Walking chassis assembly and ship exterior spraying device

Abstract

The utility model provides a walking chassis assembly and ship outer surface spraying device, walking chassis assembly includes walking chassis, installs the fixed drive wheel and the floating drive wheel in the walking direction perpendicular to walking chassis's both sides of walking chassis, a pair of all -directional wheel is installed in the walking direction of walking chassis's both sides of walking chassis, and floating suspension mechanism, the floating drive wheel is installed in walking chassis through floating suspension mechanism and can go up and down floatingly, the bottom of fixed drive wheel and the bottom of two all -directional wheel are coplanar. Four wheel support structures are adopted in the application, and the overall support is stable and reliable. At the same time, the floating drive wheel is set as up and down floating structure, which automatically floats or drops according to the concave-convex state of the ground, adapts to the concave-convex state of the ground, and is always in contact with the ground, so as to avoid the slip of any one of the fixed drive wheel and the floating drive wheel due to suspension, and reliably ensure that the walking chassis assembly can move along the set route.

Description

Technical Field

[0001] This utility model relates to the field of ship exterior painting technology, and in particular to a mobile chassis assembly and a ship exterior painting device equipped with the mobile chassis assembly. Background Technology

[0002] Both shipbuilding and repair operations involve exterior painting, which forms a paint film on the ship's surface to provide protection against corrosion and dirt, enhance aesthetics, and serve as a marking tool. There are two main methods of exterior painting: manual painting and automatic painting.

[0003] Manual spraying refers to the painting operation performed by workers holding spray guns and working on aerial work platforms. Manual spraying has drawbacks such as low spraying efficiency, high risk of working at height, and uneven paint film thickness.

[0004] Automated painting refers to the use of a ship exterior painting device to automatically perform painting operations. This device mainly includes a chassis, a tower fixed to the chassis, a telescopic boom mounted on the tower and capable of being raised and lowered, and painting equipment installed at the front end of the telescopic boom. For example, Chinese invention patent application number 202110573747.6 discloses an automated operation platform for ship painting, in which the vehicle body is equipped with two solid tires as driving wheels. However, this prior art has the following drawbacks: 1. The vehicle body bears a heavy load, and the support is unreliable, especially when the vehicle body turns; 2. When the ground is uneven, the solid tires are prone to slipping due to the high wheel pressure, causing the vehicle body to deviate from the set path, thus affecting the painting quality. Utility Model Content

[0005] In view of the shortcomings of the prior art described above, the purpose of this utility model is to provide a chassis assembly that provides stable and reliable overall support and effectively avoids slippage.

[0006] To achieve the above objectives, this utility model provides a walking chassis assembly, including a walking chassis, fixed drive wheels and floating drive wheels mounted on both sides of the walking chassis along a walking direction perpendicular to the walking chassis, a pair of omnidirectional wheels mounted on both sides of the walking chassis along the walking direction of the walking chassis, and a floating suspension mechanism. The floating drive wheels are mounted on the walking chassis in a way that allows them to float up and down through the floating suspension mechanism. The bottom of the fixed drive wheels and the bottom of the two omnidirectional wheels are coplanar.

[0007] Furthermore, a preferred embodiment of the chassis assembly is as follows: the floating suspension mechanism includes a floating mounting plate, a suspension cylinder, and a first drive wheel mounting plate. The floating mounting plate is fixed to the side of the chassis. The cylinder body and piston rod of the suspension cylinder are respectively connected to the floating mounting plate and the first drive wheel mounting plate. The floating drive wheel is mounted on the first drive wheel mounting plate.

[0008] Furthermore, a preferred embodiment of the chassis assembly is that the floating suspension mechanism further includes a slide rail mechanism disposed between the floating mounting plate and the first drive wheel mounting plate, the slide rail mechanism being used to guide the vertical movement of the first drive wheel mounting plate.

[0009] Furthermore, a preferred embodiment of the walking chassis assembly is as follows: two suspension cylinders are provided, and the two suspension cylinders are symmetrically arranged on both sides of the floating mounting plate; two sets of slide rail mechanisms are provided, and the two sets of slide rail mechanisms are symmetrically arranged between the two suspension cylinders.

