A special coating application apparatus and method for oil tanker cargo holds

Abstract

This invention discloses a special coating application device and method for tanker cargo holds, belonging to the field of anti-corrosion construction technology for tanker cargo holds. The device includes a mobile platform, a spraying execution component, and a paint supply component. The mobile platform carries the equipment and moves it within the cargo hold; the spraying execution component includes a sprayer and an attitude adjustment mechanism, which drives the sprayer to rotate in at least two different directions to precisely adjust the spray angle; the paint supply component includes a paint tank and an anti-clogging mechanism, which filters and agitates the paint to prevent deposition. This invention also discloses a construction method based on this device. By coordinating the position adjustment of the mobile platform with the angle adjustment of the attitude adjustment mechanism, this invention achieves efficient, continuous, and automated special coating application to the inner walls of tanker cargo holds, especially complex structural areas of large and very large oil tankers, significantly reducing reliance on manual labor and health risks, and improving construction quality and efficiency.

Description

Technical Field

[0001] This invention relates to the field of anti-corrosion construction technology for oil tanker cargo holds, specifically to a special coating construction device and method for oil tanker cargo holds. Background Technology

[0002] As the global shipbuilding industry moves towards green and intelligent development, higher requirements are being placed on the anti-corrosion construction of cargo hold areas during the construction and maintenance of large oil tankers. Due to their enormous size, the cargo hold areas of 319,000-ton Very Large Crude Carriers (VLCCs) have the following characteristics: (1) large internal space and complex structure; (2) numerous longitudinal and transverse reinforcing ribs in the bulkheads, bottom, and top areas; (3) high corrosion risk due to the influence of crude oil media, the humid and hot marine environment, and mechanical impacts in different areas; and (4) the anti-corrosion coating needs to meet long-term service requirements. Therefore, during the construction of 319,000-ton oil tankers, high-performance anti-corrosion coatings are typically used to specially treat the steel structure inside the cargo hold.

[0003] Traditional cargo hold special coating construction mainly adopts a "human-machine collaboration" model, in which the core processes are completed by machinery and equipment. However, in areas that cannot be sprayed by machines (such as welds, edges, and corners), workers need to apply paint with brushes or rollers. However, for a 319,000-ton large oil tanker, the cargo hold area is huge, and manual construction has the following problems: In the traditional manual spraying process, construction personnel need to enter the large enclosed cargo hold to operate. The spraying process generates a large amount of paint mist and volatile organic compounds (VOCs), which not only increases environmental pollution but also affects the health of construction personnel. Moreover, the cargo hold of a 319,000-ton oil tanker can be tens or even hundreds of meters long, resulting in a long construction period and a large manpower input. Summary of the Invention

[0004] The purpose of this invention is to provide a special coating application device and method for oil tanker cargo holds, to solve the problems mentioned in the background art. In the traditional manual spraying process, construction personnel need to enter the interior of large, enclosed cargo holds to operate. The spraying process generates a large amount of paint mist and volatile organic compounds (VOCs), which not only increases environmental pollution but also affects the health of construction personnel. Moreover, the cargo holds of a 319,000-ton oil tanker can reach tens or even hundreds of meters in length, resulting in long construction cycles and large manpower inputs. This solution can realize automated spraying of complex structural surfaces inside large oil tanker cargo holds, effectively reducing reliance on manual labor and health risks, and improving construction efficiency.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a special coating application device for an oil tanker cargo hold, comprising, A mobile platform is used to carry construction equipment and move the equipment along the interior of the tanker's cargo hold. A spraying execution component, mounted on the mobile platform, is used to spray anti-corrosion coating onto the inner wall of the tanker's cargo hold; A paint supply assembly, connected to the spraying execution assembly, is used to supply anti-corrosion paint to the spraying execution assembly; in, The spraying execution component includes a sprayer and an attitude adjustment mechanism. The attitude adjustment mechanism is disposed between the mobile platform and the sprayer and drives the sprayer to rotate in at least two different directions to adjust the spraying angle of the sprayer relative to the inner wall of the tanker cargo hold. The paint supply assembly includes a paint tank and an anti-clogging mechanism. The anti-clogging mechanism is disposed inside the paint tank and is used to filter and stir the paint in the paint tank. By adjusting the position of the mobile platform and the angle of the attitude adjustment mechanism, the sprayer can continuously spray different areas of the tanker's cargo hold.

[0006] Furthermore, the mobile platform includes a vehicle body, a walking assembly, and a lifting assembly; The walking assembly is located at the bottom of the vehicle body and is used to drive the vehicle body to move along the bottom of the tanker's cargo hold; The lifting assembly is located on the upper part of the vehicle body and is used to install and adjust the height of the spraying execution assembly.

