Ship painting and paint mist recovery device

Abstract

This application relates to a ship painting and paint mist recovery device, comprising: a first moving part, a second moving part, a third moving part, a first rotating part, a second rotating part, a third rotating part, a sliding part, a base, a nozzle, a measuring element, and a spray hood. In actual use, the spray hood is driven to move to the area to be painted on the surface to be painted, and then driven to rotate so that the end face of the opening end of the spray hood is parallel to the surface to be painted, that is, the spraying direction of the nozzle is perpendicular to the surface to be painted. The nozzle is opened to spray paint onto the surface to be painted, and the spray hood is driven to move to achieve automatic painting of the surface to be painted. Driving the spray hood to rotate, the first linear module and the second linear module respectively drive the second rotating part and the fixed part to move different distances along the first direction. When painting the curved surfaces on both sides of the ship's length direction, the second moving part can drive the third moving part to deflect at a large angle, thereby making the paint thickness uniform and ensuring the painting quality.

Description

Technical Field

[0001] This application relates to the field of spraying equipment and environmentally friendly spraying technology, and in particular to ship spraying and paint mist recovery devices. Background Technology

[0002] Currently, ship painting relies on manual operation. The large amount of volatile organic compounds (VOCs) and paint mist particles generated during painting are directly inhaled by the operators, which is harmful to human health.

[0003] Existing painting robots use a spray hood to cover the nozzle to prevent spray from escaping, and connect the nozzle to a support via multiple rotating links. The nozzle is positioned in a specific location by the rotational cooperation between these multiple rotating links.

[0004] However, when the aforementioned painting robot performs large-area painting on the surface of a ship in a dock, it often cannot adapt to the curved surfaces at both ends of the ship by rotating in the horizontal direction according to the ship's curvature direction when moving horizontally due to the complex environment and surface. This results in the distance between the spray nozzle and the surface to be painted not being kept stable during the painting process, which in turn leads to uneven paint thickness on the ship's surface. Summary of the Invention

[0005] Therefore, it is necessary to provide a ship painting and paint mist recovery device to address the problem that existing painting robots cannot generate a rotation angle that adapts to the curved surfaces at both ends of the ship according to the bending direction of the ship when moving in the horizontal direction, and cannot know the distance between the nozzle and the curved surface to be painted, which leads to the instability of the distance between the nozzle and the surface to be painted during the painting process, resulting in uneven paint thickness on the ship surface.

[0006] A ship painting and paint mist recovery device is used to paint the surface of a ship. The ship painting and paint mist recovery device includes: a first moving part, a second moving part, a third moving part, a first rotating part, a second rotating part, a third rotating part, a sliding part, a base, and a painting assembly.

[0007] The first moving part includes a first linear module and a second linear module that are parallel to each other in a first direction and spaced apart in a second direction. The first rotating part includes a fixed part and a movable part, which are rotatably connected about a third axis. The fixed part is disposed on the first linear module and moves in the first direction. The sliding part is disposed on one end of the second moving part near the first rotating part and slides with the movable part in a fourth direction. The second rotating part is disposed on the second linear module and moves in the first direction. The end of the second moving part away from the first rotating part is rotatably connected to the second rotating part about the third axis.

[0008] The third moving part is disposed on the second moving part, and the third moving part moves along a fourth direction, which is the length direction of the second moving part; the base is disposed on the third moving part, and the base moves along a third direction.

[0009] One end of the third rotating part is connected to one end of the base, and the other end of the third rotating part is connected to the spraying assembly, and can drive the spraying assembly to rotate around the axis of the second direction.

[0010] In one embodiment, the ship painting and paint mist recovery device further includes an angle sensor, and the painting assembly includes a paint hood;

[0011] The tilt sensor includes a pitch angle measuring device and a deflection angle measuring device mounted on the spray hood. The pitch angle measuring device is used to measure the angle between the end face of the opening end of the spray hood and the first direction, and the deflection angle measuring device is used to measure the angle between the end face of the opening end of the spray hood and the second direction.

