Hull maintenance system and hull maintenance method

Abstract

The invention provides a ship body maintenance system and a ship body maintenance method. The ship body maintenance system comprises an automatic paint spraying workshop which is arranged on a river bank with a first track and used for conducting automatic scanning, rust removal and paint spraying on a ship; the floating dock is arranged in the harbor basin, and a second rail is arranged on the floating dock and used for assisting the ship in going out of water and going into water; the docking device is used for fixing the floating dock on the river bank and enabling the first track and the second track to be connected in an aligned manner; and the platform trailer is used for supporting and driving the ship to move along the second track and the first track. The automatic paint spraying workshop is adopted, automatic scanning, rust removal and paint spraying can be conducted in the closed workshop with the good ventilation condition, and the problem of environmental pollution caused by open-air paint spraying operation in the prior art can be avoided; high-altitude operation of personnel can be avoided, a large amount of manpower is saved, the paint consumption is reduced, and the spraying efficiency and quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship maintenance, and in particular to a hull maintenance system and a hull maintenance method. Background Art

[0002] At present, during the ship maintenance process, the ship is often moved from the water to the land for outdoor manual rust removal and painting, and then the ship is moved from the land back to the water to complete the ship maintenance. There are at least the following problems in the entire ship maintenance process:

[0003] 1. Difficulty in ship transfer: Due to the large size and length of ships, it is difficult to move them. Traditional flatbed trailers are prone to the problem of the towing path deviating from the target when towing ships;

[0004] 2. Spray painting is highly polluting and inefficient: A large amount of volatile organic compounds (VOCs) will be released during the open-air spray painting process, which will pollute the atmospheric environment. At the same time, manual spray painting has the problem of low efficiency, and workers who are exposed to the spray painting environment for a long time may inhale harmful chemicals in the spray paint, which will have a serious impact on human health. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the prior art and provide a hull maintenance system and a hull maintenance method, which can solve the problems of difficult ship transfer, large paint pollution and low efficiency in the prior art.

[0006] In order to achieve the above purpose and other purposes, the present invention is implemented by including the following technical solutions: As a first aspect, the present invention proposes a hull maintenance system, including an automatic paint shop, arranged on a river bank with a first track, for automatically scanning, rust removal and painting the ship; a floating dock, arranged in a harbor, on which a second track is arranged, for assisting the ship in getting out of and into the water; a docking device, one end of which is fixed to the river bank and the other end is fixed to the floating dock, for fixing the floating dock on the river bank and aligning the first track with the second track; a flatbed trailer, preset on the second track, for supporting and driving the ship to move along the second track and the first track; a winch, arranged on the river bank, for towing the flatbed trailer to move.

[0007] In one embodiment, the automatic painting workshop includes a factory building, a first spraying robot, a scanning device and a control device; the first spraying robot is hung on the top of the factory building and adopts a multi-stage telescopic arm structure; the scanning device is arranged in the factory building or on the doorpost of the ship entrance; the control device is arranged in the factory building, and is electrically connected to the first spraying robot and the scanning device respectively, and is used to control the operation of the first spraying robot and the scanning device.

[0008] In one embodiment, the automatic painting workshop further includes a second spraying robot and a third painting robot, and the second spraying robot and the third painting robot are track robots, which are respectively arranged on the outside and below the first track.

[0009] In one embodiment, the docking device includes a first mounting seat, a connecting rod mechanism and a driving mechanism arranged on the river bank, and a second mounting seat arranged on the floating dock; when the floating dock is connected to the river bank, the second mounting seat moves to the first mounting seat with the floating dock, and the movable end of the driving mechanism drives the connecting rod mechanism to move to clamp the second mounting seat on the first mounting seat.

[0010] In one embodiment, the connecting rod mechanism includes a pull rod, a first connecting rod and a second connecting rod; the first end of the pull rod is a hook portion; the second end and the middle fulcrum of the pull rod are rotatably connected to the first end of the first connecting rod and the first end of the second connecting rod through a pin shaft respectively; the second end of the first connecting rod and the second end of the second connecting rod are rotatably connected to two mounting parts on the first mounting seat through a pin shaft respectively; the second mounting seat includes a connecting rod, and when the floating dock is connected to the river bank, the hook portion hooks the connecting rod downward and backward.

