Ship surface spraying device

Abstract

The invention provides a ship surface spraying device. The ship surface spraying device comprises a lifting driving source, a lifting transmission mechanism, a movable walking chassis assembly, a plurality of equipment rooms, a tower, a control tower capable of being installed on the tower in an up-down moving mode, a telescopic arm capable of stretching out and drawing back horizontally and spraying equipment. The walking chassis assembly comprises a walking chassis and a pair of driving wheels installed on the walking chassis in the walking direction perpendicular to the walking chassis, each driving wheel comprises a walking driving source installed on the walking chassis and a rotatable driving wheel body, and the walking driving sources are in transmission connection with the driving wheel bodies. The walking driving sources of the two driving wheels are mutually independent; the multiple equipment rooms, the lifting driving source and the tower are all fixedly installed on the top of the walking chassis, the lifting driving source is in transmission connection with the control tower through the lifting transmission mechanism, the inner end of the telescopic arm is installed on the control tower, and the spraying equipment is installed at the outer end of the telescopic arm. According to the spraying equipment, automatic spraying operation on the outer surface of the ship is achieved, and the spraying efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of ship surface spraying, in particular to a ship surface spraying device. Background Art

[0002] During the shipbuilding and ship repairing operations, the ship's surface spraying process is involved to form a paint film on the ship's surface to play the role of anti-corrosion, anti-fouling, beautification and identification.

[0003] Currently, shipyards primarily use manual spraying: aerial platforms transport workers to the work area, where they spray with handheld spray guns. This manual spraying method suffers from low efficiency, high risk of working at height, and uneven paint film thickness. In particular, manual spraying involves spraying individual work areas one by one, resulting in patchy surfaces. This results in a high number of joints between the sprayed surfaces, reducing the smoothness of the finished surface.

[0004] To address the aforementioned issues with manual painting, some shipyards have adopted an automated painting method: a track is laid on the ground, extending along the ship's outer side. A painting vehicle is positioned on the track, traveling in the same direction. As the vehicle moves back and forth along the track, it automatically sprays paint onto the ship's exterior. This results in a uniform, striped, painted surface. However, laying the track presents several challenges: due to the long shipbuilding cycle, the track must be laid according to the projection of the ship's outer side on the ground, resulting in a lengthy and time-consuming process. Furthermore, if used in a shipyard, a different track must be laid for each ship, creating a cumbersome process. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a ship surface spraying device that can perform automatic spraying operations without using ground tracks.

[0006] To achieve the above-mentioned objectives, the present invention provides a ship surface spraying device, comprising a lifting drive source, a lifting transmission mechanism, a movable walking chassis assembly, multiple equipment rooms, a tower extending up and down, a tower movably mounted on the tower, a horizontally retractable telescopic arm, and at least one spraying device; the walking chassis assembly comprises a walking chassis, and a pair of driving wheels mounted on both sides of the walking chassis along a walking direction perpendicular to the walking chassis, each of the driving wheels comprises a walking drive source mounted on the walking chassis, and a rotatable driving wheel body, the walking drive source is transmission-connected to the driving wheel body, and the walking drive sources of the two driving wheels are independent of each other; the multiple equipment rooms, lifting drive sources and tower are all fixedly mounted on the top of the walking chassis, the lifting drive source is transmission-connected to the tower through a lifting transmission mechanism, the inner end of the telescopic arm is mounted on the tower, and the spraying device is mounted on the outer end of the telescopic arm.

[0007] Furthermore, the ship surface spraying device also includes a pair of first distance sensors, which are fixedly mounted on the side of the tower facing the ship surface, and the pair of first distance sensors are arranged side by side along the walking direction of the walking chassis and aligned in the walking direction of the walking chassis, and the pair of first distance sensors are used to measure the horizontal distance between the walking chassis and the ship surface in a direction perpendicular to the walking direction of the walking chassis.

[0008] Furthermore, the traveling chassis assembly further comprises a pair of universal wheels mounted on both sides of the traveling chassis along the traveling direction of the traveling chassis, and a floating suspension mechanism, wherein the two driving wheels are respectively a fixed driving wheel and a floating driving wheel, and the floating driving wheel is mounted on the traveling chassis so as to float up and down through the floating suspension mechanism, and the bottom of the fixed driving wheel and the bottom of the two universal wheels are coplanar;

[0009] The floating suspension mechanism includes a floating mounting plate, a suspension cylinder and a first drive wheel mounting plate. The floating mounting plate is fixed to one side of the walking chassis. The cylinder body and piston rod of the suspension cylinder are respectively connected to the floating mounting plate and the first drive wheel mounting plate. The walking drive source of the floating drive wheel is fixed to the first drive wheel mounting plate.

[0010] Furthermore, the walking chassis assembly also includes a support leg fixed to the other side of the walking chassis, and a second drive wheel mounting plate fixed to the outer end of the support leg. The walking drive source of the fixed drive wheel is fixed on the second drive wheel mounting plate. The support leg makes the fixed drive wheel away from the center of gravity of the walking chassis relative to the floating drive wheel, and the universal wheel is eccentrically arranged close to the floating drive wheel relative to the midline of the walking chassis in a direction perpendicular to the walking direction of the walking chassis.

[0011] Furthermore, the lifting drive source is a winch, and the lifting transmission mechanism includes a lifting rope wound on the winch, and a pulley assembly. The lifting rope is fixed to the top of the tower after passing through each pulley in the pulley assembly. The pulley assembly has a movable pulley installed on the tower.

[0012] Furthermore, the ship surface spraying device also includes an anti-falling device connected between the lifting transmission mechanism and the tower, the anti-falling device includes an anti-falling lever arm, and an anti-falling fixing seat and a limit seat both fixed to the tower, the anti-falling lever arm is rotatably mounted on the anti-falling fixing seat, the anti-falling lever arm has a first arm portion distributed on the upper side of the rotation axis between it and the anti-falling fixing seat, and a second arm portion distributed on the lower side of the rotation axis between it and the anti-falling fixing seat, the lifting transmission mechanism is in transmission connection with the first arm portion, and the second arm portion is arranged between the tower and the limit seat;

[0013] When the lifting transmission mechanism remains connected to the first arm, the pulling force of the lifting transmission mechanism acting on the first arm drives the second arm of the anti-fall lever arm to separate from the tower and abut against the limit seat;

[0014] When the connection between the lifting transmission mechanism and the first arm portion is disconnected, the load-bearing force of the anti-fall lever arm drives the second arm portion of the anti-fall lever arm to rotate toward the tower, and the second arm portion can be engaged with the tower.

[0015] Furthermore, the tower is provided with a first main column and a second main column arranged horizontally side by side, the outer surfaces of the first main column and the second main column have a first mounting mating surface and a second mounting mating surface, the first mounting mating surface and the second mounting mating surface are arranged at an angle and both extend vertically, at least one set of clamping mechanisms is provided between the tower and the first main column, and between the tower and the second main column, each set of the clamping mechanisms includes a clamping seat, and a first clamping wheel and a second clamping wheel rotatably mounted on the clamping seat, the first clamping wheel and the first mounting mating surface are in sliding engagement, and the second clamping wheel and the second mounting mating surface are in sliding engagement, so as to limit the displacement of the tower relative to the tower in a non-lifting direction;

[0016] Among the multiple groups of clamping mechanisms between the tower and the tower, at least the clamping mechanisms distributed on the same side of the tower are movable clamping mechanisms. The movable clamping mechanisms are rotatably installed on the tower, and a locking mechanism is provided between the tower and the tower. The locking mechanism can make the movable clamping mechanism be in an outwardly open state or an inwardly closed state relative to the tower.

[0017] Furthermore, the telescopic arm includes multiple connecting arm sections that are interconnected, and a telescopic drive source connected between two adjacent connecting arm sections. The telescopic drive source is a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder. The cylinder body and piston rod of the telescopic drive source are respectively connected to the two adjacent connecting arm sections.

[0018] Furthermore, the ship surface spraying device also includes a follow-up cable rack, and the follow-up cable rack includes a first wire rack and a second wire rack arranged side by side along the telescopic direction of the telescopic arm, one end of the first wire rack and one end of the second wire rack are hinged, and the other end of the first wire rack and the other end of the second wire rack are respectively hinged to the two ends of the telescopic arm; the first wire rack and the second wire rack are both provided with a number of spaced-apart wire trusses, and each of the wire trusses is provided with a number of pipe clamp mounting holes.

[0019] Furthermore, the ship surface spraying device also includes a spraying posture adjustment device connected between the telescopic arm and the spraying equipment, the spraying posture adjustment device includes a spraying mounting seat, a spraying frame, a first adjustment drive source, a second adjustment drive source, and a second distance sensor, a third distance sensor and a fourth distance sensor all mounted on the mounting bracket, the second distance sensor, the third distance sensor and the fourth distance sensor being used to detect the distance between the mounting bracket and the area to be sprayed at their respective positions;

[0020] The spraying equipment is fixedly mounted on the mounting bracket; the spraying frame is rotatably mounted on the spraying mounting seat; the first adjustment drive source is transmission-connected to the spraying frame for driving the spraying frame to rotate about a first axis; the mounting bracket is rotatably mounted on the spraying frame; the second adjustment drive source is transmission-connected to the mounting bracket for driving the mounting bracket to rotate about a second axis; the first axis and the second axis are perpendicular;

[0021] The second distance sensor, the third distance sensor and the fourth distance sensor are distributed in a triangle. The second distance sensor is staggered with the third distance sensor and the fourth distance sensor along the first axis. The third distance sensor and the fourth distance sensor are arranged side by side along the second axis.

[0022] Furthermore, the ship surface spraying device also includes a paint mist recovery system, which includes a paint mist recovery system including a paint hood and a recovery hood both installed on a mounting bracket, a recovery box fixed on a telescopic arm, a fan and filter consumables both installed in the recovery box, and a recovery pipe. The paint hood is arranged on the periphery of the spraying equipment, and the recovery hood is arranged on the periphery of the paint hood. A recovery cavity is formed between the paint hood and the recovery hood. The recovery box is provided with an air suction port and an air outlet connected to the air outlet of the fan. Both ends of the recovery pipe are connected to the recovery cavity and the air suction port respectively. A filter channel connected between the air suction port and the air inlet of the fan is provided in the recovery box, and the filter consumables are arranged in the filter channel.

[0023] Furthermore, the plurality of equipment rooms are arranged in multiple layers from top to bottom, with at least one equipment room on each layer. Each equipment room includes a support frame, a room body fixed to the support frame, and a ladder installed on the outer surface of the room body. The support frame is provided with a fixed maintenance platform distributed on the periphery of the room body.

[0024] The multiple equipment rooms include a bottom-level equipment room distributed on the lowest level, and high-level equipment rooms other than the bottom-level equipment rooms. The supporting base frame of the bottom-level equipment room is fixed on a walking chassis, and the fixed maintenance platform of the high-level equipment room is provided with an maintenance groove running through from top to bottom. In two adjacent equipment rooms, the supporting base frame of the upper equipment room is fixed to the top of the room body of the lower equipment room, and the upper end of the ladder of the lower equipment room is arranged close to the maintenance groove of the upper equipment room.

[0025] Furthermore, in a direction perpendicular to the traveling direction of the traveling chassis, the high-rise equipment room is provided with a retractable maintenance platform on at least one side of the room body facing the exterior of the ship, the retractable maintenance platform comprising a retractable and extendable drive mechanism mounted on a supporting chassis, a maintenance platform body hinged to the outer periphery of the supporting chassis, a first handrail hinged to the outer periphery of the maintenance platform body, and a connecting rod mechanism; the retractable and extendable drive mechanism is in transmission connection with the maintenance platform body, and the connecting rod mechanism is connected to the maintenance platform body, the first handrail, and the room body;

[0026] The retraction and extension drive mechanism includes a pillar fixed to the support base, a drive mounting seat fixed to the upper end of the pillar, a retraction and extension drive source mounted on the drive mounting seat, a roller rotatably mounted on the drive mounting seat, and a pull rope wrapped around the outer circumference of the roller; the retraction and extension drive source is connected to the roller for driving the roller to rotate, and the outer end of the pull rope is fixedly connected to the outer circumference of the maintenance platform body;

[0027] The connecting rod mechanism includes a first connecting rod and a second connecting rod, the first connecting rod is fixed to the first handrail, the lower end and the upper end of the first connecting rod are respectively hinged to the maintenance platform body and one end of the second connecting rod, and the other end of the second connecting rod is hinged to the room body.

[0028] As described above, the ship surface spraying device according to the present invention has the following beneficial effects:

[0029] In the ship surface spraying device involved in the present application, the walking chassis assembly is moved by its two driving wheels, driving the ship surface spraying device to move as a whole, and the telescopic arm and the spraying equipment are driven to rise and fall together by the lifting of the tower, and the spraying equipment can be driven to move toward the ship's surface by the extension of the telescopic arm; in this way, the movement of the walking chassis assembly, the lifting of the tower and the extension and retraction of the telescopic arm are combined to realize the automatic spraying operation of the ship's surface by the spraying equipment, with high spraying efficiency and reliable guarantee of spraying quality; at the same time, the walking drive sources of the two driving wheels in the walking chassis assembly are independently controlled to realize differential rotation, thereby controlling the walking chassis assembly to move and walk along a moving route parallel to the curve of the ship's surface, eliminating the need to lay tracks on the dock floor of a shipyard or ship repair yard, shortening the painting cycle, and helping to improve the painting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the structure of the ship surface spraying device of this application.

[0031] Figure 2 for Figure 1 rear view.

[0032] Figure 3 for Figure 1 Right view of .

[0033] Figures 4 to 6 This is a schematic diagram of the structure of the walking chassis assembly in the ship surface spraying device of this application at different viewing angles.

[0034] Figure 7 for Figure 4 Right view of .

[0035] Figure 8 for Figure 4 Schematic diagram of the local structure at the floating drive wheel.

[0036] Figure 9 for Figure 4 Schematic diagram of the local structure at the rotating jacking device.

[0037] Figure 10 for Figure 4 Schematic diagram of the local structure at the anchoring mechanism.

