Ship shell plate spraying device for incompletely-cured coating and advancing control method of ship shell plate spraying device

Abstract

The invention discloses a spraying device for a ship planking with an incompletely-cured coating and an advancing control method of the spraying device. The spraying device comprises a lower supporting vehicle body and an upper adsorption vehicle body. The upper adsorption vehicle body can be adsorbed on a ship outer plate and advance on the ship outer plate; the lower supporting vehicle body is connected with the upper adsorption vehicle body through the supporting frame so as to provide supporting acting force for the upper adsorption vehicle body, and therefore the upper adsorption vehicle body does not pull a coating which is not completely cured on a ship outer plate due to gravity. The supporting frame is further provided with a first spraying mechanism, and the first spraying mechanism can be used for additionally coating the ship outer plate with a coating. The first spraying mechanism is movably installed on the supporting frame and can movably ascend and descend on the supporting frame. A paint supply mechanism is arranged on the lower supporting vehicle body and connected with the first spraying mechanism through a first paint spraying pipe. According to the invention, the uncured coating on the ship outer plate can bear the trolley to advance.

Description

Technical Field

[0001] The invention relates to the technical field of ship spraying, and in particular to a ship outer plate spraying device for an incompletely cured coating and a traveling control method thereof. Background Art

[0002] There are two common ways to spray the outer plates of ships. One is to build scaffolding for spraying, and the other is to use an overhead crane for spraying. This method is not very convenient and has a high cost. With the development of modern artificial intelligence, in order to reduce costs, outer plate spraying robots are also being studied extensively. However, there is a disadvantage of this type of robot at present. The robot itself has a certain weight. When the robot walks on the outer plate of the ship, the downward force of the robot, such as gravity or tangential force, will have a certain pulling on the coating. This pulling will have a certain impact on the two-component coating that has not been fully cured.

[0003] The curing mechanism of two-component coatings mainly includes two processes: chemical reaction and physical change. Two-component coatings usually consist of two parts, one is a resin (such as epoxy resin or polyurethane), and the other is a curing agent (such as polyisocyanate). After mixing, these two parts will react chemically to form a cross-linked network structure, thereby curing into a film. The curing of two-component coatings takes time, at least a few days. Generally, the curing speed is doubled for every 10°C increase in temperature. The curing speed of the coating in winter is extremely slow, sometimes it takes half a month to cure. Waiting for the paint film to cure before painting will seriously reduce the construction period. If the mechanical damage of the paint film is not considered, the coating can be painted with the next coat of paint as long as the surface is dry and the minimum overcoating interval is reached. So the key is to make the uncured coating able to carry the car. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a ship outer plate spraying device for an uncured coating and a travel control method thereof, so that the uncured coating on the ship outer plate can carry a trolley to travel.

[0005] Technical solution: To achieve the above-mentioned purpose, the ship outer plate spraying device for the incompletely cured coating of the present invention comprises a lower supporting body and an upper adsorption body; the upper adsorption body can be adsorbed on the ship outer plate and move on the ship outer plate; the lower supporting body is connected to the upper adsorption body through a supporting frame to provide a supporting force to the upper adsorption body so that the upper adsorption body does not pull the incompletely cured coating on the ship outer plate due to gravity; a first spraying mechanism is also provided on the supporting frame, and the first spraying mechanism can apply coating to the ship outer plate.

[0006] Furthermore, the first spraying mechanism is movably mounted on the support frame, and the first spraying mechanism can be movably raised and lowered on the support frame.

[0007] Furthermore, a paint supply mechanism is provided on the lower supporting vehicle body, and the paint supply mechanism is connected to the first spraying mechanism through a first paint spraying tube; a tube body retracting mechanism is also provided on the lower supporting vehicle body, and when the first spraying mechanism rises or descends, the tube body retracting mechanism releases or reels the first paint spraying tube accordingly.

[0008] Furthermore, a second spraying mechanism is provided at the rear of the upper adsorption vehicle body, and the paint supply mechanism is connected to the second spraying mechanism through a second paint spraying pipe.

[0009] Furthermore, the support frame is provided with a vertical guide rail and a lifting seat, and the lifting seat can be movably raised and lowered along the vertical guide rail; the first spraying mechanism is telescopically mounted on the lifting seat, so that the distance between the nozzle of the first spraying mechanism and the outer plate of the ship is variable.

[0010] Furthermore, a paint mist baffle is provided below the upper adsorption body.

