Automatic hull spraying system

Abstract

The present invention discloses an automatic hull spraying system, comprising a base and a spraying assembly, wherein a first vertical beam and a second vertical beam are respectively fixed on the base, and the top of the first vertical beam is assembled and fixed with the second vertical beam; a fourth cross beam is fixed on the top of the second vertical beam below the third cross beam, and the fourth cross beam is respectively assembled and fixed with the two third vertical beams; a first lifting pulley and a second lifting pulley are also respectively installed on the tops of the two third vertical beams, and a first secondary lifting pulley and a second secondary lifting pulley are respectively installed on the bottoms of the two third vertical beams; the first lifting pulley and the first secondary lifting pulley are connected by a first synchronous belt; the second lifting pulley and the second secondary lifting pulley are connected by a second synchronous belt; the first lifting pulley and the second lifting pulley are respectively fixed on the lifting drive shaft, and one end of the lifting drive shaft is connected to the output shaft of the lifting motor; the first synchronous belt and the second synchronous belt are respectively assembled and fixed with two different lifting drive plates, and the lifting drive plates are installed and fixed on the spraying cross beam.

Description

Technical Field

[0001] The invention relates to a spraying device, in particular to an automatic hull spraying system. Background Art

[0002] As an important process in the shipbuilding industry, painting is a high-risk job that is harmful to human health and the environment. In addition, shipyards are facing the dilemma of not being able to recruit workers for this job. At the same time, traditional manual spraying has problems such as poor accuracy and quality, and uneven paint thickness.

[0003] Painting robots are an ideal solution to solve the problems of traditional spraying methods. Researching and manufacturing suitable hull automatic spraying robots will greatly improve spraying quality, improve efficiency, reduce human harm, and promote enterprise automation upgrades. It has good application effects and broad application prospects. Summary of the invention

[0004] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide an automatic hull spraying system, which can realize automatic spraying of the hull.

[0005] To achieve the above object, the present invention provides a hull automatic spraying system, comprising a base and a spraying assembly, wherein a first vertical beam and a second vertical beam are respectively fixed on the base, and the top of the first vertical beam is assembled and fixed with the second vertical beam to form a triangular support;

[0006] The top of the second vertical beam is connected and fixed by the third horizontal beam, and a fourth horizontal beam is fixed on the top of the second vertical beam below the third horizontal beam, and the fourth horizontal beam is respectively assembled and fixed with the two third vertical beams;

[0007] The second vertical beam and the third vertical beam are located at the bottom of the third cross beam and are respectively assembled and fixed by the second cross beam and the first cross beam, and the tops of the two third vertical beams are connected and fixed by the fifth cross beam and the sixth cross beam;

[0008] The tops of the two third vertical beams are respectively equipped with a first lifting pulley and a second lifting pulley, and the bottoms of the two third vertical beams are respectively equipped with a first auxiliary lifting pulley and a second auxiliary lifting pulley;

[0009] The first lifting pulley and the first auxiliary lifting pulley are connected by a first synchronous belt to form a belt transmission mechanism; the second lifting pulley and the second auxiliary lifting pulley are connected by a second synchronous belt to form a belt transmission mechanism;

[0010] The first lifting pulley and the second lifting pulley are respectively fixed on the lifting drive shaft, and one end of the lifting drive shaft is connected to the output shaft of the lifting motor; the first synchronous belt and the second synchronous belt are respectively assembled and fixed to two different lifting drive plates, and the lifting drive plates are installed and fixed on the spraying beam; the translation drive plate is assembled and fixed to the third synchronous belt; the translation drive plate is assembled and fixed to the connecting frame of the spraying assembly.

[0011] Preferably, a vertical beam guide boss is also fixed on the third vertical beam, and the vertical beam guide boss is engaged and assembled with the vertical beam guide wheel;

[0012] A translation driving plate is also fixedly mounted on the spraying crossbeam, and a crossbeam guide wheel is mounted on the translation driving plate. The crossbeam guide wheel is assembled with the crossbeam guide boss.

[0013] Preferably, the third synchronous belt is respectively connected to the first translation pulley and the second translation pulley to form a belt transmission mechanism, and the first translation pulley is installed on the output shaft of the translation motor.