[0011] In one embodiment, the flatbed trailer includes a frame, wheels and brackets, wherein the wheels are arranged inside the frame and their bottoms are exposed from the bottom of the frame; at least two of the brackets are symmetrically arranged on the left and right sides of the upper end surface of the frame, and can realize adaptive adjustment of height and angle according to the bottom shape of the ship.

[0012] In one embodiment, the bracket includes a first telescopic arm, a second telescopic arm, a third telescopic arm and a support plate, and the fixed ends of the first telescopic arm, the second telescopic arm and the third telescopic arm are sequentially installed on the upper end surface of the frame from the inside to the outside; the movable end of the first telescopic arm is rotatably connected to the movable end of the second telescopic arm through a Y-shaped joint, the Y-shaped joint and the movable end of the second telescopic arm are rotatably connected to one end of the support plate through a second ear plate, and the movable end of the third telescopic arm is rotatably connected to the other end of the support plate through the first ear plate; the length of the second ear plate is greater than the length of the first ear plate.

[0013] In one embodiment, the wheel includes a roller shaft fixed on the frame; a roller mounted on the roller shaft through a bearing; a sealing pressure plate mounted on the roller shaft and located on both sides of the bearing; a retaining ring mounted on the roller shaft, located on the outside of the sealing pressure plate and pressing the sealing pressure plate to form a sealing cavity between the sealing pressure plate and the roller shaft, the bearing and the inner ring of the roller, wherein sealing oil is contained in the sealing cavity.

[0014] As a second aspect, the present invention provides a hull maintenance method, comprising:

[0015] Step 1: driving the floating dock into the harbor, and filling the floating dock with water to make it sink;

[0016] Step 2: The vessel enters and is fixed on the floating dock, and water is discharged from the floating dock to make it float;

[0017] Step 3: Move the floating dock, dock the first track on the river bank with the second track of the floating dock, and fix the floating dock with a docking device;

[0018] Step 4: towing the flatbed trailer on the second track to tow the ship into the automatic painting workshop;

[0019] Step 5: After the automatic painting workshop performs laser scanning on the outer surface of the ship, the outer shell of the ship is rusted and painted after drying;

[0020] Step 6: After the paint is dry, use a winch to tow the ship back to the floating dock.

[0021] In one embodiment, in step five, when the ship enters the automatic painting workshop, the automatic painting workshop automatically scans the ship.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The hull maintenance system provided by the present invention adopts an automatic spray painting workshop, which can perform automatic scanning, rust removal and painting in a closed factory building with good ventilation conditions, which can avoid the environmental pollution caused by open-air spray painting in the prior art; it can avoid high-altitude operations of personnel, save a lot of manpower, and avoid human health risks; at the same time, the setting of the docking device can realize the precise docking of the floating dock and the river bank, and with the setting of the track and the flatbed trailer, it can ultimately achieve the purpose of efficiently transferring the ship along the planned path;

[0024] 2. The first spraying robot of the automatic spray painting workshop provided by the present invention is hung on the top of the factory building and adopts a multi-stage telescopic arm structure design, which can realize its own up and down, left and right, front and back movement, can expand the scope of spray painting operation, can avoid personnel working at high altitude, and complete the painting area that cannot be completed manually; it can improve the spraying efficiency by more than 3 times, and can save a lot of paint, improve the paint quality of workpieces, etc.;

[0025] 3. The automatic painting workshop provided by the present invention is also provided with a second and a third spraying robot, which can supplement the possible operation blind spots of the first spraying robot, and multiple robots can work simultaneously to improve the maintenance operation efficiency;

[0026] 4. The docking device provided by the present invention can effectively avoid the problem of unstable position of the floating dock in the prior art using ropes, and realize accurate alignment connection between the floating dock and the riverbank by pre-arranging the first mounting seat and the second mounting seat in alignment on the riverbank and the floating dock respectively, and clamping the second mounting seat on the first mounting seat through the action of the driving mechanism and the connecting rod mechanism on the first mounting seat.