[0012] In one embodiment, a distance measuring element is respectively provided at both ends of the end face of the opening end of the spray hood along the fourth direction, for measuring the angle between the opening end of the spray hood and the first direction.

[0013] The spray hood is provided with distance measuring elements at both ends along the fifth direction, which are used to measure the angle between the end face of the opening end of the spray hood and the second direction. The fourth direction, the fifth direction and the axial direction of the spray hood are perpendicular to each other.

[0014] In one embodiment, the third rotating part includes a pitch shaft, a pitch member, and a pitch motor;

[0015] One end of the pitch component is connected to the spray hood, and the other end is connected to the pitch pivot.

[0016] The pitch motor is used to control the pitch axis to rotate relative to the base about the axis of the fourth direction.

[0017] In one embodiment, the sliding part has a groove extending along the fourth direction on the end face near the first linear module, and the movable part is located in the groove and slides with the sliding part along the fourth direction.

[0018] In one embodiment, the first rotating part further includes a first guide plate and a guide shaft. The first guide plate is connected to the sliding part and has a first guide hole along the fourth direction. The guide shaft is connected to the movable part and is movably inserted through the first guide hole.

[0019] In one embodiment, the first rotating part further includes a second guide plate connected to the movable part. The first guide plate and the second guide plate are spaced apart along the fourth direction. The second guide plate has a second guide hole along the fourth direction. The first guide hole and the second guide hole are coaxial. The guide shaft is connected to the inner wall of the second guide hole.

[0020] In one embodiment, the first linear module includes a first motor, a first transmission rod, and a first slider threadedly engaged with the first transmission rod; the second linear module includes a second motor, a second transmission rod, and a second slider threadedly engaged with the second transmission rod.

[0021] The first slider is connected to the fixed part, and the second slider is connected to the end of the second rotating part that is away from the second moving part;

[0022] The first motor drives the first transmission rod to rotate, and the first transmission rod drives the first slider to move along the first direction. The second motor drives the second transmission rod to rotate, and the second transmission rod drives the second slider to move along the first direction. The first motor and the second motor can operate independently of each other.

[0023] In one embodiment, the paint mist recovery robot further includes a fixing component;

[0024] The fixing member is connected to the third moving part and slidably connected to the second moving part, and the second moving part drives the fixing member to slide along the fourth direction.

[0025] In one embodiment, the second moving part includes a third motor, a third transmission rod, and a third slider threadedly engaged with the third transmission rod; the third moving part includes a fourth motor, a fourth transmission rod, and a fourth slider threadedly engaged with the fourth transmission rod.

[0026] The third slider is connected to the fixing member, and the fourth slider is connected to the base;

[0027] The third motor drives the third transmission rod to rotate, and the third transmission rod drives the third slider to move along the second direction. The fourth motor drives the fourth transmission rod to rotate, and the fourth transmission rod drives the fourth slider to move along the third direction. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a ship painting and paint mist recovery device according to one embodiment.

[0029] Figure 2 for Figure 1 A structural diagram from another perspective.

[0030] Figure 3 for Figure 1 A schematic diagram of the structure of the second rotating part.

[0031] Figure 4 for Figure 1 A schematic diagram of the third rotating part.

[0032] Icon labels:

[0033] 100 - Ship painting and paint mist recovery device;

[0034] 110 - First moving part; 111 - First linear module; 112 - Second linear module; 113 - First motor; 114 - First guide plate; 115 - Guide shaft; 116 - First guide hole; 117 - Second guide plate; 118 - Second guide hole; 119 - Second motor;

[0035] 120 - Second moving part; 121 - Third motor;

[0036] 130 - Third moving part; 131 - Fourth motor;

[0037] 140 - First rotating part; 141 - Fixed part; 142 - Moving part;

[0038] 150 - Second rotating part; 151 - Third rotating part; 152 - Sliding part; 153 - Pitch shaft; 154 - Pitch component; 155 - Pitch motor;

[0039] 160-base;

