WO2023284482A1 - Movable and parallel-cable spraying apparatus for ship segmented coating - Google Patents

Movable and parallel-cable spraying apparatus for ship segmented coating Download PDF

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Publication number
WO2023284482A1
WO2023284482A1 PCT/CN2022/099415 CN2022099415W WO2023284482A1 WO 2023284482 A1 WO2023284482 A1 WO 2023284482A1 CN 2022099415 W CN2022099415 W CN 2022099415W WO 2023284482 A1 WO2023284482 A1 WO 2023284482A1
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WIPO (PCT)
Prior art keywords
ground rail
platform
spraying
parallel
air
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PCT/CN2022/099415
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French (fr)
Chinese (zh)
Inventor
徐江敏
王帅
姚震球
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江苏科技大学
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Publication of WO2023284482A1 publication Critical patent/WO2023284482A1/en

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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
    • B05B13/005—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 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • 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
    • 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
    • B05B15/68—Arrangements for adjusting the position of spray heads

Definitions

  • the invention relates to ship spraying equipment, in particular to a mobile cable-parallel spraying equipment for segmental painting of ships.
  • the angle adjustment of the device as a whole is likely to result in insufficient detail processing and uneven spraying. Resulting in higher respray rate.
  • the third is that the mechanisms formed in series are all made up of parts with high rigidity, and the moment of inertia is large when the multi-axis is linked. When the mechanism reaches nine axes or more, the terminal inertia will be relatively large, which will make the final spraying accuracy lower.
  • the purpose of the present invention is to provide a mobile cable-parallel spraying equipment for segmental coating of ships, which can realize linkage control of large strokes and multiple angles, and meet the requirements of large-scale segmented ships.
  • the spraying requirements of components can be guaranteed, and the spraying quality and efficiency of small and complex areas can be guaranteed.
  • a mobile cable-parallel spraying equipment for segmental coating of ships including:
  • the supporting row frame is arranged along the Y direction and includes one or more Y direction rails;
  • the Y-direction moving mechanism in the air is installed on the supporting row frame, and is slidably connected with the Y-direction rail of the supporting row frame to realize the Y-direction movement; the Y-direction moving mechanism in the air includes at least one X-direction rail;
  • the X-direction moving mechanism in the air is installed on the Y-direction moving mechanism in the air, and is slidingly connected with the X-direction track to realize the X-direction movement;
  • the Z-direction adjustment mechanism is installed under the X-direction movement mechanism in the air through a hoisting platform, and the hoisting platform is provided with a lifting mechanism;
  • the spraying robot arm is installed on the lifting mechanism of the Z-direction adjustment mechanism
  • the ground rail Y-direction mobile hydraulic lifting platform is arranged on the side of the Z-direction adjustment mechanism, and is flexibly connected with the Z-direction adjustment mechanism; specifically, the ground rail Y-direction mobile hydraulic lifting platform includes a hydraulic lifting platform, a ground rail Y-direction transmission mechanism, The ground rail and the first parallel cable group; the ground rail is arranged along the Y direction, and the hydraulic lifting platform is installed on the ground rail, and can move along the ground rail under the drive of the Y-direction transmission mechanism of the ground rail; the hydraulic lifting platform is equipped with There is a ground rail hoist, one end of the first parallel cable group is wound on the ground rail hoist, and the other end is connected to the Z-direction adjustment mechanism. The first parallel cable group is retracted under the control of the ground rail hoist to realize the adjustment of the Z-direction adjustment mechanism. Angle fine-tuning.
  • the Y-direction moving mechanism in the air includes a bearing platform, an X-direction track, a Y-direction servo motor, a Y-direction guide wheel mechanism, a Y-direction gear, and a Y-direction rack;
  • the X-direction moving mechanism in the air is installed on the bearing platform; the Y-direction rack is installed on the inner side of the Y-direction track, and the Y-direction gear is connected with the output shaft of the Y-direction servo motor for meshing transmission; the Y-direction guide wheel mechanism and support
  • the Y-direction track of the travel frame is adapted to carry and guide the movement in the Y-direction in the air.
  • the X-direction moving mechanism in the air includes an X-direction servo motor, a carrying trolley, an X-direction guide wheel mechanism, an X-direction gear, and an X-direction rack; the hoisting platform shown is installed at the bottom of the carrying trolley;
  • the X-direction rack is installed inside the X-direction track, and the X-direction gear is connected to the output shaft of the X-direction servo motor for meshing transmission;
  • the X-direction guide wheel mechanism is installed on the side of the carrying trolley, and is connected with the Y-direction moving mechanism in the air X-direction track adaptation, used for carrying and guiding X-direction movement in the air.
  • the lifting mechanism includes a second parallel cable group, a Z-direction hoist, and a robot installation platform; the spraying robot arm is installed at the bottom of the robot installation platform; the Z-direction hoist is installed on a hoisting platform, and a A plurality of fixed pulleys, each fixed pulley is correspondingly equipped with a rotatable lifting ring; the installation platform of the mechanical arm is equipped with a plurality of movable pulleys;
  • One end of the second parallel cable set is fixed on the rotatable ring of the hoisting platform, and the other end passes through the movable pulley of the mechanical arm installation platform and returns to the fixed pulley of the hoisting platform, and returns to the Z-direction hoist through the fixed pulley; the second parallel cable set is composed of The Z-direction winch is controlled to retract and retract to realize the Z-direction movement and angle adjustment of the mechanical arm installation platform.
  • the spraying robot arm is installed at the lower end of the robot arm installation platform in a bolted manner, and the spraying device is installed at the end of the spraying robot arm, and the spraying work is performed through the movement of the robot arm.
  • the ground rail Y-direction transmission mechanism includes a ground rail Y-direction transmission motor, a ground rail Y-direction gear, and a ground rail Y-direction rack; wherein, the ground rail Y-direction rack is installed in the track of the ground rail, and the ground rail The Y-direction gear is connected with the output shaft of the ground rail Y-direction transmission motor for meshing transmission.
  • the present invention has the following significant advantages:
  • the present invention can realize large-stroke, multi-angle linkage control, and has a wide range of motion spraying, which can spray large workpieces to be sprayed such as segmented ships; and can ensure the spraying quality and efficiency of narrow and complex areas.
  • the present invention has a smaller terminal cumulative error and a wider adjustable angle during linkage.
  • the present invention drives the parallel cable group through the Y-direction hoist on the ground rail, which is linked with the overall mechanism, and is used to stabilize the installation platform of the hoisted mechanical arm, making the whole system more stable.
  • the Z direction of the present invention adopts cable parallel drive, and has excellent shock-absorbing performance during linkage.
  • the cable drive method of the present invention uses the labor-saving principle of the movable pulley, which can make the selection of the aerial hoist more extensive, and the hoist that is lighter and smaller can be selected.
