Cooperative multi-arm spraying robot for ship dry dock operation

Abstract

The invention discloses a cooperative multi-arm spraying robot for ship dry dock operation, and relates to the technical field of spraying robots. Comprising a movable base, a storage mechanism is arranged above the movable base, a lifting frame is arranged at the upper end of the storage mechanism, a plurality of transverse electric push rods are arranged at the side end of the storage mechanism, the ends of the transverse electric push rods are connected with swing rods with different lengths, and swing mechanisms are arranged between the transverse electric push rods and the swing rods; a lifting mechanism is arranged at one end of the transverse electric push rod, and a side supporting frame is fixed to the side end of the lifting frame and provided with a plurality of sprayers. Transverse electric push rods with swing rods of different lengths are provided through the storage mechanism, the transverse electric push rods with the swing rods of different lengths are lifted to a proper height through the lifting mechanism, the swing mechanism drives the swing rods to rotate to a proper angle, zoning and simultaneous spraying are achieved, the spraying effect of zoning spraying is good, multiple mechanical arms conduct spraying at the same time, and the spraying efficiency is improved. And the spraying efficiency can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of painting robot technology, specifically to a collaborative multi-arm painting robot for dry dock operations. Background Technology

[0002] Ship dry-dock painting is rapidly transforming towards intelligent and green technologies. High-pressure airless and electrostatic spraying technologies improve paint utilization and coating uniformity, while automated robots replace manual labor for efficient and precise operations. In terms of supporting processes, standardization is implemented across the entire process, from surface treatment to coating thickness control, while environmentally friendly coatings and waste disposal reduce pollution. At the management level, cost reduction and efficiency improvement are achieved through lean methods such as process integration and data modeling. In the future, innovative technologies such as digital twins and self-healing coatings will further extend the lifespan of ship coatings, promoting the sustainable development of the industry.

[0003] Spraying a ship's hull requires a spraying device, such as the automatic hull surface spraying equipment disclosed in patent publication number CN104511387A. This equipment includes a slide rail mounted on a dry dock and a gantry crane with a column. The column can slide along the slide rail axis. The automatic spraying equipment includes: a slide rod mounted on the column, which can slide along the column axis, and the slide rod axis, the slide rail axis, and the column axis are orthogonal to each other; an orthogonal slider assembly mounted on the slide rod, which can slide along the slide rod axis; and at least one automatic spraying device fixedly mounted at the end of the orthogonal slider assembly. The automatic hull surface spraying equipment according to the present invention has a simple structure and is easy to control. It effectively utilizes the existing gantry crane structure on the dry dock and combines it with the orthogonal slider assembly, improving the efficiency, quality, and safety of hull surface spraying. It is particularly suitable for the automated spraying of the outer surfaces of large ships.

[0004] Hull painting directly affects a ship's corrosion resistance, navigation efficiency, and environmental compliance. Hull painting requires a dry dock. The hull has different inclinations and different curved surfaces at different heights. Although the aforementioned painting equipment and existing painting equipment can automate the painting process, it is difficult to adapt to different angles and curved surfaces of different sizes using a single robotic arm, resulting in poor painting effects and low painting efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a collaborative multi-arm painting robot for dry dock operations, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a collaborative multi-arm spraying robot for dry dock operations, comprising a mobile base, a storage mechanism above the mobile base, a lifting frame at the upper end of the storage mechanism, a lifting track on one side of the lifting frame, several transverse electric push rods of different heights at the side end of the storage mechanism, swing rods of different lengths connected to the ends of the transverse electric push rods, and a swing mechanism for adjusting the angle of the swing rods between the transverse electric push rods and the swing rods, a lifting mechanism at the end of the transverse electric push rods near the storage mechanism for driving the transverse electric push rods to move up and down on the lifting track, a side support frame fixed at the side end of the lifting frame, and several nozzles of different heights and equally spaced on the side support frame.

[0007] Preferably, the storage mechanism includes a support column fixed on a movable base, a plurality of equally spaced support discs fixed on the support column, and a plurality of equally spaced rotating rings rotatably arranged on the outer side of the support discs. Two symmetrically distributed mounting brackets are arranged on the outer side of the rotating rings. Short rails of the same type as the lifting rails are installed on the mounting brackets. A sliding plate is fixed on a transverse electric push rod and slides on the short rails. A connecting plate is provided at the upper end of the support column, and a feeding pipe is connected to the connecting plate. A driving component is provided inside the rotating rings to drive the rotating rings to rotate.