[0040] 170-Spraying hood; 171-Spray nozzle; 172-Inner cover; 173-Outer cover; 174-Vacuum through-hole; 175-Range measuring element;

[0041] 180-Fastening component;

[0042] OX - First direction; OY - Second direction; OZ - Third direction; OP - Fourth direction; OQ - Fifth direction. Detailed Implementation

[0043] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0044] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0045] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0047] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0048] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0049] See Figure 1 , Figure 1 A schematic diagram of the structure of a ship painting and paint mist recovery device 100 according to an embodiment of this application is shown. The ship painting and paint mist recovery device 100 provided in an embodiment of this application includes: a first moving part 110, a second moving part 120, a third moving part 130, a first rotating part 140, a second rotating part 150, a third rotating part 151, a sliding part 152, a base 160, and a painting assembly.

[0050] The ship painting and paint mist recovery device 100 in this application requires the first moving part 110 to be set at the installation location (not shown) and the surface to be painted (not shown) to be painted is painted by the painting assembly.

[0051] The spraying assembly includes a spray hood 170 and a nozzle 171. The nozzle 171 is installed on the top of the spray hood 170, and the outlet end of the nozzle 171 extends into the spray hood 170. The nozzle 171 is used to spray paint onto the opening side of the spraying assembly.

[0052] The first moving part 110 includes a first linear module 111 and a second linear module 112 that are parallel to the first direction OX and spaced apart along the second direction OY. The first rotating part 140 includes a fixed part 141 and a movable part 142, which are rotatably connected about a third axis in the third direction OZ. The fixed part 141 is disposed on the first linear module 111, and the first linear module 111 can drive the fixed part 141 to move along the first direction OX. A sliding part 152 is disposed at one end of the second moving part 120 near the first rotating part 140 and slides with the movable part 142 along the fourth direction OP. The second rotating part 150 is disposed on the second linear module 112, and the second linear module 112 can drive the second rotating part 150 to move along the first direction OX. The end of the second moving part 120 away from the first rotating part 140 is rotatably connected to the second rotating part 150 about a third axis in the third direction OZ. A third moving part 130 is disposed on the second moving part 120, and the second moving part 120 can drive the third moving part 130 to move along the fourth direction OP. A base 160 is disposed on the third moving part 130, and the third moving part 130 can drive the base 160 to move along the third direction OZ. One end of the third rotating part 151 is connected to one end of the base 160, and the other end of the third rotating part 151 is connected to the spray nozzle 170, and can drive the spray nozzle 170 to rotate around the axis of the second direction OY.

[0053] When the first linear module 111 and the second linear module 112 synchronously drive the second rotating part 150 and the fixed part 141 to move along the first direction OX, both ends of the first moving part 110 move synchronously along the first direction OX. At this time, the second direction OY coincides with the fourth direction OP. When the first linear module 111 and the second linear module 112 drive the second rotating part 150 and the fixed part 141 to move different distances along the first direction OX, the sliding part 152 and the moving part slide along the fourth direction OP, the second moving part 120 rotates around the axis of the third direction OZ, and the second moving part drives the third moving part 130 to rotate. At this time, the second direction OY forms an angle with the fourth direction OP.

[0054] In this configuration, the first direction OX, the second direction OY, and the third direction OZ are perpendicular to each other, and the fourth direction OP is the length direction of the second moving part 120. The first moving part 110 is positioned perpendicular to the surface to be coated, i.e., the first direction OX is perpendicular to the surface to be coated. Since the first moving part 110 can drive the second moving part 120 to move along the first direction OX, the second moving part 120 can drive the third moving part 130 to move along the second direction OY, and the third moving part 130 can drive the base 160 to move along the third direction OZ, the first moving part 110, the second moving part 120, and the third moving part 130 can drive the base 160 to move closer to or further away from the surface to be coated and move along the surface to be coated. The third rotating part 151 can drive the spray cover 170 to rotate relative to the base 160. The first linear module 111 and the second linear module 112 respectively drive the second rotating part 150 and the fixed part 141 to move different distances along the first direction OX, which can drive the third linear module to rotate around the axis of the second direction OY, thereby driving the spray cover 170 to rotate around the axis of the second direction OY, thus realizing three degrees of freedom of movement and two degrees of freedom of rotation of the spray cover 170.