  • the cable driving method of the present invention uses the principle of the waste distance of the movable pulley to increase the allowable error range of the winch and improve the Z-direction movement and angle adjustment accuracy of the hoisted mechanical arm installation platform.
  • the present invention is modular assembly, which is convenient for installation, repair and assembly.
  • Unmanned spraying can be realized, which is harmless to human health.
  • Fig. 1 is general structure of the present invention
  • Figure 2 (a)-(b) is the Y-direction moving mechanism in the air
  • Fig. 3 is the X-direction moving mechanism in the air
  • Fig. 4 adopts the Z-direction adjustment mechanism driven in parallel
  • Fig. 5 is movable pulley type zipper mode
  • Figure 6 is the ground rail Y-direction mobile hydraulic lifting platform.
  • a mobile cable-parallel spraying equipment for segmental painting of ships including a supporting row frame 1, a moving mechanism 2 in the Y direction in the air, a moving mechanism 3 in the X direction in the air, an adjustment mechanism 4 in the Z direction, and a ground rail Y-direction moving hydraulic lift Platform 5, spraying robot arm 6.
  • each supporting rack 1 includes a Y-direction rail 13 .
  • the Y-direction moving mechanism 2 in the air is horizontally installed between two supporting racks 1, and its two ends are slidingly connected with the Y-direction rails 13 of the supporting rack 1, and the movement of the spraying robot arm 6 in the Y direction is realized through rack and pinion transmission.
  • the X-direction moving mechanism 3 in the air is installed on the Y-direction moving mechanism 2 in the air, and is also driven by rack and pinion to realize the movement of the spraying mechanical arm 6 in the X direction.
  • the Z-direction adjustment mechanism 4 is installed at the bottom of the X-direction moving mechanism 3 in the air, and includes a lifting mechanism, and the spraying robot arm 6 is installed at its end for realizing the movement of the spraying robot arm 6 in the Z direction.
  • the Y-direction mobile hydraulic lifting platform 5 of the ground rail is arranged on one side of the Z-direction adjustment mechanism 4 and is flexibly connected with the Z-direction adjustment mechanism 4 .
  • airborne Y direction mobile mechanism 2 comprises carrying platform 8, X direction track 9, Y direction servomotor 10, Y direction guide wheel mechanism 16, pinion and rack mechanism (Y direction Gear 11, Y to rack 12).
  • the main function of the carrying platform 8 is to install the aerial X-direction moving mechanism 3 and its parts on it, so as to realize the movement of the aerial X-direction moving mechanism 3 in the X direction.
  • the Y-direction gear 11 , the Y-direction rack 12 , the Y-direction servo motor 10 and the Y-direction track 13 form a driving structure together.
  • the Y-direction rack 12 is installed on the inner side of the track, and has a compact structure.
  • the Y-direction gear 11 is installed on the Y-direction servo motor 10, and the meshing transmission realizes the overall Y-direction movement in the air.
  • the Y-direction guide wheel mechanism 16 and the Y-direction rail 13 are fitted and installed, and are used to carry the movement guide in the Y-direction in the air.
  • the X-direction moving mechanism 3 in the air includes an X-direction servo motor 14 , a carrying trolley 15 , an X-direction guide wheel mechanism 22 , a rack and pinion mechanism (X-direction gear, X-direction rack), and a lifting platform 17 .
  • the hoisting platform 17 is installed on the bottom of the carrying trolley 15 through a connecting piece, and is used to carry the Z-direction adjustment mechanism 4 and drive the Z-direction adjustment mechanism to move together.
  • the rack and pinion mechanism, the X-direction servo motor 14 and the X-direction track 9 form a drive structure together.
  • the X-direction rack is installed on the inner side of the X-direction track, and has a compact structure.
  • the X-direction gear is installed on the X-direction servo motor 14, and the meshing transmission realizes the overall X-direction movement in the air.
  • the X-direction guide wheel mechanism 22 is installed on the carrying trolley 15, adapted to the X-direction rail 9, and used to carry the motion guidance in the X-direction in the air.
  • the function of the Z-direction adjustment mechanism 4 is to realize the Z-direction movement of the installation platform of the suspended mechanical arm and the angle adjustment of the platform.
  • the Z-direction adjustment mechanism is a cable-parallel-driven structure, including a robot arm installation platform 24 and four sets of cables (ie, the second parallel cable set 7 ).
  • the Z-direction winch is installed on the hoisting platform 17, and realizes the Z-direction movement of the installation platform of the suspended mechanical arm and the angle adjustment of the platform by retracting and unwinding the four groups of cables.
  • the hoisting platform 17 of this embodiment is a square platform, and the hoisting platform 17 includes four groups of Z-direction winches 19 , four fixed pulleys 20 , and four rotatable suspension rings 21 .
  • the square platform is horizontally installed at the bottom of the carrying trolley 15 of the X-direction moving mechanism 3 in the air.
  • Four groups of Z hoists 19 are installed on the square platform;
  • four fixed pulleys 20 are installed on the four corners of the square platform, and four rotatable suspension rings 21 correspond to the fixed pulleys 20 one by one, and are installed at the four corners below the square platform.
  • the mechanical arm installation platform 24 is a square hoisted platform, which is located directly below the hoisting platform 17.
  • Four sets of movable pulleys 25 are installed on the four corners of the square hoisted platform.
  • the square hoisted platform is connected to the hoisting platform 17 through the second parallel cable set 7. .
  • one end of the four groups of cables is respectively fixed on four rotatable suspension rings 21 of the hoisting platform, and the other end passes through the movable pulley 25 of the installation platform of the hoisted mechanical arm and returns to the fixed pulley 20 of the upper platform for hoisting, and passes through the fixed pulley 20 times.
  • the connection mode is shown in Fig. 5.
  • the four sets of cables are respectively retracted and retracted by the four groups of Z-direction hoists of the hoisting platform.
  • the Z-direction movement of the installation platform of the hoisted mechanical arm and the adjustment of the platform angle are realized.
  • four groups of Z-direction winches 19 can be controlled to retract and unwind the cable group at the same speed to realize the overall movement of the suspended mechanical arm installation platform in the Z direction, thereby adjusting the height of the spraying robot arm 6; each Z-direction winch 19 can also be independent Work, when one or several Z-direction winches 19 are retracted independently, the installed platform of the suspended mechanical arm at its lower end is inclined, which realizes the adjustment of the angle.
  • the above-mentioned four sets of moving pulleys are hoisted, and the principle of saving half the force of the moving pulleys can make the selection of Z-direction winches in the air more extensive, and lighter and smaller winches can be selected.
  • the allowable error range of the hoist will be increased, and the precision of Z-direction movement and angle adjustment of the installation platform of the hoisted mechanical arm will be improved.
  • the number and position of the movable pulley block, fixed pulley block, hoisting set, and cable set in the Z-direction adjustment mechanism 4 can be adjusted according to the size and shape of the hoisting platform, the installation platform of the hoisted mechanical arm, and the accuracy requirements of angle adjustment. Make adaptive changes.
