Mobile cable-parallel spraying equipment for segmental coating of ships

Abstract

The invention discloses a mobile cable-parallel spraying equipment for segmental painting of ships, which includes a supporting frame, a Y-direction moving mechanism in the air, an X-direction moving mechanism in the air, a Z-direction adjusting mechanism, and a ground rail Y-direction mobile hydraulic lifting platform ;Aerial Y-direction moving mechanism is mounted on the support rack to realize Y-direction movement; airborne X-direction movement mechanism is installed on the air Y-direction movement mechanism to realize X-direction movement; Z-direction adjustment mechanism is installed under the air X-direction movement mechanism , the spraying robot arm is installed at its end; the ground rail Y-direction mobile hydraulic lifting platform is set on the side of the Z-direction adjustment mechanism, and is flexibly connected with the Z-direction adjustment mechanism through parallel cable groups, which stabilize the spraying robot arm through linkage and realize the adjustment of the angle. Fine-tuning, by lifting the ground rail hoist to a certain height, effectively avoids the interference between the parallel cable group and the sprayed hull. The invention can realize large-stroke and multi-angle linkage control, and can meet the spraying requirements of large segmented ship components.

Description

technical field [0001] The invention relates to ship spraying equipment, in particular to a mobile cable-parallel spraying equipment used for ship segmented painting. 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 the painters to a high place 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, 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 robotic arm with a spray gun installed at the tail for automatic spraying. Due to the complex structure of the segmented hull, the spray heads need to reach various spraying positions and spraying postures. ...

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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