[0038] Figure 11 and Figure 12 for Figure 1 Schematic diagram of the multi-layer layout structure between devices from different perspectives.

[0039] Figure 13 for Figure 12 Enlarged view of circle A.

[0040] Figure 14 and Figure 15 for Figure 12 Schematic diagram of the structure of the equipment room in the upper left center from different perspectives.

[0041] Figure 16 for Figure 14 Left view of .

[0042] Figure 17 for Figure 16 Schematic diagram of the structure of the center-retractable maintenance platform when it is unfolded.

[0043] Figures 18 to 20 This is a schematic diagram of the connection between the tower and the tower in this application at different viewing angles, and only one sub-frame of the tower is shown.

[0044] Figure 21 for Figure 19 Enlarged view of circle B.

[0045] Figure 22 for Figure 19 Enlarged view of circle C.

[0046] Figure 23 for Figure 20 Enlarged view of circle D.

[0047] Figure 24 for Figure 20 Enlarged view of circle E.

[0048] Figure 25 for Figure 18 Cross-sectional view at the second clamping mechanism and the fourth clamping mechanism.

[0049] Figure 26 This is a schematic diagram of the structure of the anti-fall device in this application.

[0050] Figure 27 for Figure 16 Half-section view.

[0051] Figure 28 for Figure 17 Schematic diagram of a lift cord break.

[0052] Figure 29 and Figure 30 Schematic diagram of the structure of the telescopic arm and cable rack in the ship surface spraying device of the present invention at different viewing angles.

[0053] Figure 31 for Figure 30 Enlarged view of circle F.

[0054] Figure 32 for Figure 30 Enlarged view of the G circle.

[0055] Figure 33 for Figure 30 Enlarged view of circle H.

[0056] Figure 34 for Figure 30 Enlarged view of circle I.

[0057] Figure 35 and Figure 36 The diagrams are structural diagrams of the paint mist recovery system for ship exterior spraying operations according to the present invention at different viewing angles, and the recovery pipes mounted on the first and second wire passing racks are omitted.

[0058] Figure 37 Schematic diagram of the interior of the recycling box of the present invention.

[0059] Figure 38 and Figure 39This is a structural schematic diagram of the spraying posture adjustment device of this application at different viewing angles.

[0060] Figure 40 for Figure 35 Schematic diagram of the structure of the recovery hood and the paint spray hood. DETAILED DESCRIPTION

[0061] The following describes the implementation of the present invention through specific embodiments. People skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0062] It should be noted that the structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present invention. Therefore, they have no substantial technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose of the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0063] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element through an intervening element.

[0064] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0065] like Figures 1 to 3As shown in the drawings, the present application provides a ship surface spraying device, which comprises a lifting driving source 10, a lifting transmission mechanism 20, a movable walking chassis assembly 30, a plurality of equipment rooms 40, an up-and-down extending tower 50, a tower platform 110 movably installed on the tower 50, a horizontally extendable telescopic arm 60, and at least one spraying equipment 120. As Figure 4 and Figure 5 As shown in the drawings, the walking chassis assembly 30 comprises a walking chassis 31, and a pair of driving wheels installed on both sides of the walking chassis 31 along a direction perpendicular to the walking direction of the walking chassis 31, each of the driving wheels comprising a walking driving source 311 installed on the walking chassis 31, and a rotatable driving wheel body 312, the walking driving source 311 being in transmission connection with the driving wheel body 312, and the walking driving sources 311 of the two driving wheels being independent of each other. The plurality of equipment rooms 40, the lifting driving source 10, and the tower 50 are fixedly installed on the top of the walking chassis 31, the lifting driving source 10 is in transmission connection with the tower platform 110 through the lifting transmission mechanism 20, the inner end of the telescopic arm 60 is installed on the tower platform 110, and the spraying equipment 120 is installed on the outer end of the telescopic arm 60. The walking direction of the walking chassis assembly 30 is perpendicular to the extending direction of the telescopic arm 60 in the horizontal plane.

[0066] For the convenience of description, in the following embodiments, the walking direction of the walking chassis assembly 30 is defined as the left-right direction, and the walking direction of the walking chassis assembly 30 is also the walking direction of the ship surface spraying device; the horizontal direction perpendicular to the walking direction of the ship surface spraying device is defined as the front-rear direction, which is also the extending direction of the telescopic arm 60, and the parallel direction of the ship surface spraying device and the ship surface. Based on this, Figure 3 In the drawings shown, the left and right sides of the paper are the rear and front directions respectively, the upper and lower sides of the paper are the up and down directions respectively, and the front and back of the paper are the right and left directions respectively.

[0067] As Figures 1 to 3As shown, when the ship surface spraying device performs automatic painting operation on the ship surface, the walking chassis assembly 30 realizes walking through two driving wheels, drives the whole ship surface spraying device to move, drives the telescopic arm 60 and the spraying equipment 120 to rise and fall together through the tower 110, and drives the spraying equipment 120 to move towards the ship surface through the forward extension of the telescopic arm 60. In this way, the left and right movement of the walking chassis assembly 30, the up and down movement of the tower 110, and the forward and backward extension of the telescopic arm 60 are combined, so that the spraying equipment 120 can perform automatic painting operation on the ship surface, the spraying efficiency is high, and the spraying quality can be reliably guaranteed. At the same time, the walking driving sources 311 of the two driving wheels in the walking chassis assembly 30 are independently controlled to realize differential rotation, so that the walking chassis assembly moves along the moving route parallel to the curve of the ship surface, the track laid on the dock ground of the shipyard or the ship repair yard is avoided, the painting period is shortened, and the painting efficiency is improved.

[0068] Further, as shown in Figures 1 to 3 The ship surface spraying device further comprises a falling prevention device 70, a following cable rack 80, a spraying posture adjusting device 90, and a paint mist recovery system 140. The following describes the preferred embodiments of the lifting transmission mechanism 20, the walking chassis assembly 30, the layout structure of the plurality of devices 40 on the top of the walking chassis 31, the tower 50, the connection structure between the tower 50 and the tower 110, the telescopic arm 60, the falling prevention device 70, the following cable rack 80, the spraying posture adjusting device 90, and the paint mist recovery system 140.

[0069] Lifting transmission mechanism 20

[0070] As shown in Figures 1 to 3As shown, the lifting drive source 10 is a winch, and the lifting transmission mechanism 20 includes a lifting rope 21 wound on the winch, and a first fixed pulley 22, a second fixed pulley 23, a third fixed pulley 24, a movable pulley 25, and a rope fixing buckle 26 arranged in sequence along the line path of the lifting rope 21; the first fixed pulley 22 is fixed to the left side of the tower 50, and the second fixed pulley 23 is installed on the left side of the top of the tower 50, and the first fixed pulley 22 and the second fixed pulley 23 are aligned in the vertical direction; the third fixed pulley 24 is installed on the right side of the top of the tower 50, and the third fixed pulley 24 is installed on the right side of the top of the tower 50. The second fixed pulley 23 and the third fixed pulley 24 are aligned horizontally; the movable pulley 25 is mounted on the top of the tower 110, and the rope fixing buckle 26 is mounted on the right side of the top of the tower 50 and distributed in front of the second fixed pulley 23. The rear sides of the third fixed pulley 24 and the movable pulley 25 are vertically aligned, and the front sides of the movable pulley 25 and the rope fixing buckle 26 are vertically aligned. The lifting rope 21 led from the winch passes through the first fixed pulley 22, the second fixed pulley 23, the third fixed pulley 24, and the movable pulley 25 in sequence, and is fixed to the rope fixing buckle 26. In this way, when the winch releases the lifting rope 21, the movable pulley 25 descends, thereby driving the tower 110 downward along the tower 50; conversely, when the winch reels the lifting rope 21, the movable pulley 25 ascends, thereby driving the tower 110 upward along the tower 50. The present application sets the tower 50 as a non-elevable structure, and the lifting drive source 10 drives the tower 110 to rise and fall along the tower 50 through the lifting transmission mechanism 20, thereby reducing the load of the lifting drive source 10, so that the lifting drive source 10 has more options.

[0071] Preferably, the hoist rope 21 is a steel wire rope. The hoist rope 21 passes through the inner side of the first fixed pulley 22, the upper side of the second fixed pulley 23, and the upper side of the third fixed pulley 24. Limit rods are installed on the upper sides of the second fixed pulley 23 and the upper sides of the third fixed pulley 24, as well as on both the front and rear sides of the movable pulley 25 to prevent the hoist rope 21 from escaping from the pulleys. The first fixed pulley 22 is a lateral pulley that prevents the hoist rope 21 from swaying and pushes the hoist rope 21 toward the tower 50, thereby guiding and tensioning the rope.

[0072] Walking chassis assembly 30

[0073] like Figures 4 to 6As shown, the traveling chassis assembly 30 also includes at least one pair of universal wheels 313 installed on the left and right sides of the traveling chassis 31 along the traveling direction of the traveling chassis 31, and a floating suspension mechanism 35; the two driving wheels are respectively a fixed driving wheel 32 and a floating driving wheel 33 installed on the front and rear sides of the traveling chassis 31, and the fixed driving wheel 32 and the floating driving wheel 33 both include a traveling driving source 311 and a driving wheel body 312 connected to the traveling driving source 311; the floating driving wheel 33 can be installed on the traveling chassis 31 in an upward and downward floating manner through the floating suspension mechanism 35, and the bottom of the fixed driving wheel 32 and the bottom of the two universal wheels 313 are coplanar; the fixed driving wheel 32 and the floating driving wheel 33 are distributed on the center line of the traveling chassis 31 in the left and right directions; in this embodiment, there is a pair of universal wheels 313, and the universal wheels 313 are follower wheels. The traveling chassis assembly 30 utilizes a four-wheel support structure consisting of a fixed drive wheel 32, a floating drive wheel 33, and two universal wheels 313. This enhances overall support stability, ensuring stable operation of the vessel exterior painting system and improving painting quality. Specifically, the fixed drive wheel 32 and the two universal wheels 313 are always coplanar with the ground, meaning they are in constant contact with the ground. The floating drive wheel 33, on the other hand, floats upwards and downwards, automatically adapting to the unevenness of the ground. This ensures that the floating drive wheel 33 remains in constant contact with the ground. Therefore, the present application sets a floating point in the four-wheel support structure to ensure that during the walking process of the walking chassis assembly 30, the four wheels, namely the fixed drive wheel 32, the floating drive wheel 33 and the two universal wheels 313, are always in contact with the ground, and none of the fixed drive wheel 32 and the floating drive wheel 33 will be suspended in the air, effectively preventing the fixed drive wheel 32 and the floating drive wheel 33 from slipping, so that the walking chassis assembly 30 will not go astray, and reliably ensure that the walking chassis assembly 30 can move along the set route.

[0074] Preferably, the travel drive source 311 is a wheel-side reducer, the output shaft of which is fixedly connected to the drive wheel body 312 via several bolts, directly driving the drive wheel body 312 to rotate. The wheel-side reducer of the fixed drive wheel 32 and the wheel-side reducer of the floating drive wheel 33 are independently controlled, thereby independently regulating the rotation speeds of the fixed drive wheel 32 and the floating drive wheel 33. In addition, Figure 1As shown, the vessel exterior spraying device also includes a pair of first distance sensors 131, arranged side by side along the travel direction of the traveling chassis 31. Furthermore, the pair of first distance sensors 131 are aligned in the travel direction of the traveling chassis 31. The independent speed control of the fixed drive wheel 32 and the floating drive wheel 33, together with the pair of first distance sensors 131, constitutes a travel steering control mechanism. When the fixed drive wheel 32 and the floating drive wheel 33 are controlled to rotate synchronously in the forward direction, the traveling chassis assembly 30 travels in a straight line in the forward direction. When the fixed drive wheel 32 and the floating drive wheel 33 rotate synchronously in the reverse direction, the traveling chassis assembly 30 travels in a straight line in the reverse direction. When the fixed drive wheel 32 and the floating drive wheel 33 rotate differentially, the traveling chassis assembly 30 travels in a curve, achieving turning control for the traveling chassis assembly 30. During the travel of the traveling chassis 31, the pair of first distance sensors 131 measure the horizontal distance between the traveling chassis 31 and the vessel exterior in the fore-aft direction in real time. When the real-time distances reported by the pair of first distance sensors 131 are equal, it indicates that the traveling chassis 31 does not need to turn, and the fixed drive wheel 32 and the floating drive wheel 33 maintain synchronous rotation. When the real-time distances reported by the pair of first distance sensors 131 are unequal, it indicates that the traveling chassis 31 needs to turn, and the fixed drive wheel 32 and the floating drive wheel 33 are controlled to rotate differentially, thereby driving the traveling chassis 31 to turn until the real-time distances reported by the pair of first distance sensors 131 are equal. Therefore, the present application controls the synchronous rotation and differential rotation of the fixed drive wheel 32 and the floating drive wheel 33 based on the feedback from the pair of first distance sensors 131 that measure the real-time distance between the traveling chassis 31 and the exterior of the ship, more reliably allowing the traveling chassis 31 to move along a moving path parallel to the curve of the exterior of the ship, thereby improving the quality of painting. In addition, the present application uses differential rotation to control the steering of the traveling chassis 31, eliminating the need to lay tracks on the dock floor of a shipyard or ship repair yard, shortening the painting cycle and significantly improving painting efficiency.

[0075] Preferably, the first distance sensor 131 can use an ultrasonic sensor or a laser displacement sensor to improve the distance detection accuracy and ensure the accuracy of the travel steering control. A pair of first distance sensors 131 can be fixedly mounted on the travel chassis 31, or can be fixedly mounted on the tower 50. In this embodiment, the pair of first distance sensors 131 are preferably fixed on the tower 50, and are fixed on the side of the tower 50 facing the exterior of the ship (i.e., the front side of the tower 50). In addition, the installation height of the pair of first distance sensors 131 on the tower 50 is 20-30m, which is also the height of the first distance sensor 131 from the top surface of the travel chassis 31; in this way, it can avoid interference with the detection of the first distance sensor 131 caused by more obstacles at a low place, improve the accuracy of the first distance sensor 131 in detecting the distance from the hull surface, and thus ensure the accuracy of the steering control.