[0014] Preferably, the tops of the two third vertical beams are respectively installed with a first lifting shell and a second lifting shell, and the bottoms of the two third vertical beams are respectively installed with a first auxiliary lifting shell and a second auxiliary lifting shell;

[0015] The first lifting shell, the second lifting shell, the first auxiliary lifting shell and the second auxiliary lifting shell are respectively installed with a first lifting pulley, a second lifting pulley, a first auxiliary lifting pulley and a second auxiliary lifting pulley.

[0016] Preferably, a first vertical deceleration sensor and a first vertical stop switch are respectively arranged on the third vertical beam near the first lifting shell and the second lifting shell;

[0017] A second vertical deceleration sensor and a second vertical stop switch are respectively arranged on the third vertical beam near the first auxiliary lifting shell and the second auxiliary lifting shell;

[0018] The first vertical deceleration sensor and the second vertical deceleration sensor are used to detect the position of the lifting drive plate.

[0019] Preferably, a lifting magnet is provided on the lifting drive plate, and the first vertical deceleration sensor and the second vertical deceleration sensor both adopt Hall sensors, and the first vertical deceleration sensor and the second vertical deceleration sensor are used to judge the distance and position between the lifting drive plate and the first vertical deceleration sensor and the second vertical deceleration sensor by detecting the magnetic field strength of the lifting magnet; the first vertical stop switch and the second vertical stop switch are travel switches.

[0020] Preferably, the first horizontal shell and the second horizontal shell are respectively installed at both ends of the spray beam, and the first translation pulley and the second translation pulley are respectively installed in the first horizontal shell and the second horizontal shell;

[0021] A first translation stop switch and a first translation deceleration sensor, a second translation stop switch and a second translation deceleration sensor are respectively arranged at both ends of the spray beam near the first horizontal shell and the second horizontal shell;

[0022] The first translation deceleration sensor and the second translation deceleration sensor are used to detect the position of the translation drive plate.

[0023] Preferably, the first translation stop switch or the second translation stop switch is a travel switch;

[0024] The first translation deceleration sensor and the second translation deceleration sensor are Hall sensors, and a translation magnet is arranged on the translation drive plate. The first translation deceleration sensor and the second translation deceleration sensor determine the position of the translation drive plate and the first translation deceleration sensor and the second translation deceleration sensor by detecting the magnetic field strength of the translation magnet.

[0025] Preferably, the spraying assembly further comprises a spraying hood and a connecting column, wherein one end of the connecting column is assembled and fixed to the vertical support plate, and the other end is connected and fixed to the vertical limit plate;

[0026] The vertical support plate and the vertical limit plate are respectively assembled and fixed to the two ends of the two spraying guide columns, and the steering drive rod and the rack are also fixed in the connecting column;

[0027] One end of the steering drive rod passes through the vertical support plate and is fixed to the secondary pulley. The secondary pulley is connected to the pulley through the steering belt to form a belt transmission mechanism. The pulley is fixed to the output shaft of the steering motor.

[0028] The rack and the gear mesh to form a rack-and-gear transmission mechanism, the gear is fixed on the output shaft of the ejection motor, and the ejection motor is fixed on the connecting frame;

[0029] The vertical limiting plate is fixedly assembled with the spraying hood, the interior of the spraying hood is a spraying inner cavity with one end open, and at least one spray head is installed in the spraying inner cavity.

[0030] Preferably, at least one limit sensing block is fixed on the outer shell of the connecting column, and a push-out guide wheel is fixed on the connecting frame, and the push-out guide wheel is engaged and assembled with the spraying guide column;

[0031] The nozzle is fixed on the nozzle fixing rod, and the nozzle fixing rod is also assembled and fixed with the nozzle steering shaft. A worm wheel is fixed on the nozzle steering shaft. The worm wheel and the worm part are meshed to form a worm gear mechanism, and the worm wheel and the worm part are covered with a steering protection cover.

[0032] The connecting frame is also fixed with a first push-out sensor and a second push-out sensor, which are Hall sensors respectively. The limit sensing blocks are made of magnets, and the limit sensing blocks are respectively located at both ends of the connecting column.