[0011] Furthermore, the traveling wheels of the upper adsorption vehicle body are magnetic wheels, and the upper adsorption vehicle body is adsorbed on the outer plate of the ship through the magnetic wheels.

[0012] Furthermore, the magnetism of the magnetic wheel is controlled by an electromagnet, so that the magnetic wheel can be in a magnetic state and a non-magnetic state.

[0013] Furthermore, there is an elastic connecting part between the magnetic wheel and the upper adsorption vehicle body, so that the magnetic wheel can be deflected to a certain extent relative to the upper adsorption vehicle body; at least three pairs of magnetic wheels are arranged on the upper adsorption vehicle body, and each pair of magnetic wheels is controlled by a separate electromagnet, so that each pair of magnetic wheels can be independently in a magnetic state or a non-magnetic state.

[0014] A travel control method for a ship outer plate spraying device for an incompletely cured coating, wherein the ship outer plate has a curved contour surface; during the movement of an upper adsorption vehicle body along the curved contour surface, each pair of magnetic wheels is alternately in a non-magnetic state, and at least two pairs of magnetic wheels are maintained in a magnetic state at any time; when the magnetic wheels are in a non-magnetic state, the magnetic wheels can deflect when the ship outer plate is not adsorbed.

[0015] Beneficial effects: The ship outer plate spraying device for an incompletely cured coating and the traveling control method thereof of the present invention have the following beneficial effects:

[0016] 1) The lower support vehicle body provides a supporting force to the upper adsorption vehicle body through the support frame, so that when the upper adsorption vehicle body is adsorbed on the outer plate of the ship, the uncured coating on the outer plate of the ship will not be pulled due to gravity, thereby avoiding the damage of the paint film;

[0017] 2) The upper adsorption vehicle body is adsorbed on the outer plate of the ship through a magnetic wheel, and the magnetic wheel is controlled by an electromagnet to control the presence or absence of magnetism, so that the upper adsorption vehicle body can be easily removed;

[0018] 3) Since there will be a curved contour surface on the outer plate of the ship, when the height of the upper adsorption vehicle body remains unchanged, the magnetic wheel may deflect when moving along the curved contour surface, and the deflection of the magnetic wheel may cause damage to the uncured coating; therefore, at least three pairs of magnetic wheels are arranged on the upper adsorption vehicle body, and each pair of magnetic wheels is alternately in a non-magnetic state, so that the magnetic wheels can deflect when the outer plate of the ship is not adsorbed, thereby reducing the damage of the deflection of the magnetic wheels to the uncured coating. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Attached Figure 1 It is a schematic diagram of the overall structure of the ship outer plate spraying device of the present invention;

[0020] Attached Figure 2 It is a schematic diagram of the structure of the lower supporting vehicle body;

[0021] Attached Figure 3 It is a structural schematic diagram of a support frame and a first spraying mechanism;

[0022] Attached Figure 4 Schematic diagram of the structure of the upper adsorption vehicle body. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] As attached Figures 1 to 4 The ship outer plate spraying device for an incompletely cured coating comprises a lower support body 1 and an upper adsorption body 2. The upper adsorption body 2 can be adsorbed on the ship outer plate and move on the surface of the ship outer plate. If there is an incompletely cured coating on the ship outer plate, if there is no external support, then when the upper adsorption body 2 moves on the incompletely cured coating, due to the influence of gravity, the upper adsorption body 2 will cause traction on the incompletely cured coating, thereby causing a certain degree of mechanical damage to the incompletely cured coating.

[0025] There is a support plane on the outside of the ship's outer plate, such as the ground, the surface of the support plate, etc., and the lower support vehicle 1 can travel on the support plane. The lower support vehicle 1 is connected to the upper adsorption vehicle 2 through the support frame 3, so that the lower support vehicle 1 can provide a supporting force to the upper adsorption vehicle 2 through the support frame 3, so that the upper adsorption vehicle 2 does not pull the uncured coating on the ship's outer plate due to gravity, thereby avoiding the upper adsorption vehicle 2 from damaging the uncured coating.

[0026] The outer plate of a ship is usually sprayed with multiple layers of paint, and a first spraying mechanism 4 is also arranged on the support frame 3, and the first spraying mechanism 4 can apply a coating to the outer plate of the ship.

[0027] The first spraying mechanism 4 is movably mounted on the support frame 3, and the first spraying mechanism 4 can be movably raised and lowered on the support frame 3. The lower support vehicle body 1 can move horizontally on the support plane, and the upper adsorption vehicle body 2 can also move horizontally on the outer plate of the ship. In addition, the first spraying mechanism 4 can be movably raised and lowered, so that the first spraying mechanism 4 can have a larger spraying coverage.