[0076] Furthermore, the preferred structure of the floating suspension mechanism 35 is as follows: Figure 4 and Figure 8 As shown, the floating suspension mechanism 35 includes a floating mounting plate 351, a suspension cylinder 352, and a first drive wheel mounting plate 353. The floating mounting plate 351 is fixed to the side of the traveling chassis 31 by several bolts. The piston rod of the suspension cylinder 352 extends downward from its cylinder body. The upper end of the cylinder body of the suspension cylinder 352 is connected to the floating mounting plate 351, and the lower end of the piston rod of the suspension cylinder 352 is connected to the first drive wheel mounting plate 353. The floating drive wheel 33 is mounted on the first drive wheel mounting plate 353. That is, the wheel-side reducer of the floating drive wheel 33 is fixed to the first drive wheel mounting plate 353 by several bolts. In addition, the traveling chassis assembly 30 is also equipped with a wheel pressure detector for detecting the wheel pressure of the floating drive wheel 33. The real-time wheel pressure of the floating drive wheel 33 is obtained based on the feedback from the wheel pressure detector. When the floating drive wheel 33 is suspended due to uneven ground, the wheel pressure of the floating drive wheel 33 is insufficient and falls below a set threshold. The piston rod of the suspension cylinder 352 automatically extends downward, driving the floating drive wheel 33 downward through the first drive wheel mounting plate 353 until the wheel pressure of the floating drive wheel 33 reaches the set threshold. Conversely, when the floating drive wheel 33 is lifted up by the ground, the wheel pressure of the floating drive wheel 33 is excessive and exceeds the set threshold. The piston rod of the suspension cylinder 352 automatically retracts upward, driving the floating drive wheel 33 upward through the first drive wheel mounting plate 353 until the wheel pressure of the floating drive wheel 33 reaches the set threshold. Therefore, the floating suspension mechanism 35 uses the suspension cylinder 352 with a constant pressure to push up the floating drive wheel 33, allowing the floating drive wheel 33 to float up and down autonomously. The floating drive wheel 33 can adapt to the surface of the fixed drive wheel 32 and the two universal wheels 313, preventing the floating drive wheel 33 from slipping and causing the traveling chassis assembly 30 to sway.

[0077] Preferably, if Figure 8 As shown, the upper end of the cylinder body of the suspension cylinder 352 is hingedly connected to the floating mounting plate 351 via a left-right extending pin. The left-right extending pin forms the rotation axis of the hinged connection between the cylinder body of the suspension cylinder 352 and the floating mounting plate 351. Therefore, the rotation axis of the cylinder body of the suspension cylinder 352 and the floating mounting plate 351 is perpendicular to the central axis of the floating drive wheel 33 and also perpendicular to the floating direction of the floating drive wheel 33. The lower end of the piston rod of the suspension cylinder 352 is hingedly connected to the first drive wheel mounting plate 353 via a front-to-back extending pin. The front-to-back extending pin forms the rotation axis of the hinged connection between the piston rod of the suspension cylinder 352 and the first drive wheel mounting plate 353. Therefore, the rotation axis of the piston rod of the suspension cylinder 352 and the first drive wheel mounting plate 353 is parallel to the central axis of the floating drive wheel 33.

[0078] Further, the connection between the upper end of the cylinder body of the suspension oil cylinder 352 and the floating mounting plate 351, and the connection between the lower end of the piston rod of the suspension oil cylinder 352 and the first driving wheel mounting plate 353 can be fixed or hinged. Preferably, in the embodiment, as shown in Figure 4 and Figure 8 , the upper end of the cylinder body of the suspension oil cylinder 352 is hinged to the floating mounting plate 351, and the lower end of the piston rod of the suspension oil cylinder 352 is hinged to the first driving wheel mounting plate 353. In this way, there will be position errors in the manufacturing and assembly of the components in the floating suspension mechanism 35. By adopting the hinged structure of the cylinder body of the suspension oil cylinder 352 and the floating mounting plate 351, and the piston rod of the suspension oil cylinder 352 and the first driving wheel mounting plate 353, there is a redundant adjustment space, which allows the components of the floating suspension mechanism 35 to be adjusted during installation, improving the assembly accuracy of the floating suspension mechanism 35.

[0079] Further, as shown in Figure 8 , the floating suspension mechanism 35 further comprises a sliding rail mechanism 354 connected between the floating mounting plate 351 and the first driving wheel mounting plate 353. During the autonomous up-and-down floating of the floating driving wheel 33, the sliding rail mechanism 354 guides the up-and-down movement of the first driving wheel mounting plate 353, improving the accuracy of the up-and-down floating of the floating driving wheel 33. In addition, the floating mounting plate 351 is fixed with a limiting block 355 distributed on the top of the sliding rail mechanism 354 and capable of abutting with the sliding block in the sliding rail mechanism 354, which limits the up-floating of the floating driving wheel 33.

[0080] Preferably, as shown in Figure 8 , in the floating suspension mechanism 35, there are two suspension oil cylinders 352 symmetrically arranged on the left and right sides of the floating mounting plate 351; there are also two groups of sliding rail mechanisms 354 arranged side by side, and the two groups of sliding rail mechanisms 354 are distributed between the two suspension oil cylinders 352.

[0081] Further, as shown in Figure 3 , the telescopic arm 60 in the ship surface spraying device is a cantilever structure extending forward. Based on this, Figure 4 , Figure 5 and Figure 7As shown, the present application provides a forward-extending support leg 36 at the center of the front side of the traveling chassis assembly 30. A fixed drive wheel 32 or a floating drive wheel 33 is mounted at the front end of the support leg 36, thereby enhancing the support stability of the traveling chassis assembly 30. In this embodiment, the fixed drive wheel 32 is mounted at the front end of the support leg 36, while the floating drive wheel 33 is mounted at the rear side of the traveling chassis 31. The support leg 36 is a rectangular structure that extends horizontally forward and backward in a direction perpendicular to the traveling direction of the traveling chassis 31. The rear end of the support leg 36 is fixed to the front side of the traveling chassis 31 via several bolts, with a flange fixing structure between the two. A second drive wheel mounting plate 37 is fixed to the front end of the support leg 36 via several bolts. The fixed drive wheel 32 is mounted on the second drive wheel mounting plate 37. Specifically, the wheel-side reducer of the fixed drive wheel 32 is fixed to the second drive wheel mounting plate 37 via several bolts. Furthermore, the forward-extending structure of the legs 36 in the chassis assembly 30 positions the fixed drive wheel 32 further from the center of gravity of the chassis 31 than the floating drive wheel 33. Consequently, the fixed drive wheel 32 bears less weight than the floating drive wheel 33, with the floating drive wheel 33 acting as the primary load-bearing mechanism. Preferably, the legs 36 are hollow square tubes, reducing material consumption and costs. Furthermore, the tops of the legs 36 are fixed with lifting lugs 361, facilitating their transport and on-site assembly.

[0082] In addition, a pair of universal wheels 313 can be distributed on the center line of the walking chassis 31 in the front and rear directions. Figure 7 As shown, a pair of universal wheels 313 are eccentrically arranged closer to the floating drive wheel 33 relative to the midline of the walking chassis 31 in the front-to-back direction, and are installed at the front end of the support leg 36 in combination with the fixed drive wheel 32 to better improve the stability of the four-wheel support structure.

[0083] Furthermore, if Figure 4 、 Figure 5 and Figure 9 As shown, the traveling chassis assembly 30 also includes several lifting devices 38. Each lifting device 38 comprises a lifting connection base 381 mounted on the traveling chassis 31, a lifting rod 382 movably mounted on the lifting connection base 381, a support base 383 fixed to the lower end of the lifting rod 382, ​​and a lifting drive source mounted on the lifting connection base 381. The lifting drive source is not shown in the figure. The lifting drive source is drivingly connected to the lifting rod 382. The lower end of the lifting rod 382 extends downward from the lifting connection base 381, and the support base 383 is located below the lifting connection base 381. When the ship surface spraying device is in operation, the lifting rod 382 is retracted upward, and the support base 383 is suspended above the ground. When the ship surface spraying device is under maintenance, the lifting drive source drives the lifting rod 382 to extend downward until the support base 383 rests on the ground, thereby temporarily securing the ship surface spraying device and facilitating maintenance.

[0084] Preferably, the lifting drive source can be a hand crank, a hydraulic cylinder, or an electric cylinder. If the lifting drive source is a hand crank, the hand crank is connected to the lifting rod 382 via a transmission assembly, driving the lifting rod 382 upward or downward. If the lifting drive source is a hydraulic cylinder or an electric cylinder, the piston rod of the hydraulic cylinder or electric cylinder can be directly connected to the lifting rod 382, ​​directly driving the lifting rod 382 upward or downward.

[0085] Furthermore, if Figure 4 and Figure 5 As shown, there are four jacking devices 38, namely two fixed jacking devices 384 and two rotating jacking devices 385. The two fixed jacking devices 384 are distributed on the front side of the walking chassis 31 together with the fixed driving wheel 32, and the two fixed jacking devices 384 are distributed on the left and right sides of the support legs 36 along the traveling direction of the walking chassis 31, then the jacking connection seat 381 of the fixed jacking device 384 is directly fixed to the front side of the walking chassis 31 by several bolts. The two rotating jacking devices 385 are distributed on the rear side of the walking chassis 31 together with the floating driving wheel 33, and the two rotating jacking devices 385 are distributed on the left and right sides of the floating driving wheel 33 along the traveling direction of the walking chassis 31, then the jacking connection seat 381 of the rotating jacking device 385 is preferably rotatably mounted on the rear side of the walking chassis 31 through a rotating mechanism 39. As shown Figure 9 As shown, the rotating mechanism 39 includes a pair of connecting bases 391 fixed to the rear side of the running chassis 31, a support shaft 392 extending vertically, and a rotating arm 393. The support shaft 392 is fixed to the pair of connecting bases 391. One end of the rotating arm 393 is rotatably connected to the support shaft 392. The jacking connection base 381 of the rotating jacking device 385 is fixed to the other end of the rotating arm 393 via several bolts. With this arrangement, the front side of the running chassis assembly 30 has forward-extending legs 36, so even if both front jacking devices 38 are configured as non-rotatable fixed jacking devices 384, there is no problem of excessive width in the fore-aft direction. However, on the rear side of the walking chassis assembly 30, the two jacking devices 38 on the rear side are both set as rotatable rotating jacking devices 385. When not in use, the rotating arm 393 is not rotated out and is attached to the rear side of the walking chassis 31, and the rotating jacking device 385 is in a retracted state, thereby avoiding excessive width in the front and rear directions and preventing the two jacking devices 38 on the rear side from colliding with other equipment in the dock; when needed, the rotating arm 393 is rotated out around the support shaft 392, and the rotating jacking device 385 is in an unfolded state.

[0086] Furthermore, if Figure 4 and Figure 5 As shown, the running chassis assembly 30 further includes anchoring mechanisms 34 provided at the four corners of the running chassis 31; Figure 10As shown, each anchoring mechanism 34 comprises a first shackle 341, a first ring 342, an anchoring rope 343, a second ring 344, a second shackle 345, a turnbuckle 126, and a third shackle 347, which are sequentially connected. Connecting ears are provided at the corners of the traveling chassis 31, and the first shackle 341 is inserted into the connecting ears. When the ship's exterior spraying device is not in operation, the anchoring mechanism 34 anchors the device at a specific location.

[0087] Layout structure of multiple equipment rooms 40 on top of the walking chassis 31

[0088] Several equipment rooms 40 of the ship's exterior spraying device are mounted on top of the traveling chassis 31. Figure 11 and Figure 12 ,as well as Figure 14 and Figure 15 As shown, multiple equipment rooms 40 are arranged in multiple layers from top to bottom, with at least one on each floor. When one equipment room 40 is assigned to each floor, the multiple equipment rooms 40 are arranged in a single row and multiple layers. When multiple equipment rooms 40 are assigned to each floor, the multiple equipment rooms 40 are arranged in multiple rows and multiple layers, with the multiple equipment rooms 40 on each floor arranged side by side in the direction of travel of the traveling chassis 31. Each equipment room 40 includes a support frame 411, a room body 412 fixed to the support frame 411, and a ladder 413 mounted on the outer surface of the room body 412. The support frame 411 is provided with fixed maintenance platforms 414 distributed around the outer periphery of the room body 412. Multiple equipment rooms 40 include a bottom-level equipment room 42 distributed on the lowest level, and a high-level equipment room 43 except the bottom-level equipment room 42. The supporting base frame 411 of the bottom-level equipment room 42 is fixed on the walking chassis 31 of the ship's exterior spraying device, thereby fixing the bottom-level equipment room 42 as a whole on the top of the walking chassis 31, and the fixed maintenance platform 414 of the high-level equipment room 43 is provided with a maintenance groove 431 running through from top to bottom; in the two adjacent equipment rooms 40 above and below, the supporting base frame 411 of the upper-level equipment room 40 is fixed on the top of the room body 412 of the lower-level equipment room 40, thereby fixing the upper-level equipment room 40 as a whole on the top of the lower-level equipment room 40, and the upper end of the ladder 413 of the lower-level equipment room 40 is arranged close to the maintenance groove 431 of the upper-level equipment room 40.