[0007] Furthermore, the walking assembly includes walking wheels and a walking motor; The walking motor is rotatably mounted on the lower end of the vehicle body, and its output shaft is connected to the walking wheel drive. When the walking motor is started, it drives the walking wheels to rotate, causing the vehicle body to move in a preset direction.

[0008] Furthermore, the lifting assembly includes a lifting motor, a lifting frame, and a mounting bracket; There are two lifting motors, which are symmetrically installed in the vehicle body. The output shaft of one end of the lifting motor is fixedly connected to a third gear, and the third gear is meshed with a fourth gear. The inner wall of the fourth gear is fixedly connected to a drive shaft. One end of the lifting frame is fixedly connected to the outer wall of the drive shaft, and the other end is fixedly connected to the mounting frame by the first fastening bolt. The upper end of the first fastening bolt is threaded with a fastening nut, and a storage slot for storing the lifting frame is provided on the upper end of the vehicle body. The mounting frame is U-shaped. A rotating motor is installed inside the upper wall of the lifting frame. The output shafts at both ends of the rotating motor rotate outside the wall of the lifting frame and are fixedly connected to the two end walls of the mounting frame, thereby driving the mounting frame to rotate. The lifting drive component drives the lifting frame to rotate relative to the vehicle body, causing the spraying execution component to switch between the working position and the storage position.

[0009] Furthermore, the attitude adjustment mechanism includes a spraying bracket, a first direction adjustment component, and a second direction adjustment component; The first direction adjustment component is used to drive the sprayer to rotate about the first rotation axis; The second direction adjustment component is used to drive the sprayer to rotate about the second rotation axis; The first and second rotation axes are arranged to intersect each other, so that the sprayer can adjust its posture in multiple degrees of freedom.

[0010] Furthermore, the first direction adjustment assembly includes a first drive member, a first rack, a first gear, and a first rotating shaft; The first driving component is fixedly mounted on the spraying bracket; The first rack is connected to the output end of the first drive unit; The first gear is fixedly mounted on the first rotating shaft and meshes with the first rack; The first rotating shaft is rotatably connected to the two side walls of the spraying bracket.

[0011] Furthermore, the second direction adjustment assembly includes a second drive member, a second rack, a second gear, and a second rotating shaft; Two symmetrically distributed second rotating shafts are fixedly connected to the middle of the first rotating shaft. One end of each of the two second rotating shafts is rotatably connected to a sleeve, and a C-shaped frame is fixedly connected to both sides between the two sleeves. The second drive unit is mounted on one of the C-shaped frames, and the sprayer is fixedly mounted on the other C-shaped frame; The second rack is connected to the output end of the second drive unit; The second gear is mounted on one of the second rotating shafts and meshes with the second rack; The second rotating shaft drives the sprayer to rotate in the second direction; Limiting frames are slidably connected to the outer walls of both the first and second racks. One of the limiting frames, at the end away from the first rack, is fixedly connected to the spraying bracket, and the other limiting frame, at the end away from the second rack, is fixedly connected to the sleeve.

[0012] Furthermore, the spraying execution component also includes operating pipelines; The operating pipeline includes a first pipe, a flexible connecting pipe, a conveying pipe, and a rotary connecting assembly. The first pipe is connected to the side wall of the sprayer. The end of the first pipe away from the sprayer is fixedly connected to the flexible connecting pipe. The end of the flexible connecting pipe is fixedly connected to the conveying pipe. The end of the conveying pipe is rotatably connected to the second pipe through the rotary connecting assembly. The end of the second pipe is fixedly connected to the inside of the paint tank. The flexible connecting pipe is disposed between the sprayer and the paint supply assembly to compensate for positional changes that occur during the movement of the sprayer. The rotary connection assembly is used to keep the operating pipeline connected during the rotation of the sprayer.

[0013] Furthermore, the anti-clogging mechanism includes a filter assembly and a stirring assembly; The filter assembly includes a sieve plate and a sealing plate; The sieve plate is installed inside the paint tank cylinder to filter particulate impurities in the paint. The sealing plate is fixedly connected to one end of the sieve plate and is slidably connected to the paint box cylinder wall. Sealing rubber strips are fixed on all four sides of the sealing plate. One side protrusion of the sealing plate is installed on the outer wall of the paint box cylinder by a second fastening bolt. The stirring assembly includes a dilution rod and a dilution motor; The diluting rod is rotatably disposed inside the paint box cylinder, and an mounting plate is rotatably connected to the upper outer wall of the diluting rod. The mounting plate is installed on the upper end of the paint box cylinder by a third fastening bolt. The top end of the dilution rod is fixedly connected to the output shaft of the dilution motor, and the dilution motor is mounted on the mounting plate; The dilution motor is used to drive the dilution rod to rotate, so that the dilution rod stirs and dilutes the paint inside the paint tank. A feed inlet is fixedly provided on one side of the upper end of the paint box cylinder, and a baffle is threadedly connected to the upper end of the feed inlet.