[0008] Preferably, the driving mechanism includes fixed disks fixed at the upper and lower ends of the support column, and a rotating component is rotatably arranged between the two fixed disks. The support disk has a notch, and the rotating component is located in the notch. A drive motor for driving the rotating component to rotate is installed at the bottom of the movable base. A threaded rod is fixed in the middle of the rotating component, and a lead screw motor is installed on the threaded rod. A positioning plate is fixed at the side end of the lead screw motor, and a long slot is opened at the side end of the rotating component. The positioning plate passes through the long slot. Two baffles are fixed on the inner side of the rotating ring, and the baffles are located on both sides of the positioning plate.

[0009] Preferably, the inner side of the rotating ring is provided with two symmetrically distributed positioning blocks and two symmetrically distributed spring pieces, and one of the spring pieces and one of the positioning blocks respectively abut against the side wall of the support column.

[0010] Preferably, the lifting frame is composed of multiple split base frames, which are connected by bolts. The lifting track is composed of multiple long tracks, which are fixed to the side ends of the split base frames. The side support frame is composed of multiple side single frames, which are fixed to the side ends of the split base frames. Vertical pipes are provided on the split base frames for feeding the nozzles.

[0011] Preferably, the vertical pipe is connected to several branch pipes at its side end, and the branch pipes are connected to the corresponding nozzles via spring tubes to achieve paint supply. A flat plate is fixed at the bottom of the vertical pipe, and several through holes are opened on the flat plate. A tapered pipe that is narrow at the top and wide at the bottom is fixed at the upper end of the vertical pipe. A plug is provided on the inner side of the tapered pipe, and a supporting spring is provided at the bottom of the plug. The upper end of the plug is arc-shaped and abuts against the inner wall of the tapered pipe.

[0012] Preferably, the lifting mechanism includes a long rack fixed to the side end of the split base frame and a short rack fixed to the side end of the sliding plate. A lifting motor is fixed inside the sliding plate, and a lifting gear is fixed on the output shaft of the lifting motor. The lifting gear meshes with the short rack.

[0013] Preferably, the swing mechanism includes a fixed frame fixed to the end of the transverse electric actuator, a rotating frame rotatably mounted at the front end of the fixed frame, and a rotating motor for driving the rotating frame to rotate is fixed on the fixed frame. The swing rod is rotatably mounted on the rotating frame, and a swing motor for driving the swing rod to rotate is mounted on the rotating frame.

[0014] Preferably, the swing rod has a positioning groove, a number of electromagnets are embedded on the other side of the swing rod, a placement groove is provided on the side support frame, a positioning magnetic block is provided on the other side of the side support frame, the positioning magnetic block is located on the back of the placement groove, the nozzle is provided with an iron shell, and the nozzle is adsorbed in the placement groove.

[0015] Preferably, a counterweight is provided above the movable base.

[0016] Compared with the prior art, the beneficial effects of the present invention are: The storage mechanism provides transverse electric actuators with swing arms of different lengths. The lifting mechanism raises the transverse electric actuators with swing arms of different lengths along the slide rail to an appropriate height. The swing mechanism drives the swing arms to rotate to an appropriate angle, and multiple swing arms are sprayed at different angles. The spraying effect of zoned spraying is good, and multiple robotic arms can spray at the same time, which can effectively improve the spraying efficiency.

[0017] Meanwhile, the combination of the drive motor and the lead screw motor can drive any rotating ring to rotate half a turn, and then move upward to the appropriate height of the lifting frame under the drive of the lifting mechanism. Moreover, regardless of whether the rotating ring rotates or not, the short track installed on it can provide a path for the sliding plate to rise and fall. The length of the swing arm can be arbitrarily selected, and the free combination effect is good, which can be applied to various ship hull surfaces.