[0028] The lower support body 1 is provided with a paint supply mechanism 5, which is connected to the first spraying mechanism 4 through a first paint spraying pipe 6. Figure 2 In one embodiment shown in the figure, the paint supply mechanism 5 includes a paint bucket 12, a paint pipe 13 and a paint pump 14. The paint bucket 12 is filled with paint. The paint pump 14 absorbs the paint in the paint bucket 12 through the paint pipe 13, and then sends the paint to the first spray mechanism 4 through the first paint spray pipe 6, and the first spray mechanism 4 sprays the paint onto the outer plate of the ship.

[0029] During the lifting and lowering process of the first spraying mechanism 4, the first paint spraying tube 6 will be pulled, so a tube body retracting mechanism is also provided on the lower supporting body 1, and when the first spraying mechanism 4 is lifted or lowered, the tube body retracting mechanism correspondingly releases or reels the first paint spraying tube 6. In one embodiment, the tube body retracting mechanism includes a reel, and the first paint spraying tube 6 is wound on the reel, and the reel can be actively rotated to release or reel the first paint spraying tube 6.

[0030] Since the range of movement of the first spraying mechanism 4 is between the upper adsorption vehicle body 2 and the lower support vehicle body 1, the first spraying mechanism 4 cannot spray the area where the upper adsorption vehicle body 2 moves. To solve this problem, a second spraying mechanism 7 can be set at the tail of the upper adsorption vehicle body 2, and the paint supply mechanism 5 is connected to the second spraying mechanism 7 through a second paint spraying pipe, and the second spraying mechanism 7 can spray the area where the upper adsorption vehicle body 2 passes. In addition, since the upper adsorption vehicle body 2 is close to the top of the ship's outer plate, workers can also spray the area where the upper adsorption vehicle body 2 passes on the deck.

[0031] As attached Figure 3 As shown in , the support frame 3 is provided with a vertical guide rail 8 and a lifting seat 9, and the lifting seat 9 can be moved up and down along the vertical guide rail 8. In one embodiment, a rack is provided on the vertical guide rail 8, and a gear is provided on the lifting seat 9, the gear is meshed with the rack, and the gear is driven to rotate by a motor, so that the lifting seat 9 can actively move up and down along the vertical guide rail 8.

[0032] Due to the shape characteristics of the ship, there will be a curved contour surface on the outer plate of the ship. Therefore, during the lifting and lowering process of the first spraying mechanism 4, the distance between the nozzle of the first spraying mechanism 4 and the outer plate of the ship will change, resulting in a change in the spraying effect. In order to make the spraying effect of the first spraying mechanism 4 tend to be consistent, the first spraying mechanism 4 is telescopically mounted on the lifting seat 9 so that the distance between the nozzle of the first spraying mechanism 4 and the outer plate of the ship is variable. In one embodiment, the first spraying mechanism 4 includes a first spray gun, and an electric telescopic rod is provided on the lifting seat 9. The first spray gun is installed on the electric telescopic rod. In addition, a laser rangefinder is also provided on the lifting seat 9. The laser rangefinder measures the distance between the lifting seat 9 and the outer plate of the ship, and then controls the extension and retraction of the electric telescopic rod, thereby maintaining the distance between the nozzle of the first spray gun and the outer plate of the ship unchanged, so that the spraying effect of the first spray gun tends to be consistent.

[0033] As attached Figure 4 As shown in , a paint mist baffle 10 is arranged below the upper adsorption body 2 , and the paint mist baffle 10 can prevent the paint mist sprayed by the first spraying mechanism 4 from polluting the upper adsorption body 2 .

[0034] The outer plate of the ship is made of steel, and the traveling wheel of the upper adsorption vehicle body 2 is a magnetic wheel 11, and the upper adsorption vehicle body 2 is adsorbed on the outer plate of the ship through the magnetic wheel 11. The magnetism of the magnetic wheel 11 is controlled by an electromagnet, and the electromagnet is powered on and off, so that the magnetic wheel 11 can be in a magnetic state and a non-magnetic state. When the magnetic wheel 11 is in a magnetic state, the magnetic wheel 11 can be adsorbed on the outer plate of the ship, so that the upper adsorption vehicle body 2 can move along the outer plate of the ship. When the magnetic wheel 11 is in a non-magnetic state, the magnetic wheel 11 is no longer adsorbed on the outer plate of the ship, which makes it convenient to remove the upper adsorption vehicle body 2 from the outer plate of the ship, and can also avoid pulling the uncured coating due to the adsorption force when removing the upper adsorption vehicle body 2.