[0010] Furthermore, a preferred embodiment of the chassis assembly is as follows: the chassis assembly further includes a support leg and a second drive wheel mounting plate. The support leg is fixed to the side of the chassis and extends horizontally in a direction perpendicular to the walking direction of the chassis. The second drive wheel mounting plate is fixed to the outer end of the support leg. The fixed drive wheel is mounted on the second drive wheel mounting plate. The support leg causes the fixed drive wheel to be away from the center of gravity of the chassis relative to the floating drive wheel.

[0011] Furthermore, a preferred embodiment of the chassis assembly is as follows: the chassis assembly further includes several lifting devices, each lifting device including a lifting connecting seat mounted on the chassis, a lifting rod movably mounted on the lifting connecting seat, a support base fixed to the lower end of the lifting rod, and a lifting drive source mounted on the lifting connecting seat. The lifting drive source is connected to the lifting rod in a transmission manner, the lower end of the lifting rod extends downward from the lifting connecting seat, and the support base is distributed on the lower side of the lifting connecting seat.

[0012] The lifting drive source is a hand crank, a hydraulic cylinder, or an electric cylinder.

[0013] Furthermore, a preferred embodiment of the chassis assembly is that the plurality of lifting devices include two fixed lifting devices distributed on the same side of the chassis as the fixed drive wheels, and two rotary lifting devices distributed on the same side of the chassis as the floating drive wheels.

[0014] The two fixed lifting devices are distributed on both sides of the outrigger along the traveling direction of the chassis, and the lifting connecting seat of the fixed lifting device is fixedly connected to the chassis.

[0015] The two rotary lifting devices are distributed on both sides of the floating drive wheel along the traveling direction of the chassis. The rotary lifting devices are connected to the chassis via a rotating mechanism. The rotating mechanism includes a connecting base fixed to the side of the chassis, a vertically extending support shaft, and a rotating boom. The support shaft is fixed in the connecting base, one end of the rotating boom is rotatably connected to the support shaft, and the lifting connecting seat of the rotary lifting device is fixedly connected to the other end of the rotating boom.

[0016] Furthermore, a preferred embodiment of the walking chassis assembly is as follows: both the fixed drive wheel and the floating drive wheel include a walking drive source and a drive wheel body connected to the walking drive source, wherein the walking drive source is a wheel-side reducer.

[0017] Furthermore, a preferred embodiment of the chassis assembly is as follows: the chassis assembly further includes an anchoring mechanism located at the corner of the chassis, the anchoring mechanism including a first shackle, a first collar, an anchoring rope, a second collar, a second shackle, a spiral buckle, and a third shackle connected in sequence, and a connecting lug is provided at the corner of the chassis, with the first shackle passing through the connecting lug.

[0018] This utility model also provides a ship exterior spraying device, including a traveling chassis assembly as described above, a tower fixed at the bottom of the traveling chassis assembly, a lifting drive source mounted on the traveling chassis assembly, a lifting transmission mechanism, a tower platform that can be lifted and lowered and mounted on the tower platform, a telescopic arm that is fixed at one end to the tower platform and can be horizontally extended and retracted, and a spraying device mounted at the other end of the telescopic arm. The lifting drive source is connected to the tower platform through the lifting transmission mechanism.

[0019] As described above, the walking chassis assembly and ship exterior painting device involved in this utility model have the following beneficial effects:

[0020] This application employs a four-wheel support structure, ensuring overall stability and reliability. Specifically, this application first ensures that the fixed drive wheel and the two swivel wheels are coplanar, guaranteeing that all three are always in contact with the ground. Building upon this, the floating drive wheel is configured with an up-and-down floating structure, automatically rising or falling according to the unevenness of the ground, adapting to the ground's contours and maintaining constant contact. This prevents any drive wheel, whether fixed or floating, from slipping due to being suspended in the air, reliably ensuring that the chassis assembly can move along the designated route. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the ship exterior spraying device of this utility model.

[0022] Figures 2 to 4 for Figure 1 Schematic diagrams of the central chassis assembly from different perspectives.

[0023] Figure 5 for Figure 2 A partial structural diagram of the floating drive wheel.

[0024] Figure 6 for Figure 2 A partial structural diagram of the rotary lifting device.

[0025] Figure 7 for Figure 2 A partial structural diagram of the anchoring mechanism.