[0014] A special coating application method for tanker cargo holds, applied to the special coating application apparatus for tanker cargo holds as described in any one of claims 1-9, the specific details of which are as follows: S1. Place the construction equipment inside the tanker's cargo hold and move it to the construction area via a mobile platform; S2. Activate the lifting assembly to adjust the spraying execution assembly to the target height; S3. Adjust the spraying direction of the sprayer using the attitude adjustment mechanism according to the location of the area to be constructed on the inner wall of the cargo hold. S4. Activate the anti-blocking mechanism to filter and stir the paint in the paint tank. S5. Start the paint supply unit to deliver the anti-corrosion coating to the sprayer; S6. Control the movement of the mobile platform and simultaneously adjust the attitude of the sprayer to achieve continuous special coating construction on the inner wall of the tanker cargo hold.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention achieves fully automated construction, greatly reducing reliance on manual operation. Through the coordinated work of the mobile platform, attitude adjustment mechanism, and paint supply components, construction personnel do not need to enter the large, enclosed cargo hold filled with high concentrations of paint mist and volatile organic compounds (VOCs), fundamentally avoiding the health hazards and safety risks associated with traditional manual spraying. It also solves the prominent problems of high manpower input and long construction cycles caused by the enormous cargo hold area of ​​319,000-ton supertankers. Furthermore, this invention achieves precise spraying of complex structural surfaces through a multi-degree-of-freedom attitude adjustment mechanism. This mechanism can drive the sprayer to rotate in at least two intersecting directions. Combined with the height adjustment function of the lifting components, it can flexibly adapt to irregular areas inside the tanker's cargo hold, such as the bulkheads, bottom, top, and sides, welds, and corners of numerous longitudinal and transverse reinforcing ribs. Compared to irregular surfaces that are difficult to cover with traditional equipment, this invention ensures that the nozzle normal direction is always aligned with the surface to be coated, thereby significantly improving the adhesion uniformity and coverage integrity of the coating on complex geometric features. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the spraying device of the present invention; Figure 2 This is a schematic diagram of the overall front end structure of the spraying device of the present invention; Figure 3 This is a bottom view of the spraying execution component of the present invention; Figure 4 This is a schematic diagram of the internal structure of the paint box cylinder of the present invention; Figure 5 This is a schematic diagram of the sieve plate and sealing plate structure of the present invention; Figure 6 This is a schematic diagram of the lifting frame and mounting frame structure of the present invention; Figure 7 This is a schematic diagram of the storage slot structure of the present invention; Figure 8 This is a schematic diagram of the connection structure between the lifting motor, the third gear, and the drive shaft of the present invention; Figure 9 This is a schematic diagram of the symmetrical arrangement of the lifting motor, the third gear, and the drive shaft of the present invention.