[0027] 5. The flatbed trailer provided by the present invention has at least two brackets that can be adaptively adjusted in height and angle, and can be adaptively adjusted in height and angle according to the bottom shape of the ship. It is suitable for any inland river pointed-bottom ship type and also for flat-bottom ship type; and the brackets on the left and right sides of the flatbed trailer are symmetrically arranged to ensure that the flatbed trailer can stably support the ship;

[0028] 6. The bracket of the flatbed trailer provided by the present invention comprises a first telescopic arm, a second telescopic arm, a third telescopic arm and a support plate, wherein the movable ends of the first telescopic arm and the second telescopic arm are commonly connected to one end of the support plate, and the movable end of the third telescopic arm is separately connected to the other end of the support plate, so as to ensure the flexibility of adaptively adjusting the height and angle; the movable end of the first telescopic arm is firstly rotatably connected to the movable end of the second telescopic arm through a Y-shaped joint, and then rotatably connected to the support plate through a second ear plate; and the length of the second ear plate is greater than that of the first ear plate, so as to obtain a larger angle adjustment range;

[0029] 7. The wheel of the flatbed trailer provided by the present invention can form a sealed cavity between the sealing pressure plate and the roller shaft, the bearing and the inner ring of the roller through the design of the sealing pressure plate and the retaining ring to achieve oil sealing of the bearing, thereby ensuring that when the marine waterproof trailer is flooded, the bearing does not come into contact with water and is protected from water corrosion, thereby increasing the service life;

[0030] 8. The hull maintenance method provided by the present invention adopts a docking device to fix the floating dock and the river bank, which can limit the lateral movement of the floating dock and ensure that the gap at the connection between the second track and the first track allows the flatbed trailer to land smoothly; at the same time, the ship is automatically scanned when it enters the automatic paint shop. Compared with the solution of scanning the ship after entering the automatic paint shop, it can save scanning time and improve spraying efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Shown is a three-dimensional structural schematic diagram of a hull maintenance system of the present invention.

[0032] Figure 2 Shown is a top view schematic diagram of a hull maintenance system of the present invention.

[0033] Figure 3 Shown is a right side schematic view of a hull maintenance system of the present invention.

[0034] Figure 4 Shown is a schematic cross-sectional view of a hull maintenance system according to the present invention.

[0035] Figure 5 It shows a three-dimensional structural schematic diagram of a docking device in a hull maintenance system of the present invention.

[0036] Figure 6 Shown is a top view schematic diagram of a docking device in a hull maintenance system of the present invention.

[0037] Figure 7 Shown is a front schematic view of a docking device in a hull maintenance system of the present invention.

[0038] Figure 8 It is a left side schematic diagram showing a first embodiment of a flatbed trailer supporting a vessel in a hull maintenance system of the present invention.

[0039] Fig. 9 It is a front view schematic diagram showing a second embodiment of a flatbed trailer supporting a ship in a hull maintenance system of the present invention.

[0040] Fig.10 Shown is a schematic cross-sectional view of the wheel structure of a flatbed trailer in a hull maintenance system of the present invention.

[0041] Fig.11 Shown is a schematic flow chart of a hull maintenance method of the present invention. DETAILED DESCRIPTION

[0042] See also Figure 1-Figure 11 The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0043] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification for the technical personnel in this field to understand and read, and are not used to limit the conditions under which the present invention can be implemented. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportion relationship or adjustment of the size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0044] Unless otherwise defined, the technical or scientific terms used herein shall have the usual meaning as understood by a person having ordinary skills in the field to which the invention belongs. The words "one", "an" or "the" and the like used in the present invention do not indicate a quantitative limitation, but are only used to indicate the existence of at least one. The words "include" or "comprise" and the like mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. The serial numbers for the components in this specification, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" mentioned in the present invention, unless otherwise specified, includes direct and indirect connections.

[0045] In order to avoid confusion with the present invention, some technical features known in the art are not described.