  • spraying mechanical arm 6 is to install spraying device, realizes the spraying work of various complex postures.
  • the spraying robot arm is installed on the lower end of the hanging robot arm installation platform in a bolt connection mode, and the spraying device is installed at the end of the spraying robot arm, and the spraying work is performed through the movement of the robot arm.
  • the ground rail Y-direction mobile hydraulic lifting platform 5 is arranged on the side of the Z-direction adjustment mechanism 4 , which is flexibly connected to the mechanical arm installation platform 24 through the first parallel cable set 18 .
  • the ground rail Y-direction mobile hydraulic lifting platform 5 includes a ground rail 30, a ground rail Y-direction rack and pinion mechanism (ground rail Y-direction gear 28, ground rail Y-direction rack 29) , Ground rail Y-direction drive motor 27, hydraulic lifting platform 26, and ground rail Y-direction winch 2 groups.
  • the ground rail 30 is installed on the floor of the workshop, the hydraulic lifting platform 26 is placed on the ground rail 30, the ground rail Y-direction transmission motor 27 is located at the rear end of the hydraulic lifting platform 26, and the ground rail Y-direction rack 29 is installed in the track of the ground rail 30 ,
  • the ground rail Y-direction gear 28 is installed on the ground rail Y-direction transmission motor 27 for meshing transmission.
  • Two groups of ground rail winches 23 are installed on the upper panel of the hydraulic lifting platform 26, and move along the Y direction and the Z direction with the hydraulic lifting platform.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Spray Control Apparatus (AREA)

Abstract

Disclosed in the present invention is a movable and parallel-cable spraying apparatus for ship segmented coating, the apparatus comprising a support truss, an aerial Y-direction moving mechanism, an aerial X-direction moving mechanism, a Z-direction adjusting mechanism and a ground rail Y-direction moving hydraulic lifting platform, wherein the aerial Y-direction moving mechanism is arranged over the support truss to realize Y-direction movement; the aerial X-direction moving mechanism is mounted on the aerial Y-direction moving mechanism to realize X-direction movement; the Z-direction adjusting mechanism is mounted below the aerial X-direction moving mechanism, and a spraying robotic arm is mounted at a tail end of the Z-direction adjusting mechanism; and the ground rail Y-direction moving hydraulic lifting platform is arranged on one side of the Z-direction adjusting mechanism and is flexibly connected to the Z-direction adjusting mechanism by means of a parallel cable set. The present invention stabilizes the spraying robotic arm and achieves angle fine adjustment by means of linkage, and interference between the parallel cable set and a sprayed ship body is effectively avoided by lifting a ground rail winch to a certain height. By means of the present invention, large-travel and multi-angle linkage control can be realized, and the spraying requirements of large segmented ship components can be satisfied.

Description

用于船舶分段涂装的移动式索并联喷涂装备Mobile cable-parallel spraying equipment for segmental coating of ships 技术领域technical field
本发明涉及船舶喷涂设备，尤其涉及一种用于船舶分段涂装的移动式索并联喷涂装备。The invention relates to ship spraying equipment, in particular to a mobile cable-parallel spraying equipment for segmental painting of ships.
背景技术Background technique
目前，国内的大多数船厂仍然采用传统的人工喷涂方式对分段式船体进行喷涂。由于船体较为庞大，多数采用搭脚手架式、机械设备托举式、机械设备吊装式将涂装工人送至高处进行人工涂装。此种方式不仅较为危险，容易产生安全事故，而且船体涂装涂料内含有大量的有毒物质，对工人的健康造成很大的威胁。At present, most domestic shipyards still use the traditional manual spraying method to spray the segmented hull. Due to the relatively large hull, most of them use scaffolding, mechanical equipment lifting, and mechanical equipment hoisting to send paint workers to high places for manual painting. This method is not only dangerous and prone to safety accidents, but also contains a large amount of toxic substances in the hull coating paint, which poses a great threat to the health of workers.
现有技术中，自动化喷涂设备大多为多轴串联式机械手臂尾部加装喷枪进行自动化喷涂，由于分段式船体结构较为复杂，喷头需要达到各种不同的喷涂位置、喷涂姿势，为了实现无人化自动喷涂，需要对喷涂装置整体吊装，施加X向、Y向、Z向等移动自由度，但是同样会出现三个问题：一是，全部采用串联方式连接，实现多轴联动，会累积误差，到达末端时精度较低。二是，若只增加X向、Y向、Z向移动机构，当待喷涂件结构过于复杂、死角过多时，由于装置的整体无法进行角度调节，很可能造成细节处理不到位，喷涂不均匀，致使返喷率较高。三是，串联组成的机构都是由刚度很大的部件组成，多轴联动时运动惯量大，当机构达到九轴甚至以上时，会出现末端惯性较大，使最终喷涂精度较低。In the prior art, most of the automatic spraying equipment is a multi-axis serial robot with a spray gun attached to the tail for automatic spraying. Due to the complex structure of the segmented hull, the spray head needs to achieve various spraying positions and spraying postures. In order to realize unmanned For automatic spraying, it is necessary to hoist the spraying device as a whole, and apply the degrees of freedom of movement in the X, Y, and Z directions, but there will also be three problems: First, all are connected in series to achieve multi-axis linkage, which will accumulate errors , with less precision when reaching the end. Second, if only X-direction, Y-direction, and Z-direction moving mechanisms are added, when the structure of the parts to be sprayed is too complicated and there are too many dead angles, the angle adjustment of the device as a whole is likely to result in insufficient detail processing and uneven spraying. Resulting in higher respray rate. The third is that the mechanisms formed in series are all made up of parts with high rigidity, and the moment of inertia is large when the multi-axis is linked. When the mechanism reaches nine axes or more, the terminal inertia will be relatively large, which will make the final spraying accuracy lower.
发明内容Contents of the invention
发明目的：针对现有技术存在的问题，本发明的目的是提供一种用于船舶分段涂装的移动式索并联喷涂装备，能够实现大行程、多角度的联动控制，满足大型分段船舶构件的喷涂需求，并且能够保证狭小复杂区域的喷涂质量与效率。Purpose of the invention: In view of the problems existing in the prior art, the purpose of the present invention is to provide a mobile cable-parallel spraying equipment for segmental coating of ships, which can realize linkage control of large strokes and multiple angles, and meet the requirements of large-scale segmented ships. The spraying requirements of components can be guaranteed, and the spraying quality and efficiency of small and complex areas can be guaranteed.