[0033] The beneficial effects of the present invention are:

[0034] The automatic hull spraying system of the present invention has a simple structure and can perform intelligent spraying through programming, or semi-intelligent spraying through manual intervention, which can effectively improve efficiency, and the spraying quality is stable, and better spraying quality can be obtained after adjustment.

[0035] The control system of the present invention can detect or infer the position of the spray hood, thereby providing a hardware basis for intelligent spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The invention discloses a structural schematic diagram of an automatic hull spraying system.

[0037] Figure 2 The invention discloses a structural schematic diagram of an automatic hull spraying system.

[0038] Figure 3 It is a structural schematic diagram of the sixth cross beam of an automatic hull spraying system of the present invention.

[0039] Figure 4 It is a structural schematic diagram of the third vertical beam of an automatic hull spraying system of the present invention.

[0040] Figure 5 It is a structural schematic diagram of the third vertical beam of an automatic hull spraying system of the present invention.

[0041] Figure 6 The invention discloses a structural schematic diagram of an automatic hull spraying system.

[0042] Figure 7 The present invention is a schematic diagram of the structure of a spray beam of a hull automatic spray system.

[0043] Figure 8 The present invention is a schematic diagram of the structure of a spray beam of a hull automatic spray system.

[0044] Fig. 9 The present invention is a schematic diagram of the structure of a spray beam of a hull automatic spray system.

[0045] Fig.10 The present invention is a schematic diagram of the structure of a spray beam of a hull automatic spray system.

[0046] Fig.11 The present invention is a schematic diagram of the structure of a spraying component of an automatic hull spraying system.

[0047] Fig.12 The present invention is a schematic diagram of the structure of a spraying component of an automatic hull spraying system.

[0048] Fig.13 The present invention is a schematic diagram of the structure of a spraying component of an automatic hull spraying system.

[0049] Fig.14 The present invention is a schematic diagram of the structure of a spraying component of an automatic hull spraying system.

[0050] Fig.15 The present invention is a schematic diagram of the structure of a spraying component of an automatic hull spraying system.

[0051] Fig.16 The present invention is a schematic diagram of the structure of a spraying component of an automatic hull spraying system.

[0052] Fig.17 The present invention is a schematic diagram of the structure of a spraying component of an automatic hull spraying system.

[0053] Fig.18 The present invention is a schematic diagram of the structure of a spraying component of an automatic hull spraying system.

[0054] Fig.19 The invention discloses a control system principle block diagram of a ship hull automatic spraying system. DETAILED DESCRIPTION

[0055] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0056] See also Figure 1-Figure 18 A hull automatic spraying system includes a base 110 and a spraying assembly 400. The base 110 is respectively fixed with a first vertical beam 121 and a second vertical beam 122. The top of the first vertical beam 121 is assembled and fixed with the second vertical beam 122 to form a triangular support.

[0057] The top of the second vertical beam 122 is connected and fixed by the third cross beam 133, and a fourth cross beam 134 is fixed on the top of the second vertical beam 122 below the third cross beam 133, and the fourth cross beam 134 is respectively assembled and fixed with the two third vertical beams 123;

[0058] The second vertical beam 122 and the third vertical beam 123 are located at the bottom of the third cross beam 133 and are respectively assembled and fixed by the second cross beam 132 and the first cross beam 131, and the tops of the two third vertical beams 123 are connected and fixed by the fifth cross beam 135 and the sixth cross beam 136;

[0059] The tops of the two third vertical beams 123 are respectively installed with a first lifting shell 311 and a second lifting shell 312, and the bottoms of the two third vertical beams 123 are respectively installed with a first auxiliary lifting shell 3111 and a second auxiliary lifting shell 3121;

[0060] The first lifting shell 311, the second lifting shell 312, the first auxiliary lifting shell 3111, and the second auxiliary lifting shell 3121 are respectively installed with a first lifting pulley 511, a second lifting pulley 512, a first auxiliary lifting pulley 5111, and a second auxiliary lifting pulley 5121;

[0061] The first lifting pulley 511 and the first auxiliary lifting pulley 5111 are connected by a first synchronous belt to form a belt transmission mechanism;

[0062] The second lifting pulley 512 and the second auxiliary lifting pulley 5121 are connected by a second synchronous belt to form a belt transmission mechanism;