[0055] In actual use, the above-mentioned spraying and paint mist recovery robot sets the first moving part 110 at the installation location, and then drives the spraying cover 170 to move to the spraying location on the surface to be sprayed through the first moving part 110, the second moving part 120, and the third moving part 130. Then, the first linear module 111 and the second linear module 112 drive the second rotating part 150 and the fixed part 141 to move different distances along the first direction OX, respectively. The third rotating part 151 drives the spraying cover 170 to rotate so that the end face of the opening end of the spraying cover 170 is parallel to the surface to be sprayed, that is, the spraying direction of the nozzle 171 is perpendicular to the surface to be sprayed. The nozzle 171 is opened to spray paint onto the surface to be painted. At the same time, the first moving part 110, the second moving part 120, and the third moving part 130 drive the spraying cover 170 to move to achieve automatic painting of the surface to be painted. The first linear module 111 and the second linear module 112 respectively drive the second rotating part 150 and the fixed part 141 to move different distances along the first direction OX. The third rotating part 151 drives the spraying cover 170 to rotate to ensure that the end face of the opening end of the spraying cover 170 is parallel to the surface to be painted during the movement of the spraying cover 170. At the same time, the first linear module 111 and the second linear module 112 respectively drive the second rotating part 150 and the fixed part 141 to move different distances along the first direction OX. This can also achieve a large-angle overall deflection of the second moving part 120 and the third moving part 130 when painting the curved surfaces on both sides of the ship's length direction, thereby making the paint thickness uniform and ensuring the painting quality.

[0056] In one embodiment, the ship painting and paint mist recovery device 100 further includes an angle sensor (not shown), and the painting assembly includes a paint hood 170. The angle sensor includes a pitch angle meter and a deflection angle meter mounted on the paint hood 170. The pitch angle meter measures the angle between the end face of the opening end of the paint hood 170 and the first direction OX, and the deflection angle meter measures the angle between the end face of the opening end of the paint hood 170 and the second direction OY. Therefore, based on the measurement data from the angle sensor, the angle between the end face of the opening end of the paint hood 170 and the first direction OX, and the angle between the end face of the opening end of the paint hood 170 and the second direction OY, can be adjusted to keep the end face of the opening end of the paint hood 170 parallel to the surface to be painted.

[0057] Specifically, the tilt sensor can be one or more of a tilt meter, inclinometer, level, or protractor, as long as it can measure the angle between the installation location and the surface to be sprayed.

[0058] In one embodiment, a distance measuring element 175 is respectively provided at both ends of the end face of the opening end of the spray hood 170 along the fourth direction OP. The distance between the two ends of the end face of the opening end of the spray hood 170 along the fourth direction OP and the surface to be sprayed is measured respectively. The angle between the opening end of the spray hood 170 and the first direction OX is calculated based on the known diameter of the opening end of the spray hood 170. Then, the angle between the end face of the opening end of the spray hood 170 and the first direction OX is adjusted based on the obtained data.

[0059] The spray hood 170 is equipped with distance measuring elements 175 at both ends along the fifth direction OQ. These elements measure the distance between the end face of the opening end of the spray hood 170 along the fifth direction OQ and the surface to be sprayed. Based on the known diameter of the opening end of the spray hood 170, the angle between the opening end of the spray hood 170 and the second direction OY is calculated. The angle between the end face of the opening end of the spray hood 170 and the second direction OY is then adjusted based on the obtained data. Simultaneously, the distance measurement also determines the distance to the surface to be sprayed, preventing collisions. The fourth direction OP, the fifth direction OQ, and the axis of the spray hood 170 are all perpendicular to each other, and the plane formed by the fourth direction OP and the fifth direction OQ is parallel to the end face of the opening end of the spray hood 170.