技术方案：一种用于船舶分段涂装的移动式索并联喷涂装备，包括：Technical solution: A mobile cable-parallel spraying equipment for segmental coating of ships, including:
支撑行架，沿Y向布置，包括一个或多个Y向轨道；The supporting row frame is arranged along the Y direction and includes one or more Y direction rails;
空中Y向移动机构，架置在支撑行架上，与支撑行架的Y向轨道滑动连接，实现Y向运动；所述空中Y向移动机构包括至少一个X向轨道；The Y-direction moving mechanism in the air is installed on the supporting row frame, and is slidably connected with the Y-direction rail of the supporting row frame to realize the Y-direction movement; the Y-direction moving mechanism in the air includes at least one X-direction rail;
空中X向移动机构，安装在空中Y向移动机构上，与其X向轨道滑动连接，实现X向运动；The X-direction moving mechanism in the air is installed on the Y-direction moving mechanism in the air, and is slidingly connected with the X-direction track to realize the X-direction movement;
Z向调整机构，通过吊装平台安装在空中X向移动机构的下方，所述吊装平台上设有升降机构；The Z-direction adjustment mechanism is installed under the X-direction movement mechanism in the air through a hoisting platform, and the hoisting platform is provided with a lifting mechanism;
喷涂机械手臂，安装在Z向调整机构的升降机构上；The spraying robot arm is installed on the lifting mechanism of the Z-direction adjustment mechanism;
地轨Y向移动液压升降平台，设置在Z向调整机构一侧，且和Z向调整机构柔性连接；具体的，地轨Y向移动液压升降平台包括液压升降台、地轨Y向传动机构、地轨、第一并联索组；所述地轨沿Y向布置，液压升降台安装在地轨上，能够在地轨Y向传动机构的驱动下沿地轨运动；所述液压升降台上设有地轨卷扬机，第一并联索组一端绕在地轨卷扬机上，另一端和Z向调整机构连接，第一并联索组在地轨卷扬机的控制下进行收放，实现对Z向调整机构的角度微调。The ground rail Y-direction mobile hydraulic lifting platform is arranged on the side of the Z-direction adjustment mechanism, and is flexibly connected with the Z-direction adjustment mechanism; specifically, the ground rail Y-direction mobile hydraulic lifting platform includes a hydraulic lifting platform, a ground rail Y-direction transmission mechanism, The ground rail and the first parallel cable group; the ground rail is arranged along the Y direction, and the hydraulic lifting platform is installed on the ground rail, and can move along the ground rail under the drive of the Y-direction transmission mechanism of the ground rail; the hydraulic lifting platform is equipped with There is a ground rail hoist, one end of the first parallel cable group is wound on the ground rail hoist, and the other end is connected to the Z-direction adjustment mechanism. The first parallel cable group is retracted under the control of the ground rail hoist to realize the adjustment of the Z-direction adjustment mechanism. Angle fine-tuning.
进一步的，所述空中Y向移动机构包括承载平台、X向轨道、Y向伺服电机、Y向导向轮机构、Y向齿轮、Y向齿条；Further, the Y-direction moving mechanism in the air includes a bearing platform, an X-direction track, a Y-direction servo motor, a Y-direction guide wheel mechanism, a Y-direction gear, and a Y-direction rack;
所述空中X向移动机构安装在承载平台上；Y向齿条安装在Y向轨道内侧，Y向齿轮和Y向伺服电机的输出轴连接，进行啮合传动；所述Y向导向轮机构和支撑行架的Y向轨道适配，用于空中Y方向运动的承载和导向。The X-direction moving mechanism in the air is installed on the bearing platform; the Y-direction rack is installed on the inner side of the Y-direction track, and the Y-direction gear is connected with the output shaft of the Y-direction servo motor for meshing transmission; the Y-direction guide wheel mechanism and support The Y-direction track of the travel frame is adapted to carry and guide the movement in the Y-direction in the air.
进一步的，所述空中X向移动机构包括X向伺服电机、承载小车、X向导向轮机构、X向齿轮、X向齿条；所示吊装平台安装在承载小车底部；Further, the X-direction moving mechanism in the air includes an X-direction servo motor, a carrying trolley, an X-direction guide wheel mechanism, an X-direction gear, and an X-direction rack; the hoisting platform shown is installed at the bottom of the carrying trolley;
X向齿条安装在X向轨道内侧，X向齿轮和X向伺服电机的输出轴连接，进行啮合传动；所述X向导向轮机构安装在和承载小车一侧，与空中Y向移动机构的X向轨道适配，用于空中X方向运动的承载和导向。The X-direction rack is installed inside the X-direction track, and the X-direction gear is connected to the output shaft of the X-direction servo motor for meshing transmission; the X-direction guide wheel mechanism is installed on the side of the carrying trolley, and is connected with the Y-direction moving mechanism in the air X-direction track adaptation, used for carrying and guiding X-direction movement in the air.
进一步的，所述升降机构包括第二并联索组、Z向卷扬机、机械手安装平台；所述喷涂机械手臂安装在机械手安装平台底部；所述Z向卷扬机安装在吊装平台上，吊装平台上安装有多个定滑轮，各定滑轮对应安装有一个可转动吊环；所述机械手臂安装平台上安装有多个动滑轮；Further, the lifting mechanism includes a second parallel cable group, a Z-direction hoist, and a robot installation platform; the spraying robot arm is installed at the bottom of the robot installation platform; the Z-direction hoist is installed on a hoisting platform, and a A plurality of fixed pulleys, each fixed pulley is correspondingly equipped with a rotatable lifting ring; the installation platform of the mechanical arm is equipped with a plurality of movable pulleys;
第二并联索组一端固定在吊装平台的可转动吊环上，另一端穿过机械手臂安装平台的动滑轮后回到吊装平台的定滑轮，通过定滑轮回到Z向卷扬机；第二并联索组由Z向卷扬机控制进行收放，实现机械手臂安装平台的Z向移动以及角度调整。One end of the second parallel cable set is fixed on the rotatable ring of the hoisting platform, and the other end passes through the movable pulley of the mechanical arm installation platform and returns to the fixed pulley of the hoisting platform, and returns to the Z-direction hoist through the fixed pulley; the second parallel cable set is composed of The Z-direction winch is controlled to retract and retract to realize the Z-direction movement and angle adjustment of the mechanical arm installation platform.
可选的，所述喷涂机械手臂以螺栓连接方式安装在机械手臂安装平台下端，喷涂装置安装在喷涂机械手臂末端，通过机械手臂的运动进行喷涂工作。Optionally, the spraying robot arm is installed at the lower end of the robot arm installation platform in a bolted manner, and the spraying device is installed at the end of the spraying robot arm, and the spraying work is performed through the movement of the robot arm.
进一步的，所述地轨Y向传动机构包括地轨Y向传动电机、地轨Y向齿轮、地轨Y向齿条；其中，地轨Y向齿条安装在地轨的轨道内，地轨Y向齿轮和地轨Y向传动电机的输出轴连接，进行啮合传动。Further, the ground rail Y-direction transmission mechanism includes a ground rail Y-direction transmission motor, a ground rail Y-direction gear, and a ground rail Y-direction rack; wherein, the ground rail Y-direction rack is installed in the track of the ground rail, and the ground rail The Y-direction gear is connected with the output shaft of the ground rail Y-direction transmission motor for meshing transmission.