[0017] In the diagram: 1. Sprayer; 2. Paint tank; 3. Vehicle body; 4. Wheels; 5. Lifting motor; 6. Lifting frame; 7. Mounting frame; 8. Third gear; 9. Drive shaft; 10. First fastening bolt; 11. Storage slot; 12. Spraying bracket; 13. First drive component; 14. First rack; 15. First gear; 16. First rotating shaft; 17. Second drive component; 18. Second rack; 19. Second rotating shaft; 20. Sleeve; 21. C-shaped frame; 22. Limiting frame; 23. First pipe; 24. Flexible connecting pipe; 25. Conveying pipe; 26. Rotary connecting assembly; 27. Screen plate; 28. Sealing plate; 29. ​​Second fastening bolt; 30. Diluting rod; 31. Diluting motor; 32. Mounting plate; 33. Feed inlet; 34. Baffle. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1 - Figure 9 One embodiment provided by the present invention: A special coating application apparatus for a tanker cargo hold, comprising, A mobile platform is used to carry construction equipment and move the construction equipment along the interior of the tanker's cargo hold. The mobile platform includes a vehicle body 3, a walking assembly, and a lifting assembly. The walking assembly is located at the bottom of the vehicle body 3 and is used to drive the vehicle body 3 to move along the bottom of the tanker cargo hold; The lifting assembly is located on the upper part of the vehicle body 3 and is used to install and adjust the height of the spraying execution assembly; A spraying execution component, mounted on the mobile platform, is used to spray anti-corrosion coating onto the inner wall of the tanker's cargo hold; A paint supply assembly, connected to the spraying execution assembly, is used to supply anti-corrosion paint to the spraying execution assembly; The paint supply assembly integrates an anti-clogging mechanism, providing a stable supply guarantee for long-term continuous spraying. The filter assembly can effectively remove large particulate impurities that may be mixed in the paint, preventing nozzle clogging; the stirring assembly rotates continuously under the drive of the dilution motor 31, keeping the high-solids, high-viscosity anti-corrosion paint in a uniform suspension state at all times, avoiding pigment sedimentation, resin stratification or local agglomeration, effectively overcoming the problems of supply fluctuations or even interruptions that are prone to occur in traditional paint supply systems during long-term construction, ensuring batch stability of spraying quality and process reliability; in, The spraying execution component includes a sprayer 1 and an attitude adjustment mechanism. The attitude adjustment mechanism is disposed between the mobile platform and the sprayer 1, and drives the sprayer 1 to rotate in at least two different directions to adjust the spraying angle of the sprayer 1 relative to the inner wall of the tanker cargo hold. The paint supply assembly includes a paint tank cylinder 2 and an anti-blocking mechanism. The anti-blocking mechanism is disposed inside the paint tank cylinder 2 and is used to filter and stir the paint in the paint tank cylinder 2 to prevent paint deposition. The paint tank cylinder 2 is preferably a stainless steel sealed cylinder. By adjusting the position of the mobile platform and the angle of the attitude adjustment mechanism, the sprayer 1 can continuously spray different areas of the tanker's cargo hold. The mobile platform can move at a constant speed along the length of the cargo hold, and with the real-time or programmed dynamic adjustment of the sprayer 1's attitude, large-area, seamless continuous spraying operations can be achieved. Compared with the defects such as uneven thickness, runs, and missed coatings caused by manual brushing and roller coating in the traditional "human-machine collaboration" mode, this invention can control the coating thickness deviation within a very small range, significantly reducing the amount of subsequent repair work. It is particularly suitable for the ultra-large surface area construction of the cargo hold of a 319,000-ton supertanker, and can shorten the construction cycle.

[0020] Please see Figure 1 , Figure 2 , Figure 6 and Figure 7 In this embodiment, the walking component includes walking wheels 4 and a walking motor; The walking motor is rotatably mounted on the lower end of the vehicle body 3. The walking wheel 4 is preferably a solid rubber wheel to resist uneven ground. The walking motor is a servo motor, and its output shaft is fixedly connected to the walking wheel 4 through a reducer. The speed can be controlled independently to realize the straight-line walking, turning and precise positioning of the vehicle body 3. When the walking motor is started, it drives the walking wheel 4 to rotate, causing the vehicle body 3 to move in a preset direction.

[0021] Please see Figure 1 , Figure 2 as well as Figure 6 - Figure 9 In this embodiment, the lifting assembly includes a lifting motor 5, a lifting frame 6, and a mounting frame 7; There are two lifting motors 5, which are symmetrically installed inside the vehicle body 3. The output shaft of one end of the lifting motor 5 is fixedly connected to the third gear 8. The third gear 8 is meshed with the fourth gear. The inner wall of the fourth gear is fixedly connected to the drive shaft 9. When the motor is started, the drive shaft 9 is driven to rotate, which in turn drives the lifting frame 6 to rotate. This allows the mounting frame 7 to tilt relative to the lifting frame 6, thereby further fine-tuning the orientation of the spraying execution component. The bottom end of the lifting frame 6 is fixedly sleeved on the outer wall of the drive shaft 9, and the upper end is connected to the U-shaped mounting bracket 7 through the first fastening bolt 10 and the fastening nut. The upper end of the vehicle body 3 is provided with a storage slot 11 for storing the lifting frame 6, which is used to accommodate the lifting frame 6 when it is not in operation. A rotating motor is installed inside the upper wall of the lifting frame 6. The rotating motor is a dual-shaft output motor. The two output shafts of the rotating motor are respectively fixedly connected to the two side walls of the mounting frame 7, driving the mounting frame 7 to rotate. The lifting drive unit drives the lifting frame 6 to rotate relative to the vehicle body 3, so that the spraying execution component can switch between the working position and the storage position. Specifically, when the lifting drive motor is working, it drives the drive shaft 9 to rotate through the third gear 8 and the fourth gear, thereby driving the lifting frame 6 to lift upward from the storage slot 11 around the drive shaft 9, so as to realize the height adjustment of the spraying execution component; conversely, the lifting frame 6 can be retracted into the storage slot 11, which is convenient for the device to be moved and stored.