[0046] Example 1

[0047] like Figure 1-Figure 2 As shown, the present invention provides a hull maintenance system, which can tow a ship C and perform rust removal and painting maintenance on the hull, including an automatic painting workshop 100, a docking device 200, a floating dock 300, and a flatbed trailer 400 (see Figure 3 and Figure 4 ) and a winch 500, the automatic spray painting workshop 100 is arranged on the river bank A; the floating dock 300 is arranged in the harbor B; one end of the docking device 200 is fixed on the river bank A, and the other end is fixed on the clamping plate of the floating dock 300. When the floating dock 300 is docked with the river bank A, the docking device 200 can fix the floating dock 300 at a specific position of the river bank A, and make the first track 501 on the river bank A and the second track 502 on the floating dock 300 aligned and connected; the flatbed trailer 400 is preset on the second track 502, used to support the ship C, and can move along the first track 501 and the second track 502 to realize the movement of the ship C; the winch 500 is arranged on the river bank A, used to tow the flatbed trailer 400 to move. Specifically, the winch 500 can be arranged on the side of the automatic spray painting workshop 100 away from the harbor B.

[0048] Furthermore, the first track 501 has a certain slope. For example, one end of the first track close to the automatic painting workshop 100 is slightly lower than the other end away from the automatic painting workshop 100 to facilitate the transfer of the ship C from the floating dock 300 to the automatic painting workshop 100.

[0049] like Figure 3-Figure 4 As shown, the automatic painting workshop 100 includes a plant 110, a first spraying robot 120, a second spraying robot 130, a third spraying robot 140, a scanning device 150 and a control device. The internal space of the plant 110 can accommodate the entire ship C; the first spraying robot 120 is mounted on the top of the plant 100, and is used for rust removal and painting of the entire ship C. The first spraying robot 120 adopts a three-level telescopic arm structure, which can realize its own up and down, left and right, front and back movement, and can expand the painting operation range. In this embodiment, a crane that can be raised and lowered and moved horizontally is set in the plant 100, and the first spraying robot 120 is mounted on the crane. The second spraying robot 130 is a track robot, and its track is set on the ground of the automatic painting workshop 100 and is located outside the first track 501. It is mainly used for rust removal and painting of the ship's side to supplement the blind spots that may exist in the first spraying robot 120. The third painting robot 140 is a track robot, which is arranged below the first track 501, and is mainly used for rust removal and painting of the bottom of the ship to supplement the blind spots that may exist in the first painting robot 120. The second painting robot 130 and the third painting robot 140 can both adopt a three-level telescopic arm structure, which can realize their own up and down, left and right, front and back movement, and expand the painting operation range. The scanning device 150 is arranged in the factory building 110 or on the doorpost of the ship entrance, and is used for automatic laser scanning of the outer structure of the ship C, and provides data for the automatic spraying of the first painting robot 120, the second painting robot 130 and the third painting robot 140. The control device is arranged in the factory building 110, and is electrically connected to the first painting robot 120, the second painting robot 130, the third painting robot 140 and the scanning device 150, respectively, and is used to control the operation of the first painting robot 120, the second painting robot 130, the third painting robot 140 and the scanning device 150.

[0050] It should be noted that when the scanning device 150 is arranged on the gate post of the ship entrance of the plant 110, the ship C can be automatically scanned while entering the plant 110, which can save scanning time and improve spraying efficiency compared to the solution of scanning after the ship C enters the plant 110. In addition, when the scanning device 150 is arranged in the plant 110, the scanning device 150 can also be arranged on the first spraying robot 120, the second spraying robot 130 and the third spraying robot 140, so as to realize rust removal while scanning.

[0051] This embodiment adopts a closed plant structure with good ventilation conditions, which can avoid the environmental pollution caused by open-air painting operations in the prior art. At the same time, the use of robots for painting operations can avoid high-altitude operations by personnel, save a lot of manpower, and complete the painting areas that cannot be completed by humans; at the same time, it can increase the spraying efficiency by more than 3 times, save a lot of paint, and improve the quality of workpiece paint.