[0026] Component designation explanation

[0027] 10. Walking chassis

[0028] 20 Fixed drive wheels

[0029] 30 floating drive wheels

[0030] 40 swivel wheels

[0031] 50 Floating Suspension Mechanism

[0032] 51 Floating Mounting Plate

[0033] 52 Suspension cylinder

[0034] 53 First drive wheel mounting plate

[0035] 54 Slide rail mechanism

[0036] 55 Limiting block

[0037] 60 legs

[0038] 70 Second drive wheel mounting plate

[0039] 80 Lifting Device

[0040] 81 Lifting Connector

[0041] 82 Lifting Rod

[0042] 83 Support base

[0043] 84 Fixed Lifting Device

[0044] 85 Rotary Lifting Device

[0045] 90 Rotating Mechanism

[0046] 91 Connecting base

[0047] 92 Support shaft

[0048] 93 Rotary boom

[0049] 111 Walking Drive Source

[0050] 112 Drive wheel body

[0051] 120 Anchoring Mechanism

[0052] 121 First Shackle

[0053] 122 First ring

[0054] 123 Anchoring rope

[0055] 124 Second ring

[0056] 125 Second Shackle

[0057] 126 Spiral Buckle

[0058] 127 Third Shackle

[0059] 131 Tower

[0060] 132 Lifting Drive Source

[0061] 133 Lifting transmission mechanism

[0062] 134 Control Tower

[0063] 135 telescopic boom

[0064] 136 Spraying Equipment Detailed Implementation

[0065] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0066] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this invention, should still fall within the scope of the disclosed technical content. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0067] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0068] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0069] This utility model relates to a chassis assembly and a ship exterior painting device including the chassis assembly. The ship exterior painting device is used for automatic painting of the ship's exterior. During the painting process, the chassis assembly moves along a predetermined route parallel to the curve of the ship's exterior, thus enabling the entire ship exterior painting device to move along the predetermined route. For ease of description, in the following embodiments, the direction of travel of the chassis assembly is defined as the left-right direction, and the horizontal direction perpendicular to the direction of travel of the chassis assembly is defined as the front-back direction. Therefore, the front-back direction is also the parallel direction between the chassis assembly and the ship's exterior.

[0070] like Figure 1As shown, the ship exterior painting device of this utility model includes a traveling chassis assembly, a tower 131, a lifting drive source 132 (preferably a winch), a lifting transmission mechanism 133 (preferably a wire rope pulley mechanism), a tower 134, a telescopic boom 135, and a painting device 136. The tower 131 is a multi-section structure assembled vertically, with its bottom fixed to the top surface of the traveling chassis assembly. The lifting drive source 132 is fixed to the top surface of the traveling chassis assembly. The tower 134 is vertically and vertically mounted on the tower 131. The lifting drive source 132 is connected to the tower 134 via the lifting transmission mechanism 133, driving the tower 134 to rise and fall. The telescopic boom 135 can horizontally extend and retract in the front-rear direction. The rear end of the telescopic boom 135 is fixedly connected to the tower 134, and the painting device 136 is installed at the front end of the telescopic boom 135. During the ship exterior painting operation, the lifting drive source 132 drives the tower 134 and the telescopic boom 135 to rise and fall together through the lifting transmission mechanism 133. The telescopic boom 135 extends forward, thereby moving the painting equipment 136 to the target area. Combined with the movement and travel of the mobile chassis assembly, the ship exterior can be automatically painted. In addition to carrying the tower 131 and the lifting drive source 132, the mobile chassis assembly is also used to carry the generator set, hydraulic station, paint booth, and operator's cab of the ship exterior painting equipment.

[0071] In particular, such as Figures 2 to 4 As shown, the chassis assembly of this utility model includes a chassis 10, fixed drive wheels 20 and floating drive wheels 30 installed on the front and rear sides of the chassis 10 along the walking direction perpendicular to the chassis 10, a pair of casters 40 installed on the left and right sides of the chassis 10 along the walking direction of the chassis 10, and a floating suspension mechanism 50. The floating drive wheels 30 are mounted on the chassis 10 in a floating manner through the floating suspension mechanism 50. The bottom of the fixed drive wheels 20 and the bottom of the two casters 40 are coplanar. The fixed drive wheels 20 and the floating drive wheels 30 are distributed on the center line in the left and right direction of the chassis 10.