[0063] The first lifting pulley 511 and the second lifting pulley 512 are respectively fixed on the lifting drive shaft 211, and one end of the lifting drive shaft 211 is connected to the output shaft of the lifting motor 210, so that the lifting motor 210 can drive the lifting drive shaft 211 to rotate circumferentially;

[0064] The first synchronous belt and the second synchronous belt are respectively assembled and fixed with two different lifting drive plates 170, and the lifting drive plates 170 are installed and fixed on the spraying beam 140;

[0065] A vertical beam guide boss 1231 is also fixed on the third vertical beam 123, and the vertical beam guide boss 1231 is engaged with the vertical beam guide wheel 171, so that the spray beam 140 moves along the length direction of the third vertical beam without deviation;

[0066] The spray beam 140 is also fixedly mounted with a translation driving plate 160, and the translation driving plate 160 is mounted with a beam guide wheel 161, and the beam guide wheel 161 is engaged with the beam guide boss 141, so that the translation driving plate 160 can move along the length direction of the spray beam 140 without deviation;

[0067] The translation drive plate 160 is assembled and fixed with the third synchronous belt, and the third synchronous belt is respectively connected with the first translation pulley 521 and the second translation pulley 522 to form a belt transmission mechanism. The first translation pulley 521 is installed on the output shaft of the translation motor 220, so that the translation motor 220 can drive the first translation pulley 521 to rotate circumferentially, and the first translation pulley 521 then drives the second translation pulley 522 to rotate circumferentially through the third synchronous belt, so that the third synchronous belt can move in the length direction of the spray beam, that is, drive the translation drive plate 160 to move in the length direction of the spray beam.

[0068] When in use, the lifting motor 210 drives the spray beam 140 to move up and down through the first synchronous belt and the second synchronous belt. In order to prevent the spray beam 140 from colliding with the first lifting shell 311, the second lifting shell 312 or the first auxiliary lifting shell 3111, the second auxiliary lifting shell 3121, the applicant makes the following improvements:

[0069] A first vertical deceleration sensor 271 and a first vertical stop switch 251 are respectively arranged on the third vertical beam 123 near the first lifting shell 311 and the second lifting shell 312;

[0070] A second vertical deceleration sensor 272 and a second vertical stop switch 252 are respectively arranged on the third vertical beam 123 near the first auxiliary lifting housing 3111 and the second auxiliary lifting housing 3121;

[0071] The first vertical deceleration sensor 271 and the second vertical deceleration sensor 272 are used to detect the position of the lifting drive plate 170. A lifting magnet can be set on the lifting drive plate 170, and then the first vertical deceleration sensor 271 and the second vertical deceleration sensor 272 are both Hall sensors. The first vertical deceleration sensor 271 and the second vertical deceleration sensor 272 are used to determine the distance and position between the lifting drive plate 170 and the first vertical deceleration sensor 271 and the second vertical deceleration sensor 272 by detecting the magnetic field strength of the lifting magnet;

[0072] When the lifting drive plate 170 is facing the first vertical deceleration sensor 271 and the second vertical deceleration sensor 272, the system determines that deceleration is required, and the lifting motor 210 reduces the speed and prepares for braking;

[0073] The first vertical stop switch 251 and the second vertical stop switch 252 are travel switches. When the lifting drive plate 170 triggers the first vertical stop switch 251 or the second vertical stop switch 252, the lifting motor 210 stops running and enters a braking state, and the system does not allow the lifting motor to rotate in this direction and can only rotate in the reverse direction.

[0074] Preferably, the first horizontal housing 321 and the second horizontal housing 322 are respectively installed at both ends of the spray beam 140, and the first translation pulley 521 and the second translation pulley 522 are respectively installed in the first horizontal housing 321 and the second horizontal housing 322;

[0075] The first translation stop switch 261 and the first translation deceleration sensor 253, the second translation stop switch 262 and the second translation deceleration sensor 254 are respectively arranged at both ends of the spray beam 140 near the first horizontal shell 321 and the second horizontal shell 322;

[0076] The first translation deceleration sensor 253 and the second translation deceleration sensor 254 are used to detect the position of the translation driving plate 160. When the translation driving plate 160 is directly facing the first translation deceleration sensor 253 or the second translation deceleration sensor 254, the translation motor 220 starts to decelerate and prepares to brake.