[0052] like Figure 5-Figure 7 As shown, the docking device 200 includes a first mounting seat 210 , a second mounting seat 220 , a connecting rod mechanism 230 and a driving mechanism 240 . The first mounting seat 210 is fixedly arranged on the river bank A; the second mounting seat 220 is fixedly arranged on the clamping plate of the floating dock 300; the connecting rod mechanism 230 is arranged on the first mounting seat 210; the fixed end of the driving mechanism 240 is fixedly arranged on the first mounting seat 210, and the movable end is connected to the connecting rod mechanism 230; when the floating dock 300 is connected to the river bank A, one end of the second mounting seat 220 moves to the first mounting seat 210 as the floating dock 300 moves to the shore, and the movable end of the driving mechanism 240 drives the connecting rod mechanism 230 to move, so that the connecting rod mechanism 230 clamps the second mounting seat 220 on the first mounting seat 210, so as to achieve precise docking of the floating dock 300 with the river bank A, so as to ensure that the gap at the connection between the first track 501 and the second track 502 after docking can enable the flatbed trailer 400 to land smoothly.

[0053] Specifically, the link mechanism 230 includes a pull rod 231, a first link rod 232, and a second link rod 233. The first end of the pull rod 231 is a hook portion 2311, which is used to hook and pull the second mounting seat 220. The second end and the middle fulcrum of the pull rod 231 are rotatably connected to the first end of the first link rod 232 and the first end of the second link rod 233 through a pin shaft; the second end of the first link rod 232 and the second end of the second link rod 233 are rotatably connected to two mounting members 211 on the first mounting seat 210 through a pin shaft. Specifically, the two mounting members 211 are both arranged on the center line of the length direction of the first mounting seat 210, and the distance between the two mounting members 211 is substantially equal to the distance between the second end and the middle fulcrum of the pull rod 231.

[0054] The driving mechanism 240 is a hydraulic driving mechanism, such as an oil cylinder, which has the characteristics of large output force and high load, and can ensure the stability, reliability and safety of operation. The fixed end of the driving mechanism 240 is fixed to the first mounting seat 210 through the ear plate 212, and the movable end thereof is rotatably connected to the second end of the pull rod 231 and the first end of the first connecting rod 232 through the Y-shaped joint 241 and the pin.

[0055] The first mounting seat 210 is provided with a first limit baffle 213 and a second limit baffle 214 at one end facing the floating dock 300. The first limit baffle 213 is a bent plate, and two first limit baffles 213 are arranged on both sides of the lengthwise center line of the first mounting seat 210. The two first limit baffles 213 and the first mounting seat 210 together form a variable diameter guide groove 215, and the notch diameter of the variable diameter guide groove 215 facing the floating dock is larger than the notch diameter of the notch facing the river bank. The first limit baffle 213 can provide a limit guide for one end of the second mounting seat 220 to enter the variable diameter guide groove 215. The second limit baffle 214 is arranged in the variable diameter guide groove 215, and its height facing the river bank A is higher than its height facing the floating dock 300, which is used to limit the length distance and bottom height of the second mounting seat 220 entering the variable diameter guide groove 215, ensuring that the action of the connecting rod mechanism 230 can be carried out effectively. In this embodiment, the two second limit baffles 214 are arranged on both sides of the lengthwise center line of the first mounting seat 210, which can ensure that the second limit baffles 214 effectively limit the second mounting seat 220 while ensuring uniform force on the contact points between the second mounting seat 220 and the two second limit baffles 214. In other embodiments, the number of the second limit baffles 214 can be one, three, four, etc., and is only provided for the purpose of achieving limit.

[0056] The second mounting seat 220 includes a bottom plate 221, a side plate 222 and a connecting rod 223. The bottom plate 221 is fixed to the clamping plate of the floating dock 300; the two side plates 222 are arranged on both sides of the bottom plate 221, and the ends thereof facing the river bank A extend beyond the end of the bottom plate 221 facing the river bank; the two ends of the connecting rod 223 are respectively fixedly connected to the two side plates 222 and are located at the end of the side plate 222 facing the river bank. The length of the connecting rod 223 is equal to or slightly smaller than the notch diameter of the variable diameter guide groove 215 facing the river bank.