有益效果：Beneficial effect:
与现有技术相比，本发明具有如下显著优点：Compared with the prior art, the present invention has the following significant advantages:
(1)本发明可实现大行程、多角度的联动控制，运动喷涂范围广，可以对分段船舶等大型待喷涂工件进行喷涂；并能够保证狭小复杂区域的喷涂质量与效率。(1) The present invention can realize large-stroke, multi-angle linkage control, and has a wide range of motion spraying, which can spray large workpieces to be sprayed such as segmented ships; and can ensure the spraying quality and efficiency of narrow and complex areas.
(2)本发明相较于纯串联式喷涂机器人，联动时具有更小的末端累计误差，并且可调节角度更广。(2) Compared with the pure tandem spraying robot, the present invention has a smaller terminal cumulative error and a wider adjustable angle during linkage.
(3)本发明通过地轨Y向卷扬机驱动并联索组，与整体机构联动，用来稳固被吊机械手臂安装平台，使整个***更加的稳定。(3) The present invention drives the parallel cable group through the Y-direction hoist on the ground rail, which is linked with the overall mechanism, and is used to stabilize the installation platform of the hoisted mechanical arm, making the whole system more stable.
(4)本发明Z向采用索并联式驱动，进行联动时，具有优秀的避震性能。(4) The Z direction of the present invention adopts cable parallel drive, and has excellent shock-absorbing performance during linkage.
(5)本发明索驱动方式运用动滑轮省力原理，可使得空中卷扬机的选型更加广泛，可选用更加轻小的卷扬机。(5) The cable drive method of the present invention uses the labor-saving principle of the movable pulley, which can make the selection of the aerial hoist more extensive, and the hoist that is lighter and smaller can be selected.
(6)本发明索驱动方式运用动滑轮废距离原理，增大卷扬机容许误差范围，提高被吊机械手臂安装平台Z向移动与角度调整的精度。(6) The cable driving method of the present invention uses the principle of the waste distance of the movable pulley to increase the allowable error range of the winch and improve the Z-direction movement and angle adjustment accuracy of the hoisted mechanical arm installation platform.
(7)本发明均为模块化装配，便于安装、修理、装配。(7) The present invention is modular assembly, which is convenient for installation, repair and assembly.
(8)可实现无人化喷涂，无害人体健康。(8) Unmanned spraying can be realized, which is harmless to human health.
附图说明Description of drawings
图1是本发明的总体结构；Fig. 1 is general structure of the present invention;
图2(a)-(b)是空中Y向移动机构；Figure 2 (a)-(b) is the Y-direction moving mechanism in the air;
图3是空中X向移动机构；Fig. 3 is the X-direction moving mechanism in the air;
图4是采用所并联驱动的Z向调整机构；Fig. 4 adopts the Z-direction adjustment mechanism driven in parallel;
图5是动滑轮式拉锁方式；Fig. 5 is movable pulley type zipper mode;
图6是地轨Y向移动液压升降平台。Figure 6 is the ground rail Y-direction mobile hydraulic lifting platform.
具体实施方式detailed description
下面结合实施例和附图对本发明的技术方案作进一步详细说明。The technical solution of the present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings.
一种用于船舶分段涂装的移动式索并联喷涂装备，包括支撑行架1，空中Y向移动机构2，空中X向移动机构3，Z向调整机构4，地轨Y向移动液压升降平台5，喷涂机械手臂6。A mobile cable-parallel spraying equipment for segmental painting of ships, including a supporting row frame 1, a moving mechanism 2 in the Y direction in the air, a moving mechanism 3 in the X direction in the air, an adjustment mechanism 4 in the Z direction, and a ground rail Y-direction moving hydraulic lift Platform 5, spraying robot arm 6.
如图1所示，一对平行的支撑行架1沿Y向延伸布置，每侧支撑行架1包括一个Y向轨道13。空中Y向移动机构2横向架置在两个支撑行架1之间，其两端和支撑行架1的Y向轨道13滑动连接，通过齿轮齿条传动，实现喷涂机械手臂6在Y方向的运动。空中X向移动机构3安装在空中Y向移动机构2上，同样通过齿轮齿条传动，实现喷涂机械手臂6在X方向的运动。Z向调整机构4安装在空中X向移动机构3底部，包括升降机构，喷涂机械手臂6 安装在其末端，用于实现喷涂机械手臂6在Z方向的运动。地轨Y向移动液压升降平台5设置在Z向调整机构4一侧，和Z向调整机构4柔性连接。As shown in FIG. 1 , a pair of parallel supporting racks 1 are arranged extending along the Y direction, and each supporting rack 1 includes a Y-direction rail 13 . The Y-direction moving mechanism 2 in the air is horizontally installed between two supporting racks 1, and its two ends are slidingly connected with the Y-direction rails 13 of the supporting rack 1, and the movement of the spraying robot arm 6 in the Y direction is realized through rack and pinion transmission. sports. The X-direction moving mechanism 3 in the air is installed on the Y-direction moving mechanism 2 in the air, and is also driven by rack and pinion to realize the movement of the spraying mechanical arm 6 in the X direction. The Z-direction adjustment mechanism 4 is installed at the bottom of the X-direction moving mechanism 3 in the air, and includes a lifting mechanism, and the spraying robot arm 6 is installed at its end for realizing the movement of the spraying robot arm 6 in the Z direction. The Y-direction mobile hydraulic lifting platform 5 of the ground rail is arranged on one side of the Z-direction adjustment mechanism 4 and is flexibly connected with the Z-direction adjustment mechanism 4 .
如图2(a)、2(b)所示，空中Y向移动机构2包括承载平台8、X向轨道9、Y向伺服电机10，Y向导向轮机构16、齿轮齿条机构(Y向齿轮11、Y向齿条12)。As shown in Fig. 2 (a), 2 (b), airborne Y direction mobile mechanism 2 comprises carrying platform 8, X direction track 9, Y direction servomotor 10, Y direction guide wheel mechanism 16, pinion and rack mechanism (Y direction Gear 11, Y to rack 12).
承载平台8主要功能是将空中X方向移动机构3及其零件安装在上面，从而实现空中X向移动机构3在X方向的运动。The main function of the carrying platform 8 is to install the aerial X-direction moving mechanism 3 and its parts on it, so as to realize the movement of the aerial X-direction moving mechanism 3 in the X direction.
Y向齿轮11、Y向齿条12、Y向伺服电机10与Y向轨道13一起组成驱动结构。Y向齿条12安装在轨道内侧，结构紧凑，Y向齿轮11安装在Y向伺服电机10上，啮合传动实现整体空中Y向移动。The Y-direction gear 11 , the Y-direction rack 12 , the Y-direction servo motor 10 and the Y-direction track 13 form a driving structure together. The Y-direction rack 12 is installed on the inner side of the track, and has a compact structure. The Y-direction gear 11 is installed on the Y-direction servo motor 10, and the meshing transmission realizes the overall Y-direction movement in the air.