[0077] When the translation driving plate 160 triggers the first translation stop switch 261 or the second translation stop switch 262, the translation motor stops running and enters a braking state. At this time, the translation motor can only reverse, thereby preventing the translation driving plate 160 from colliding with the first horizontal housing 321 or the second horizontal housing 322;

[0078] The first translation stop switch 261 or the second translation stop switch 262 is a travel switch;

[0079] The first translation deceleration sensor 253 and the second translation deceleration sensor 254 can be Hall sensors, and a translation magnet is arranged on the translation drive plate 160. The first translation deceleration sensor 253 and the second translation deceleration sensor 254 determine the position of the translation drive plate 160 and the first translation deceleration sensor 253 and the second translation deceleration sensor 254 by detecting the magnetic field strength of the translation magnet, so that the translation motor can decelerate in time.

[0080] The translation driving plate 160 is assembled and fixed with the connecting frame 431 of the spraying assembly 400. The spraying assembly 400 further includes a spraying cover 410 and a connecting column 420. One end of the connecting column 420 is assembled and fixed with the vertical supporting plate 433, and the other end is connected and fixed with the vertical limiting plate 434.

[0081] The vertical support plate 433 and the vertical limit plate 434 are respectively assembled and fixed to the two ends of the two spraying guide columns 422, and the steering drive rod 423 and the rack 425 are also fixed in the connecting column 420;

[0082] One end of the steering drive rod 423 passes through the vertical support plate 433 and is fixedly assembled with the secondary pulley 232. The secondary pulley 232 is connected to the pulley 231 through the steering belt to form a belt transmission mechanism. The pulley 231 is fixed on the output shaft of the steering motor 230, and the steering motor 230 can drive the pulley 231 to rotate circumferentially, thereby driving the secondary pulley 232 to rotate through the steering belt, and also driving the steering drive rod 423 to rotate circumferentially.

[0083] The rack 425 meshes with the gear 241 to form a gear rack transmission mechanism. The gear 241 is fixed to the output shaft of the ejection motor 240, and the ejection motor 240 is fixed to the connecting frame 431. The ejection motor 240 can drive the gear 241 to rotate circumferentially.

[0084] Two limit sensing blocks 421 are also fixed on the outer shell of the connecting column 420, and a push-out guide wheel 424 is also fixed on the connecting frame 431. The push-out guide wheel 424 is engaged with the spraying guide column 422, so that when the connecting column 420 moves in the axial direction of the spraying guide column 422, its moving direction will not be deflected;

[0085] The vertical limit plate 434 is assembled and fixed to the spray hood 410. The interior of the spray hood 410 is a spray cavity 411 with an open end. At least one spray head 440 is installed in the spray cavity 411. The spray head 440 is fixed on the spray head fixing rod 451. The spray head fixing rod 451 is also assembled and fixed to the spray head steering shaft 453. A worm gear 460 is fixed on the spray head steering shaft 453. The worm gear 460 is meshed with the worm part 4231 to form a worm gear mechanism, and the worm gear 460 and the worm part 4231 are covered with a steering protection cover 452 on the outside.

[0086] When in use, the steering motor 230 drives the steering drive rod 423 to rotate circumferentially through the steering belt, so that the worm part 4231 drives the worm wheel 460 to rotate circumferentially, and the worm wheel 460 drives the nozzle 440 to rotate circumferentially around the nozzle steering shaft 453 through the nozzle steering shaft 453, thereby adjusting the spraying angle of the nozzle 440. When in use, paint is sprayed from the nozzle 440 to spray the hull.

[0087] Preferably, the connecting frame 431 is also fixed with a first ejection sensor 263 and a second ejection sensor 264, the first ejection sensor 263 and the second ejection sensor 264 are respectively Hall sensors (such as magnetic field sensors), and the limit sensing block 421 is made of a magnet, and the limit sensing block 421 is respectively located at both ends of the connecting column 420.