[0072] In the aforementioned chassis assembly, the fixed drive wheel 20 and the floating drive wheel 30 are the driving wheels, which drive the chassis assembly to move through rotation. The omnidirectional wheels 40 are the following wheels. This chassis assembly adopts a four-wheel support structure consisting of the fixed drive wheel 20, the floating drive wheel 30, and the two omnidirectional wheels 40, which improves the overall support stability and makes the ship's exterior painting device operate stably, thereby improving the painting quality. In particular, the fixed drive wheel 20 and the two omnidirectional wheels 40 are always coplanar with the ground, meaning they are always in contact with the ground. The floating drive wheel 30 has a vertical floating structure, which can automatically rise or fall according to the unevenness of the ground, thus adapting to the unevenness of the ground, and therefore the floating drive wheel 30 is always in contact with the ground. Therefore, this application sets a floating point in the four-wheel support structure to ensure that during the movement of the chassis assembly, the four wheels—fixed drive wheel 20, floating drive wheel 30, and two swivel wheels 40—are always in contact with the ground, preventing any of the fixed drive wheel 20 or floating drive wheel 30 from being suspended in the air. This effectively avoids slippage of the fixed drive wheel 20 and floating drive wheel 30, ensuring that the chassis assembly will not deviate from its course and reliably guaranteeing that the chassis assembly can move along the set route.

[0073] Furthermore, such as Figure 2 and Figure 3 As shown, both the fixed drive wheel 20 and the floating drive wheel 30 include a travel drive source 111 and a drive wheel body 112 connected to the travel drive source 111. Preferably, the travel drive source 111 is a wheel-side reducer, and the output shaft of the wheel-side reducer is fixedly connected to the drive wheel body 112 by several bolts, directly driving the drive wheel body 112 to rotate. The wheel-side reducers of the fixed drive wheel 20 and the floating drive wheel 30 are independently controlled, thereby independently regulating the speed of the fixed drive wheel 20 and the floating drive wheel 30. When the fixed drive wheel 20 and the floating drive wheel 30 are controlled to rotate synchronously in the forward direction, the chassis assembly travels in a straight line in the forward direction; when the fixed drive wheel 20 and the floating drive wheel 30 rotate synchronously in the reverse direction, the chassis assembly travels in a straight line in the opposite direction; when the fixed drive wheel 20 and the floating drive wheel 30 rotate at different speeds, the chassis assembly travels along a curve, realizing the turning control of the chassis assembly. In addition, the use of fixed drive wheels 20 and floating drive wheels 30 as driving wheels enables the chassis assembly to travel in a straight line, turn, and make U-turns, eliminating the need to lay tracks on the dock floor of the shipyard or ship repair yard, shortening the painting cycle, and significantly improving painting efficiency.

[0074] Furthermore, the preferred structure of the floating suspension mechanism 50 is as follows: Figure 2 and Figure 5As shown, the floating suspension mechanism 50 includes a floating mounting plate 51, a suspension cylinder 52, and a first drive wheel mounting plate 53. The floating mounting plate 51 is fixed to the side of the chassis 10 by several bolts. The piston rod of the suspension cylinder 52 extends downward from its cylinder body. The upper end of the cylinder body of the suspension cylinder 52 is connected to the floating mounting plate 51, and the lower end of the piston rod of the suspension cylinder 52 is connected to the first drive wheel mounting plate 53. The floating drive wheel 30 is mounted on the first drive wheel mounting plate 53, that is, the wheel-side reducer of the floating drive wheel 30 is fixed to the first drive wheel mounting plate 53 by several bolts. In addition, the chassis assembly is also equipped with a wheel pressure detector for detecting the wheel pressure of the floating drive wheel 30, and the real-time wheel pressure of the floating drive wheel 30 is obtained based on the feedback from the wheel pressure detector. When the floating drive wheel 30 is suspended due to uneven ground, its wheel pressure is insufficient and falls below a set threshold. The piston rod of the suspension cylinder 52 automatically extends downwards, driving the floating drive wheel 30 downwards via the first drive wheel mounting plate 53 until its wheel pressure reaches the set threshold. Conversely, when the floating drive wheel 30 is lifted by the ground, its wheel pressure is excessive and exceeds the set threshold. The piston rod of the suspension cylinder 52 automatically retracts upwards, driving the floating drive wheel 30 upwards via the first drive wheel mounting plate 53 until its wheel pressure reaches the set threshold. Therefore, the floating suspension mechanism 50 uses a suspension cylinder 52 with constant pressure to push the floating drive wheel 30, allowing it to float up and down autonomously. The floating drive wheel 30 can adaptively fix the surfaces of the fixed drive wheel 20 and the two casters 40, preventing the chassis assembly from veering off course due to slippage.