[0022] Please see Figure 1 - Figure 3 In this embodiment, the attitude adjustment mechanism includes a spraying bracket 12, a first direction adjustment component, and a second direction adjustment component; The first direction adjustment component is used to drive the sprayer 1 to rotate around the horizontal axis and adjust the pitch angle; The second direction adjustment component is used to drive the sprayer 1 to rotate around the vertical axis and adjust the yaw angle; The first rotation axis and the second rotation axis are arranged to intersect each other, so that the sprayer 1 can achieve multi-degree-of-freedom posture adjustment.

[0023] The first direction adjustment assembly includes a first drive member 13, a first rack 14, a first gear 15, and a first rotating shaft 16; The first driving component 13 is fixedly mounted on the spraying bracket 12, and the first driving component 13 is preferably a servo electric cylinder; The first rack 14 is connected to the output end of the first drive unit 13; The first gear 15 is fixedly mounted on the first rotating shaft 16 and meshes with the first rack 14; The first rotating shaft 16 is rotatably connected to the spraying bracket 12.

[0024] The second direction adjustment assembly includes a second drive element 17, a second rack 18, a second gear, and a second rotating shaft 19; Two symmetrically distributed second rotating shafts 19 are fixedly connected to the middle of the first rotating shaft 16. One end of each of the two second rotating shafts 19 is rotatably connected to a sleeve 20. C-shaped frames 21 are fixedly connected to both sides of the two sleeves 20. The second drive unit 17 is mounted on one of the C-shaped frames 21, and the sprayer 1 is fixedly mounted on the other C-shaped frame 21; The second rack 18 is connected to the output end of the second drive unit 17; The second gear is mounted on one of the second rotating shafts 19 and meshes with the second rack 18; The second rotating shaft 19 drives the sprayer 1 to rotate in the second direction; Limiting frames 22 are slidably connected to the outer walls of the first rack 14 and the second rack 18. One end of the limiting frame 22 away from the first rack 14 is fixedly connected to the spraying bracket 12, and the other end of the limiting frame 22 away from the second rack 18 is fixedly connected to the sleeve 20. During operation, the first drive unit 13 drives the first rack 14 to move linearly, which in turn drives the first gear 15 and the first rotating shaft 16 to rotate, thereby driving the entire second direction adjustment assembly and the sprayer 1 to rotate around the horizontal axis; the second drive unit 17 drives the second rack 18, which in turn drives the second gear and the second rotating shaft 19 to rotate, thereby directly driving the sprayer 1 to rotate around the vertical axis. The two work together to achieve universal angle adjustment of the sprayer 1 in space.

[0025] Please see Figure 1 - Figure 5 In this embodiment, the spraying execution component further includes an operating pipeline; The operating pipeline includes a first pipe 23, a flexible connecting pipe 24, a delivery pipe 25, and a rotary connecting assembly 26. The first pipe 23 is connected to the side wall of the sprayer 1. The end of the first pipe 23 away from the sprayer 1 is fixedly connected to the flexible connecting pipe 24, which is preferably a high-strength polytetrafluoroethylene corrugated hose. One end of the flexible connecting pipe 24 is fixedly connected to the delivery pipe 25. One end of the delivery pipe 25 is rotatably connected to the second pipe through the rotary connecting assembly 26, which is preferably a rotary joint. One end of the second pipe is fixedly connected to the paint tank 2. The rotary connecting assembly 26 ensures that the second pipe will not twist or entangle when the second rotating shaft 19 drives the sprayer 1 to rotate. A paint supply pump is provided at the delivery pipe 25, which is preferably a miniature diaphragm pump. The flexible connecting pipe 24 is disposed between the sprayer 1 and the paint supply assembly to compensate for positional changes that occur during the movement of the sprayer 1. The rotary connection assembly 26 is used to keep the operating pipeline connected during the rotation of the sprayer 1.