Y向导向轮机构16和Y向轨道13适配安装，用于承载空中Y方向的运动导向。The Y-direction guide wheel mechanism 16 and the Y-direction rail 13 are fitted and installed, and are used to carry the movement guide in the Y-direction in the air.
如图3所示，空中X向移动机构3包括X向伺服电机14、承载小车15、X向导向轮机构22、齿轮齿条机构(X向齿轮、X向齿条)、吊装平台17。As shown in FIG. 3 , the X-direction moving mechanism 3 in the air includes an X-direction servo motor 14 , a carrying trolley 15 , an X-direction guide wheel mechanism 22 , a rack and pinion mechanism (X-direction gear, X-direction rack), and a lifting platform 17 .
吊装平台17通过连接件安装在承载小车15底部，用于承载Z向调整机构4，带动Z向调整机构一起移动。齿轮齿条机构、X向伺服电机14与X向轨道9一起组成驱动结构。X向齿条安装在X向轨道内侧，结构紧凑，X向齿轮安装在X向伺服电机14上，啮合传动实现整体空中X向移动。The hoisting platform 17 is installed on the bottom of the carrying trolley 15 through a connecting piece, and is used to carry the Z-direction adjustment mechanism 4 and drive the Z-direction adjustment mechanism to move together. The rack and pinion mechanism, the X-direction servo motor 14 and the X-direction track 9 form a drive structure together. The X-direction rack is installed on the inner side of the X-direction track, and has a compact structure. The X-direction gear is installed on the X-direction servo motor 14, and the meshing transmission realizes the overall X-direction movement in the air.
X向导向轮机构22安装在承载小车15上，与X向轨道9适配，用于承载空中X方向的运动导向。The X-direction guide wheel mechanism 22 is installed on the carrying trolley 15, adapted to the X-direction rail 9, and used to carry the motion guidance in the X-direction in the air.
Z向调整机构4的功能是实现被吊机械手臂安装平台的Z向移动，以及该平台的角度调整。本实施例中，Z向调整机构为索并联驱动式结构，包括机械手臂安装平台24、索四组(即第二并联索组7)。Z向卷扬机安装在吊装平台17上，通过四组索的收放实现被吊机械手臂安装平台的Z向移动，以及该平台的角度调整。The function of the Z-direction adjustment mechanism 4 is to realize the Z-direction movement of the installation platform of the suspended mechanical arm and the angle adjustment of the platform. In this embodiment, the Z-direction adjustment mechanism is a cable-parallel-driven structure, including a robot arm installation platform 24 and four sets of cables (ie, the second parallel cable set 7 ). The Z-direction winch is installed on the hoisting platform 17, and realizes the Z-direction movement of the installation platform of the suspended mechanical arm and the angle adjustment of the platform by retracting and unwinding the four groups of cables.
如图4所示，本实施例的吊装平台17为方形平台，吊装平台17上包括四组Z向卷扬机19、四个定滑轮20、四个可转动吊环21。方形平台水平安装在空中X向移动机构3的承载小车15底部。四组Z向卷扬机19安装在方形平台上；四个定滑轮20安装在方形平台的四个角上，四个可转动吊环21与定滑轮20一一对应，安装在方形平台下方的四角处。As shown in FIG. 4 , the hoisting platform 17 of this embodiment is a square platform, and the hoisting platform 17 includes four groups of Z-direction winches 19 , four fixed pulleys 20 , and four rotatable suspension rings 21 . The square platform is horizontally installed at the bottom of the carrying trolley 15 of the X-direction moving mechanism 3 in the air. Four groups of Z hoists 19 are installed on the square platform; four fixed pulleys 20 are installed on the four corners of the square platform, and four rotatable suspension rings 21 correspond to the fixed pulleys 20 one by one, and are installed at the four corners below the square platform.
机械手臂安装平台24为方形被吊平台，位于吊装平台17正下方，方形被吊平台的四个角上安装有四组动滑轮25，方形被吊平台通过第二并联索组7与吊装平台17连接。具体的，四组索一端分别固定在吊装平台的四个可转动吊环21上，另一端穿过被吊机械手臂安装平台的动滑轮25后回到吊装上平台的定滑轮20，通过定滑轮20回到四组Z向卷扬机19，连接方 式见图5。四组索分别由吊装平台的四组Z向卷扬机控制收放，通过同步收放或者独立收放的方式，实现被吊机械手臂安装平台的Z向移动，以及平台角度调整。例如，可通过控制四组Z向卷扬机19以相同速度收放索组，实现被吊机械手臂安装平台整体在Z向的移动，从而调整喷涂机械手臂6的高度；各Z向卷扬机19也可以独立工作，当其中一个或者几个Z向卷扬机19单独进行收放时，其下端的被吊机械手臂安装平台发生倾斜，即实现了角度的调整。The mechanical arm installation platform 24 is a square hoisted platform, which is located directly below the hoisting platform 17. Four sets of movable pulleys 25 are installed on the four corners of the square hoisted platform. The square hoisted platform is connected to the hoisting platform 17 through the second parallel cable set 7. . Specifically, one end of the four groups of cables is respectively fixed on four rotatable suspension rings 21 of the hoisting platform, and the other end passes through the movable pulley 25 of the installation platform of the hoisted mechanical arm and returns to the fixed pulley 20 of the upper platform for hoisting, and passes through the fixed pulley 20 times. To four groups of Z to winch 19, the connection mode is shown in Fig. 5. The four sets of cables are respectively retracted and retracted by the four groups of Z-direction hoists of the hoisting platform. Through synchronous retraction or independent retraction, the Z-direction movement of the installation platform of the hoisted mechanical arm and the adjustment of the platform angle are realized. For example, four groups of Z-direction winches 19 can be controlled to retract and unwind the cable group at the same speed to realize the overall movement of the suspended mechanical arm installation platform in the Z direction, thereby adjusting the height of the spraying robot arm 6; each Z-direction winch 19 can also be independent Work, when one or several Z-direction winches 19 are retracted independently, the installed platform of the suspended mechanical arm at its lower end is inclined, which realizes the adjustment of the angle.
上述四组动滑轮的方式吊装，以动滑轮省一半力的原理，可使得空中Z向卷扬机的选型更加广泛，可选用更加轻小的卷扬机。同时，由于动滑轮省力废二倍距离的原理，会增大卷扬机容许误差范围，提高被吊机械手臂安装平台Z向移动与角度调整的精度。The above-mentioned four sets of moving pulleys are hoisted, and the principle of saving half the force of the moving pulleys can make the selection of Z-direction winches in the air more extensive, and lighter and smaller winches can be selected. At the same time, due to the principle of energy-saving moving pulleys and doubling the distance, the allowable error range of the hoist will be increased, and the precision of Z-direction movement and angle adjustment of the installation platform of the hoisted mechanical arm will be improved.