[0018] In addition, when multiple split base frames are stacked, the flat plate at the bottom of the upper vertical pipe will press the plug in the lower vertical pipe downwards, which will open the constriction pipe and allow the paint to continue to be transferred upwards. Meanwhile, the upper end of the vertical pipe in the uppermost split base frame is blocked by the plug, which can prevent the paint from continuing to flow upwards and prevent paint leakage. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall axonometric structure of the present invention; Figure 2 This is a schematic diagram of the split base frame in this invention; Figure 3 This is a cross-sectional view of the vertical pipe in this invention. Figure 4 This is a schematic diagram of the storage mechanism in this invention; Figure 5 This is a schematic diagram of the internal structure of the storage mechanism in this invention; Figure 6 This is a schematic diagram of the driving component in this invention; Figure 7 This is a schematic diagram of the rotating ring structure in this invention; Figure 8 This is a schematic diagram of the transverse electric actuator in this invention; Figure 9 This is a schematic diagram of the swing mechanism in this invention.

[0020] In the diagram: 1. Movable base; 2. Horizontal electric actuator; 3. Swing rod; 4. Nozzle; 5. Support column; 6. Support plate; 7. Rotating ring; 8. Mounting bracket; 9. Short track; 10. Sliding plate; 11. Rotating component; 12. Drive motor; 13. Threaded rod; 14. Lead screw motor; 15. Long slot; 16. Positioning plate; 17. Baffle; 18. Positioning block; 19. Spring; 20. Split base frame; 21. Long track; 22. Side unit frame; 23. 24. Vertical pipe; 25. Branch pipe; 26. Closing pipe; 27. Plug; 28. Support spring; 29. ​​Flat plate; 20. Long rack; 31. Short rack; 32. Lifting motor; 33. Lifting gear; 34. Fixed frame; 35. Rotating frame; 36. Rotating motor; 37. Swinging motor; 38. Placement slot; 39. Positioning magnetic block; 40. Positioning slot; 41. Electromagnet; 42. Counterweight; 43. Connecting plate; 44. Feed pipe; 45. Missing slot. Detailed Implementation

[0021] 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.

[0022] like Figures 1-3 As shown, the present invention provides a technical solution: a collaborative multi-arm spraying robot for dry dock operations, including a mobile base 1, a storage mechanism above the mobile base 1, a lifting frame at the upper end of the storage mechanism, and a lifting track on one side of the lifting frame. Several transverse electric push rods 2 of different heights are provided on the side end of the storage mechanism. The ends of the transverse electric push rods 2 are connected to swing rods 3 of different lengths. A swing mechanism for adjusting the angle of the swing rods 3 is provided between the transverse electric push rods 2 and the swing rods 3. A lifting mechanism is provided at the end of the transverse electric push rods 2 near the storage mechanism to drive the transverse electric push rods 2 to move up and down on the lifting track. A side support frame is fixed to the side end of the lifting frame, and several nozzles 4 of different heights and equally spaced are provided on the side support frame.

[0023] It should be noted that during use, the storage mechanism provides horizontal electric actuators 2 with swing rods 3 of different lengths. The surfaces to be sprayed are layered according to their curvature. The appropriate length of swing rod 3 is selected according to the height of each layer. The lifting mechanism raises the horizontal electric actuators 2 with swing rods 3 of different lengths along the slide rail to the appropriate height. Then, the swing mechanism drives the swing rod 3 to rotate to a vertical position, and the horizontal electric actuator 2 pushes it forward and picks up the nozzle 4 from the side support frame. Then, it continues to push forward and approach the hull surface. The swing mechanism adjusts the swing rod 3 to match the curvature of the hull surface. The surface of the hull with different heights and tilt angles can be sprayed by moving the base 1. The spraying effect of the partitioned spraying is good, and the simultaneous spraying by multiple robotic arms can effectively improve the spraying efficiency.

[0024] like Figure 4 , Figure 5 and Figure 7 As shown, the storage mechanism includes a support column 5 fixed on a movable base 1. Several equally spaced support discs 6 are fixed on the support column 5, and several equally spaced rotating rings 7 are rotatably arranged on the outer side of the support discs 6. Two symmetrically distributed mounting brackets 8 are arranged on the outer side of the rotating rings 7. Short rails 9 of the same model as the lifting rail are installed on the mounting brackets 8. A sliding plate 10 is fixed on the transverse electric push rod 2. The sliding plate 10 is slidably arranged on the short rails 9. A connecting plate 42 is provided at the upper end of the support column 5, and a feeding pipe 43 is connected to the connecting plate 42. A driving component is provided inside the rotating rings 7 to drive the rotating rings 7 to rotate.