[0089] The present application arranges multiple equipment rooms 40 of the ship surface spraying device into a multi-layer structure in the up and down directions, making the layout of the multiple equipment rooms 40 more compact and reducing the occupied space; when the multiple equipment rooms 40 are arranged in multiple rows, they are arranged in multiple rows in the moving direction of the ship surface spraying device, reducing the space occupied in the front and rear directions, and facilitating the painting operation of the ship surface spraying device in the dock. At the same time, when it is necessary to perform maintenance and inspection on each equipment room 40, the maintenance personnel can directly climb onto the fixed maintenance platform 414 of the equipment room 42 on the bottom floor, so as to facilitate maintenance and inspection work on the equipment room 42 on the bottom floor; in particular, a ladder 413 is provided on the outer surface of the room body 412 of each equipment room 40, and a maintenance slot 431 is provided on the fixed maintenance platform 414 of the high-level equipment room 43, which is adjacent to the ladder 413 of the equipment room 40 on the lower floor. The maintenance personnel standing on the fixed maintenance platform 414 of the lower-level equipment room 40 enter the maintenance slot 431 of the upper-level equipment room 40 through the ladder 413 of the equipment room 40, and then enter the fixed maintenance platform 414 of the upper-level equipment room 40, thereby facilitating the maintenance personnel to perform maintenance and inspection work on the high-level equipment rooms 43 other than the bottom floor. Therefore, the present application provides a fixed maintenance platform 414 for maintenance personnel to stand on in each equipment room 40 on each floor. Ladders 413 and maintenance channels 431 facilitate access to the fixed maintenance platforms 414 in each upper-level equipment room 43, thereby significantly improving operational safety. Preferably, each upper-level equipment room 43 has an openable and closable flap on its maintenance channel 431. After reaching the fixed maintenance platform 414 on that floor, maintenance personnel can close the flap, closing the maintenance channel 431 to prevent falls and further improve safety.

[0090] Furthermore, in this application, Figure 11 and Figure 12As shown, there are four equipment rooms 40, arranged on two upper and lower floors, and arranged in two columns in the direction of travel of the traveling chassis 31. Specifically, the four equipment rooms 40 for the ship's exterior spraying system are a liquid air room 4471, a power room 4472, an operation room 4473, and a paint room 4474. Liquid air room 4471 houses a hydraulic station and an air compressor and is located on the second floor of the right column; power room 4472 houses a diesel generator set and is located on the second floor of the left column; operation room 4473 houses an operating platform, a control console, and is located on the bottom floor of the left column; and paint room 4474 houses an air tank, a paint pump, and is located on the bottom floor of the right column. Therefore, the left-column equipment rooms 40 on the traveling chassis 31 are the ground-floor operation room 4473 and the second-floor power room 4472; the right-column equipment rooms 40 on the traveling chassis 31 are the ground-floor paint room 4474 and the second-floor liquid air room 4471; the operation room 4473 and the paint room 4474 are both fixed on the top of the traveling chassis 31; the power room 4472 is fixed on the top of the operation room 4473; the liquid air room 4471 is fixed on the top of the paint room 4474; the operation room 4473 and the paint room 4474 are both ground-floor equipment rooms 42; the power room 4472 and the liquid air room 4471 are both high-floor equipment rooms 43.

[0091] Furthermore, connectors 448 are integrated onto the exterior surfaces of each equipment room 40 (i.e., the liquid air room 4471, the power room 4472, the operation room 4473, and the paint room 4474). Each equipment room 40's connectors 448 are electrically connected, hydraulically connected, and air-connected to the equipment within. This allows each equipment room 40 to be individually hoisted and transported, facilitating the transfer of each equipment room 40. Within the dock, each equipment room 40 is then hoisted onto the traveling chassis 31 for assembly. After assembly, various connections between the equipment rooms 40 are established through the connectors 448. This facilitates both the transfer of each equipment room 40 and the on-site connection of multiple equipment rooms 40 via external wiring, resulting in convenient operation.

[0092] Furthermore, if Figure 11 and Figure 12 As shown, the fixed maintenance platform 414 is located on the left or right side of the main room 412 along the travel direction of the traveling chassis 31. Preferably, the fixed maintenance platforms 414 of the liquid air room 4471 and the paint room 4474 are both located on the right side of their respective main rooms 412, while the fixed maintenance platforms 414 of the power room 4472 and the operation room 4473 are both located on the left side of their respective main rooms 412. This prevents excessive width in the fore-aft direction, thereby preventing collisions with other equipment within the dock and facilitating the movement of the entire ship exterior spraying system within the dock.

[0093] Furthermore, if Figure 11 and Figure 12 As shown, in a direction perpendicular to the traveling direction of the traveling chassis 31, the high-rise equipment room 43 is provided with a retractable maintenance platform 44 at least on the side of the room body 412 facing the exterior of the ship (i.e., the front side). Preferably, the high-rise equipment room 43 is provided with a retractable maintenance platform 44 on both the front and rear sides of the room body 412. Thus, the front and rear sides of the liquid air room 4471, as well as the front and rear sides of the power room 4472, are provided with a retractable maintenance platform 44. Figures 14 to 16 As shown, the retractable maintenance platform 44 includes a retractable drive mechanism 441 installed on the supporting base 411, a maintenance platform body 442 hinged on the outer peripheral side of the supporting base 411, a first handrail 443 hinged on the outer peripheral side of the maintenance platform body 442, and a connecting rod mechanism 444. The retractable drive mechanism 441 is in transmission connection with the maintenance platform body 442 to drive the maintenance platform body 442 to retract or flatten. One end of the maintenance platform body 442 extends to the fixed maintenance platform 414. The connecting rod mechanism 444 is connected to the maintenance platform body 442, the first handrail 443 and the room body 412. When no maintenance is being performed, the retractable drive mechanism 441 drives the maintenance platform body 442 to retract. At this time, as shown in FIG. Figure 16 As shown, the maintenance platform body 442 is attached to the front and rear sides of the room body 412, without taking up extra space. When maintenance is required, the retractable drive mechanism 441 drives the maintenance platform body 442 to be flattened. Figure 17 As shown, maintenance personnel can walk from the fixed maintenance platform 414 to the main maintenance platform body 442 of the retractable maintenance platform 44, conveniently performing maintenance work on both the front and rear sides of the main maintenance platform 412, which can improve operational safety. In particular, ships have a wide-top, narrow-bottom structure. In this application, retractable maintenance platforms 44 are only provided on the front and rear sides of the high-rise equipment room 43. This is particularly suitable for high-altitude painting operations on the ship's exterior, which is wide at the top and narrow at the bottom. This effectively prevents interference between the main maintenance platform body 442 on the front side of the high-rise equipment room 43 and the wider upper portion of the ship.

[0094] Furthermore, the preferred structure of the retraction and extension driving mechanism 441 is as follows: Figures 14 to 16 As shown, the retraction and extension drive mechanism 441 includes a pillar 4411 fixed to the supporting base 411, a drive mounting seat 4412 fixed to the upper end of the pillar 4411, a retraction and extension drive source mounted on the drive mounting seat 4412, a roller 4413 rotatably mounted on the drive mounting seat 4412, and a pull rope 4414 wrapped around the periphery of the roller 4413. The retraction and extension drive source is connected to the roller 4413 and drives the roller 4413 to rotate. The outer end of the pull rope 4414 is fixedly connected to the outer peripheral side of the maintenance platform body 442. The retraction and extension drive source is a reducer, and the output shaft of the reducer is coaxial and fixed with the roller 4413; or, the retraction and extension drive source is a handwheel, and the output shaft of the handwheel is coaxial and fixed with the roller 4413. In this way, Figure 16In the shown retracted state, when the rolling wheel 4413 is driven to rotate by the retracting and expanding drive source to release the pull rope 4414, the maintenance platform body 442 is flipped outward and downward relative to the support base 411 under the action of gravity, and then the maintenance platform body 442 is expanded, so that the maintenance platform body 442 is flipped to the shown expanded state. Figure 17 Conversely, in the shown expanded state, when the rolling wheel 4413 is driven to rotate by the retracting and expanding drive source to wind up the pull rope 4414, the pull rope 4414 pulls the maintenance platform body 442, the maintenance platform body 442 is flipped inward and upward relative to the support base 411, and then the maintenance platform body 442 is retracted, so that the maintenance platform body 442 is flipped to the shown retracted state. Figure 17 Conversely, in the shown expanded state, when the rolling wheel 4413 is driven to rotate by the retracting and expanding drive source to wind up the pull rope 4414, the pull rope 4414 pulls the maintenance platform body 442, the maintenance platform body 442 is flipped inward and upward relative to the support base 411, and then the maintenance platform body 442 is retracted, so that the maintenance platform body 442 is flipped to the shown retracted state. Figure 16 Conversely, in the shown expanded state, when the rolling wheel 4413 is driven to rotate by the retracting and expanding drive source to wind up the pull rope 4414, the pull rope 4414 pulls the maintenance platform body 442, the maintenance platform body 442 is flipped inward and upward relative to the support base 411, and then the maintenance platform body 442 is retracted, so that the maintenance platform body 442 is flipped to the shown retracted state.

[0095] Further, as shown in Figures 14 to 16 , the retracting and expanding maintenance platform 44 is provided with two sets of link mechanisms 444, which are arranged at the left and right sides of the room body 412, respectively. Of course, a set of link mechanisms 444 can also be arranged at the middle position. Each set of link mechanisms 444 includes a first link 4441 and a second link 4442. The first link 4441 is fixed to the first handrail 443. The lower end and the upper end of the first link 4441 are hingedly connected to the maintenance platform body 442 and one end of the second link 4442, respectively. The other end of the second link 4442 is hingedly connected to the room body 412. The link mechanism 444 follows the flipping of the maintenance platform body 442. When the maintenance platform body 442 is expanded, the link mechanism 444 is also expanded, as shown in Figure 17 , which increases the reliability of supporting the maintenance platform body 442. When the maintenance platform body 442 is retracted, the link mechanism 444 is also in the retracted state, as shown in Figure 16 .

[0096] Further, as shown in Figure 11 and Figure 12 , the maintenance platform body 442 of the fixed maintenance platform 414 and the retracting and expanding maintenance platform 44 both include a platform grid 445 and a platform connecting frame 446 fixed to the outer periphery of the platform grid 445. The platform connecting frame 446 of the fixed maintenance platform 414 is fixed to the support base 411, and the platform connecting frame 446 of the retracting and expanding maintenance platform 44 is hingedly connected to the support base 411. The grid structure increases the anti-skid, ventilating and fireproof properties of the fixed maintenance platform 414 and the retracting and expanding maintenance platform 44.

[0097] Further, in the two adjacent equipment rooms 40, the support base 411 of the upper equipment room 40 is fixed to the room body 412 of the lower equipment room 40 by a plurality of bolts. In addition, as shown in Figure 13As shown, several first positioning holes 415 are opened on the supporting base frame 411 of the upper equipment room 40, and several first positioning columns 416 are fixed on the top of the room body 412 of the lower equipment room 40. The first positioning columns 416 are inserted into each first positioning hole 415 one by one, which plays a better positioning role when installing the upper equipment room 40.

[0098] Further, if Figure 11 and Figure 12 As shown, each equipment room 40 is provided with a second handrail 417 on the periphery of the fixed maintenance platform 414; for the liquid air room 4471, the power room 4472 and the operation room 4473: the respective second handrails 417 are fixed to the respective support bases 411; for the paint room 4474: the second handrails 417 are set as open handrails, that is, the second handrail 417 of the paint room 4474 is rotatably mounted on its support base 411, so that the second handrail 417 can be in a vertical state or a horizontal state relative to the support base 411. When the second handrail 417 is in a horizontal state, the second handrail 417 is also in an open state, which is convenient for replacing the paint cans in the paint room 4474. The front side of the bottom equipment room 42 is also provided with a ladder 413 extending up and down. The ladder 413 is fixed to the support frame 411 of the bottom equipment room 42 and is located at the fixed maintenance platform 414 of the bottom equipment room 42, so that maintenance personnel can easily climb up to the fixed maintenance platform 414 of the bottom equipment room 42. Figure 14 and Figure 15 As shown, a third handrail 418 fixed to the room body 412 is provided on the top periphery of the equipment room 40 distributed on the uppermost floor, and a top inspection port 419 is formed between the two ends of the third handrail 418. The upper end of the ladder 413 on the outer surface of the room body 412 is arranged close to the top inspection port 419 on the top of the room body 412, so as to facilitate maintenance work on the top of the equipment room 40 on the uppermost floor.

[0099] Tower 50

[0100] like Figures 18 to 20 ,as well as Figure 25 As shown, the cross-section of the tower 50 is roughly frame-shaped. The tower 50 is equipped with four main columns extending vertically. The main columns are square steel pipes. Several support rods 56 are fixed between two adjacent main columns. The support rods 56 can be horizontally arranged straight supports or inclined supports. The tower 110 is connected to the two horizontally arranged main columns in the tower 50 through an array clamping mechanism. The two main columns in the tower 50 are defined as the first main column 51 and the second main column 52. The outer surfaces of the first main column 51 and the second main column 52 both have a first mounting mating surface 57 and a second mounting mating surface 58. The first mounting mating surface 57 and the second mounting mating surface 58 are arranged at an angle and both extend vertically.

[0101] like Figures 1 to 3 As shown, the tower 50 includes multiple sub-frames 53 connected up and down by fastening bolts, which facilitates the transportation of the tower 50. In this embodiment, the tower 50 has 5 sub-frames 53, the bottom sub-frame 53 is the foundation, and the height is 12m, and the heights of the remaining 4 sub-frames 53 are all 6m, so the total height of the tower 50 is 36m. In other embodiments, sub-frames 53 and towers 50 of other heights can also be selected. The sub-frame 53 is a hollow structure, so that the tower 50 is also a hollow structure, and a straight ladder 510 extending up and down is installed inside the tower 50. Preferably, as Figures 18 to 20 As shown, in the two adjacent sub-frames 53, the bottom of the upper sub-frame 53 is integrally provided with a second positioning column 54 protruding downward, and the top of the lower sub-frame 53 is provided with a second positioning hole 55. The second positioning column 54 is inserted into the second positioning hole 55 to facilitate the splicing of the two adjacent sub-frames 53. The second positioning column 54 and the second positioning hole 55 are preferably respectively provided on the main column of each sub-frame 53. In addition, the tower 50 is installed with several RFID chips spaced apart vertically; or, as shown in FIG. Figure 3 As shown, a detection bracket 59 of the same height as the tower 50 is fixed to the right side of the tower 50, and a plurality of RFID chips spaced apart from each other are installed on the detection bracket 59; wherein, an RFID card reader is installed on the tower 110, and when the tower 110 is at different heights, the RFID chip corresponding to the height is read by the RFID card reader, which can accurately feedback the real-time height of the tower 110 and improve the reliability of the automatic painting operation.