需要说明的是，Z向调整机构4中动滑轮组、定滑轮组、卷扬机组、索组的数量及位置可根据吊装平台、被吊机械手臂安装平台的尺寸、形状，以及角度调整的精度需求等因素作出适应性改变。It should be noted that the number and position of the movable pulley block, fixed pulley block, hoisting set, and cable set in the Z-direction adjustment mechanism 4 can be adjusted according to the size and shape of the hoisting platform, the installation platform of the hoisted mechanical arm, and the accuracy requirements of angle adjustment. Make adaptive changes.
喷涂机械手臂6的作用是安装喷涂装置，实现各种复杂姿势的喷涂工作。可选的，喷涂机械手臂以螺栓连接方式安装在被吊机械手臂安装平台下端，喷涂装置安装在喷涂机械手臂末端，通过机械手臂的运动来进行喷涂工作。The effect of spraying mechanical arm 6 is to install spraying device, realizes the spraying work of various complex postures. Optionally, the spraying robot arm is installed on the lower end of the hanging robot arm installation platform in a bolt connection mode, and the spraying device is installed at the end of the spraying robot arm, and the spraying work is performed through the movement of the robot arm.
地轨Y向移动式液压升降平台5设置在Z向调整机构4一侧，其通过第一并联索组18和机械手臂安装平台24柔性连接。如图6所示，本实施例中，地轨Y向移动式液压升降平台5包括地轨30、地轨Y向齿轮齿条机构(地轨Y向齿轮28、地轨Y向齿条29)、地轨Y向传动电机27、液压升降台26、地轨Y向卷扬机2组。The ground rail Y-direction mobile hydraulic lifting platform 5 is arranged on the side of the Z-direction adjustment mechanism 4 , which is flexibly connected to the mechanical arm installation platform 24 through the first parallel cable set 18 . As shown in Figure 6, in this embodiment, the ground rail Y-direction mobile hydraulic lifting platform 5 includes a ground rail 30, a ground rail Y-direction rack and pinion mechanism (ground rail Y-direction gear 28, ground rail Y-direction rack 29) , Ground rail Y-direction drive motor 27, hydraulic lifting platform 26, and ground rail Y-direction winch 2 groups.
地轨30安装于车间地面上，液压升降台26放置在地轨30上，地轨Y向传动电机27位于液压升降台26后端，地轨Y向齿条29安装在地轨30的轨道内，地轨Y向齿轮28安装在地轨Y向传动电机27上，进行啮合传动。两组地轨卷扬机23安装在液压升降台26上面板，随液压升降台实现Y向以及Z向的移动。The ground rail 30 is installed on the floor of the workshop, the hydraulic lifting platform 26 is placed on the ground rail 30, the ground rail Y-direction transmission motor 27 is located at the rear end of the hydraulic lifting platform 26, and the ground rail Y-direction rack 29 is installed in the track of the ground rail 30 , The ground rail Y-direction gear 28 is installed on the ground rail Y-direction transmission motor 27 for meshing transmission. Two groups of ground rail winches 23 are installed on the upper panel of the hydraulic lifting platform 26, and move along the Y direction and the Z direction with the hydraulic lifting platform.
在机械手臂安装平台24完成XYZ向运动后，通过地轨Y向卷扬机调整第一并联索组18和机械手臂安装平台24的张紧状态，对机械手臂安装平台进行稳固；当进行机械手臂安装平台24的角度调整时，控制液压升降台26沿Y向运动，第一并联索组18拖动机械手臂安装平台24，实现机械手臂安装平台的角度调整；此方案通过联动来稳固被吊机械手臂安装平台，以及实现角度的微调，通过托举地轨两组卷扬机至一定高度，可有效避免索与被喷涂船体之间的干涉。After the mechanical arm installation platform 24 completes the XYZ movement, adjust the tension state of the first parallel cable group 18 and the mechanical arm installation platform 24 through the Y-direction winch of the ground rail to stabilize the mechanical arm installation platform; When the angle of 24 is adjusted, the hydraulic lifting platform 26 is controlled to move along the Y direction, and the first parallel cable group 18 drags the mechanical arm installation platform 24 to realize the angle adjustment of the mechanical arm installation platform; this scheme stabilizes the installation of the suspended mechanical arm through linkage The platform, and the fine adjustment of the angle, can effectively avoid the interference between the cable and the sprayed hull by lifting the two sets of hoists on the ground rail to a certain height.

Claims (5)

  1. 一种用于船舶分段涂装的移动式索并联喷涂装备，其特征在于，包括：A mobile cable-parallel spraying equipment for segmental coating of ships, characterized in that it comprises:
    支撑行架(1)，沿Y向布置，包括一个或多个Y向轨道(13)；The supporting row frame (1) is arranged along the Y direction and includes one or more Y direction rails (13);
    空中Y向移动机构(2)，架置在支撑行架(1)上，与支撑行架(1)的Y向轨道(13)滑动连接，实现Y向运动；所述空中Y向移动机构(2)包括至少一个X向轨道(9)；The Y-direction movement mechanism (2) in the air is mounted on the support row frame (1), and is slidably connected with the Y-direction track (13) of the support row frame (1) to realize the Y-direction movement; the Y-direction movement mechanism in the air ( 2) comprising at least one X-direction track (9);
    空中X向移动机构(3)，安装在空中Y向移动机构(2)上，与其X向轨道(9)滑动连接，实现X向运动；The X-direction moving mechanism (3) in the air is installed on the Y-direction moving mechanism (2) in the air, and is slidably connected with the X-direction track (9) to realize the X-direction movement;
    Z向调整机构(4)，通过吊装平台(17)安装在空中X向移动机构(2)的下方，所述吊装平台(17)上设有升降机构；The Z-direction adjustment mechanism (4) is installed below the aerial X-direction movement mechanism (2) through the hoisting platform (17), and the hoisting platform (17) is provided with a lifting mechanism;
    喷涂机械手臂(6)，安装在Z向调整机构(4)的升降机构上；The spraying mechanical arm (6) is installed on the lifting mechanism of the Z-direction adjustment mechanism (4);