[0026] Please see Figure 4 and Figure 5 In this embodiment, the anti-clogging mechanism includes a filter assembly and a stirring assembly; The filter assembly includes a sieve plate 27 and a sealing plate 28; The sieve plate 27 is disposed inside the paint box cylinder 2. The material of the sieve plate 27 is preferably stainless steel, wherein the woven mesh number is 80-120 mesh, and it is used to filter large particulate impurities in the paint. The sealing plate 28 is fixedly connected to one end of the sieve plate 27. The sealing plate 28 is slidably connected to the wall of the paint box cylinder 2. Sealing rubber strips are fixedly provided on all four sides of the sealing plate 28. The setting of the sealing rubber strips increases the sealing performance of the sealing plate 28 after installation. One side protrusion of the sealing plate 28 is installed on the outer wall of the paint box cylinder 2 by the second fastening bolt 29. The setting of the second fastening bolt 29 makes it convenient to periodically pull out the sieve plate 27 for cleaning or replacement. The stirring assembly includes a vertically arranged dilution rod 30 and a dilution motor 31; The dilution rod 30 is rotatably disposed inside the paint tank cylinder 2. Several stirring plates are fixedly installed on the surface of the dilution rod 30 at equal intervals. The upper end of the dilution rod 30 is rotatably connected to the mounting plate 32 through a bearing. The mounting plate 32 is detachably installed on the upper end of the paint tank cylinder 2 by a third fastening bolt. The top end of the dilution rod 30 is fixedly connected to the output shaft of the dilution motor 31, which is mounted on the mounting plate 32. The dilution motor 31 is used to drive the dilution rod 30 to rotate, so that the dilution rod 30 stirs and dilutes the coating inside the paint tank 2. After the dilution motor 31 is started, it drives the dilution rod 30 to rotate continuously at low speed, so as to gently and fully stir the anti-corrosion coating inside the paint tank 2, prevent pigment sedimentation and resin stratification, and at the same time avoid introducing too many air bubbles. A feed inlet 33 is fixedly provided on one side of the upper end of the paint box cylinder 2, and a baffle 34 is threadedly connected to the upper end of the feed inlet 33.

[0027] Please see Figure 1 - Figure 9 Another embodiment provided by the present invention: A special coating application method for oil tanker cargo holds, the details of which are as follows: S1. Place the construction equipment inside the tanker's cargo hold and move it to the construction area via a mobile platform; S2. Activate the lifting assembly to adjust the spraying execution assembly to the target height; S3. Adjust the spraying direction of the sprayer 1 according to the location of the area to be constructed on the inner wall of the cargo hold through the attitude adjustment mechanism; S4. Activate the anti-blocking mechanism to filter and stir the paint in the paint tank 2; S5. Start the paint supply assembly to deliver the anti-corrosion coating to the sprayer 1; S6. Control the movement of the mobile platform and simultaneously adjust the attitude of the sprayer 1 to achieve continuous special coating construction on the inner wall of the tanker cargo hold.

[0028] Working Principle: The assembled construction device is hoisted into the bottom of the cargo hold using a dock crane, or the mobile platform moves in autonomously. The starting construction position is set via remote control or vehicle controller, typically at the base of one end of the cargo hold wall. The lifting assembly is activated, and the lifting drive motor rotates forward according to the height of the first construction zone on the cargo hold wall (e.g., 1.5 meters from the bottom of the hold). Through gear transmission, the lifting frame 6 is raised to the target angle. Simultaneously, the rotation motor can be activated to fine-tune the tilt of the mounting frame 7, ensuring that the sprayer 1 is roughly aligned with the cargo hold wall. Given that the cargo hold wall in this area is a vertical plane without reinforcing ribs, the attitude adjustment mechanism is used to... The initial angle of the sprayer 1 is set as follows: the first drive component 13 is controlled to make the axis of the sprayer 1 perpendicular to the bulkhead (i.e., pitch angle 0°), and the second drive component 17 is controlled to center the yaw angle (i.e., 0°). Subsequently, when encountering longitudinal stiffeners of the bulkhead, the second drive component 17 can be controlled in real time to make the sprayer 1 briefly deflect at an angle to specifically spray the side wall of the stiffener. Before spraying, the anti-clogging mechanism is activated, the dilution motor 31 is started, and the dilution rod 30 continuously stirs the epoxy zinc-rich or phenolic epoxy anti-corrosion coating in the paint tank 2 at a low speed. At the same time, the screen plate 27 is checked to ensure that it is clean and free of blockages, and the external paint supply pump is started. In this embodiment, the paint supply pump is independently set up and connected to the delivery pipe 25 through a pipeline. The paint supply pressure is adjusted to 0.3-0.6MPa, so that the paint can smoothly reach the nozzle of the sprayer 1 through the second pipe, the rotary connecting assembly 26, the delivery pipe 25, the flexible connecting pipe 24 and the first pipe 23, and start automatic spraying. The controller (PLC or industrial computer) issues a command to make the walking drive motor drive the vehicle body 3 to move forward in a straight line along the length of the cargo hold at a constant speed. At the same time, according to the preset three-dimensional model of the cargo hold or real-time lidar scanning data, the attitude adjustment mechanism is dynamically adjusted: when the sprayer 1 moves to the plane of the cargo hold wall... During this process, the pitch and yaw angles remain constant. When a vertical reinforcing rib is detected, the second drive unit 17 is controlled to quickly deflect the sprayer 1 15-25° to the right or left, spraying the side of the reinforcing rib, and then returning to center. When the sprayer moves to the arc transition area between the bulkhead and the bottom of the tank, the first drive unit 13 is controlled to gradually lower the sprayer 1, keeping it always aligned with the surface to be coated. The entire process achieves closed-loop control of "movement-adjustment-spraying". After completing a horizontal construction zone, the spraying execution unit 200 can be raised to the next height via the lifting assembly. The above steps are repeated until the entire spraying area from the bottom of the tank to the top of the tank is completed.