[0057] When the floating dock is docked, the movable end of the driving mechanism 240 is in an extended state, and the pull rod 231 is in a high position; the second mounting seat 220 on the floating dock 300 is first roughly aligned with the first mounting seat 210 and moves closer, so that the connecting rod 223 can enter the reducing guide groove 215, and move to abut against the second limiting baffle 214 under the limiting constraint of the reducing guide groove 215; the movable end of the driving mechanism 240 begins to retract, and the pull rod 231 is pulled toward the driving mechanism 240, and moves to the second end of the first connecting rod 232 and the second end of the second connecting rod 233 under the limitation of the first connecting rod 232 and the second connecting rod 233, respectively located at the first end of the first connecting rod 232 and the first end of the second connecting rod 233 facing the side of the floating dock 300, and the pull rod 231 hooks the connecting rod 223 downward and backward, thereby limiting the displacement of the floating dock 300 and achieving dock-shore docking.

[0058] like Figure 8 As shown, the flatbed trailer 400 includes a frame 420 , wheels 430 and a bracket 410 . The wheels 430 are disposed in the frame 420 , and the bottom of the wheels 430 is exposed from the bottom of the frame 420 . When the ship C is a pointed-bottom ship, in order to ensure that the flatbed trailer 400 can stably support the ship C, at least two brackets 410 can be arranged on the upper end surface of the frame 420, and the brackets 410 are symmetrically arranged on the left and right sides of the upper end surface of the frame 420. The bracket 410 includes a first telescopic arm 411, a second telescopic arm 412, a third telescopic arm 413 and a support plate 415. The fixed ends of the first telescopic arm 411, the second telescopic arm 412 and the third telescopic arm 413 are sequentially installed on the upper end surface of the frame 420 from the inside to the outside; the movable ends of the first telescopic arm 411 and the second telescopic arm 412 are jointly connected to one end of the support plate 415, and the movable end of the third telescopic arm 413 is separately connected to the other end of the support plate 415. The design of the bracket 410 can realize adaptive adjustment of height and angle according to the bottom shape of the ship C.

[0059] Furthermore, the first telescopic arm 411, the second telescopic arm 412, and the third telescopic arm 413 can be hydraulic telescopic rods, which have the characteristics of large output force and high load, can ensure stable support of ships with large mass, and are more reliable and safer than pneumatic telescopic rods.

[0060] Furthermore, in order to prevent the paint surface of the ship C from being scratched by the metal support plate 415, a cushion block 416 may be fixed on the support plate 415. The cushion block 416 has a certain rigidity and elasticity and may be a wooden block or a rubber block.

[0061] Furthermore, in order to ensure the flexibility of angle adjustment when the first telescopic arm 411, the second telescopic arm 412 and the third telescopic arm 413 are telescopically extended or retracted, the fixed ends of the first telescopic arm 411, the second telescopic arm 412 and the third telescopic arm 413 can be rotatably connected to the frame 420 through a first ear plate, and the movable end of the third telescopic arm 413 can be rotatably connected to the support plate 415 through a first ear plate; the movable end of the first telescopic arm 411 can first be rotatably connected to the movable end of the second telescopic arm 412 through a Y-shaped joint, and the Y-shaped joint and the movable end of the second telescopic arm 412 are then rotatably connected to the support plate 415 through an ear plate; the length of the second ear plate is greater than that of the first ear plate to obtain a larger angle adjustment range.

[0062] like Fig. 9 As shown, when the number of the brackets 410 disposed on the same side of the frame 420 is greater than or equal to two, the plurality of brackets 410 may share the support plate 415 and the cushion block 416. In other embodiments, when the number of the brackets 410 disposed on the same side of the frame 420 is greater than or equal to two, the plurality of brackets 410 may also be provided with the support plate 415 and the cushion block 416 respectively.

[0063] Furthermore, traction rings 440 are provided on the front and rear sides of the frame 420 for threading ropes and connecting the winch 500 to apply traction to the frame 420 to pull the flatbed trailer 400 to move.

[0064] Specifically, when the bracket 410 supports the pointed bottom of the bow or stern of the ship C, the movable ends of the first telescopic arm 411, the second telescopic arm 412 and the third telescopic arm 413 are first extended together to lift the support plate 415 and the cushion block 416 upward. When the cushion block 416 on one side of the first telescopic arm 411 and the second telescopic arm 412 first contacts the pointed bottom of the bow or stern of the ship C, the movable ends of the first telescopic arm 411 and the second telescopic arm 412 stop extending, while the movable end of the third telescopic arm 413 continues to extend, and with the connection between the first telescopic arm 411 and the second telescopic arm 412 and the support plate 415 as a fulcrum, the other ends of the support plate 415 and the cushion block 416 continue to be lifted upward until the two brackets 410 jointly complete the clamping of the pointed bottom of the bow or stern of the ship C.

