Walking steering control mechanism and ship outer surface spraying device

Abstract

The utility model provides a kind of walking steering control mechanism and ship outer surface spraying device, walking steering control mechanism includes walking chassis, a pair of driving wheels and a pair of distance sensors, a pair of driving wheels are installed in the two sides of walking chassis along the walking direction perpendicular to walking chassis, a pair of distance sensors are side by side along the walking direction of walking chassis, and are set in alignment in the walking direction of walking chassis;Every driving wheel includes walking driving source and rotatable driving wheel main body, walking driving source is connected with driving wheel main body transmission, and the walking driving source between two driving wheels is independent of each other.This application is based on the feedback of a pair of distance sensors for measuring the real-time distance between walking chassis and the outer surface of the ship, controls the synchronous rotation and differential rotation of a pair of driving wheels, more reliably makes walking chassis walk along the moving route parallel to the curve of the outer surface of the ship, and improves paint spraying quality.

Description

Technical Field

[0001] This utility model relates to the field of ship exterior painting technology, and in particular to a travel and steering control mechanism, and a ship exterior painting device equipped with the travel and steering control mechanism. 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 this existing automated operation platform for ship painting, the vehicle body provides the main installation workspace. Two solid tires are mounted on the bottom of the vehicle body as driving wheels, and a hydraulic steering cylinder is also installed on the vehicle body. Movement and steering are achieved through the solid tires in conjunction with the hydraulic steering cylinder. However, its steering control precision is not very high, and it cannot effectively control the movement path of the vehicle body to be parallel to the curves of the ship's exterior, affecting the painting effect. 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 walking and steering control mechanism that can better control the walking chassis to walk along a path parallel to the external curve of the ship.

[0006] To achieve the above objectives, this utility model provides a walking and steering control mechanism, including a walking chassis, a pair of drive wheels, and a pair of distance sensors. The pair of distance sensors are both installed on the side of the walking chassis facing the ship's exterior. The pair of distance sensors are arranged side by side along the walking direction of the walking chassis and aligned in the walking direction of the walking chassis. The pair of distance sensors are used to measure the horizontal distance between the walking chassis and the ship's exterior in a direction perpendicular to the walking direction of the walking chassis.

[0007] Each of the drive wheels includes a drive source mounted on the chassis and a rotatable drive wheel body. The drive source is connected to the drive wheel body in a transmission manner, and the drive sources of the two drive wheels are independent of each other.

[0008] Furthermore, a preferred embodiment of the walking and steering control mechanism is as follows: the walking drive source is a wheel-side reducer, the wheel-side reducer is coaxially arranged with the drive wheel body, and the output end of the wheel-side reducer is fixedly connected to the drive wheel body by several bolts.

[0009] Furthermore, a preferred embodiment of the walking and steering control mechanism is that the distance sensor is an ultrasonic sensor or a laser displacement sensor.

[0010] Furthermore, a preferred embodiment of the walking and steering control mechanism is as follows: the walking and steering control mechanism further includes a pair of omnidirectional wheels, which are installed on both sides of the walking chassis along the walking direction of the chassis.

[0011] Furthermore, a preferred embodiment of the travel steering control mechanism is as follows: the travel steering control mechanism further includes a support leg, one end of which is fixed to the side of the travel chassis facing the ship's exterior, and one of the pair of drive wheels is mounted on the outer end of the support leg, such that the support leg causes the drive wheel at its outer end to be away from the center of gravity of the travel chassis relative to the other drive wheel.

[0012] This utility model also provides a ship exterior painting device, including the walking and steering control mechanism as described above, a tower fixed at the bottom on the walking chassis, a lifting drive source installed on the walking chassis, a lifting transmission mechanism, a tower platform that can be lifted and lowered on the tower, a telescopic arm that is fixed at one end to the tower platform and can be horizontally extended and retracted, and a painting device installed at the other end of the telescopic arm. The lifting drive source is connected to the tower platform through the lifting transmission mechanism.

[0013] Furthermore, both of the distance sensors are fixedly mounted on the tower and on the side of the tower facing the exterior of the ship.

[0014] Furthermore, the distance sensor is installed at a height of 20-30m on the tower.