[0029] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A special coating application device for a tanker cargo hold, characterized in that: include, A mobile platform is used to carry construction equipment and move the equipment along the interior of the tanker's cargo hold. A spraying execution component, mounted on the mobile platform, is used to spray anti-corrosion coating onto the inner wall of the tanker's cargo hold; A paint supply assembly, connected to the spraying execution assembly, is used to supply anti-corrosion paint to the spraying execution assembly; in, The spraying execution component includes a sprayer (1) and an attitude adjustment mechanism. The attitude adjustment mechanism is disposed between the mobile platform and the sprayer (1) and drives the sprayer (1) to rotate in at least two different directions to adjust the spraying angle of the sprayer (1) relative to the inner wall of the tanker cargo hold. The paint supply assembly includes a paint tank cylinder (2) and an anti-blocking mechanism. The anti-blocking mechanism is located inside the paint tank cylinder (2) and is used to filter and stir the paint in the paint tank cylinder (2). By adjusting the position of the mobile platform and the angle of the attitude adjustment mechanism, the sprayer (1) can continuously spray different areas of the tanker's cargo hold.

2. The special coating application apparatus for tanker cargo holds according to claim 1, characterized in that: The mobile platform includes a vehicle body (3), a walking component, and a lifting component; The walking assembly is located at the bottom of the vehicle body (3) and is used to drive the vehicle body (3) to move along the bottom of the tanker cargo hold; The lifting assembly is located on the upper part of the vehicle body (3) and is used to install and adjust the height position of the spraying execution assembly.

3. The special coating application apparatus for tanker cargo holds according to claim 2, characterized in that: The walking assembly includes walking wheels (4) and a walking motor; The walking motor is rotatably mounted on the lower end of the vehicle body (3), and its output shaft is connected to the walking wheel (4) for transmission. When the walking motor starts, it drives the walking wheel (4) to rotate, so that the vehicle body (3) moves in a preset direction.

4. The special coating application apparatus for tanker cargo holds according to claim 2, characterized in that: The lifting assembly includes a lifting motor (5), a lifting frame (6), and a mounting frame (7); There are two lifting motors (5), which are symmetrically installed inside the vehicle body (3). The output shaft of one end of the lifting motor (5) is fixedly connected to a third gear (8), and the third gear (8) is meshed with a fourth gear. The inner wall of the fourth gear is fixedly connected to a drive shaft (9). One end of the lifting frame (6) is fixedly connected to the outer wall of the drive shaft (9), and the other end is fixedly connected to the mounting frame (7) by the first fastening bolt (10). The upper end of the first fastening bolt (10) is threaded with a fastening nut. The upper end of the vehicle body (3) is provided with a storage slot (11) for storing the lifting frame (6). The mounting frame (7) is U-shaped. A rotating motor is installed inside the upper wall of the lifting frame (6). The output shafts at both ends of the rotating motor rotate outside the wall of the lifting frame (6) and are fixedly connected to the two end walls of the mounting frame (7), thereby driving the mounting frame (7) to rotate. The lifting drive unit drives the lifting frame (6) to rotate relative to the vehicle body (3), so that the spraying execution component switches between the working position and the storage position.

5. The special coating application apparatus for tanker cargo holds according to claim 1, characterized in that: The attitude adjustment mechanism includes a spraying bracket (12), a first direction adjustment component, and a second direction adjustment component; The first direction adjustment component is used to drive the sprayer (1) to rotate about the first rotation axis; The second direction adjustment component is used to drive the sprayer (1) to rotate about the second rotation axis; The first rotation axis and the second rotation axis are intersecting each other so that the sprayer (1) can form a multi-degree-of-freedom posture adjustment.

6. The special coating application apparatus for tanker cargo holds according to claim 5, characterized in that: The first direction adjustment assembly includes a first drive member (13), a first rack (14), a first gear (15), and a first rotating shaft (16). The first driving component (13) is fixedly mounted on the spraying bracket (12); The first rack (14) is connected to the output end of the first drive unit (13); The first gear (15) is fixedly mounted on the first rotating shaft (16) and meshes with the first rack (14); The first rotating shaft (16) is rotatably connected to the spraying bracket (12).

