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Thirteen degrees of freedom large hull exterior surface spraying robot

A technology of spraying robot and degree of freedom, which is applied in the direction of manipulators, spraying devices, program-controlled manipulators, etc. It can solve the problems of high smoothness requirements on the hull surface, low spraying quality, high reverse spraying rate, etc., and achieve improved spraying range, light weight, The effect of a large working area

Active Publication Date: 2017-08-25
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a 13-degree-of-freedom large-scale hull surface spraying robot to solve the problem that the existing equipment is divided into the hull surface adsorption type and the frame mobile type. The former has high requirements on the smoothness of the hull surface and poor reliability, while the latter is flexible. Poor performance, resulting in high spraying rate and low spraying quality

Method used

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  • Thirteen degrees of freedom large hull exterior surface spraying robot
  • Thirteen degrees of freedom large hull exterior surface spraying robot
  • Thirteen degrees of freedom large hull exterior surface spraying robot

Examples

Experimental program
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specific Embodiment approach 1

[0029] Specific implementation mode one: combine figure 1 , figure 2 with image 3Describe this embodiment. This embodiment includes a mobile vehicle body, a seven-degree-of-freedom hydraulic extension arm and a six-degree-of-freedom lightweight manipulator. On the car body, the six-degree-of-freedom lightweight manipulator is set on a seven-degree-of-freedom hydraulic arm;

[0030] The seven-degree-of-freedom hydraulic boom includes a counterweight turntable 18, a first boom 19, an auxiliary boom 110, a main boom 112, a telescopic boom 113, a short boom 116, a rotating support connector 117, a first hydraulic cylinder, and a second hydraulic cylinder. Cylinder 13, third hydraulic cylinder 111, fourth hydraulic cylinder, fifth hydraulic cylinder 114, sixth hydraulic cylinder 115, first connecting member 51, second connecting member 52 and third connecting member 53, the counterweight turntable 18 It is arranged on the mobile car body and rotates with the mobile car body. T...

specific Embodiment approach 2

[0035] Specific implementation mode two: combination figure 2 , image 3 , Figure 4 , Figure 5 , Figure 8 with Figure 9 Describe this embodiment, in this embodiment, the manipulator body includes a first explosion-proof servo motor 22, a second explosion-proof servo motor 21, a third explosion-proof servo motor 213, a rotating base 23, an external connecting rod 24, an elbow support 25, and an explosion-proof casing 26. Forearm connector 28, forearm 27, wrist middle section 29, wrist end 210, spray gun connector 212, spray gun 211 and second big arm 215, the first explosion-proof servo motor 22 is connected to the motor flange 46 The lower end surface of the loading platform 12, the rotating base 23 is arranged on the upper end surface of the loading platform 12 and its bottom is connected with the output shaft of the first explosion-proof servo motor 22, and the bottom of the second big arm 215 is hinged on the rotating base 23 Above, the second explosion-proof serv...

specific Embodiment approach 3

[0039] Specific implementation mode three: combination Figure 8 , Figure 9 with Figure 10 Describe this embodiment. In this embodiment, the manipulator body further includes a first RV reducer 47 , and the first RV reducer 47 is arranged between the second explosion-proof servo motor 22 and the rotating base 23 .

[0040] In this embodiment, the manipulator body also includes a second RV reducer 45 and a third RV reducer 42, the second RV reducer 45 is arranged between the second explosion-proof servo motor 22 and the rotating base 23; the third RV The speed reducer 42 is arranged between the third explosion-proof servo motor 213 and the rotating base 23 .

[0041] In this embodiment, the third explosion-proof servo motor 213 is installed on the motor base 214, and through the deceleration of the third RV reducer 42, it drives the second big arm 215 to rotate, and the reduction ratio is 110:1; the installation method of the first explosion-proof servo motor 21 Same as ab...

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Abstract

The invention discloses a thirteen-freedom spraying robot for an outer surface of a large ship body, and relates to a spraying robot for the outer surface of the ship body. Current equipment is divided into a ship body surface adsorption type and a framework movable type, wherein the ship body surface adsorption type is high in requirement on surface smoothness of the ship body and is poor in reliability while the framework movable type is poor in flexibility, so that the reverse spraying rate of spraying is high, and the spraying quality is low. A mobile car body is arranged close to a sectional ship body; a seven-freedom hydraulic expanding arm is arranged on the mobile car body; a six-freedom light mechanical hand is arranged on the seven-freedom hydraulic expanding arm; the seven-freedom hydraulic expanding arm comprises a counterweight rotary plate, a first large arm, an auxiliary arm, a main arm, a telescopic arm, a short arm, a rotary supporting connector, a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, a fourth hydraulic cylinder, a fifth hydraulic cylinder, a sixth hydraulic cylinder, a first connector, a second connector and a third connector; a mechanical hand main body is fixedly mounted on a heavy-duty platform; and the heavy-duty platform is connected to the rotary supporting connector. The thirteen-freedom spraying robot is used for spraying the large ship body.

Description

technical field [0001] The invention specifically relates to a 13-degree-of-freedom large-scale ship outer surface spraying robot. Background technique [0002] With the development of electromechanical systems and robotics, highly modernized numerical control and robotics have gradually replaced primitive human labor. The segmented hull of the ship is huge and needs to be sprayed in a wide range. However, the domestic large-scale ship spraying industry still adopts the backward and traditional manual operation method. The workers need to work for a long time in the dark and closed spraying workshop when operating. Large, poor working conditions, a large amount of harmful gas is produced in the process, which affects the health and labor emotions of the operators, and the spraying quality is greatly affected by the technical level and emotions of the employees, resulting in a high rate of reverse spraying in the spraying process , restricting productivity. Many research in...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J3/02B25J5/00B25J9/06B25J18/04B05B13/04
CPCB05B13/0431B25J3/02B25J5/007B25J9/06B25J18/04
Inventor 刘刚峰李长乐闫继宏张英勇李戈赵杰
Owner HARBIN INST OF TECH
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