[0025] It should be noted that the feed pipe 43 can supply paint to the spray nozzle 4 on the lifting frame. When the horizontal electric push rod 2 is needed, one of the rotating rings 7 can be rotated half a turn by the drive assembly to align the short rail 9 corresponding to the sliding plate 10 with the lifting rail. Then, it can be moved upward to the appropriate height of the lifting frame under the drive of the lifting mechanism. Moreover, regardless of whether the rotating ring 7 rotates or not, the short rail 9 installed on it can provide a path for the sliding plate 10 to rise and fall.

[0026] like Figure 5 , Figure 6 and Figure 7 As shown, the driving mechanism includes fixed disks fixed at the upper and lower ends of the support column 5, and a rotating component 11 is rotatably arranged between the two fixed disks. The support disk 6 has a notch 44, and the rotating component 11 is located in the notch 44. The bottom of the movable base 1 is equipped with a drive motor 12 for driving the rotating component 11 to rotate. A threaded rod 13 is fixed in the middle of the rotating component 11, and a screw motor 14 is installed on the threaded rod 13. A positioning plate 16 is fixed on the side end of the screw motor 14, and a long slot 15 is opened on the side end of the rotating component 11. The positioning plate 16 passes through the long slot 15. Two baffles 17 are fixed on the inner side of the rotating ring 7, and the baffles 17 are located on both sides of the positioning plate 16.

[0027] It should be noted that the lead screw motor 14 can adjust the height along the threaded rod 13 and drive the positioning plate 16 to move between one of the sets of baffles 17. Then the drive motor 12 can drive the rotating part 11 to rotate, and then drive the rotating ring 7 to rotate half a turn through the baffle 17, and move the corresponding horizontal electric push rod 2 on the rotating ring 7 to the bottom of the lifting track, so that the drive mechanism can drive it to rise. The horizontal electric push rod 2 at any height can be selected, and swing rods 3 of different lengths can be selected and freely arranged, which can be applied to the painting of hulls of various specifications.

[0028] like Figure 7 As shown, the inner side of the rotating ring 7 is provided with two symmetrically distributed positioning blocks 18 and two symmetrically distributed spring pieces 19, and one of the spring pieces 19 and one of the positioning blocks 18 respectively abut against the side wall of the support column 5.

[0029] It should be noted that one of the spring pieces 19 and one of the positioning blocks 18 are respectively pressed against the side wall of the support column 5, which can stabilize the position of the rotating ring 7 and prevent it from swinging randomly. Moreover, after the rotating ring 7 rotates half a turn, the other spring piece 19 and the other positioning block 18 press against the side wall of the support column 5 to stabilize the rotating ring 7 and improve the positional accuracy of the rotating ring 7.

[0030] like Figure 2As shown, the lifting frame consists of multiple split base frames 20, which are connected by bolts. The lifting track consists of multiple long tracks 21, which are fixed to the side ends of the split base frames 20. The side support frame consists of multiple side single frames 22, which are fixed to the side ends of the split base frames 20. Vertical pipes 23 are installed on the split base frames 20 for feeding the nozzles 4.

[0031] It should be noted that the number of modular base frames 20 can be selected according to the height of the hull, making them more convenient to use, and the modular design also makes them easier to transport.

[0032] like Figure 3 As shown, several branch pipes 24 are connected to the side of the vertical pipe 23. The branch pipes 24 are connected to the corresponding nozzles 4 through spring tubes to achieve paint supply. A flat plate 28 is fixed at the bottom of the vertical pipe 23, and several through holes are opened on the flat plate 28. A narrow-at-the-top and wide-at-the-bottom constricting pipe 25 is fixed at the upper end of the vertical pipe 23. A plug 26 is provided on the inner side of the constricting pipe 25. A supporting spring 27 is provided at the bottom of the plug 26. The upper end of the plug 26 is arc-shaped and abuts against the inner wall of the constricting pipe 25.