[0065] like Fig.10 As shown, in order to ensure that the flatbed trailer 400 has good waterproof performance, the wheel 430 needs to be waterproof. Specifically, the wheel 430 includes a roller 431, a roller shaft 432, a bearing 433, a sealing pressure plate 444 and a retaining ring 435. The roller shaft 432 is fixedly arranged on the frame 420; the roller 431 can be a rail wheel with a groove on the axial surface, and is sleeved on the roller shaft 432 through the bearing 433; the sealing pressure plate 444 is sleeved on the roller shaft 432 and is located on both sides of the bearing 433; the retaining ring 435 is sleeved on the roller shaft 432, and is located on the outside of the sealing pressure plate 444 and presses the sealing pressure plate 444, so that a sealing cavity 436 is formed between the sealing pressure plate 444 and the roller shaft 432, the bearing 433 and the inner ring of the roller 431, and the sealing cavity 436 can contain sealing oil to make the bearing 433 in a sealed state, thereby ensuring that when the flatbed trailer 400 is flooded, the bearing 433 does not come into contact with water and is protected from water corrosion, thereby increasing its service life.

[0066] Furthermore, the material of the bearing 433 may be tin bronze, which has good elasticity and wear resistance, and can ensure that the roller 431 can still roll stably under greater pressure.

[0067] Furthermore, the sealing pressure plate 444 can be a marine rubber plate, and the width of the sealing cavity 436 formed by it can reach 1 cm. It is cheap and suitable for shafts of any size.

[0068] Example 2

[0069] like Fig.11 As shown, the present invention provides a hull maintenance method, using the hull maintenance system as described in Example 1 to perform hull towing and rust removal and painting maintenance, specifically comprising:

[0070] Step 1: Drive the floating dock 300 to the harbor B, and fill the floating dock 300 with water to make it sink so that the ship C can enter;

[0071] Step 2: After the ship C is above the floating dock 300, the ship C is fixed to the floating dock 300 with cables and mooring piles, and the floating dock is drained to make it float (at this time, the second track 502 on the floating dock 300 is slightly lower than the first track 501 on the river bank A, and the ship C is placed flat on the flatbed trailer 400);

[0072] Step 3: Move the floating dock 300 to dock the floating dock 300 with the first track 501 on the river bank A, use two large jacks 310 on the bow of the floating dock 300 to push the bow to a certain height for positioning and heightening, and use the docking device 200 to fix the floating dock 300 to limit the lateral movement of the floating dock 300, and ensure that the gap at the connection between the second track 502 and the first track 501 allows the flatbed trailer 400 to land smoothly;

[0073] Step 4: After the bracket 410 of the flatbed trailer 400 clamps the vessel C and lifts it to a certain height, the flatbed trailer 400 is towed out of the floating dock 300 and transferred to the automatic painting workshop 100;

[0074] Step 5: After the scanning device 150 of the automatic painting workshop 100 performs laser scanning on the outer surface of the ship C, the painting robot first removes rust from the outer shell with high-pressure rust removal equipment, and after drying, the painting robot sprays paint twice;

[0075] Step 6: After the paint is dry, use the winch 500 to tow the ship C back to the floating dock 300 (the first track 501 on the floating dock 300 has a certain slope).

[0076] Therefore, the present invention effectively overcomes various shortcomings in the prior art and has a high industrial utilization value. The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology can modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A hull maintenance system, characterized in that: include An automatic painting shop, set up on the riverbank with the first track, for automatic scanning, rust removal and painting of ships; A floating dock is arranged in the harbor and is provided with a second track for assisting the vessel in getting out of and into the water; A docking device, one end of which is fixed on the river bank and the other end of which is fixed on the floating dock, and is used to fix the floating dock on the river bank and align and connect the first track with the second track; A flatbed trailer is preset on the second track and is used to support and drive the ship to move along the second track and the first track; A winch is arranged on the river bank and is used for pulling the flatbed trailer to move.