[0035] Due to the shape characteristics of the ship, there will be a curved contour surface on the outer plate of the ship. The lower support body 1 and the upper adsorption body 2 are rigidly connected by the support frame 3, so when the upper adsorption body 2 moves along the curved contour surface, the height of the upper adsorption body 2 remains unchanged. However, the straight line formed on the curved surface does not necessarily remain at the same height all the time, so when the upper adsorption body 2 moves along the curved contour surface, the upper adsorption body 2 sometimes cannot always move in a straight line. Accordingly, the direction of the magnetic wheel 11 will change during the movement. If the magnetic wheel 11 is adsorbed on the outer plate of the ship during the change of its direction, the magnetic wheel 11 will generate a force between the magnetic wheel 11 and the coating on the outer plate of the ship that has not been fully cured, thereby damaging the coating.

[0036] In order to solve the above problems, an elastic connecting piece is provided between the magnetic wheel 11 and the upper adsorption vehicle body 2, so that the magnetic wheel 11 can deflect to a certain extent relative to the upper adsorption vehicle body 2, so that the orientation of the upper adsorption vehicle body 2 and the orientation of the magnetic wheel 11 may not be completely the same, and the orientation of the magnetic wheel 11 can be changed when the height and orientation of the upper adsorption vehicle body 2 remain unchanged. In addition, at least three pairs of magnetic wheels 11 are arranged on the upper adsorption vehicle body 2, and each pair of magnetic wheels 11 is composed of two magnetic wheels 11 arranged on the upper and lower sides of the upper adsorption vehicle body 2, and each pair of magnetic wheels 11 is controlled by a separate electromagnet, so that each pair of magnetic wheels 11 can be independently in a magnetic state or a non-magnetic state.

[0037] The present invention also provides a travel control method for a ship outer plate spraying device for an uncured coating, wherein the ship outer plate has a curved contour surface. During the movement of the upper adsorption vehicle 2 along the curved contour surface, each pair of magnetic wheels 11 is alternately in a non-magnetic state, and at least two pairs of magnetic wheels 11 are kept in a magnetic state at any time. Only when at least two pairs of magnetic wheels 11 are in a magnetic state can the upper adsorption vehicle 2 be stably adsorbed on the ship outer plate. When the magnetic wheel 11 is in a non-magnetic state, the magnetic wheel 11 is no longer adsorbed on the ship outer plate, so the magnetic wheel 11 can be deflected in a state where the ship outer plate is not adsorbed.

[0038] Specifically, when the upper adsorption vehicle body 2 passes through the curved contour surface on the outer plate of the ship, since the upper adsorption vehicle body 2 is rigidly connected to the lower support vehicle body 1 through the support frame 3, the direction of the front of the upper adsorption vehicle body 2 will remain unchanged and always be in a horizontal state. When a straight line extends along the surface of the curved contour surface, the height of the straight line may change, but the height of the upper adsorption vehicle body 2 is constant, so the magnetic wheel 11 will not move completely in the straight line direction, the direction of the magnetic wheel 11 will change, and the direction of the upper adsorption vehicle body 2 is fixed, so the upper adsorption vehicle body 2 and the magnetic wheel 11 will inevitably deflect relative to each other, and accordingly, the magnetic wheel 11 will exert a certain mechanical force on the coating that is not fully cured on the outer plate of the ship, thereby damaging the coating. In the present invention, since each pair of magnetic wheels 11 is alternately in a non-magnetic state, the magnetic wheel 11 can deflect relative to the upper adsorption vehicle body 2 when it is not adsorbed on the outer plate of the ship. When the magnetic wheel 11 is not adsorbed on the outer plate of the ship, the damage to the coating during the deflection of the magnetic wheel 11 is small. Therefore, by adopting the method that each pair of magnetic wheels 11 is alternately in a non-magnetic state, the damage to the uncured coating during the deflection process of the magnetic wheels 11 can be reduced.