[0033] It should be noted that when multiple split base frames 20 are stacked, the flat plate 28 at the bottom of the upper vertical pipe 23 will press the plug 26 in the lower vertical pipe 23 downwards. At this time, the constriction pipe 25 can be opened, allowing the paint to continue to be transferred upwards. The upper end of the vertical pipe 23 in the uppermost split base frame 20 is blocked by the plug 26, which can prevent the paint from continuing to flow upwards and prevent paint leakage.

[0034] like Figure 2 , Figure 7 and Figure 8 As shown, the lifting mechanism includes a long rack 29 fixed to the side of the split base frame 20 and a short rack 30 fixed to the side of the sliding plate 10. A lifting motor 31 is fixed inside the sliding plate 10, and a lifting gear 32 is fixed on the output shaft of the lifting motor 31. The lifting gear 32 meshes with the short rack 30.

[0035] It should be noted that the lifting motor 31 can drive the lifting gear 32 to rotate. By the lifting gear 32 rolling along the short rack 30 and the long rack 29, the sliding plate 10 can be raised and lowered, thereby adjusting the height of the sliding plate 10, which in turn affects the height of the transverse electric push rod 2 and the swing rod 3 to adapt to the surface of the hull.

[0036] like Figure 8 and Figure 9As shown, the swing mechanism includes a fixed frame 33 fixed to the end of the transverse electric push rod 2, a rotating frame 34 rotatably mounted at the front end of the fixed frame 33, and a rotating motor 35 for driving the rotating frame 34 to rotate is fixed on the fixed frame 33. The swing rod 3 is rotatably mounted on the rotating frame 34, and a swing motor 36 for driving the swing rod 3 to rotate is mounted on the rotating frame 34.

[0037] It should be noted that the swing rod 3 is driven by the swing motor 36 to adjust the angle, and then the angle is adjusted by the rotation motor 35, so that the swing rod 3 can be adapted to different angles of the hull surface, and the adjustment range is relatively wide.

[0038] like Figure 2 and Figure 9 As shown, a positioning groove 39 is provided on the swing rod 3, and several electromagnets 40 are embedded on the other side of the swing rod 3. A placement groove 37 is provided on the side support frame, and a positioning magnetic block 38 is provided on the other side of the side support frame. The positioning magnetic block 38 is located on the back of the placement groove 37. An iron shell is provided on the nozzle 4, and the nozzle 4 is adsorbed in the placement groove 37.

[0039] It should be noted that the nozzle 4 is provided with a magnetic force by the positioning magnet 38, which fixes it in the placement groove 37. When the swing rod 3 passes by the edge, it puts the nozzle 4 into the positioning groove 39 and turns on the electromagnet 40. The nozzle 4 is squeezed by the bottom of the positioning groove 39 and can be separated from the placement groove 37 and fixed in the positioning groove 39, thus realizing the clamping of the nozzle 4.

[0040] like Figure 9 As shown, a counterweight 41 is provided above the movable base 1.

[0041] It should be noted that the weight of the movable base 1 is increased by the counterweight 41 to prevent it from tipping over.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended embodiments and their equivalents.

Claims

1. A collaborative multi-arm painting robot for dry dock operations, comprising a mobile base (1), characterized in that: A storage mechanism is provided above the mobile base (1). A lifting frame is provided at the upper end of the storage mechanism, and a lifting rail is provided on one side of the lifting frame. Several horizontal electric push rods (2) of different heights are provided at the side end of the storage mechanism. The ends of the horizontal electric push rods (2) are connected to swing rods (3) of different lengths. A swing mechanism for adjusting the angle of the swing rods (3) is provided between the horizontal electric push rods (2) and the swing rods (3). A lifting mechanism is provided at the end of the horizontal electric push rods (2) near the storage mechanism to drive the horizontal electric push rods (2) to move up and down on the lifting rail. A side support frame is fixed at the side end of the lifting frame, and several nozzles (4) of different heights and equally spaced are provided on the side support frame.

2. The collaborative multi-arm painting robot for dry dock operations as described in claim 1, characterized in that: The storage mechanism includes a support column (5) fixed on a movable base (1), a number of equally spaced support plates (6) fixed on the support column (5), and a number of equally spaced rotating rings (7) rotatably arranged on the outer side of the support plates (6). Two symmetrically distributed mounting brackets (8) are arranged on the outer side of the rotating rings (7). A short rail (9) of the same model as the lifting rail is installed on the mounting brackets (8). A sliding plate (10) is fixed on the transverse electric push rod (2). The sliding plate (10) is slidably arranged on the short rail (9). A connecting plate (42) is provided at the upper end of the support column (5), and a feeding pipe (43) is connected to the connecting plate (42). A driving component is provided inside the rotating ring (7) to drive the rotating ring (7) to rotate.