[0102] Furthermore, a drag chain is installed on the tower 50 for loading air pipes, cables, etc. connected to the telescopic arm 60 and the spraying equipment 120.

[0103] Connection structure between tower 50 and tower 110

[0104] like Figures 18 to 20 ,as well as Figure 25 As shown, at least one clamping mechanism is provided between the tower 110 and the first main column 51, and between the tower 110 and the second main column 52. Each clamping mechanism includes a clamping seat 155, and a first clamping wheel 156 and a second clamping wheel 157, both rotatably mounted on the clamping seat 155. The first clamping wheel 156 slides with the first mounting surface 57, and the second clamping wheel 157 slides with the second mounting surface 58. The first clamping wheel 156 and the second clamping wheel 157 slide with the first mounting surface 57 and the second mounting surface 58, respectively, which are arranged at an angle to each other, thereby limiting the displacement of the tower 110 relative to the tower 50 in non-lifting directions (i.e., the front-to-back direction and the left-to-right direction).

[0105] Preferably, the first mounting mating surface 57 and the second mounting mating surface 58 are symmetrically arranged front to back, and are both inclined relative to the vertical plane extending front to back. In this way, the force applied by the first clamping wheel 156 to the first mounting mating surface 57 has a component of force toward the center of the tower 110 in the front-to-back direction and the left-to-right direction, and the force applied by the second clamping wheel 157 to the second mounting mating surface 58 has a component of force toward the center of the tower 110 in the front-to-back direction and the left-to-right direction, so that the tower 110 is clamped on the outer periphery of the tower 50 by multiple sets of clamping mechanisms. The inclination angles of the first mounting mating surface 57 and the second mounting mating surface 58 relative to the vertical plane extending front to back are determined according to actual needs; in this embodiment, if Figure 25 As shown, the first mounting mating surface 57 and the second mounting mating surface 58 form an angle of 90°, and the inclination angles of the first mounting mating surface 57 and the second mounting mating surface 58 relative to the vertical plane extending front and back are both 45°.

[0106] Preferably, there are two sets of clamping mechanisms between the tower 110 and the first main column 51: a first clamping mechanism 151 and a second clamping mechanism 152, arranged side by side in an upper and lower direction. There are also two sets of clamping mechanisms between the tower 110 and the second main column 52: a third clamping mechanism 153 and a fourth clamping mechanism 154, arranged side by side in an upper and lower direction. The first clamping mechanism 151, the second clamping mechanism 152, the third clamping mechanism 153, and the fourth clamping mechanism 154 all include a clamping seat 155, and a first clamping wheel 156 and a second clamping wheel 157, both rotatably mounted on the clamping seat 155 and arranged at an angle thereto. The first clamping wheels 156 and the second clamping wheels 157 of the first clamping mechanism 151 and the second clamping mechanism 152 are respectively slidably engaged with the first mounting mating surface 57 and the second mounting mating surface 58 of the first main column 51. The first clamping wheels 156 and the second clamping wheels 157 of the third clamping mechanism 153 and the fourth clamping mechanism 154 are respectively slidably engaged with the first mounting mating surface 57 and the second mounting mating surface 58 of the second main column 52. In this way, the two clamping wheels in the first clamping mechanism 151 and the second clamping mechanism 152 are both engaged with the outer periphery of the first main column 51, and the two clamping wheels in the third clamping mechanism 153 and the fourth clamping mechanism 154 are both engaged with the outer periphery of the second main column 52, thereby improving the lifting stability of the tower 110 and the reliability of the connection between the tower 110 and the tower 50.

[0107] In addition, the assembly position of the tower 110 on the outer peripheral side of the tower 50 is determined according to actual needs; in this embodiment, Figures 18 to 20 ,as well as Figure 25 As shown, the tower 110 is mounted on the right side of the tower 50. Of course, in other embodiments, the tower 110 can also be mounted on the front side or left side of the tower 50. The following description will be based on the example of the tower 110 being mounted on the right side of the tower 50. Figures 18 to 20,as well as Figure 25 In the illustrated embodiment, the first main column 51 and the second main column 52 are arranged horizontally side by side in the front-to-back direction, the first main column 51 is distributed on the right rear side of the tower 50, and the second main column 52 is distributed on the right front side of the tower 50. The first clamping mechanism 151 and the second clamping mechanism 152 are both arranged on the rear side of the tower 110, and the third clamping mechanism 153 and the fourth clamping mechanism 154 are both arranged on the front side of the tower 110.

[0108] Among the multiple sets of clamping mechanisms between the tower 110 and the tower 50, at least the clamping mechanisms distributed on the same side of the tower 110 are movable clamping mechanisms. The movable clamping mechanisms are rotatably mounted on the tower 110 and are provided with a locking mechanism between the tower 110 and the tower 110. The locking mechanism can position the movable clamping mechanisms in an outwardly open state or an inwardly closed state relative to the tower 110. That is, among the first clamping mechanism 151, the second clamping mechanism 152, the third clamping mechanism 153, and the fourth clamping mechanism 154, at least the first clamping mechanism 151 and the second clamping mechanism 152 are both movable clamping mechanisms, or at least the third clamping mechanism 153 and the fourth clamping mechanism 154 are both movable clamping mechanisms. Therefore, the four sets of clamping mechanisms can be arranged in the following ways: Method 1: Only the first clamping mechanism 151 and the second clamping mechanism 152 are movable clamping mechanisms. Method 2: Only the third clamping mechanism 153 and the fourth clamping mechanism 154 are movable clamping mechanisms. Method 3: The first clamping mechanism 151, the second clamping mechanism 152, the third clamping mechanism 153 and the fourth clamping mechanism 154 are all movable clamping mechanisms. The following description will be made by taking the first clamping mechanism 151 and the second clamping mechanism 152 as movable clamping mechanisms as an example.

[0109] like Figure 21 and Figure 22As shown, locking mechanisms are provided on the first clamping mechanism 151 and the second clamping mechanism 152. The locking mechanisms allow the first clamping mechanism 151 and the second clamping mechanism 152 to rotate relative to the tower 110 in a manner away from or toward the tower 50, thereby enabling the first clamping mechanism 151 and the second clamping mechanism 152 to open outward in a direction away from the tower 50 and close inward in a direction toward the tower 50. The third clamping mechanism 153 and the fourth clamping mechanism 154 are not provided with locking mechanisms. Therefore, the third clamping mechanism 153 and the fourth clamping mechanism 154 cannot rotate relative to the tower 110 and cannot open outward. Based on this structure, the assembly process of the tower 110 on the tower 50 is as follows: 1. Pre-install all four sets of clamping mechanisms on the tower 110; 2. At the first clamping mechanism 151 and the second clamping mechanism 152, release the lock of the first clamping mechanism 151 and the second clamping mechanism 152 by the locking mechanism, allowing the first clamping mechanism 151 and the second clamping mechanism 152 to rotate relative to the tower 110, thereby making the first clamping mechanism 151 and the second clamping mechanism 152 in an outwardly open state; 3. Lift the tower 110 with the help of a crane. Since the first clamping mechanism 151 and the second clamping mechanism 152 are both opened outward, the third clamping mechanism 153 and the fourth clamping mechanism 154 can be clamped on the outer periphery of the second main column 52, and the two clamping wheels in the third clamping mechanism 153 and the fourth clamping mechanism 154 can be clamped on the outer periphery of the second main column 52. The two clamping wheels in 54 are both engaged with the outer periphery of the second main column 52. 4. The first clamping mechanism 151 and the second clamping mechanism 152 are both closed inward until the first clamping mechanism 151 and the second clamping mechanism 152 are stuck to the outer periphery of the first main column 51. The two clamping wheels in the first clamping mechanism 151 and the two clamping wheels in the second clamping mechanism 152 are both engaged with the outer periphery of the first main column 51. 5. The locking mechanism is restored to lock the first clamping mechanism 151 and the second clamping mechanism 152, preventing them from rotating relative to the tower 110. This locks the first clamping mechanism 151 and the tower 110, and the second clamping mechanism 152 and the tower 110, maintaining the inwardly closed state of the first clamping mechanism 151 and the second clamping mechanism 152. At this point, the tower 110 is assembled on the outer periphery of the tower 50 in a liftable manner via the four sets of clamping mechanisms.

[0110] The present application configures the two sets of clamping mechanisms on the same side of the tower 110 to be openable movable structures, thereby facilitating the installation of the tower 110, which is already equipped with four sets of clamping mechanisms, on the tower 50 from the outer peripheral side of the tower 50, rather than inserting and installing it on the tower 50 from the top of the very high tower 50. This greatly reduces the difficulty of installing the tower 110 on the tower 50 and facilitates the assembly operation between the tower 110 and the tower 50.

[0111] Further, if Figures 18 to 20As shown, the first clamping mechanism 151 is higher than the second clamping mechanism 152, which is higher than the third clamping mechanism 153 and the fourth clamping mechanism 154. The third clamping mechanism 153 and the fourth clamping mechanism 154 are of the same height. The staggered arrangement of the first and third clamping mechanisms 151, 153 creates a clear area on the upper front side of the tower 110, which serves as the installation area for the anti-fall device 70. Combined with the cantilever structure formed by installing the telescopic arm 60 on the tower 110, force analysis shows that the diagonally distributed first and fourth clamping mechanisms 151, 154, are subject to greater force, with the first clamping mechanism 151 being subject to greater force. Consequently, the wheel pressures of the first and second clamping wheels 156, 157 at the first clamping mechanism 151 are the greatest. Preferably, the present application sets the first clamping mechanism 151 to be higher than the second clamping mechanism 152, which not only provides installation space for the following anti-fall device 70 to be set on the tower 110, but also increases the torque to avoid stress concentration at the first clamping mechanism 151. Based on this, the first clamping mechanism 151 is used as the adjustment reference after the tower 110 is assembled, and the positions of the second clamping mechanism 152, the third clamping mechanism 153 and the fourth clamping mechanism 154 are fine-tuned; that is, the two clamping wheels in the first clamping mechanism 151 have no adjustment amount, thereby improving the structural strength of the maximum force point, but the two clamping wheels in the second clamping mechanism 152, the third clamping mechanism 153 and the fourth clamping mechanism 154 have an adjustment amount, so that the two clamping wheels in each clamping mechanism can reliably contact and cooperate with the tower 50, eliminating the influence of component processing errors on assembly accuracy. Specifically: Figure 22 As shown, a first X-direction adjustment mechanism 171 is provided between the clamping seat 155 of the second clamping mechanism 152 and the tower 110. The first X-direction adjustment mechanism 171 is used to adjust the X-direction position of the second clamping mechanism 152 relative to the tower 110, where the X-direction is the left-right direction. Figure 23 and Figure 24 As shown, a second X-direction adjustment mechanism 172 and a Y-direction adjustment mechanism 181 connected to the tower 110 are provided between the clamping seat 155 of the third clamping mechanism 153 and the clamping seat 155 of the fourth clamping mechanism 154. The second X-direction adjustment mechanism 172 is used to adjust the X-direction position of the third clamping mechanism 153 and the fourth clamping mechanism 154 relative to the tower 110, and the Y-direction adjustment mechanism 181 is used to adjust the Y-direction position of the third clamping mechanism 153 and the fourth clamping mechanism 154 relative to the tower 110, where the Y-direction is the front-to-back direction.

[0112] Furthermore, the first X-direction adjustment mechanism 171 and the second X-direction adjustment mechanism 172 have the same structure, and the preferred structure is as follows: Figures 22 to 24As shown, the first X-direction adjustment mechanism 171 and the second X-direction adjustment mechanism 172 both include an adjustment bolt 173 extending axially in the left and right directions of the X-direction, a first locking nut 174 and a second locking nut 175 threadedly connected to the adjustment bolt 173, and an adjustment connecting seat 176. An adjustment connecting plate 158 is fixedly installed in the clamping seat 155 of the second clamping mechanism 152, the third clamping mechanism 153, and the fourth clamping mechanism 154. The adjustment bolt 173 passes through the adjustment connecting plate 158 of the clamping seat 155 and the adjustment connecting seat 176. The first locking nut 174 and the second locking nut 175 abut against the left and right sides of the adjustment connecting plate 158. At the second clamping mechanism 152: Figure 22 As shown, the adjustment connection seat 176 of the first X-axis adjustment mechanism 171 is fixedly connected to the tower 110 by welding. At the third clamping mechanism 153 and the fourth clamping mechanism 154: Figure 23 and Figure 24 As shown, the adjustment connection base 176 of the second X-axis adjustment mechanism 172 is connected to the Y-axis adjustment mechanism 181, and the Y-axis adjustment mechanism 181 is connected to the tower 110. In the first X-axis adjustment mechanism 171 and the second X-axis adjustment mechanism 172, by loosening the first locking nut 174 and the second locking nut 175, the gap between each clamping base 155 and the adjustment connection base 176 in the left-right direction can be adjusted, thereby adjusting the left-right position of each clamping mechanism relative to the adjustment connection base 176 and the tower 110.

[0113] Preferably, if Figures 22 to 24 As shown, both first X-axis adjustment mechanism 171 and second X-axis adjustment mechanism 172 further include two adjustment guide rods 177, both parallel to adjustment bolt 173. These two adjustment guide rods 177 are disposed on the upper and lower sides of adjustment bolt 173, respectively. These adjustment guide rods 177 are fixed to adjustment connection base 176 and movably pass through adjustment connection plate 158. During the process of adjusting the left and right positions of the clamping mechanisms, these two adjustment guide rods 177 provide effective guidance, improving adjustment accuracy.