[0015] As described above, the walking and steering control mechanism and the ship exterior painting device involved in this utility model have the following beneficial effects:

[0016] 1. This application uses a pair of drive wheels to drive the walking chassis. During the walking chassis's movement, based on feedback from a pair of distance sensors that measure the real-time distance between the walking chassis and the ship's exterior, the synchronous and differential rotation of the pair of drive wheels is controlled, which more reliably enables the walking chassis to move along a path parallel to the ship's exterior curve, thereby improving the painting quality.

[0017] 2. This application uses differential rotation to control the steering of the chassis, eliminating the need to lay tracks on the dock floor of shipyards or ship repair yards, shortening the painting cycle and significantly improving painting efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the ship exterior coating device for this application.

[0019] Figure 2 and Figure 3 The diagram shows the structure of the walking and steering control mechanism of this application from different perspectives.

[0020] Component designation explanation

[0021] 10. Walking chassis

[0022] 20 drive wheels

[0023] 21 Walking drive source

[0024] 22 Drive wheel body

[0025] 30 Distance Sensor

[0026] 40 swivel wheels

[0027] 50 legs

[0028] 61 towers

[0029] 62 Lifting Drive Source

[0030] 63 Lifting transmission mechanism

[0031] 64 Tower

[0032] 65 Telescopic boom

[0033] 66 Spraying Equipment

[0034] 70 First drive wheel mounting plate

[0035] 80 Floating Suspension Mechanism

[0036] 81 Floating Mounting Plate

[0037] 82 Suspension cylinder

[0038] 83 Second drive wheel mounting plate Detailed Implementation

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] This utility model relates to a travel and steering control mechanism, and a ship exterior painting device including the travel and steering control mechanism. The ship exterior painting device is used for automatic painting of the ship's exterior. During the painting process, the travel and steering control mechanism drives the entire ship exterior painting device to move along a path parallel to the curve of the ship's exterior. For ease of description, in the following embodiments, the travel direction of the ship exterior painting device is defined as the left-right direction, and the horizontal direction perpendicular to the travel direction of the ship exterior painting device is defined as the front-back direction. Therefore, the front-back direction is also the parallel direction between the ship exterior painting device and the ship's exterior.

[0044] like Figure 1 As shown, the ship exterior painting device of this utility model includes a travel and steering control mechanism, a tower 61, a lifting drive source 62 (preferably a winch), a lifting transmission mechanism 63 (preferably a wire rope pulley mechanism), a tower 64, a telescopic boom 65, and a painting device 66. Figure 2 and Figure 3 As shown, the walking and steering control mechanism includes a walking chassis 10, a pair of drive wheels 20, and a pair of distance sensors 30. The drive wheels 20 are used to drive the walking chassis 10 to move along a path parallel to the curve of the ship's exterior, thereby driving the entire ship exterior painting device to move along a path parallel to the curve of the ship's exterior. The path of the walking chassis 10 is also the path of the entire ship exterior painting device. The tower 61 is a multi-section structure assembled vertically. The bottom of the tower 61 is fixed to the top surface of the walking chassis 10. The lifting drive source 62 is fixed to the top surface of the walking chassis 10. The tower platform 64 is jacked up and down and is mounted on the tower 61. The lifting drive source 62 is connected to the tower platform 64 through the lifting transmission mechanism 63 to drive the tower platform 64 to rise and fall. The telescopic boom 65 can extend and retract horizontally in the front and rear direction. The rear end of the telescopic boom 65 is fixedly connected to the tower platform 64. The painting equipment 66 is mounted on the front end of the telescopic boom 65. During the ship exterior painting operation, the lifting drive source 62 drives the tower 64 and the telescopic boom 65 to rise and fall together through the lifting transmission mechanism 63. The telescopic boom 65 extends forward, thereby moving the painting equipment 66 to the target area. Combined with the movement and travel of the traveling chassis 10, the ship exterior can be automatically painted. In addition to the tower 61 and the lifting drive source 62, the top surface of the traveling chassis 10 also carries the ship exterior painting equipment unit, hydraulic station, paint booth, operator's room, etc.