[0088] When the limit sensing block 421 close to the spraying hood 410 is directly opposite to the second ejection sensor 264 (the magnetic field strength is the largest), it is determined that the displacement of the connecting column toward the spraying beam 140 has reached the maximum, that is, the ejection motor can no longer drive the connecting column to move toward the spraying beam 140 through the gear;

[0089] When the limit sensing block 421 close to the connecting frame 431 is directly opposite to the first ejection sensor 263, it is determined that the displacement of the connecting column toward the spraying cover 410 has reached the maximum, that is, the ejection motor can no longer drive the connecting column to move toward the spraying cover 410 through the gear;

[0090] This design can prevent the spray hood 410 from being pushed out or pushed in excessively, thereby causing damage or collision to the push motor. Of course, the first push sensor 263 and the second push sensor 264 can also be a transmitter of a photoelectric sensor, and a receiver of the photoelectric sensor is installed on the limit sensing block 421. When the receiver receives the transmitter signal, the position of the connecting column is determined.

[0091] The lifting motor, translation motor, steering motor and ejection motor are all stepping motors with brake function and deceleration function, and their rotation speed and start and stop can be controlled by external pulse signals.

[0092] See also Fig.19 , a control system based on the above-mentioned hull automatic spraying system, comprising:

[0093] The first vertical deceleration sensor and the second vertical deceleration sensor are used to detect the position of the lifting drive plate, so that the microprocessor can determine whether the lifting motor needs to be decelerated;

[0094] The second translation deceleration sensor and the first translation deceleration sensor are used to detect the position of the translation drive plate, so that the microprocessor determines whether the translation motor needs to be decelerated;

[0095] The first push-out sensor and the second push-out sensor are used to detect the position of the limit sensing block, so that the microprocessor can determine whether to push the connecting column to the limit position;

[0096] A first vertical stop switch or a second vertical stop switch, which are respectively connected to the lifting motor driver, and when triggered, the lifting motor driver stops supplying power to the lifting motor and simultaneously starts the brake function of the lifting motor;

[0097] A first translation stop switch or a second translation stop switch, which are respectively connected to the translation motor driver, and when triggered, the translation motor driver stops supplying power to the translation motor and simultaneously starts the brake function of the translation motor;

[0098] The lifting motor driver is used to provide electric energy to the lifting motor, and adjust the operating state of the lifting motor through different current and voltage parameters, and to supply power to the built-in brake mechanism of the lifting motor to start and stop the brake mechanism of the lifting motor, that is, whether the lifting motor needs to brake;

[0099] The translation motor driver is used to provide electric energy to the translation motor, and adjust the operating state of the translation motor through different current and voltage parameters, and to supply power to the built-in brake mechanism of the translation motor to start and stop the brake mechanism of the translation motor, that is, whether the translation motor needs to brake;

[0100] The steering motor driver is used to provide electrical energy to the steering motor and adjust the operating state of the steering motor through different current and voltage parameters, and to supply power to the built-in brake mechanism of the steering motor to start and stop the brake mechanism of the steering motor, that is, whether the steering motor needs to brake;

[0101] The ejection motor driver is used to provide electric energy to the ejection motor, and adjust the running state of the ejection motor through different current and voltage parameters, and to supply power to the built-in brake mechanism of the ejection motor to start and stop the brake mechanism of the ejection motor, that is, whether the ejection motor needs to brake;

[0102] The lifting motor driver, the translation motor driver, the steering motor driver, and the ejection motor driver are all motor drivers, and their signal terminals are respectively connected to the microprocessor signal terminals for communication;

[0103] Angle sensor, installed on the output shaft of the steering motor, used to detect the speed and rotation angle of the steering motor;

[0104] The lifting relay is used to control the current on and off of the lifting motor driver;

[0105] A translation relay is used to control the current on and off of the translation motor driver;

[0106] Steering relay, used to control the current on and off of the steering motor driver;

[0107] The push-out relay is used to control the current on and off of the push-out motor driver;

[0108] The lifting relay, translation relay, steering relay and ejection relay are all relays, whose power input terminals are respectively conductively connected to the power supply, signal terminals are respectively communication-connected to the signal terminals of the microprocessor, and power output terminals are respectively conductively connected to the power input terminals of the lifting motor driver, translation motor driver, steering motor driver and ejection motor driver, and the power output terminals of the lifting motor driver, translation motor driver, steering motor driver and ejection motor driver are respectively conductively connected to the power input terminals of the lifting motor, translation motor, steering motor and ejection motor;

[0109] The control host has a built-in microprocessor, a digital-to-analog converter, a network module, etc. The microprocessor is used to send, receive, and analyze control instructions; the digital-to-analog converter is used to convert digital signals and analog signals; the network module is used to communicate with external devices, which can be a network card, a WIFI module, a ZigBee module, etc.