[0114] Furthermore, at the third clamping mechanism 153 and the fourth clamping mechanism 154, the preferred structure of the Y-direction adjustment mechanism 181 is as follows: Figure 23 and Figure 24As shown, the Y-axis adjustment mechanism 181 includes an adjustment washer 182 and a first connecting flange 183 welded to the tower 110. The adjustment connection base 176 of the second X-axis adjustment mechanism 172, the adjustment washer 182, and the first connecting flange 183 are sequentially arranged along the Y-axis and fixedly connected by a plurality of fastening bolts. The number and thickness of the adjustment washer 182 are determined according to actual needs. By selecting different numbers or thicknesses of adjustment washer 182, the fore-aft position of the adjustment connection base 176 of the second X-axis adjustment mechanism 172 can be adjusted, thereby adjusting the fore-aft position of the third clamping mechanism 153 and the fourth clamping mechanism 154 relative to the tower 110.

[0115] Furthermore, the preferred structure of the locking mechanism at the first clamping mechanism 151 and the second clamping mechanism 152 is as follows: Figure 21 and Figure 22As shown, the locking mechanism includes two assembly pins 161 extending vertically, one of which is a pluggable movable pin 162. Specifically, at the first clamping mechanism 151, the two assembly pins 161 are connected between the clamping seat 155 of the first clamping mechanism 151 and the tower 110, and the movable pin 162 is pluggable and installed in the clamping seat 155 of the first clamping mechanism 151 and the tower 110. When the movable pin 162 is removed from the clamping seat 155 of the first clamping mechanism 151 and the tower 110, the locking mechanism is released from the first clamping mechanism 151, and the clamping seat 155 of the first clamping mechanism 151 can rotate relative to the tower 110 about the other assembly pin 161, excluding the movable pin 162, so that the first clamping mechanism 151 moves away from or closer to the tower 50, and opens outward or closes inward accordingly. At the second clamping mechanism 152: two assembly pins 161 are connected between the clamping seat 155 of the second clamping mechanism 152 and the adjustment connecting seat 176 of the first X-direction adjustment mechanism 171, and the movable pin 162 is pluggably installed on the clamping seat 155 of the second clamping mechanism 152 and the adjustment connecting seat 176 of the first X-direction adjustment mechanism 171; when the movable pin 162 is removed from the clamping seat 155 of the second clamping mechanism 152 and the adjustment connecting seat 176 of the first X-direction adjustment mechanism 171, the locking mechanism is released from the second clamping mechanism 152, and the clamping seat 155 of the second clamping mechanism 152 can rotate around the other assembly pin 161 of the two assembly pins 161 except the movable pin 162 relative to the adjustment connecting seat 176 of the first X-direction adjustment mechanism 171 and the tower 110, so that the second clamping mechanism 152 moves away from or approaches the tower 50, and opens outward or closes inward accordingly. After the installation of the tower 110 is completed, the movable pin 162 is reinserted into the clamping seat 155 of the first clamping mechanism 151 and the tower 110 to restore the locking mechanism to the first clamping mechanism 151; the movable pin 162 is reinserted into the clamping seat 155 of the second clamping mechanism 152 and the adjustment connecting seat 176 of the first X-direction adjustment mechanism 171 to restore the locking mechanism to the second clamping mechanism 152.

[0116] Further, if Figure 21 and Figure 22 As shown, at the first clamping mechanism 151 and the second clamping mechanism 152 , the lower ends of the two assembly pins 161 are detachably connected to spring pins 163 , which are distributed on the lower side of the clamping seat 155 to facilitate the plugging and unplugging operations of the movable pins 162 .

[0117] Telescopic arm 60

[0118] like Figure 29 、 Figure 30 and Figure 34As shown, the telescopic arm 60 includes multiple interconnected connecting arm sections 61, and a telescopic drive source 62 connected between two adjacent connecting arm sections 61. The telescopic drive source 62 is a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder. The cylinder body and piston rod of the telescopic drive source 62 are respectively connected to two adjacent connecting arm sections 61. The number of connecting arm sections 61 is determined according to actual needs and can be five, six, seven, eight, or another number. In this embodiment, the connecting arm sections 61 have seven sections, which are sequentially interconnected from back to front; there are six telescopic drive sources 62, and the telescopic drive sources 62 are preferably all hydraulic cylinders. Of the seven connecting arm sections 61, the first connecting arm section 61 at the rear is the connecting arm section 61 farthest from the spraying equipment, and is defined as the first connecting arm section 611; the seventh connecting arm section 61 at the front is the connecting arm section 61 closest to the spraying equipment, and is defined as the last connecting arm section 612; the second to sixth connecting arm sections 61 are the connecting arm sections 61 connected between the first connecting arm section 611 and the last connecting arm section 612, and are defined as intermediate connecting arm sections 613. The telescopic arm 60 in this application adopts a multi-stage structure, which can well adapt to the working conditions of the ship's outer surface being wide at the top and narrow at the bottom.

[0119] Further, if Figure 29 、 Figure 30 and Figure 34 As shown, a connecting bracket 63 is fixed to each connecting arm section 61, and the cylinder body and piston rod of the telescopic drive source 62 are both connected to the connecting bracket 63. Preferably, the connecting bracket 63 on the intermediate connecting arm sections 613 of the second connecting arm section 61 to the sixth connecting arm section 61 is simultaneously connected to the cylinder body of one telescopic drive source 62 and the piston rod of another telescopic drive source 62. Taking the second connecting arm section 61 as an example, the hydraulic cylinder body that drives the second connecting arm section 61 to extend and retract is fixed to the connecting bracket 63 of the first connecting arm section 611, the hydraulic cylinder body that drives the second connecting arm section 61 to extend and retract is fixed to the connecting bracket 63 of the first connecting arm section 611, the hydraulic cylinder piston rod that drives the second connecting arm section 61 to extend and retract is fixed to the connecting bracket 63 of the second connecting arm section 61, and the hydraulic cylinder body that drives the third connecting arm section 61 to extend and retract is fixed to the connecting bracket 63 of the second connecting arm section 61. In this way, the structure of the telescopic arm 60 is optimized, making its overall structure more compact.

[0120] Fall prevention device 70

[0121] like Figure 18 and Figure 20 As shown, the anti-fall device 70 is used to prevent the tower 110 from falling when the lifting rope 21 breaks accidentally, thereby improving the safety factor. Figure 26 and Figure 27As shown, the anti-fall device 70 includes a pulley mounting arm 71, an anti-fall lever arm 72, and an anti-fall fixing seat 73 and a limit seat 74 all welded and fixed to the tower 110; the movable pulley 25 is mounted on the upper end of the pulley mounting arm 71, and the lower end of the pulley mounting arm 71 is rotatably connected to the upper end of the anti-fall lever arm 72 through a first pin shaft 75 extending forward and backward, and the first pin shaft 75 constitutes a rotation fulcrum for relative rotation between the pulley mounting arm 71 and the anti-fall lever arm 72; the anti-fall lever arm 72 is rotatably mounted on the anti-fall fixing seat 73 through a second pin shaft 76 extending forward and backward. 3. The second pin 76 constitutes the rotation fulcrum of the anti-fall lever arm 72; the first pin 75 and the second pin 76 are staggered, and the first pin 75 is farther away from the tower 50 than the second pin 76, that is, the first pin 75 is located to the upper right of the second pin 76; the anti-fall lever arm 72 is a bent rod, and the anti-fall lever arm 72 has a first arm portion 721 distributed on the upper side of the second pin 76, and a second arm portion 722 distributed on the lower side of the second pin 76. The tower 50, the second arm 722 and the limit seat 74 are arranged in sequence from left to right.

[0122] When the lifting rope 21 is not broken, the lifting rope 21 always pulls the movable pulley 25, and the lifting rope 21 applies an upward pulling force to the movable pulley 25, and this pulling force also pulls the pulley mounting arm 71 and the anti-fall lever arm 72 upward; Figure 27 Taking the illustrated view as an example, the anti-fall lever arm 72 rotates clockwise around the second pin 76 under the action of the aforementioned pulling force, thereby driving the second arm portion 722 of the anti-fall lever arm 72 to rotate toward the stop seat 74. At this time, the second arm portion 722 of the anti-fall lever arm 72 separates from the tower 50 and abuts the stop seat 74. Therefore, under the combined action of the pulling force of the lifting rope 21 and the stop seat 74, the anti-fall lever arm 72 remains securely in contact with the stop seat 74, and the pulley mounting arm 71 is in a vertical position.

[0123] When the lifting rope 21 breaks, the tower 110 begins to fall, and at the same time, the pulling force applied by the lifting rope 21 to the movable pulley 25 disappears; Figure 27 Taking the view angle shown as an example, under the action of gravity of the movable pulley 25, the anti-fall lever arm 72 rotates counterclockwise around the second pin 76, which drives the second arm portion 722 of the anti-fall lever arm 72 to rotate toward the tower 50, and the end of the anti-fall lever arm 72 pops out and is engaged with the tower 50 and the support rod 56 of the tower 50. Figure 28 As shown, the further falling of the tower 110 is limited, thereby improving safety.

[0124] Preferably, if Figure 26 and Figure 27As shown, the anti-fall device 70 also includes a third pin 77 fixed to the anti-fall lever arm 72, a fourth pin 78 fixed to the anti-fall fixing seat 73, an auxiliary push rod 79 movably inserted into the fourth pin 78, an anti-fall spring 710 sleeved on the auxiliary push rod 79, and a push plate 711 fixed to the end of the auxiliary push rod 79. The third and fourth pins 77 and 78 both extend forward and backward. The third pin 77 is located below the second pin 76, and the fourth pin 78 is located to the right of the anti-fall lever arm 72. The right and left ends of the anti-fall spring 710 abut against the fourth pin 78 and the push plate 711, respectively, and the push plate 711 abuts against the third pin 77. When the lifting rope 21 is not broken, the anti-fall lever arm 72 tends to rotate clockwise, causing the anti-fall spring 710 to remain compressed. When the lifting rope 21 breaks, the anti-fall lever arm 72 rotates counterclockwise, and the anti-fall spring 710 is released, further driving the anti-fall lever arm 72 to rotate counterclockwise, more reliably pushing the lower end of the anti-fall lever arm 72 to the left, causing it to be stuck on the support rod 56 of the tower 50.

[0125] Further, if Figure 26 As shown, the anti-falling device 70 further includes an anti-falling limit plate 712 fixed on the top of the anti-falling fixed seat 73. The anti-falling limit plate 712 is located on the side of the first arm 721 facing away from the tower 50, that is, the anti-falling limit plate 712 is located on the right side of the first arm 721. The anti-falling limit plate 712 is tilted. Figure 27 As shown, the first arm 721 is separated from the anti-falling limit plate 712 and the two are not in contact. Figure 28 As shown, the second arm portion 722 of the anti-fall lever arm 72 pops out and is clamped on one of the support rods 56 of the tower 50. At the same time, the first arm portion 721 of the anti-fall lever arm 72 abuts against the anti-fall limit plate 712, limiting the second arm portion 722 of the anti-fall lever arm 72 from further rotation and disengaging from the support rod 56, thereby improving the anti-fall reliability.

[0126] Mobile cable rack 80

[0127] like Figure 29 and Figure 30As shown, the follower cable rack 80 includes a first cable rack 81 and a second cable rack 82 arranged side by side in the direction of extension and retraction of the telescopic arm 60. The rear end of the first cable rack 81 is hinged to the top of the rear end of the telescopic arm 60, the front end of the first cable rack 81 is hinged to the rear end of the second cable rack 82, and the front end of the second cable rack 82 is hinged to the top of the front end of the telescopic arm 60. Thus, the follower cable rack 80 as a whole moves with the extension and retraction of the telescopic arm 60: when the telescopic arm 60 extends forward, the follower cable rack 80 expands in the front-to-back direction, and the angle between the first cable rack 81 and the second cable rack 82 gradually increases. When the telescopic arm 60 retracts backward, the follower cable rack 80 collapses in the front-to-back direction, and the angle between the first cable rack 81 and the second cable rack 82 gradually decreases. Therefore, when the telescopic arm 60 is at its maximum length, the follower cable rack 80 assumes a nearly horizontal herringbone configuration; when the telescopic arm 60 is at its minimum length, the follower cable rack 80 assumes a nearly upright herringbone configuration. The rear end of the first wire passing rack 81 is preferably hinged to the top of the rear end of the first connecting arm section 61 , and the front end of the second wire passing rack 82 is preferably hinged to the top of the front end of the sixth connecting arm section 61 .

[0128] Further, if Figures 29 to 31 As shown, the first wire rack 81 and the second wire rack 82 are each provided with a plurality of wire trusses 83 spaced apart from each other in the front and rear directions. Each wire truss 83 extends horizontally in the left and right directions. Each wire truss 83 is provided with a plurality of pipe clamp mounting holes 84 spaced apart from each other in the left and right directions. The pipe clamp mounting holes 84 are used to mount pipe clamps or wire clamps. Therefore, when erecting pipelines connected to the spraying equipment, these pipelines are laid on the top surfaces of the first wire rack 81 and the second wire rack 82, and connected to the spraying equipment at the front end of the telescopic arm 60 along the extension direction of the first wire rack 81 and the second wire rack 82. Then, the pipelines are fixed using pipe clamps or wire clamps fixed in the pipe clamp mounting holes 84, thereby fixing these pipelines on the top surfaces of the first wire rack 81 and the second wire rack 82. On the one hand, the orderly routing of multiple pipelines connected to the spraying equipment is achieved; on the other hand, based on the structural setting that the spraying equipment is installed at the front end of the telescopic arm 60, during the extension and retraction of the telescopic arm 60, the follower cable rack 80 moves as a whole, and the multiple pipelines fixed on the top surfaces of the first wire rack 81 and the second wire rack 82 will also move, but these pipelines have been fixed. Even if these pipelines move with the extension and retraction of the telescopic arm 60, these pipelines are always in an orderly routing state, and there will be no phenomenon of multiple pipelines being entangled and knotted with each other, ultimately ensuring the reliable operation of the ship's surface spraying device.

[0129] Furthermore, the structures of the first wire passing frame 81 and the second wire passing frame 82 are substantially the same. Figure 29 and Figure 30As shown, the first wire-passing frame 81 and the second wire-passing frame 82 both include a pair of main struts 87 arranged opposite to each other on the left and right, and several secondary struts 88 fixed between the pair of main struts 87. The main struts 87 extend in the front-to-back direction, and the secondary struts 88 extend in the left-to-right direction; several secondary struts 88 are arranged at intervals in the front-to-back direction along the telescopic direction of the telescopic arm 60, and several wire-passing trusses 83 are fixed on the top of the pair of main struts 87.