3. The collaborative multi-arm painting robot for dry dock operations as described in claim 2, characterized in that: The driving mechanism includes fixed disks fixed at the upper and lower ends of the support column (5), and a rotating part (11) is rotatably arranged between the two fixed disks. A notch (44) is opened on the support disk (6), and the rotating part (11) is located in the notch (44). A drive motor (12) for driving the rotating part (11) to rotate is installed at the bottom of the movable base (1). A threaded rod (13) is fixed in the middle of the rotating part (11), and a screw motor (14) is installed on the threaded rod (13). A positioning plate (16) is fixed on the side end of the screw motor (14), and a long slot (15) is opened on the side end of the rotating part (11). The positioning plate (16) passes through the long slot (15). Two baffles (17) are fixed on the inner side of the rotating ring (7), and the baffles (17) are located on both sides of the positioning plate (16).

4. The collaborative multi-arm painting robot for dry dock operations as described in claim 3, characterized in that: The inner side of the rotating ring (7) is provided with two symmetrically distributed positioning blocks (18) and two symmetrically distributed spring pieces (19), and one of the spring pieces (19) and one of the positioning blocks (18) abut against the side wall of the support column (5).

5. The collaborative multi-arm painting robot for dry dock operations according to claim 2, characterized in that: The lifting frame consists of multiple split base frames (20), which are connected by bolts. The lifting track consists of multiple long tracks (21), which are fixed to the side of the split base frame (20). The side support frame consists of multiple side single frames (22), which are fixed to the side of the split base frame (20). A vertical pipe (23) is installed on the split base frame (20) for feeding the nozzle (4).

6. The collaborative multi-arm painting robot for dry dock operations as described in claim 5, characterized in that: The vertical pipe (23) is connected to several branch pipes (24) at its side end. The branch pipes (24) are connected to the corresponding nozzles (4) through spring tubes to achieve paint supply. A flat plate (28) is fixed at the bottom of the vertical pipe (23), and several through holes are opened on the flat plate (28). A narrow-at-the-top and wide-at-the-bottom constricting pipe (25) is fixed at the upper end of the vertical pipe (23). A plug (26) is provided on the inner side of the constricting pipe (25). A supporting spring (27) is provided at the bottom of the plug (26). The upper end of the plug (26) is arc-shaped and abuts against the inner wall of the constricting pipe (25).

7. The collaborative multi-arm painting robot for dry dock operations as described in claim 5, characterized in that: The lifting mechanism includes a long rack (29) fixed to the side of the split base frame (20) and a short rack (30) fixed to the side of the sliding plate (10). A lifting motor (31) is fixed inside the sliding plate (10). A lifting gear (32) is fixed on the output shaft of the lifting motor (31). The lifting gear (32) meshes with the short rack (30).

8. The collaborative multi-arm painting robot for dry dock operations as described in claim 1, characterized in that: The swing mechanism includes a fixed frame (33) fixed to the end of the transverse electric push rod (2), a rotating frame (34) is rotatably provided at the front end of the fixed frame (33), and a rotating motor (35) for driving the rotating frame (34) to rotate is fixed on the fixed frame (33). The swing rod (3) is rotatably provided on the rotating frame (34), and a swing motor (36) for driving the swing rod (3) to rotate is provided on the rotating frame (34).

9. The collaborative multi-arm painting robot for dry dock operations as described in claim 1, characterized in that: The swing rod (3) has a positioning groove (39), and several electromagnets (40) are embedded on the other side of the swing rod (3). The side support frame has a placement groove (37), and a positioning magnetic block (38) is provided on the other side of the side support frame. The positioning magnetic block (38) is located on the back of the placement groove (37). The nozzle (4) has an iron shell, and the nozzle (4) is adsorbed in the placement groove (37).

10. The collaborative multi-arm painting robot for dry dock operations as described in claim 1, characterized in that: A counterweight (41) is provided above the movable base (1).

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