[0110] The signal end of the microprocessor is communicatively connected with the digital signal end of the digital-to-analog converter and the signal end of the network module, and the analog signal end of the digital-to-analog converter is communicatively connected with the first ejection sensor, the second ejection sensor, the first translation deceleration sensor, the second translation deceleration sensor, the first vertical deceleration sensor, the second vertical deceleration sensor, and the three-dimensional signal output end of the angle sensor, respectively, so as to convert their signals into digital signals and transmit them to the microprocessor;

[0111] The network module is used to transmit the signals received by the microprocessor and the pre-set parameters to be uploaded to the external device.

[0112] The usage process is as follows:

[0113] S1. The microprocessor switches on one or any combination of the lifting relay, translation relay, steering relay and ejection relay according to a preset program, thereby driving the spray hood to reach a preset position and the nozzle to obtain a preset angle; during the adjustment process, the rotation of the nozzle is calculated by the angle sensor;

[0114] S2, the paint enters the nozzle and is sprayed out, thereby spraying;

[0115] S3, the microprocessor gradually adjusts the spray hood and the nozzle position through the lifting motor, translation motor, steering motor and push-out motor according to the preset program, so as to spray the hull step by step;

[0116] S31. During the adjustment process, if the first vertical deceleration sensor or the second vertical deceleration sensor outputs a signal, the lifting motor is controlled to decelerate. If the first vertical stop switch or the second vertical stop switch is triggered, the lifting motor driver stops supplying power to the lifting motor, and supplies power to the brake mechanism in the lifting motor for braking, such as connecting reverse current for braking, braking through the motor brake, etc.;

[0117] S32, the operation of the translation motor and the push-out motor can refer to the control method of the lifting motor; the steering motor rotates through the pulse current input by the steering motor controller to the steering motor, thereby controlling the rotation angle of the steering motor.

[0118] S4. After spraying is completed, the microprocessor is reset according to the pre-implanted program and then enters the next process.