[0060] In one embodiment, the third rotating part 151 includes a pitch shaft 153, a pitch member 154, and a pitch motor 155. One end of the pitch member 154 is connected to the spray hood 170, and the other end is connected to the pitch shaft 153. The pitch motor 155 controls the pitch shaft 153 to rotate relative to the base 160 around the axis of the fourth direction OP, thereby changing the angle between the end face of the opening end of the spray hood 170 and the surface to be sprayed, so as to ultimately achieve that the end face of the opening end of the spray hood 170 is parallel to the surface to be sprayed.

[0061] Specifically, the first moving part 110, the second moving part 120 and the third moving part 130 are each equipped with a plurality of distance measuring elements 175 on the side of the surface to be sprayed, so as to realize the measurement of the distance between each part and the surface to be sprayed.

[0062] Specifically, the ranging device 175 can be a laser rangefinder, an ultrasonic rangefinder, etc., as long as it can stably perform distance measurement.

[0063] In one embodiment, the sliding part 152 has a groove extending along the fourth direction OP on the end face near the first linear module 111. The movable part 142 is located in the groove and slides with the sliding part 152 along the fourth direction OP, so that the movable part 142 can stably slide with the sliding part 152 along the fourth direction OP in the groove.

[0064] In one embodiment, the first rotating part 140 further includes a first guide plate 114 and a guide shaft 115. The first guide plate 114 is connected to the sliding part 152 and has a first guide hole 116 along the fourth direction OP. The guide shaft 115 is connected to the movable part 142 and is movably inserted through the first guide hole 116, so that the movable part 142 and the sliding part 152 slide in cooperation along the fourth direction OP, and the guide shaft 115 connected to the movable part 142 slides in cooperation with the guide plate along the fourth direction OP, thereby realizing a stable sliding cooperation between the movable part 142 and the sliding part 152 along the fourth direction OP.

[0065] Preferably, the guide shaft 115 is connected to one end of the movable part 142 near the second rotating part 150.

[0066] In one embodiment, the first rotating part 140 further includes a second guide plate 117 connected to the movable part 142. The first guide plate 114 and the second guide plate 117 are spaced apart along the fourth direction OP. The second guide plate 117 has a second guide hole 118 along the fourth direction OP. The first guide hole 116 and the second guide hole 118 are coaxial. The guide shaft 115 is connected to the inner wall of the second guide hole 118, so that the guide shaft 115 is parallel to the fourth direction OP, thereby providing more stable guidance for the movable part 142 and the sliding part 152 to slide together along the fourth direction OP.

[0067] In one embodiment, the first linear module 111 includes a first motor 113, a first transmission rod (not shown), and a first slider (not shown) threadedly engaged with the first transmission rod; the second linear module 112 includes a second motor 119, a second transmission rod (not shown), and a second slider (not shown) threadedly engaged with the second transmission rod. The first slider is connected to the fixed part 141, and the second slider is connected to the end of the second rotating part 150 away from the second moving part 120. The first motor 113 drives the first transmission rod to rotate, and the first transmission rod drives the first slider to move along the first direction OX. The second motor 119 drives the second transmission rod to rotate, and the second transmission rod drives the second slider to move along the first direction OX. The first motor 113 and the second motor 119 can operate independently of each other, so that the first linear module 111 and the second linear module 112 can independently drive the fixed part 141 and the rotating part to move along the first direction OX, so that the two ends of the second moving part 120 can move different distances along the first direction OX, causing the second moving part 120 to deflect and drive the third moving part 130 and the spray cover 170 to rotate around the third direction OZ axis.