7. The special coating application apparatus for tanker cargo holds according to claim 6, characterized in that: The second direction adjustment assembly includes a second drive member (17), a second rack (18), a second gear, and a second rotating shaft (19). Two symmetrically distributed second rotating shafts (19) are fixedly connected to the middle of the first rotating shaft (16). One end of each of the two second rotating shafts (19) is rotatably connected to a sleeve (20). C-shaped frames (21) are fixedly connected to both sides of the two sleeves (20). The second drive unit (17) is mounted on one of the C-shaped frames (21), and the sprayer (1) is fixedly mounted on the other C-shaped frame (21); The second rack (18) is connected to the output end of the second drive unit (17); The second gear is mounted on one of the second rotating shafts (19) and meshes with the second rack (18); The second rotating shaft (19) drives the sprayer (1) to rotate in the second direction; Limiting frames (22) are slidably connected to the outer walls of the first rack (14) and the second rack (18). One end of the limiting frame (22) away from the first rack (14) is fixedly connected to the spraying bracket (12), and the other end of the limiting frame (22) away from the second rack (18) is fixedly connected to the sleeve (20).

8. The special coating application apparatus for tanker cargo holds according to claim 1, characterized in that: The spraying execution component also includes operating pipelines; The operating pipeline includes a first pipe (23), a flexible connecting pipe (24), a conveying pipe (25), and a rotary connecting assembly (26). The first pipe (23) is connected to the side wall of the sprayer (1). The end of the first pipe (23) away from the sprayer (1) is fixedly connected to the flexible connecting pipe (24). The end of the flexible connecting pipe (24) is fixedly connected to the conveying pipe (25). The end of the conveying pipe (25) is rotatably connected to the second pipe through the rotary connecting assembly (26). The end of the second pipe is fixedly connected to the paint box cylinder (2). The flexible connecting pipe (24) is disposed between the sprayer (1) and the paint supply assembly to compensate for the positional changes generated during the movement of the sprayer (1); The rotary connection assembly (26) is used to keep the operating pipeline connected during the rotation of the sprayer (1).

9. The special coating application apparatus for tanker cargo holds according to claim 1, characterized in that: The anti-clogging mechanism includes a filter assembly and a stirring assembly; The filter assembly includes a sieve plate (27) and a sealing plate (28); The sieve plate (27) is installed inside the paint box cylinder (2) to filter particulate impurities in the paint. The sealing plate (28) is fixedly connected to one end of the sieve plate (27). The sealing plate (28) is slidably connected to the wall of the paint box cylinder (2). Sealing rubber strips are fixedly provided on all four sides of the sealing plate (28). One side of the sealing plate (28) is protruded and installed on the outer wall of the paint box cylinder (2) by the second fastening bolt (29). The stirring assembly includes a dilution rod (30) and a dilution motor (31); The diluting rod (30) is rotatably disposed inside the paint box cylinder (2), and an mounting plate (32) is rotatably connected to the upper outer wall of the diluting rod (30). The mounting plate (32) is installed on the upper end of the paint box cylinder (2) by a third fastening bolt. The top end of the dilution rod (30) is fixedly connected to the output shaft of the dilution motor (31), and the dilution motor (31) is mounted on the mounting plate (32); The dilution motor (31) is used to drive the dilution rod (30) to rotate, so that the dilution rod (30) stirs and dilutes the paint inside the paint box cylinder (2); A feed inlet (33) is fixedly provided on one side of the upper end of the paint box cylinder (2), and a baffle (34) is threadedly connected to the upper end of the feed inlet (33).

10. A method for applying a special coating to a tanker cargo hold, applied to the special coating application apparatus for a tanker cargo hold as described in any one of claims 1-9, characterized in that: The details are as follows: S1. Place the construction equipment inside the tanker's cargo hold and move it to the construction area via a mobile platform; S2. Activate the lifting assembly to adjust the spraying execution assembly to the target height; S3. Adjust the spraying direction of the sprayer (1) according to the location of the area to be constructed on the inner wall of the cargo hold through the attitude adjustment mechanism; S4. Activate the anti-blocking mechanism to filter and stir the paint in the paint box (2); S5. Start the paint supply assembly to deliver the anti-corrosion coating to the sprayer (1). S6. Control the movement of the mobile platform and simultaneously adjust the attitude of the sprayer (1) to achieve continuous special coating construction on the inner wall of the tanker cargo hold.

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