[0045] Furthermore, such as Figure 2 and Figure 3As shown, in the walking and steering control mechanism, a pair of drive wheels 20 are installed on the front and rear sides of the walking chassis 10 along the walking direction perpendicular to the walking direction of the chassis 10. A pair of distance sensors 30 are arranged side by side along the walking direction of the chassis 10, and are also aligned in the walking direction of the chassis 10. Each drive wheel 20 includes a walking drive source 21 installed on the chassis 10 and a rotatable drive wheel body 22. The walking drive source 21 is connected to the drive wheel body 22. The walking drive sources 21 of the two drive wheels 20 are independent of each other, so the output of the walking drive sources 21 of the two drive wheels 20 is independently controlled, thereby independently controlling the rotational speed of the two drive wheels 20. In this way, the two drive wheels 20 can rotate synchronously or differentially. When the two drive wheels 20 rotate synchronously, the walking chassis 10 can travel in a straight line or turn around; when the two drive wheels 20 rotate differentially, the walking chassis 10 can turn.

[0046] Specifically, during the movement of the chassis 10, a pair of distance sensors 30 measure the horizontal distance between the chassis 10 and the ship's exterior in the fore-and-aft direction in real time. When the real-time distances fed back by the pair of distance sensors 30 are equal, it indicates that the chassis 10 does not need to turn, and the pair of drive wheels 20 maintain synchronous rotation. When the real-time distances fed back by the pair of distance sensors 30 are unequal, it indicates that the chassis 10 needs to turn, and the pair of drive wheels 20 are controlled to rotate differentially, thereby driving the chassis 10 to turn until the real-time distances fed back by the pair of distance sensors 30 are equal. Therefore, this application controls the synchronous and differential rotation of the pair of drive wheels 20 based on the feedback from a pair of distance sensors 30 that measure the real-time distance between the chassis 10 and the ship's exterior, making the chassis 10 move along a path parallel to the curve of the ship's exterior more reliably and improving the painting quality. In addition, this application uses differential rotation to control the steering of the chassis 10, 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.

[0047] Preferably, the distance sensor 30 can be an ultrasonic sensor or a laser displacement sensor to improve distance detection accuracy and ensure the accuracy of walking and steering control.

[0048] Furthermore, both distance sensors 30 can be fixedly mounted on the chassis 10 or on the tower 61. In this embodiment, both distance sensors 30 are preferably fixed on the tower 61, specifically on the side of the tower 61 facing the ship's exterior (i.e., the front side of the tower 61). Additionally, the installation height of the pair of distance sensors 30 on the tower 61 is 20-30m, which is also the height of the distance sensors 30 from the top surface of the chassis 10. This avoids interference from numerous obstacles at lower levels, improving the accuracy of the distance sensors 30 in detecting the distance to the ship's surface, thereby ensuring the accuracy of steering control.

[0049] Furthermore, such as Figure 2 and Figure 3 As shown, the travel and steering control mechanism also includes a pair of casters 40, which are installed on the left and right sides of the bottom of the travel chassis 10 along the travel direction of the chassis 10. Both casters 40 are follower wheels. The travel chassis 10 is supported by a pair of front-to-back drive wheels 20 and a pair of left-to-right casters 40, forming a four-wheel support structure. This improves overall support stability, ensuring stable operation of the ship's exterior painting device and improving paint quality. Furthermore, the pair of drive wheels 20 are positioned along the centerline in the left-to-right direction of the travel chassis 10, and the pair of casters 40 are positioned along the centerline in the front-to-back direction of the travel chassis 10.

[0050] Furthermore, the telescopic arm 65 in the ship's exterior painting device is a forward-extending cantilever structure. Based on this, such as Figure 2 and Figure 3 As shown, this application provides a forward-extending support leg 50 at the middle position of the front side of the chassis 10. The support leg 50 has 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 50 is fixed to the front side of the chassis 10 by several bolts, and the drive wheel 20 on the front side of the chassis 10 is mounted on the front end of the support leg 50. Through the forward-extending structure of the support leg 50, the front drive wheel 20 is further away from the center of gravity of the chassis 10 than the rear drive wheel 20, providing better support during the forward and backward extension and retraction of the telescopic arm 65.

[0051] Furthermore, such as Figure 2 and Figure 3 As shown, the driving source 21 is a wheel-side reducer, which is coaxially arranged with the drive wheel body 22. The output end of the wheel-side reducer is fixedly connected to the drive wheel body 22 by several bolts. In addition, a first drive wheel mounting plate 70 is fixed to the front end of the outrigger 50 by several bolts, and the wheel-side reducer of the front drive wheel 20 is fixed to the first drive wheel mounting plate 70 by several bolts, thus realizing the installation of the front drive wheel 20.