[0068] In one embodiment, the spraying and paint mist recovery robot also includes a vacuum unit (not shown). The spraying cover 170 includes an inner cover 172 and an outer cover 173 covering the inner cover 172. The openings of the inner cover 172 and the outer cover 173 face the same direction. The nozzle 171 passes through the top of the inner cover 172 and the top of the outer cover 173 and sprays paint onto the opening side of the inner cover 172. The outer cover 173 has at least one vacuum through hole 174 located radially outside the inner cover 172. The vacuum unit communicates with the vacuum through hole 174 to extract the gas between the inner cover 172 and the outer cover 173. Thus, during the painting process, when the nozzle 171 sprays paint mist and liquid onto the surface to be painted within the space of the inner cover 172, the vacuum unit extracts the gas between the inner cover 172 and the outer cover 173. Therefore, the paint liquid and paint mist that are not sprayed onto the surface to be painted are extracted by the vacuum unit due to the negative pressure, thus preventing them from dissipating into the environment, thereby achieving environmentally friendly painting.

[0069] Specifically, the vacuum section refers to instruments such as vacuum pumps that can extract gas from a space.

[0070] Specifically, the inner cover 172 and the outer cover 173 are coaxially arranged, and the nozzle 171 is coaxial with the spray cover 170, so that the paint liquid and paint mist sprayed during the painting process are consistent with the inner space of the inner cover 172.

[0071] In one embodiment, the paint mist recovery robot further includes a fixing member 180. The fixing member 180 is connected to the third moving part 130 and slidably connected to the second moving part 120, the second moving part 120 driving the fixing member 180 to slide along the fourth direction OP. This allows the third moving part 130 to be connected to the fixing member 180 and then slidably connected to the second moving part 120, thus creating a gap between the third moving part 130 and the second moving part 120 to prevent collisions.

[0072] In one embodiment, the second moving part 120 includes a third motor 121, a third transmission rod (not shown), and a third slider (not shown) threadedly engaged with the third transmission rod. The third moving part 130 includes a fourth motor 131, a fourth transmission rod (not shown), and a fourth slider (not shown) threadedly engaged with the fourth transmission rod. The third slider is connected to the fixing member 180, and the fourth slider is connected to the base 160.

[0073] This causes the third motor 121 to drive the third transmission rod to rotate, which in turn causes the third slider to move along the second direction OY. The third slider then causes the fixing member 180 to move along the second direction OY, and the fixing member 180 causes the third moving part 130 to move along the third direction OZ. This causes the fourth motor 131 to drive the fourth transmission rod to rotate, which in turn causes the fourth slider to move along the third direction OZ. The fourth slider then causes the base 160 to move along the third direction OZ, and the base 160 causes the third rotating part 151 to move along the third direction OZ. The third rotating part 151 then causes the spray nozzle 170 to move along the third direction OZ.

[0074] Specifically, the third rotating mechanism includes a power component (not shown in the figure), which drives the third rotating mechanism to rotate. The power component can be a motor or other equipment.

[0075] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A ship painting and paint mist recovery device, used for painting ship surfaces, characterized in that, The ship spraying and paint mist recovery device includes: a first moving part, a second moving part, a third moving part, a first rotating part, a second rotating part, a third rotating part, a sliding part, a base, a spraying assembly, a vacuum part, and an tilt sensor; The first moving part includes a first linear module and a second linear module that are parallel to each other in a first direction and spaced apart in a second direction. The first rotating part includes a fixed part and a movable part, which are rotatably connected about a third axis. The fixed part is disposed on the first linear module and moves in the first direction. The sliding part is disposed on one end of the second moving part near the first rotating part and slides with the movable part in a fourth direction. The second rotating part is disposed on the second linear module and moves in the first direction. The end of the second moving part away from the first rotating part is rotatably connected to the second rotating part about the third axis. The third moving part is disposed on the second moving part, and the third moving part moves along the fourth direction. The first direction, the second direction, and the third moving part are perpendicular to each other. The fourth direction is the length direction of the second moving part, and the first direction is perpendicular to the surface to be sprayed. The base is disposed on the third moving part, and the base moves along the third moving part. One end of the third rotating part is connected to one end of the base, and the other end of the third rotating part is connected to the spraying assembly, and can drive the spraying assembly to rotate around the axis of the second direction; The spraying assembly includes a spraying hood and a spray nozzle; the spraying hood includes an inner cover and an outer cover covering the inner cover, the openings of the inner cover and the outer cover face the same direction, the spray nozzle passes through the top of the inner cover and the top of the outer cover, and sprays paint onto the opening side of the inner cover, the outer cover has at least one vacuum through hole, the vacuum through hole is located radially outside the inner cover, and the vacuum section communicates with the vacuum through hole; The tilt sensor includes a pitch angle measuring device and a deflection angle measuring device mounted on the spray hood. The pitch angle measuring device is used to measure the angle between the end face of the opening end of the spray hood and the first direction, and the deflection angle measuring device is used to measure the angle between the end face of the opening end of the spray hood and the second direction.

