patent/CN209078735U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942897A (en) * | 2018-09-12 | 2018-12-07 | 杭州国辰机器人科技有限公司 | A kind of hull outer surface wire saws parallel connection spray robot |
| CN108942897B (en) * | 2018-09-12 | 2023-11-17 | 杭州国辰机器人科技有限公司 | Parallel spraying robot with rope traction on outer surface of ship body |
| WO2021196381A1 (en) * | 2020-03-31 | 2021-10-07 | 合肥工业大学 | Cable-driven hybrid spraying robot mechanism and operating method therefor |
| US11325243B2 (en) | 2020-03-31 | 2022-05-10 | Hefei University Of Technology | Flexible-rope-driven hybrid spray painting robot mechanism and operating method thereof |
| CN113318891A (en) * | 2021-06-08 | 2021-08-31 | 合肥工业大学 | Variable-curvature flexible cable traction spraying robot for large curved wall |
| CN113318891B (en) * | 2021-06-08 | 2022-06-07 | 合肥工业大学 | Variable-curvature flexible cable traction spraying robot for large curved wall |
| CN115007366A (en) * | 2022-06-27 | 2022-09-06 | 上海外高桥造船有限公司 | Spray coating device |
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