2. The hull maintenance system according to claim 1, characterized in that: The automatic painting workshop includes a factory building, a first spraying robot, a scanning device and a control device; the first spraying robot is hung on the top of the factory building and adopts a multi-stage telescopic arm structure; the scanning device is arranged in the factory building or on the doorpost of the ship entrance; the control device is arranged in the factory building, and is electrically connected to the first spraying robot and the scanning device respectively, and is used to control the operation of the first spraying robot and the scanning device.

3. The hull maintenance system according to claim 2, characterized in that: The automatic painting workshop also includes a second spraying robot and a third painting robot, and the second spraying robot and the third painting robot are track robots, which are respectively arranged on the outside and below the first track.

4. The hull maintenance system according to claim 1, characterized in that: The docking device includes a first mounting seat, a connecting rod mechanism and a driving mechanism arranged on the river bank, and a second mounting seat arranged on the floating dock; when the floating dock is connected to the river bank, the second mounting seat moves to the first mounting seat with the floating dock, and the movable end of the driving mechanism drives the connecting rod mechanism to move so as to clamp the second mounting seat on the first mounting seat.

5. The hull maintenance system according to claim 4, characterized in that: The connecting rod mechanism includes a pull rod, a first connecting rod and a second connecting rod; the first end of the pull rod is a hook portion; the second end and the middle fulcrum of the pull rod are rotatably connected to the first end of the first connecting rod and the first end of the second connecting rod through a pin shaft respectively; the second end of the first connecting rod and the second end of the second connecting rod are rotatably connected to two mounting parts on the first mounting seat through a pin shaft respectively; the second mounting seat includes a connecting rod, and when the floating dock is connected to the river bank, the hook portion hooks the connecting rod downward and backward.

6. The hull maintenance system according to claim 1, characterized in that: The flatbed trailer includes a frame, wheels and brackets, wherein the wheels are arranged inside the frame and their bottoms are exposed from the bottom of the frame; at least two brackets are symmetrically arranged on the left and right sides of the upper end surface of the frame, and can realize adaptive adjustment of height and angle according to the bottom shape of the ship.

7. The hull maintenance system according to claim 6, characterized in that: The bracket includes a first telescopic arm, a second telescopic arm, a third telescopic arm and a support plate, wherein the fixed ends of the first telescopic arm, the second telescopic arm and the third telescopic arm are sequentially mounted on the upper end surface of the frame from the inside to the outside; the movable end of the first telescopic arm is rotatably connected to the movable end of the second telescopic arm via a Y-shaped joint, the Y-shaped joint and the movable end of the second telescopic arm are rotatably connected to one end of the support plate via a second ear plate, and the movable end of the third telescopic arm is rotatably connected to the other end of the support plate via the first ear plate; the length of the second ear plate is greater than that of the first ear plate.

8. The hull maintenance system according to claim 6, characterized in that: The wheel includes a roller shaft fixed on the frame; a roller mounted on the roller shaft through a bearing; a sealing pressure plate mounted on the roller shaft and located on both sides of the bearing; a retaining ring mounted on the roller shaft, located on the outside of the sealing pressure plate and pressing the sealing pressure plate to form a sealing cavity between the sealing pressure plate and the roller shaft, the bearing and the inner ring of the roller, wherein sealing oil is contained in the sealing cavity.

9. A hull maintenance method, characterized in that: include Step 1: driving the floating dock into the harbor, and filling the floating dock with water to make it sink; Step 2: The vessel enters and is fixed on the floating dock, and water is discharged from the floating dock to make it float; Step 3: Move the floating dock, dock the first track on the river bank with the second track of the floating dock, and fix the floating dock with a docking device; Step 4: towing the flatbed trailer on the second track to tow the ship into the automatic painting workshop; Step 5: After the automatic painting workshop performs laser scanning on the outer surface of the ship, the outer shell of the ship is rusted and painted after drying; Step 6: After the paint is dry, use a winch to tow the ship back to the floating dock.

10. The hull maintenance method according to claim 9, characterized in that: In the step 5, when the ship enters the automatic painting workshop, the automatic painting workshop automatically scans the ship.

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