[0119] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

[0120] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A hull automatic spraying system, comprising a base and a spraying assembly, characterized in that: A first vertical beam and a second vertical beam are respectively fixed on the base, and the top of the first vertical beam is assembled and fixed with the second vertical beam to form a triangular support; The top of the second vertical beam is connected and fixed by the third horizontal beam, and a fourth horizontal beam is fixed on the top of the second vertical beam below the third horizontal beam, and the fourth horizontal beam is respectively assembled and fixed with the two third vertical beams; The second vertical beam and the third vertical beam are located at the bottom of the third cross beam and are respectively assembled and fixed by the second cross beam and the first cross beam, and the tops of the two third vertical beams are connected and fixed by the fifth cross beam and the sixth cross beam; The tops of the two third vertical beams are respectively equipped with a first lifting pulley and a second lifting pulley, and the bottoms of the two third vertical beams are respectively equipped with a first auxiliary lifting pulley and a second auxiliary lifting pulley; The first lifting pulley and the first auxiliary lifting pulley are connected by a first synchronous belt to form a belt transmission mechanism; the second lifting pulley and the second auxiliary lifting pulley are connected by a second synchronous belt to form a belt transmission mechanism; The first lifting pulley and the second lifting pulley are respectively fixed on the lifting drive shaft, and one end of the lifting drive shaft is connected to the output shaft of the lifting motor; the first synchronous belt and the second synchronous belt are respectively assembled and fixed with two different lifting drive plates, and the lifting drive plates are installed and fixed on the spraying beam; the translation drive plate is assembled and fixed with the third synchronous belt; the translation drive plate is assembled and fixed with the connecting frame of the spraying assembly; A vertical beam guide boss is also fixed on the third vertical beam, and the vertical beam guide boss is engaged and assembled with the vertical beam guide wheel; A translation driving plate is also fixedly mounted on the spraying crossbeam, and a crossbeam guide wheel is mounted on the translation driving plate, and the crossbeam guide wheel is assembled with the crossbeam guide boss; The third synchronous belt is respectively connected with the first translation pulley and the second translation pulley to form a belt transmission mechanism, and the first translation pulley is installed on the output shaft of the translation motor; The tops of the two third vertical beams are respectively installed with a first lifting shell and a second lifting shell, and the bottoms of the two third vertical beams are respectively installed with a first auxiliary lifting shell and a second auxiliary lifting shell; The first lifting shell, the second lifting shell, the first auxiliary lifting shell, and the second auxiliary lifting shell are respectively installed with a first lifting pulley, a second lifting pulley, a first auxiliary lifting pulley, and a second auxiliary lifting pulley; A first vertical deceleration sensor and a first vertical stop switch are respectively arranged on the third vertical beam near the first lifting shell and the second lifting shell; A second vertical deceleration sensor and a second vertical stop switch are respectively arranged on the third vertical beam near the first auxiliary lifting shell and the second auxiliary lifting shell; The first vertical deceleration sensor and the second vertical deceleration sensor are used to detect the position of the lifting drive plate; A lifting magnet is arranged on the lifting drive plate, and the first vertical deceleration sensor and the second vertical deceleration sensor both adopt Hall sensors, and the first vertical deceleration sensor and the second vertical deceleration sensor are used to judge the distance and position between the lifting drive plate and the first vertical deceleration sensor and the second vertical deceleration sensor by detecting the magnetic field strength of the lifting magnet; the first vertical stop switch and the second vertical stop switch are travel switches; The first horizontal shell and the second horizontal shell are respectively installed at both ends of the spraying beam, and the first translation pulley and the second translation pulley are respectively installed in the first horizontal shell and the second horizontal shell; A first translation stop switch and a first translation deceleration sensor, a second translation stop switch and a second translation deceleration sensor are respectively arranged at both ends of the spray beam near the first horizontal shell and the second horizontal shell; The first translation deceleration sensor and the second translation deceleration sensor are used to detect the position of the translation drive plate; The first translation stop switch or the second translation stop switch is a travel switch; The first translation deceleration sensor and the second translation deceleration sensor are Hall sensors, and a translation magnet is arranged on the translation driving plate. The first translation deceleration sensor and the second translation deceleration sensor determine the position of the translation driving plate and the first translation deceleration sensor and the second translation deceleration sensor by detecting the magnetic field strength of the translation magnet; The spraying assembly further includes a spraying hood and a connecting column, wherein one end of the connecting column is assembled and fixed to the vertical support plate, and the other end is connected and fixed to the vertical limit plate; The vertical support plate and the vertical limit plate are respectively assembled and fixed to the two ends of the two spraying guide columns, and the steering drive rod and the rack are also fixed in the connecting column; One end of the steering drive rod passes through the vertical support plate and is fixed to the secondary pulley. The secondary pulley is connected to the pulley through the steering belt to form a belt transmission mechanism. The pulley is fixed to the output shaft of the steering motor. The rack and the gear mesh to form a rack-and-gear transmission mechanism, the gear is fixed on the output shaft of the ejection motor, and the ejection motor is fixed on the connecting frame; The vertical limit plate is fixedly assembled with the spray hood, the interior of the spray hood is a spray cavity with one end open, and at least one spray head is installed in the spray cavity; At least one limit sensing block is fixed on the outer shell of the connecting column, and a push-out guide wheel is fixed on the connecting frame, and the push-out guide wheel is assembled with the spraying guide column; The nozzle is fixed on the nozzle fixing rod, and the nozzle fixing rod is also assembled and fixed with the nozzle steering shaft. A worm wheel is fixed on the nozzle steering shaft. The worm wheel and the worm part are meshed to form a worm gear mechanism, and the worm wheel and the worm part are covered with a steering protection cover. The connecting frame is also fixed with a first push-out sensor and a second push-out sensor, which are Hall sensors respectively. The limit sensing blocks are made of magnets, and the limit sensing blocks are respectively located at both ends of the connecting column.

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