[0075] Furthermore, the connection between the upper end of the cylinder body of the suspension cylinder 52 and the floating mounting plate 51, and the connection between the lower end of the piston rod of the suspension cylinder 52 and the first drive wheel mounting plate 53, can be a fixed connection or a hinged connection. Preferably, in this embodiment, as... Figure 2 and Figure 5 As shown, the upper end of the cylinder body of the suspension cylinder 52 is hinged to the floating mounting plate 51, and the lower end of the piston rod of the suspension cylinder 52 is hinged to the first drive wheel mounting plate 53. Thus, since there may be positional errors in the various components of the floating suspension mechanism 50 during manufacturing and assembly, using a hinged structure for the cylinder body of the suspension cylinder 52 and the floating mounting plate 51, as well as the piston rod of the suspension cylinder 52 and the first drive wheel mounting plate 53, provides adjustment redundancy and allows for some adjustments to the various components of the floating suspension mechanism 50 during installation, improving the assembly accuracy of the floating suspension mechanism 50.

[0076] Furthermore, such as Figure 5As shown, the floating suspension mechanism 50 also includes a vertically extending slide rail mechanism 54, which connects the floating mounting plate 51 and the first drive wheel mounting plate 53. During the autonomous vertical floating of the floating drive wheel 30, the slide rail mechanism 54 guides the vertical movement of the first drive wheel mounting plate 53, improving the accuracy of the vertical floating of the floating drive wheel 30. Furthermore, a limit stop 55 is fixed on the floating mounting plate 51. The limit stop 55 is located at the top of the slide rail mechanism 54 and abuts against the slider in the slide rail mechanism 54, thus limiting the upward movement of the floating drive wheel 30.

[0077] Preferably, such as Figure 5 As shown, in the floating suspension mechanism 50, there are two suspension cylinders 52, which are symmetrically arranged on the left and right sides of the floating mounting plate 51; there are also two sets of slide rail mechanisms 54, which are arranged side by side, and the two sets of slide rail mechanisms 54 are distributed between the two suspension cylinders 52.

[0078] Furthermore, such as Figure 2 and Figure 3 As shown, the telescopic arm 135 in the ship exterior painting device is a cantilever structure extending forward. Based on this, this application provides a forward-extending support leg 60 at the middle position of the front side of the chassis assembly. The fixed drive wheel 20 or the floating drive wheel 30 is installed at the front end of the support leg 60 to improve the support stability of the chassis assembly. In this embodiment, the fixed drive wheel 20 is installed at the front end of the support leg 60, and the floating drive wheel 30 is installed at the rear side of the chassis 10. The support leg 60 is a rectangular structure and extends horizontally back and forth in a direction perpendicular to the walking direction of the chassis 10. The rear end of the support leg 60 is fixed to the front side of the chassis 10 by several bolts, and the front end of the support leg 60 is fixed to the second drive wheel mounting plate 70 by several bolts. The fixed drive wheel 20 is installed on the second drive wheel mounting plate 70, that is, the wheel-side reducer of the fixed drive wheel 20 is fixed to the second drive wheel mounting plate 70 by several bolts. Furthermore, the forward extension structure of the outriggers 60 in the chassis assembly makes the fixed drive wheel 20 farther away from the center of gravity of the chassis 10 relative to the floating drive wheel 30. As a result, the load-bearing capacity of the fixed drive wheel 20 is less than that of the floating drive wheel 30, and the floating drive wheel 30 is the main load-bearing component.

[0079] In addition, a pair of casters 40 can be distributed along the centerline in the front-rear direction of the chassis 10. Preferably, the pair of casters 40 are positioned closer to the floating drive wheel 30 relative to the centerline in the front-rear direction of the chassis 10, and combined with the fixed drive wheel 20 mounted on the front end of the outrigger 60, the stability of the four-wheel support structure is better improved.

[0080] Furthermore, such as Figure 2 , Figure 3 and Figure 6As shown, the chassis assembly also includes several lifting devices 80. Each lifting device 80 includes a lifting connecting seat 81 mounted on the chassis 10, a lifting rod 82 movably mounted on the lifting connecting seat 81, a support base 83 fixed to the lower end of the lifting rod 82, and a lifting drive source mounted on the lifting connecting seat 81. The lifting drive source is not shown in the figure. The lifting drive source is connected to the lifting rod 82. The lower end of the lifting rod 82 extends downward from the lifting connecting seat 81, and the support base 83 is located on the lower side of the lifting connecting seat 81. When the ship's exterior painting device is in operation, the lifting rod 82 is in an upward retracted state, and the support base 83 is suspended above the ground. When the ship's exterior painting device is under maintenance, the lifting drive source drives the lifting rod 82 to extend downward until the support base 83 touches the ground, thereby temporarily fixing the ship's exterior painting device for easy maintenance.