[0130] Further, if Figures 29 to 31 As shown, a stopper 85 is fixedly mounted at the hinge of the first or second wire-passing frame 81 or 82 and at the rear end of the second wire-passing frame 82. The stopper 85 is in the shape of a concave character with its opening facing downward. A wire-passing trough 86 is formed between the stopper 85, the first wire-passing frame 81, and the second wire-passing frame 82, extending from front to back. When installing multiple pipelines connected to the spraying equipment, these pipelines are all routed through the wire-passing trough 86, and a certain length of pipeline is reserved at the hinge of the first or second wire-passing frame 81 or 82 to avoid interference with the movement of the follower cable rack 80. In this way, as the follower cable rack 80 moves with the rearward retraction of the telescopic arm 60, the pipelines on the follower cable rack 80 gradually arch upward at the hinge of the first or second wire-passing frame 81 or 82. The stopper 85 constrains the degree of arching of the pipelines, acting as a limiter. Of course, in other embodiments, the stopper 85 can also be fixed at the front end of the first wire-passing frame 81.

[0131] Furthermore, the hinge structure between the rear end of the first wire passing frame 81 and the rear end of the telescopic arm 60 is as follows: Figure 30 and Figure 32 As shown, a first fixed seat 812 is fixed to the top of the rear end of the telescopic arm 60, and a first connecting shaft extending left and right is fixed to the rear ends of the two main support rods 87 of the first wire-passing frame 81. The first connecting shaft is rotatably supported in the first fixed seat 812 through a bearing, thereby hingedly connecting the first wire-passing frame 81 to the telescopic arm 60.

[0132] Furthermore, the hinge structure between the front end of the second wire-passing frame 82 and the front end of the telescopic arm 60 is as follows: Figure 30 and Figure 33 As shown, a second fixing seat 813 is fixed to the top of the front end of the telescopic arm 60. The second fixing seat 813 is used to install a pipeline joint. The second wire guide frame 82 has a second connecting shaft extending left and right fixed to the front ends of its two main support rods 87. The second connecting shaft is rotatably supported in the second fixing seat 813 via a bearing, thereby hingedly connecting the second wire guide frame 82 to the telescopic arm 60.

[0133] Furthermore, the hinge structure between the front end of the first wire passing frame 81 and the rear end of the second wire passing frame 82 is as follows: Figure 30 and Figure 31As shown, the follower cable rack 80 also includes a third connecting shaft 811 arranged at the hinge of the first wire rack 81 and the second wire rack 82, and the third connecting shaft 811 extends left and right. The first wire rack 81 is fixedly provided with a first shaft sleeve portion 89 at the front end of its two main support rods 87, and the second wire rack 82 is fixedly provided with a second shaft sleeve portion 810 at the rear end of its two main support rods 87. A pair of first shaft sleeve portions 89 are distributed between a pair of second shaft sleeve portions 810, and the third connecting shaft 811 is rotatably supported in the first shaft sleeve portion 89 and the second shaft sleeve portion 810 through bearings, thereby hingedly connecting the first wire rack 81 and the second wire rack 82.

[0134] Spraying posture adjustment device 90

[0135] like Figure 35 and Figure 36 As shown, the spraying posture adjustment device 90 is connected between the front end of the telescopic arm 60 and the spraying equipment 120. Figure 38 and Figure 39 As shown, the spraying posture adjustment device 90 includes a spraying mounting seat 91, a spraying frame 92, a first adjustment drive source 93, a second adjustment drive source 94, a mounting bracket 95, and a second distance sensor 132, a third distance sensor 133 and a fourth distance sensor 134 all mounted on the mounting bracket 95. The spraying mounting seat 91 is fixed to the front end of the telescopic arm 60 by a number of bolts, thereby mounting the spraying posture adjustment device as a whole on the front end of the telescopic arm 60. The spraying frame 92 is rotatably mounted on the lower side of the spraying mounting seat 91, and the spraying frame 92 can rotate relative to the spraying mounting seat 91 around a first axis; the first adjustment drive source 93 is mounted on the spraying mounting seat 91 and is transmission-connected to the spraying frame 92, driving the spraying frame 92 to rotate around the first axis. The mounting bracket 95 is rotatably mounted on the underside of the sprayer frame 92 and is capable of rotating relative to the sprayer frame 92 about a second axis extending left and right. A second adjustment drive source 94 is mounted on the sprayer frame 92 and is in transmission connection with the mounting bracket 95, driving the mounting bracket 95 to rotate about the second axis. The first and second axes are perpendicular to each other but parallel to the outer surface of the vessel. In other words, the first axis is a longitudinal tangent to the area to be sprayed on the outer surface of the vessel, and the second axis is a transverse tangent to the area to be sprayed on the outer surface of the vessel. The second distance sensor 132, the third distance sensor 133, and the fourth distance sensor 134 are arranged in a triangular configuration. The second distance sensor 132 is offset from the third distance sensor 133 and the fourth distance sensor 134 along the first axis. The third distance sensor 133 and the fourth distance sensor 134 are arranged side by side along the second axis and are both located below the second distance sensor 132, with the third distance sensor 133 located to the right of the fourth distance sensor 134.

[0136] During automatic spraying, the telescopic arm 60 extends forward to a position close to the area to be sprayed on the outer surface of the ship. At this time, the second distance sensor 132, the third distance sensor 133 and the fourth distance sensor 134 detect in real time the distance between the mounting bracket 95 at their respective positions and the area to be sprayed (i.e., the outer surface of the ship). When the distance data fed back by the three are equal, it indicates that the area to be sprayed corresponding to the current posture of the mounting bracket 95 and the spraying equipment 120 is a plane. At this time, when the spraying equipment 120 performs the spraying operation, the thickness uniformity of the paint film formed is high. Therefore, the first adjustment drive source 93 and the second adjustment drive source 94 of the present application adjust the real-time posture of the mounting bracket 95 and the spraying equipment 120 according to the second distance sensor 132, the third distance sensor 133 and the fourth distance sensor 134. For example, when the distance detected by the second distance sensor 132 is not equal to the distance detected by the third distance sensor 133 or the fourth distance sensor 134, it indicates that the area to be sprayed is a longitudinal curved surface. In this case, the second adjustment drive source 94 is activated to drive the mounting bracket 95 to swing up or down about the second axis of rotation with the sprayer frame 92, adjusting the pitch angle until the distance detected by the second distance sensor 132 is equal to the distance detected by the third distance sensor 133. For another example, when the distance detected by the third distance sensor 133 is not equal to the distance detected by the fourth distance sensor 134, it indicates that the area to be sprayed is a transverse curved surface. In this case, the first adjustment drive source 93 is activated to drive the sprayer frame 92 to swing left or right about the first axis of rotation with the sprayer mounting base 91. The sprayer frame 92 drives the mounting bracket 95 to swing left or right together, adjusting the horizontal swing angle until the distance detected by the third distance sensor 133 is equal to the distance detected by the fourth distance sensor 134.

[0137] Therefore, during the automatic painting operation of the present application, the second distance sensor 132, the third distance sensor 133 and the fourth distance sensor 134 provide real-time feedback on the distance between the mounting bracket 95 and the outer surface of the ship at their respective positions. The first adjustment drive source 93 adjusts the horizontal swing angle of the mounting bracket 95 and the spraying equipment 120 according to the feedback data of the three distance sensors. The second adjustment drive source 94 adjusts the pitch swing angle of the mounting bracket 95 and the spraying equipment 120 according to the feedback data of the three distance sensors to ensure that the distances fed back by the three distance sensors are equal, thereby adjusting the spraying posture of the spraying equipment 120 according to the curved surface shape of the outer surface of the ship, and performing the spraying operation when the area to be sprayed on the outer surface of the ship is flat, effectively improving the spraying quality and the uniformity of the paint film thickness, and greatly improving the spraying effect.

[0138] Preferably, the spraying device 120 is a spray gun. Furthermore, the spraying device 120 is perpendicular to the plane formed by the second distance sensor 132, the third distance sensor 133, and the fourth distance sensor 134. This allows the spraying device 120 to be perpendicular to the area to be sprayed on the outer surface of the vessel, resulting in a better spraying effect. Furthermore, two spraying devices 120 are provided, side by side.

[0139] Further, if Figure 39 As shown, the spraying posture adjustment device also includes a fifth distance sensor 135, which is mounted on the front end surface of the spraying mounting seat 91. The fifth distance sensor 135 is used to detect the distance between the spraying mounting seat 91 and the outer surface of the ship, and is used to control the telescopic speed of the telescopic arm 60. The detection distances of the second distance sensor 132, the third distance sensor 133, and the fourth distance sensor 134 are all equal and less than the detection distance of the fifth distance sensor 135. In the present application, the detection distance of the fifth distance sensor 135 is 2m, and the detection distances of the second distance sensor 132, the third distance sensor 133, and the fourth distance sensor 134 are all 400mm. Of course, in other embodiments, the detection distance of the fifth distance sensor 135, as well as the detection distances of the second distance sensor 132, the third distance sensor 133, and the fourth distance sensor 134 can also be other values, which can be determined according to actual working conditions. When the telescopic arm 60 begins to extend forward, the distance between the spray mounting seat 91 and the outer surface of the ship is relatively large, much greater than 2 meters. During this process, the telescopic arm 60 extends rapidly. When the telescopic arm 60 extends forward to a distance of 2 meters between the spray mounting seat 91 and the outer surface of the ship, the fifth distance sensor 135 receives a signal, but the second distance sensor 132, the third distance sensor 133, and the fourth distance sensor 134 still do not receive a signal. Based on the signal from the fifth distance sensor 135, the extension speed of the telescopic arm 60 is controlled to decrease, and the telescopic arm 60 is extended forward at a slower speed until the second distance sensor 132, the third distance sensor 133, and the fourth distance sensor 134 all receive a signal. Thereafter, the first adjustment drive source 93 and the second adjustment drive source 94 are controlled based on the signals from the second distance sensor 132, the third distance sensor 133, and the fourth distance sensor 134 to adjust the spraying posture of the mounting bracket 95 and the spraying equipment 120 in real time according to the curved surface of the outer surface of the ship. Preferably, the second distance sensor 132 , the third distance sensor 133 , the fourth distance sensor 134 and the fifth distance sensor 135 are all ultrasonic sensors.

[0140] Further, if Figure 38 and Figure 39As shown, the sensing end of the second distance sensor 132 is directed perpendicular to both the first axis and the second axis, i.e. the sensing end of the second distance sensor 132 is directed normal to the region of the outer surface of the ship to be painted. The second distance sensor 132 and the third distance sensor 133 are symmetrically arranged left and right of the second distance sensor 132 in the left-right direction.

[0141] Further, as shown in Figure 38 and Figure 39 , the painting mounting seats 91 are distributed on the upper side of the painting rack 92, the bottom of the painting mounting seat 91 is fixed with a rotating shaft 96 extending along the first axis, the central axis of the rotating shaft 96 constitutes the rotation center of the painting rack 92, i.e. constitutes the first axis mentioned above, the painting rack 92 is rotatably mounted on the outer periphery of the rotating shaft 96 through a rotating assembly 97, the rotating assembly 97 is a bearing, a copper sleeve, etc. The painting rack 92 is distributed on the upper side of the mounting bracket 95, the left and right sides of the bottom of the painting rack 92 are both fixed with a first connecting lug seat 921, the left and right sides of the top of the mounting bracket 95 are both fixed with a second connecting lug seat 951, the first connecting lug seat 921 and the second connecting lug seat 951 are hingedly connected through a pin shaft extending along the second axis, the pin shaft constitutes the rotation center of the mounting bracket 95, i.e. constitutes the second axis mentioned above.

[0142] Further, as shown in Figure 38 and Figure 39 , the first adjusting drive source 93 and the second adjusting drive source 94 are both electric cylinders or air cylinders or hydraulic cylinders. The cylinder body and the piston rod of the first adjusting drive source 93 are rotatably connected with the painting mounting seat 91 and the painting rack 92 respectively, the first adjusting drive source 93 is distributed on the outer periphery side of the rotating shaft 96, the first adjusting drive source 93 is offset from the first axis and does not pass through the first axis, avoiding self-locking. The cylinder body and the piston rod of the second adjusting drive source 94 are rotatably connected with the painting rack 92 and the mounting bracket 95 respectively, the second adjusting drive source 94 is distributed on the outer periphery side of the pin shaft hingedly connecting the first connecting lug seat 921 and the second connecting lug seat 951, the second adjusting drive source 94 is offset from the second axis and does not pass through the second axis, avoiding self-locking.

[0143] Further, as shown in Figure 39 and Figure 40 , the painting posture adjusting device further comprises a paint spraying cover 141 mounted on the mounting bracket 95, one paint spraying cover 141 is provided on the outer periphery of each painting device 120. The paint spraying cover 141 is of a flared structure, the opening of the paint spraying cover 141 gradually expands along the spraying direction of the painting device 120, the paint spraying cover 141 can prevent the paint mist sprayed by the painting device 120 from drifting, improving the spraying effect.

[0144] Further, as shown in Figure 38 and Figure 39As shown, the spray posture adjustment device also includes an adjustment bracket 98. The mounting bracket 95 is provided with an adjustment fixing slot 952 extending horizontally in the left-right direction. The adjustment bracket 98 is fixed to the mounting bracket 95 by bolts passing through the adjustment fixing slot 952. The spraying equipment 120 and the paint hood 141 are both fixed to the adjustment bracket 98. On the one hand, the fixed installation of the spraying equipment 120 and the paint hood 141 on the mounting bracket 95 is achieved; on the other hand, the provision of the adjustment fixing slot 952 on the mounting bracket 95 can adjust the horizontal position of the adjustment bracket 98 in the direction in which the adjustment fixing slot 952 extends, that is, adjust the installation position in the left-right direction, thereby adjusting the installation position of the spraying equipment 120 and the paint hood 141 in the left-right direction, thereby ensuring the painting effect of the spraying equipment 120.

