Movable cable parallel-connection spraying device for ship segmented coating

Abstract

The invention discloses a movable cable parallel-connection spraying device for ship segmented coating. The movable cable parallel-connection spraying device comprises a supporting 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, the aerial Y-direction moving mechanism is erected on the supporting 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 mechanical arm is mounted at the tail end of the Z-direction adjusting mechanism. The ground rail Y-direction moving hydraulic lifting platform is arranged at one side of the Z-direction adjusting mechanism and flexibly connected with the Z-direction adjusting mechanism through a parallel cable set, the spraying mechanical arm is stabilized through linkage, fine adjustment of the angle is achieved, 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. According to the device, large-stroke and multi-angle linkage control can be achieved, and the spraying requirements of large segmented ship components can be met.

Description

technical field [0001] The invention relates to ship spraying equipment, in particular to a mobile cable-parallel spraying equipment for segmental painting of ships. Background technique [0002] 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. [0003] 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. I...

AI Technical Summary

Problems solved by technology

This method is not only dangerous and prone to safety accidents, but also contains a large amount of toxic substances in the coating of the hull, which poses a great threat to the health of workers

[0003] 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 a higher rate of blowback

The third is that the mechanism formed in series is composed of parts with high rigidity. When the multi-axis is linked, the motion inertia is large. When the mechanism reaches nine axes or more, there will be a large end inertia, which will make the final spraying accuracy lower.

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