2. The ship painting and paint mist recovery device according to claim 1, characterized in that, The end face of the opening end of the spray hood is provided with a distance measuring element at both ends along the fourth direction. The distance between the two ends of the end face of the opening end of the spray hood along the fourth direction and the surface to be sprayed is measured respectively, thereby calculating the angle between the opening end of the spray hood and the first direction. The spray hood is provided with distance measuring elements at both ends along the fifth direction to measure the distance between the end face of the opening end of the spray hood along the fifth direction and the surface to be sprayed, thereby calculating the angle between the end face of the opening end of the spray hood and the second direction. The fourth direction, the fifth direction and the axial direction of the spray hood are perpendicular to each other.

3. The ship painting and paint mist recovery device according to claim 1, characterized in that, The third rotating part includes a pitch shaft, a pitch component, and a pitch motor; One end of the pitch component is connected to the spray hood, and the other end is connected to the pitch pivot. The pitch motor is used to control the pitch axis to rotate relative to the base about the axis of the fourth direction.

4. The ship painting and paint mist recovery device according to claim 1, characterized in that, The sliding part has a groove extending along the fourth direction on the end face near the first linear module, and the movable part is located in the groove and slides with the sliding part along the fourth direction.

5. The ship painting and paint mist recovery device according to claim 1, characterized in that, The first rotating part further includes a first guide plate and a guide shaft. The first guide plate is connected to the sliding part and has a first guide hole along the fourth direction. The guide shaft is connected to the movable part and is movably inserted through the first guide hole.

6. The ship painting and paint mist recovery device according to claim 5, characterized in that, The first rotating part further includes a second guide plate connected to the movable part. The first guide plate and the second guide plate are spaced apart along the fourth direction. The second guide plate has a second guide hole along the fourth direction. The first guide hole and the second guide hole are coaxial. The guide shaft is connected to the inner wall of the second guide hole.

7. The ship painting and paint mist recovery device according to claim 1, characterized in that, The first linear module includes a first motor, a first transmission rod, and a first slider that is threadedly engaged with the first transmission rod; the second linear module includes a second motor, a second transmission rod, and a second slider that is threadedly engaged with the second transmission rod. The first slider is connected to the fixed part, and the second slider is connected to the end of the second rotating part that is away from the second moving part; The first motor drives the first transmission rod to rotate, and the first transmission rod drives the first slider to move along the first direction. The second motor drives the second transmission rod to rotate, and the second transmission rod drives the second slider to move along the first direction. The first motor and the second motor can operate independently of each other.

8. The ship painting and paint mist recovery device according to claim 1, characterized in that, The coating and paint mist recovery robot also includes a fixing component; The fixing member is connected to the third moving part and slidably connected to the second moving part, and the second moving part drives the fixing member to slide along the fourth direction.

9. The ship painting and paint mist recovery device according to claim 8, characterized in that, The second moving part includes a third motor, a third transmission rod, and a third slider that is threadedly engaged with the third transmission rod; the third moving part includes a fourth motor, a fourth transmission rod, and a fourth slider that is threadedly engaged with the fourth transmission rod. The third slider is connected to the fixing member, and the fourth slider is connected to the base; The third motor drives the third transmission rod to rotate, and the third transmission rod drives the third slider to move along the second direction. The fourth motor drives the fourth transmission rod to rotate, and the fourth transmission rod drives the fourth slider to move along the third direction.

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