[0145] Paint mist recovery system 140

[0146] like Figure 35 and Figure 36 As shown, the paint mist recovery system 140 includes a paint spray hood 141, a recovery hood 142, a recovery box 143, a fan 144, a filter consumable 145 and a recovery pipe 146, and the recovery hood 142 is also fixed on the adjustment bracket 98; Figure 40 As shown, the paint hood 141 is arranged on the periphery of the spraying equipment 120, and the recovery hood 142 is arranged on the periphery of the paint hood 141. The paint hood 141 and the recovery hood 142 are both open bodies with openings facing the exterior of the ship (that is, both openings face forward). The front end of the recovery hood 142 extends forward from the front end of the paint hood 141, and a recovery chamber 147 is formed between the recovery hood 142 and the paint hood 141; the recovery box 143 is fixed to the telescopic arm 60, and the recovery box 143 is provided with an air suction port 1431 and an air blowing port 1432; as shown Figures 35 to 37 As shown, the fan 144 and the filter consumables 145 are both installed in the recycling box 143, the air outlet 1432 on the recycling box 143 is connected to the air outlet of the fan 144, and a filter channel 1433 is also provided in the recycling box 143. The filter channel 1433 is connected between the air suction port 1431 on the recycling box 143 and the air inlet of the fan 144, and the filter consumables 145 are arranged in the filter channel 1433; the two ends of the recovery pipe 146 are respectively connected to the recovery chamber 147 and the air suction port 1431.

[0147] When the ship's exterior spraying device is performing a spraying operation, the spraying equipment 120 is moved to the target area by lifting and lowering the telescopic arm 60 and horizontally extending and retracting the telescopic arm 60, and then the ship's exterior can be sprayed with paint. During the operation, most of the paint mist sprayed by the spraying equipment 120 is sprayed on the exterior of the ship under the action of the paint spray hood 141; at the same time, the fan 144 in the recovery box 143 is in operation. Under the action of the fan 144, the gas in the recovery box 143 flows from the air intake 1431 to the air outlet 1432, and then forms an intake air flow in the recovery chamber 147 through the recovery pipe 146, thereby sucking the gas in the recovery chamber 147 into the recovery pipe 146, thereby sucking a small part of the paint mist emitted during the painting process, as well as hazardous waste such as organic matter generated, into the recovery pipe 146; the sucked hazardous waste flows from the air intake 1431 to the air outlet 1432, and the hazardous waste passes through the filter consumables 145 in the filter channel 1433, and is filtered by the filter consumables 145, thereby filtering out paint mist particles, VOCs, etc. in the hazardous waste; the gas filtered by the filter consumables 145 is directly discharged from the air outlet 1432 of the recovery box 143.

[0148] Therefore, the present application adopts a non-contact method to recycle the paint mist diffused during the spraying operation and hazardous wastes such as organic matter generated at the end of the spraying operation, and uses the filter consumables 145 to filter and process them, thereby greatly reducing the generation of hazardous waste during the spraying operation, effectively reducing the diffusion of paint mist and VOCs emissions during the spraying process, and making the ship surface spraying device equipped with the paint mist recovery system 140 comply with the green and environmentally friendly painting concept, reduce environmental pollution during the ship repair process, and promote the shipbuilding industry to develop in a more environmentally friendly and efficient direction.

[0149] Further, if Figures 35 to 37 As shown, the air intake 1431 and the air blowing 1432 are staggered and located on different sides of the recovery box 143. In this embodiment, the air intake 1431 is located at the upper end of the rear side of the recovery box 143, and the air blowing 1432 is located at the lower end of the front side of the recovery box 143. In this way, the air in the recovery box 143 flows from the upper left end to the lower right end.

[0150] Further, if Figure 37As shown, the filter consumables 145 is a multi-layer structure, and the filter consumables 145 include a paint mist felt 1451 and at least one activated carbon layer 1452. The paint mist felt 1451 and the at least one activated carbon layer 1452 are arranged in sequence along the gas flow direction in the filter channel 1433. In this embodiment, there are two layers of activated carbon layer 1452, and the paint mist felt 1451 and the two activated carbon layers 1452 are arranged in sequence from top to bottom. The paint mist felt 1451 is used to filter out paint mist particles, and the two activated carbon layers 1452 are used to filter out VOCs. Preferably, three horizontally pullable consumable installation drawers 1434 are provided on the recycling box 143, and a pull-out handle is fixed on the outer surface of each consumable installation drawer 1434, and the paint mist felt 1451 and the two activated carbon layers 1452 are each installed in a consumable installation drawer 1434. Thus, after a period of use, the consumables installation drawer 1434 can be pulled out of the recycling box 143 by pulling the handle, making it convenient to regularly replace the paint mist felt 1451 or activated carbon layer 1452 therein to ensure the filtering effect. In addition, the consumables installation drawer 1434 should be provided with several through holes to allow gas to flow to the fan 144.

[0151] Furthermore, the telescopic arm 60 and the recovery box 143 are preferably fixed with flanges: Figure 35 and Figure 36 As shown, a second connecting flange 64 is welded and fixed to the bottom of the rear end of the telescopic arm 60 away from the spraying equipment 120, and a third connecting flange 1435 is welded and fixed to the top of the recovery box 143. The second connecting flange 64 and the third connecting flange 1435 are fixed to each other by a clamp, thereby fixing the recovery box 143 at the bottom of the rear end of the telescopic arm 60.

[0152] Further, if Figure 39 As shown, the spraying equipment 120 is a spray gun, and there are two spray guns that are arranged horizontally side by side. The outside of each spray gun is covered with a spray paint cover 141, and there is one recovery cover 142 that is covered on the outer periphery of the two spray paint covers 141. Figure 35 and Figure 38 As shown, there are two recovery pipes 146; two air suction ports 1431 are provided on the recovery box 143 and arranged horizontally side by side. One end of each recovery pipe 146 is connected to the two air suction ports 1431 on the recovery box 143; a connection hole 1421 is provided at the middle position of the top and the middle position of the bottom of the recovery cover 142. The connection hole 1421 communicates with the recovery chamber 147. The recovery cover 142 has two connection holes 1421, and the other ends of the two recovery pipes 146 are connected to the two connection holes 1421 on the recovery cover 142. In this way, the paint mist diffused during the painting process and the hazardous waste such as organic matter generated can be more reliably recovered.

[0153] Preferably, the recovery pipe 146 is a flexible hose to avoid interference with the extension and retraction of the telescopic arm 60. Furthermore, the recovery pipe 146 is fixedly mounted on the first and second wire guide frames 81, 82. As the telescopic arm 60 extends and retracts, the first and second wire guide frames 81, 82 of the follower cable rack 80 follow suit. Since the recovery pipe 146 is fixedly mounted on the first and second wire guide frames 81, 82, the recovery pipe 146 will not become entangled with other components or become randomly entangled itself, thus ensuring the normal operation of the paint mist recovery system 140.

[0154] In summary, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0155] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A ship surface spraying device, characterized in that: The lifting drive source and the tower are all fixedly mounted on the top of the walking chassis, and the lifting drive source and the tower are connected to each other through the lifting transmission mechanism, the inner end of the telescopic arm is mounted on the tower, and the outer end of the telescopic arm is mounted on the tower.

2. The ship surface spraying device according to claim 1, characterized in that: It also includes a pair of first distance sensors, which are fixedly mounted on the side of the tower facing the exterior of the ship. The pair of first distance sensors are arranged side by side along the traveling direction of the walking chassis and aligned in the traveling direction of the walking chassis. The pair of first distance sensors are used to measure the horizontal distance between the walking chassis and the exterior of the ship in a direction perpendicular to the traveling direction of the walking chassis.

3. The ship surface spraying device according to claim 1, characterized in that: The traveling chassis assembly further includes a pair of universal wheels mounted on both sides of the traveling chassis along the traveling direction of the traveling chassis, and a floating suspension mechanism. The two driving wheels are respectively a fixed driving wheel and a floating driving wheel. The floating driving wheel can be mounted on the traveling chassis in a floating manner up and down through the floating suspension mechanism. The bottom of the fixed driving wheel and the bottom of the two universal wheels are coplanar. The floating suspension mechanism includes a floating mounting plate, a suspension cylinder and a first drive wheel mounting plate. The floating mounting plate is fixed to one side of the walking chassis. The cylinder body and piston rod of the suspension cylinder are respectively connected to the floating mounting plate and the first drive wheel mounting plate. The walking drive source of the floating drive wheel is fixed to the first drive wheel mounting plate.

4. The ship surface spraying device according to claim 3, characterized in that: The walking chassis assembly also includes a support leg fixed to the other side of the walking chassis, and a second drive wheel mounting plate fixed to the outer end of the support leg. The walking drive source of the fixed drive wheel is fixed to the second drive wheel mounting plate. The support leg makes the fixed drive wheel away from the center of gravity of the walking chassis relative to the floating drive wheel. The universal wheel is eccentrically arranged close to the floating drive wheel relative to the midline of the walking chassis in a direction perpendicular to the walking direction of the walking chassis.

5. The ship surface spraying device according to claim 1, characterized in that: The lifting drive source is a winch, and the lifting transmission mechanism includes a lifting rope wound on the winch, and a pulley assembly. The lifting rope is fixed to the top of the tower after passing through each pulley in the pulley assembly. The pulley assembly has a movable pulley installed on the tower.

6. The ship surface spraying device according to claim 1, characterized in that: The anti-falling device further comprises a device connected between the lifting transmission mechanism and the tower, the anti-falling device comprising an anti-falling lever arm, an anti-falling fixing seat and a limiting seat both of which are fixed to the tower, the anti-falling lever arm being rotatably mounted on the anti-falling fixing seat, the anti-falling lever arm comprising a first arm portion distributed above an axis of rotation between the anti-falling fixing seat and the anti-falling fixing seat, and a second arm portion distributed below an axis of rotation between the anti-falling fixing seat and the anti-falling fixing seat, the lifting transmission mechanism being in transmission connection with the first arm portion, and the second arm portion being arranged between the tower and the limiting seat; when the lifting transmission mechanism remains connected to the first arm portion, the pulling force of the lifting transmission mechanism acting on the first arm portion drives the second arm portion of the anti-falling lever arm to separate from the tower and to abut against the limiting seat; When the connection between the lifting transmission mechanism and the first arm portion is disconnected, the load-bearing force of the anti-fall lever arm drives the second arm portion of the anti-fall lever arm to rotate toward the tower, and the second arm portion can be engaged with the tower.

7. The ship surface spraying device according to claim 1, characterized in that: The tower is provided with a first main column and a second main column arranged horizontally side by side, the outer surfaces of the first main column and the second main column have a first mounting mating surface and a second mounting mating surface, the first mounting mating surface and the second mounting mating surface are arranged at an angle and both extend vertically, at least one set of clamping mechanisms is provided between the tower and the first main column, and between the tower and the second main column, each set of the clamping mechanisms includes a clamping seat, and a first clamping wheel and a second clamping wheel rotatably mounted on the clamping seat, the first clamping wheel and the first mounting mating surface are in sliding engagement, and the second clamping wheel and the second mounting mating surface are in sliding engagement, so as to limit the displacement of the tower relative to the tower in a non-lifting direction; Among the multiple groups of clamping mechanisms between the tower and the tower, at least the clamping mechanisms distributed on the same side of the tower are movable clamping mechanisms. The movable clamping mechanisms are rotatably installed on the tower, and a locking mechanism is provided between the tower and the tower. The locking mechanism can make the movable clamping mechanism be in an outwardly open state or an inwardly closed state relative to the tower.

8. The ship surface spraying device according to claim 1, characterized in that: It also includes a movable cable rack, which includes a first wire rack and a second wire rack arranged side by side along the telescopic direction of the telescopic arm, one end of the first wire rack and one end of the second wire rack are hinged, and the other end of the first wire rack and the other end of the second wire rack are respectively hinged to the two ends of the telescopic arm; the first wire rack and the second wire rack are both provided with a number of wire trusses arranged at intervals, and each of the wire trusses is provided with a number of pipe clamp mounting holes.

9. The ship surface spraying device according to claim 1, characterized in that: Also included is a spraying posture adjustment device connected between the telescopic arm and the spraying equipment, the spraying posture adjustment device including a spraying mounting base, a spraying frame, a first adjustment drive source, a second adjustment drive source, and a second distance sensor, a third distance sensor, and a fourth distance sensor all mounted on the mounting bracket, the second distance sensor, the third distance sensor, and the fourth distance sensor being used to detect the distance between the mounting bracket and the area to be sprayed at their respective positions; The spraying equipment is fixedly mounted on the mounting bracket; the spraying frame is rotatably mounted on the spraying mounting seat; the first adjustment drive source is transmission-connected to the spraying frame for driving the spraying frame to rotate about a first axis; the mounting bracket is rotatably mounted on the spraying frame; the second adjustment drive source is transmission-connected to the mounting bracket for driving the mounting bracket to rotate about a second axis; the first axis and the second axis are perpendicular; The second distance sensor, the third distance sensor and the fourth distance sensor are distributed in a triangle. The second distance sensor is staggered with the third distance sensor and the fourth distance sensor along the first axis. The third distance sensor and the fourth distance sensor are arranged side by side along the second axis.

10. The ship surface spraying device according to claim 9, characterized in that: It also includes a paint mist recovery system, which includes a paint spray hood and a recovery hood both installed on a mounting bracket, a recovery box fixed on a telescopic arm, a fan and filter consumables both installed in the recovery box, and a recovery pipe. The paint spray hood is arranged on the periphery of the spraying equipment, and the recovery hood is arranged on the periphery of the paint spray hood. A recovery cavity is formed between the paint spray hood and the recovery hood. The recovery box is provided with an air suction port and an air blowing port connected to the air outlet of the fan. Both ends of the recovery pipe are connected to the recovery cavity and the air suction port respectively. A filter channel connected between the air suction port and the air inlet of the fan is provided in the recovery box, and the filter consumables are arranged in the filter channel.

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