    地轨Y向移动液压升降平台(5)，设置在Z向调整机构(4)一侧，且和Z向调整机构(4)柔性连接；具体的，地轨Y向移动液压升降平台(5)包括液压升降台(26)、地轨Y向传动机构、地轨(30)、第一并联索组(18)；所述地轨(30)沿Y向布置，液压升降台(26)安装在地轨(30)上，能够在地轨Y向传动机构的驱动下沿地轨(30)运动；所述液压升降台(26)上设有地轨卷扬机(23)，第一并联索组(18)一端绕在地轨卷扬机(23)上，另一端和Z向调整机构(4)连接，第一并联索组(18)在地轨卷扬机(23)的控制下进行收放，实现对Z向调整机构(4)的角度微调；The ground rail Y-direction mobile hydraulic lifting platform (5) is arranged on the side of the Z-direction adjustment mechanism (4), and is flexibly connected to the Z-direction adjustment mechanism (4); specifically, the ground rail Y-direction mobile hydraulic lift platform (5) It includes a hydraulic lifting platform (26), a ground rail Y-direction transmission mechanism, a ground rail (30), and a first parallel cable group (18); the ground rail (30) is arranged along the Y direction, and the hydraulic lifting platform (26) is installed on On the ground rail (30), it can move along the ground rail (30) under the drive of the ground rail Y-direction transmission mechanism; the hydraulic lifting platform (26) is provided with a ground rail winch (23), and the first parallel cable group ( 18) One end is wound on the ground rail hoist (23), and the other end is connected to the Z-direction adjustment mechanism (4). Make fine adjustments to the angle of the adjustment mechanism (4);
    所述升降机构包括第二并联索组(7)、Z向卷扬机(19)、机械手臂安装平台(24)；The lifting mechanism includes a second parallel cable set (7), a Z-direction winch (19), and a mechanical arm installation platform (24);
    所述喷涂机械手臂(6)安装在机械手臂安装平台(24)底部；所述Z向卷扬机(19)安装在吊装平台(17)上，吊装平台(17)上安装有多个定滑轮(20)，各定滑轮(20)对应安装有一个可转动吊环(21)；所述机械手臂安装平台(24)上安装有多个动滑轮(25)；The spraying mechanical arm (6) is installed on the bottom of the mechanical arm installation platform (24); the Z-direction winch (19) is installed on the hoisting platform (17), and a plurality of fixed pulleys (20) are installed on the hoisting platform (17). ), each fixed pulley (20) is correspondingly equipped with a rotatable suspension ring (21); said mechanical arm installation platform (24) is equipped with a plurality of movable pulleys (25);
    第二并联索组(7)一端固定在吊装平台(17)的可转动吊环(21)上，另一端穿过机械手臂安装平台(24)的动滑轮(25)后回到吊装平台(17)的定滑轮(20)，通过定滑轮(20)回到Z向卷扬机(19)；第二并联索组(7)由Z向卷扬机(19)控制进行收放，实现机械手臂安装平台(24)的Z向移动以及角度调整。One end of the second parallel cable group (7) is fixed on the rotatable suspension ring (21) of the hoisting platform (17), and the other end passes through the moving pulley (25) of the mechanical arm installation platform (24) and returns to the hoisting platform (17) The fixed pulley (20) returns to the Z-direction hoist (19) through the fixed pulley (20); the second parallel cable group (7) is controlled by the Z-direction hoist (19) to be retracted, so as to realize the installation of the mechanical arm installation platform (24) Z-direction movement and angle adjustment.
  2. 根据权利要求1所述的移动式索并联喷涂装备，其特征在于，所述空中Y向移动机构(2)包括承载平台(8)、X向轨道(9)、Y向伺服电机(10)、Y向导向轮机构(16)、Y向齿轮(11)、Y向齿条(12)；The mobile cable-parallel spraying equipment according to claim 1, characterized in that the Y-direction moving mechanism (2) in the air includes a carrying platform (8), X-direction rails (9), Y-direction servo motors (10), Y direction guide wheel mechanism (16), Y direction gear (11), Y direction rack (12);
    所述空中X向移动机构(3)安装在承载平台(8)上；Y向齿条(12)安装在Y向轨道(13)内侧，Y向齿轮(11)和Y向伺服电机(10)的输出轴连接，进行啮合传动；所述Y 向导向轮机构(16)和支撑行架(1)的Y向轨道(13)适配，用于空中Y方向运动的承载和导向。The X-direction moving mechanism (3) in the air is installed on the carrying platform (8); the Y-direction rack (12) is installed on the inside of the Y-direction track (13), and the Y-direction gear (11) and the Y-direction servo motor (10) The output shaft is connected to carry out meshing transmission; the Y-direction guide wheel mechanism (16) is adapted to the Y-direction track (13) supporting the carriage (1), and is used for carrying and guiding Y-direction movement in the air.
  3. 根据权利要求1所述的移动式索并联喷涂装备，其特征在于，所述空中X向移动机构(3)包括X向伺服电机(14)、承载小车(15)、X向导向轮机构(22)、X向齿轮、X向齿条；所述吊装平台(17)安装在承载小车(15)底部；The mobile cable parallel spraying equipment according to claim 1, characterized in that, the aerial X-direction moving mechanism (3) includes an X-direction servo motor (14), a carrying trolley (15), and an X-direction guide wheel mechanism (22 ), X-direction gear, X-direction rack; The hoisting platform (17) is installed on the bottom of the carrying trolley (15);
    X向齿条安装在X向轨道(9)内侧，X向齿轮和X向伺服电机(14)的输出轴连接，进行啮合传动；所述X向导向轮机构(22)安装在承载小车(15)一侧，与空中Y向移动机构(2)的X向轨道(9)适配，用于空中X方向运动的承载和导向。The X-direction rack is installed on the inner side of the X-direction track (9), and the X-direction gear is connected to the output shaft of the X-direction servo motor (14) for meshing transmission; the X-direction wheel mechanism (22) is installed on the carrying trolley (15 ) side, adapted to the X-direction track (9) of the Y-direction movement mechanism (2) in the air, and used for carrying and guiding the movement in the X-direction in the air.
  4. 根据权利要求1所述的移动式索并联喷涂装备，其特征在于，所述喷涂机械手臂(6)以螺栓连接方式安装在机械手臂安装平台(24)下端，喷涂装置安装在喷涂机械手臂末端，通过机械手臂的运动进行喷涂工作。The mobile cable-parallel spraying equipment according to claim 1, characterized in that, the spraying robot arm (6) is installed on the lower end of the robot arm installation platform (24) in a bolt connection mode, and the spraying device is installed on the end of the spraying robot arm, The spraying work is carried out by the movement of the mechanical arm.
  5. 根据权利要求1所述的移动式索并联喷涂装备，其特征在于：所述地轨Y向传动机构包括地轨Y向传动电机(27)、地轨Y向齿轮(28)、地轨Y向齿条(29)；其中，地轨Y向齿条(29)安装在地轨(30)的轨道内，地轨Y向齿轮(28)和地轨Y向传动电机(27)的输出轴连接，进行啮合传动。The mobile cable-parallel spraying equipment according to claim 1, characterized in that: the ground rail Y-direction transmission mechanism includes a ground rail Y-direction transmission motor (27), a ground rail Y-direction gear (28), a ground rail Y-direction rack (29); wherein, the ground rail Y rack (29) is installed in the track of the ground rail (30), and the ground rail Y gear (28) is connected to the output shaft of the ground rail Y transmission motor (27) , for meshing transmission.
PCT/CN2022/099415 2021-07-15 2022-06-17 Movable and parallel-cable spraying apparatus for ship segmented coating WO2023284482A1 (en)

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