[0039] The spraying device of the present invention works as follows when spraying on the outer plate of a ship: first, the first spraying mechanism 4 is moved to the uppermost or lowermost end of the support frame 3. Taking the uppermost end as an example, when spraying starts, the first spraying mechanism 4 moves downward from the upper end of the mouth of the support frame 3 to complete the spraying of a vertical strip; after spraying, the lower support trolley and the upper adsorption trolley move to the right, and no spraying is performed at this time. After the upper adsorption trolley moves horizontally for a certain distance, the spraying device is moved from the lowermost end of the support frame 3 to the uppermost end. While moving, the first spraying mechanism 4 sprays to complete another vertical strip. Repeat the original steps until multiple vertical strips are formed to cover the outer plate of the ship.

[0040] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A spraying device for ship outer plates with uncured coatings, characterized in that: The invention comprises a lower support vehicle body (1) and an upper adsorption vehicle body (2); the upper adsorption vehicle body (2) can be adsorbed on the outer plate of a ship and travel on the outer plate of the ship; the lower support vehicle body (1) is connected to the upper adsorption vehicle body (2) via a support frame (3) to provide a supporting force to the upper adsorption vehicle body (2) so that the upper adsorption vehicle body (2) does not pull the coating on the outer plate of the ship that has not been completely cured due to gravity; the support frame (3) is also provided with a first spraying mechanism (4), and the first spraying mechanism (4) can apply a coating to the outer plate of the ship.

2. The ship outer plate spraying device for an incompletely cured coating according to claim 1, characterized in that: The first spraying mechanism (4) is movably mounted on the support frame (3), and the first spraying mechanism (4) can be movably raised and lowered on the support frame (3).

3. The ship outer plate spraying device for an incompletely cured coating according to claim 2, characterized in that: The lower supporting vehicle body (1) is provided with a paint supply mechanism (5), and the paint supply mechanism (5) is connected to the first spraying mechanism (4) via a first paint spraying tube (6); the lower supporting vehicle body (1) is also provided with a tube retracting mechanism, and when the first spraying mechanism (4) rises or descends, the tube retracting mechanism releases or retracts the first paint spraying tube (6) accordingly.

4. The ship outer plate spraying device for an incompletely cured coating according to claim 3, characterized in that: A second spraying mechanism (7) is provided at the rear of the upper adsorption vehicle body (2), and the paint supply mechanism (5) is connected to the second spraying mechanism (7) via a second paint spraying pipe.

5. The ship outer plate spraying device for an incompletely cured coating according to claim 3, characterized in that: The support frame (3) is provided with a vertical guide rail (8) and a lifting seat (9), and the lifting seat (9) can be movably lifted and lowered along the vertical guide rail (8); the first spraying mechanism (4) is telescopically mounted on the lifting seat (9), so that the distance between the nozzle of the first spraying mechanism (4) and the outer plate of the ship can be changed.

6. The ship outer plate spraying device for an incompletely cured coating according to claim 1, characterized in that: A paint mist baffle (10) is arranged below the upper adsorption vehicle body (2).

7. The ship outer plate spraying device for an incompletely cured coating according to claim 1, characterized in that: The traveling wheel of the upper adsorption vehicle body (2) is a magnetic wheel (11), and the upper adsorption vehicle body (2) is adsorbed on the outer plate of the ship through the magnetic wheel (11).

8. The ship outer plate spraying device for an incompletely cured coating according to claim 7, characterized in that: The magnetism of the magnetic wheel (11) is controlled by an electromagnet, so that the magnetic wheel (11) can be in a magnetic state and a non-magnetic state.

9. The ship outer plate spraying device for an incompletely cured coating according to claim 8, characterized in that: An elastic connecting piece is provided between the magnetic wheel (11) and the upper adsorption vehicle body (2), so that the magnetic wheel (11) can deflect to a certain extent relative to the upper adsorption vehicle body (2); at least three pairs of magnetic wheels (11) are provided on the upper adsorption vehicle body (2), and each pair of magnetic wheels (11) is controlled by a separate electromagnet, so that each pair of magnetic wheels (11) can be independently in a magnetic state or a non-magnetic state.

10. The traveling control method for a ship outer plate spraying device for an incompletely cured coating according to claim 1, characterized in that: The outer plate of the ship is provided with a curved contour surface; when the upper adsorption vehicle body (2) moves along the curved contour surface, each pair of magnetic wheels (11) is alternately in a non-magnetic state, and at least two pairs of magnetic wheels (11) are kept in a magnetic state at any time; when the magnetic wheels (11) are in the non-magnetic state, the magnetic wheels (11) can be deflected in a state where the outer plate of the ship is not adsorbed.

Images