[0081] Preferably, the lifting drive source can be a hand crank, a hydraulic cylinder, or an electric cylinder. When the lifting drive source is a hand crank, the hand crank is connected to the lifting rod 82 through a transmission assembly, driving the lifting rod 82 to move up or down. When the lifting drive source is a hydraulic cylinder or an electric cylinder, the piston rod of the hydraulic cylinder or electric cylinder can be directly connected to the lifting rod 82, directly driving the lifting rod 82 to move up or down.

[0082] Furthermore, such as Figure 2 and Figure 3 As shown, there are four lifting devices 80: two fixed lifting devices 84 and two rotating lifting devices 85. The two fixed lifting devices 84, along with the fixed drive wheels 20, are located on the front side of the chassis 10, and are positioned on the left and right sides of the outriggers 60 along the traveling direction of the chassis 10. The lifting connecting seats 81 of the fixed lifting devices 84 are directly fixed to the front side of the chassis 10 by several bolts. The two rotating lifting devices 85, along with the floating drive wheels 30, are located on the rear side of the chassis 10, and are positioned on the left and right sides of the floating drive wheels 30 along the traveling direction of the chassis 10. The lifting connecting seats 81 of the rotating lifting devices 85 are preferably rotatably mounted on the rear side of the chassis 10 via a rotating mechanism 90. Figure 5As shown, the rotating mechanism 90 includes a pair of connecting bases 91 fixed to the rear side of the chassis 10, a vertically extending support shaft 92, and a rotating boom 93. The support shaft 92 is fixed in the pair of connecting bases 91, and one end of the rotating boom 93 is rotatably connected to the support shaft 92. The lifting connecting seat 81 of the rotating lifting device 85 is fixed to the other end of the rotating boom 93 by several bolts. With this configuration, since the outriggers 60 are already provided on the front side of the chassis assembly, even if both lifting devices 80 on the front side are set as non-rotatable fixed lifting devices 84, there is no problem of excessive width in the front-rear direction. However, on the rear side of the traveling chassis assembly, both lifting devices 80 are configured as rotatable rotating lifting devices 85. When not in use, the rotating boom 93 is not rotated out and is attached to the rear side of the traveling chassis 10, and the rotating lifting device 85 is in a retracted state, thereby avoiding excessive width in the front-to-back direction and preventing the two rear lifting devices 80 from colliding with other equipment in the dock. When needed, the rotating boom 93 is rotated out around the support shaft 92, and the rotating lifting device 85 is in an extended state.

[0083] Furthermore, such as Figure 2 and Figure 3 As shown, the chassis assembly also includes anchoring mechanisms 120 located at the four corners of the chassis 10; as Figure 7 As shown, each anchoring mechanism 120 includes a first shackle 121, a first collar 122, an anchoring rope 123, a second collar 124, a second shackle 125, a spiral buckle 126, and a third shackle 127 connected in sequence. Connecting lugs are provided at the corners of the traveling chassis 10, and the first shackle 121 passes through these connecting lugs. When the ship's exterior painting equipment is not in operation, the anchoring mechanism 120 anchors the equipment at a specific location.

[0084] In summary, this utility model effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0085] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A chassis assembly comprising a chassis (10), characterized in that: It also includes fixed drive wheels (20) and floating drive wheels (30) installed on both sides of the walking chassis (10) along the walking direction perpendicular to the walking chassis (10), a pair of universal wheels (40) installed on both sides of the walking chassis (10) along the walking direction of the walking chassis (10), and a floating suspension mechanism (50). The floating drive wheels (30) are installed on the walking chassis (10) in a way that allows them to float up and down through the floating suspension mechanism (50). The bottom of the fixed drive wheels (20) and the bottom of the two universal wheels (40) are coplanar.

2. The chassis assembly according to claim 1, characterized in that: The floating suspension mechanism (50) includes a floating mounting plate (51), a suspension cylinder (52), and a first drive wheel mounting plate (53). The floating mounting plate (51) is fixed to the side of the walking chassis (10). The cylinder body and piston rod of the suspension cylinder (52) are connected to the floating mounting plate (51) and the first drive wheel mounting plate (53) respectively. The floating drive wheel (30) is mounted on the first drive wheel mounting plate (53).