[0052] Furthermore, this application configures the rear drive wheel 20 as a floating wheel that can float up and down. Specifically, as... Figure 2 As shown, the rear drive wheel 20 is mounted on the chassis 10 in a floating manner via a floating suspension mechanism 80. The floating suspension mechanism 80 includes a floating mounting plate 81, a suspension cylinder 82, and a second drive wheel mounting plate 83. The floating mounting plate 81 is fixed to the rear side of the chassis 10 by several bolts. The piston rod of the suspension cylinder 82 extends downward from its cylinder body. The upper end of the cylinder body of the suspension cylinder 82 is hinged to the floating mounting plate 81, and the lower end of the piston rod of the suspension cylinder 82 is hinged to the second drive wheel mounting plate 83. The wheel-side reducer of the rear drive wheel 20 is fixed to the second drive wheel mounting plate 83 by several bolts. The front drive wheel 20 is a fixed wheel that cannot float vertically. Combined with a pair of omnidirectional wheels 40, they form a four-wheel support structure. The front drive wheel 20 and the two omnidirectional wheels 40 are always coplanar with the ground. The rear drive wheel 20 can float vertically via a floating suspension mechanism 80. Therefore, the rear drive wheel 20 can automatically rise or fall according to the unevenness of the ground, adapting to the ground's surface while always maintaining contact with it. Thus, by setting a floating point in the four-wheel support structure, this application ensures that during the movement of the chassis 10, all four wheels—the rear drive wheel 20, the front drive wheel 20, and the two omnidirectional wheels 40—are always in contact with the ground. This prevents any of the two drive wheels 20 from becoming suspended in the air, thus preventing slippage and ensuring the chassis 10 does not veer off course, reliably guaranteeing its movement along the designated route.

[0053] In summary, this utility model effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0054] 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 walking and steering control mechanism, comprising a walking chassis (10) and a pair of drive wheels (20), wherein the pair of drive wheels (20) are mounted on both sides of the walking chassis (10) along a walking direction perpendicular to the walking chassis (10), characterized in that: It also includes a pair of distance sensors (30), which are arranged side by side along the travel direction of the chassis (10) and aligned in the travel direction of the chassis (10). The pair of distance sensors (30) are used to measure the horizontal distance between the chassis (10) and the exterior of the ship in a direction perpendicular to the travel direction of the chassis (10). Each of the drive wheels (20) includes a drive source (21) mounted on the chassis (10) and a rotatable drive wheel body (22). The drive source (21) is connected to the drive wheel body (22) in a transmission manner, and the drive sources (21) of the two drive wheels (20) are independent of each other.

2. The walking and steering control mechanism according to claim 1, characterized in that: The driving source (21) is a wheel-side reducer. The wheel-side reducer is coaxially arranged with the drive wheel body (22). The output end of the wheel-side reducer is fixedly connected to the drive wheel body (22) by several bolts.

3. The walking and steering control mechanism according to claim 1, characterized in that: The distance sensor (30) is an ultrasonic sensor or a laser displacement sensor.

4. The walking and steering control mechanism according to claim 1, characterized in that: It also includes a pair of casters (40), which are mounted on both sides of the chassis (10) along the travel direction of the chassis (10).

5. The walking and steering control mechanism according to claim 1, characterized in that: It also includes outriggers (50), one end of which is fixed to the side of the traveling chassis (10) facing the ship's exterior, and one of the pair of drive wheels (20) is mounted on the outer end of the outrigger (50), which causes the drive wheel (20) at its outer end to be away from the center of gravity of the traveling chassis (10) relative to the other drive wheel (20).

6. A ship exterior painting device, characterized in that: The device includes a walking and steering control mechanism as described in any one of claims 1-5, a tower (61) with its bottom fixed on the walking chassis (10), a lifting drive source (62) mounted on the walking chassis (10), a lifting transmission mechanism (63), a tower platform (64) that is vertically mounted on the tower (61), a telescopic arm (65) that is fixed at one end to the tower platform (64) and can be horizontally extended and retracted, and a spraying device (66) mounted at the other end of the telescopic arm (65). The lifting drive source (62) is connected to the tower platform (64) via the lifting transmission mechanism (63).

7. The ship exterior painting apparatus according to claim 6, characterized in that: Both of the distance sensors (30) are fixedly mounted on the tower (61) and fixed on the side of the tower (61) facing the exterior of the ship.

8. The ship exterior painting apparatus according to claim 7, characterized in that: The distance sensor (30) is installed at a height of 20-30m on the tower (61).

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