3. The chassis assembly according to claim 2, characterized in that: The floating suspension mechanism (50) further includes a slide rail mechanism (54) disposed between the floating mounting plate (51) and the first drive wheel mounting plate (53), the slide rail mechanism (54) being used to guide the up and down movement of the first drive wheel mounting plate (53).

4. The chassis assembly according to claim 3, characterized in that: There are two suspension cylinders (52), which are symmetrically arranged on both sides of the floating mounting plate (51); there are two sets of slide rail mechanisms (54), which are symmetrically arranged between the two suspension cylinders (52).

5. The chassis assembly according to claim 1, characterized in that: It also includes a support leg (60) and a second drive wheel mounting plate (70). The support leg (60) is fixed to the side of the chassis (10) and extends horizontally in a direction perpendicular to the walking direction of the chassis (10). The second drive wheel mounting plate (70) is fixed to the outer end of the support leg (60). The fixed drive wheel (20) is mounted on the second drive wheel mounting plate (70). The support leg (60) makes the fixed drive wheel (20) away from the center of gravity of the chassis (10) relative to the floating drive wheel (30).

6. The chassis assembly according to claim 5, characterized in that: It also includes several lifting devices (80), each lifting device (80) including a lifting connecting seat (81) mounted on the walking chassis (10), a lifting rod (82) mounted on the lifting connecting seat (81) in a lifting manner, a support base (83) fixed to the lower end of the lifting rod (82), and a lifting drive source mounted on the lifting connecting seat (81). The lifting drive source is connected to the lifting rod (82) in a transmission manner. The lower end of the lifting rod (82) extends downward from the lifting connecting seat (81), and the support base (83) is distributed on the lower side of the lifting connecting seat (81). The lifting drive source is a hand crank, a hydraulic cylinder, or an electric cylinder.

7. The chassis assembly according to claim 6, characterized in that: The lifting devices (80) include two fixed lifting devices (84) distributed on the same side of the chassis (10) as the fixed drive wheels (20), and two rotating lifting devices (85) distributed on the same side of the chassis (10) as the floating drive wheels (30); The two fixed lifting devices (84) are distributed on both sides of the outrigger (60) along the walking direction of the chassis (10), and the lifting connecting seat (81) of the fixed lifting device (84) is fixedly connected to the chassis (10). Two rotating lifting devices (85) are distributed on both sides of the floating drive wheel (30) along the traveling direction of the chassis (10). The rotating lifting devices (85) are connected to the chassis (10) through a rotating mechanism (90). The rotating mechanism (90) includes a connecting base (91) fixed on the side of the chassis (10), a vertically extending support shaft (92), and a rotating boom (93). The support shaft (92) is fixed in the connecting base (91). One end of the rotating boom (93) is rotatably connected to the support shaft (92). The lifting connecting seat (81) of the rotating lifting device (85) is fixedly connected to the other end of the rotating boom (93).

8. The chassis assembly according to claim 1, characterized in that: Both the fixed drive wheel (20) and the floating drive wheel (30) include a travel drive source (111) and a drive wheel body (112) connected to the travel drive source (111), wherein the travel drive source (111) is a wheel-side reducer.

9. The chassis assembly according to claim 1, characterized in that: It also includes an anchoring mechanism (120) located at the corner of the chassis (10). The anchoring mechanism (120) includes a first shackle (121), a first collar (122), an anchoring rope (123), a second collar (124), a second shackle (125), a spiral buckle (126), and a third shackle (127) connected in sequence. The chassis (10) is provided with a connecting lug at the corner, and the first shackle (121) passes through the connecting lug.

10. A ship exterior painting device, characterized in that: The system includes a walking chassis assembly as described in any one of claims 1-9, a tower (131) with its bottom fixed to the walking chassis assembly, a lifting drive source (132) mounted on the walking chassis assembly, a lifting transmission mechanism (133), a tower (134) that is vertically mounted on the tower (131), a telescopic arm (135) that is fixed at one end to the tower (134) and can be horizontally extended and retracted, and a spraying device (136) mounted at the other end of the telescopic arm (135), wherein the lifting drive source (132) is connected to the tower (134) via the lifting transmission mechanism (133).

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