Spraying robot for ship block closure circular seam and control method of spraying robot

Abstract

The invention discloses a spraying robot for ship block closure circular seams and a control method of the spraying robot. Comprising a movable supporting mechanism, a guide rail mechanism arranged above the movable supporting mechanism and capable of rotating in the plane of the movable supporting mechanism, a rotating mechanism arranged in front of the guide rail mechanism and the movable supporting mechanism and used for driving the guide rail mechanism to rotate, and a spray gun mechanism installed on one side of the guide rail mechanism and capable of moving along the guide rail mechanism. The spray gun mechanism comprises a spray gun connector, a spray gun head communicated with the spray gun connector through a universal head, and a steering engine used for driving the spray gun head to rotate. The robot can move in the plane where the ship block closure circular seam is located, the spray gun head can adapt to spraying paths of different angles, and the spraying direction of the spray gun head is perpendicular to the outer surface of the ship all the time; the robot not only can be suitable for spraying work of irregular areas, but also is high in flexibility.

Description

Technical Field

[0001] The invention relates to a spraying robot, in particular to a spraying robot for closing annular seams in sections of a ship and a control method thereof. Background Art

[0002] In shipbuilding, the block construction manufacturing process is usually adopted. The entire ship structure is broken down into several sections, which are built separately at different locations, and finally these sections are assembled into a complete ship. In block construction, after each section is welded, the sections are welded together.

[0003] During the segment closing process, in order to avoid the uneven welding distances between segments, the ferrules are welded to the segments on both sides to shorten the distance between the segments and facilitate the segment closing welding. The weld left after the segment welding is called the closing ring seam. After the segment closing is completed, the closing ring seam needs to be processed in a certain way, the excess ferrules are cut off, the welding slag and welding scars are cleaned, and then the closing ring seam is polished. After polishing, the original anti-rust paint and anti-corrosion paint coating at the connection of the ship segments are destroyed, and the metal surface of the ship's outer plate is exposed and needs to be re-sprayed. Because the polishing area is not a regular area, the horizontal and vertical polishing areas are not perpendicular to each other. Most of the existing spraying mechanisms can only be applied to the spraying work in regular areas, and it is difficult to meet the spraying needs of irregular areas at the closing ring seam. Summary of the invention

[0004] Purpose of the invention: The first purpose of the present invention is to provide a spraying robot for closing the annular seams of ship sections that can meet the needs of spraying work in irregular areas.

[0005] The second object of the present invention is to provide a control method for a spraying robot for closing the annular seam of a ship in sections.

[0006] Technical solution: The present invention discloses a spraying robot for closing annular seams of ship sections, comprising a mobile support mechanism, a guide rail mechanism arranged above the mobile support mechanism and capable of rotating within the plane of the mobile support mechanism, a rotating mechanism arranged between the guide rail mechanism and the mobile support mechanism and used to drive the guide rail mechanism to rotate, and a spray gun mechanism installed on one side of the guide rail mechanism and capable of moving along the guide rail mechanism; the spray gun mechanism comprises a spray gun joint, a spray gun head installed and connected to the spray gun joint through a universal head, and a steering gear used to drive the spray gun head to rotate.

[0007] Furthermore, the mobile support mechanism includes two symmetrically arranged base plates, four driving wheel groups distributed in a rectangular array and installed on the base plates, and a truss fixedly installed between the two base plates.

[0008] Furthermore, the rotating mechanism includes a cylindrical gear rotatably mounted on the top of the base plate, a first stepper motor fixedly mounted on the base plate and with its output shaft fixedly connected to the cylindrical gear, an arc-shaped gear plate slidably mounted on the top of the base plate and meshingly connected to the cylindrical gear, a universal turntable mounted on the top of the truss, a mounting frame mounted on the top of the universal turntable, and a mounting plate fixedly connected between the gear plate and the mounting frame.

[0009] Furthermore, the bottom plate is provided with an arc-shaped groove adapted to the tooth plate, and the bottom of the tooth plate is integrally provided with a protrusion extending into the arc-shaped groove and slidably connected thereto.

[0010] Furthermore, the rotating mechanism also includes a guide groove plate fixedly mounted on the top of another base plate and a guide rod fixedly mounted on the bottom of the mounting frame, the guide groove plate is provided with a guide groove adapted to the curvature of the tooth plate, and the bottom of the guide rod extends into the guide groove and is slidably connected thereto.

[0011] Furthermore, the guide rail mechanism includes a second stepper motor fixed on the mounting plate, a synchronous wheel fixedly connected to the output shaft of the second stepper motor, a tensioning wheel arranged at an end of the mounting frame away from the second stepper motor, a conveyor belt installed on the outer periphery of the synchronous wheel and the tensioning wheel, a linear guide rail fixedly connected to one side of the mounting frame, a slider slidably installed on the linear guide rail, and an adapter plate fixedly connected between the slider and the conveyor belt, and the side of the adapter plate facing away from the linear guide rail is fixedly connected to the spray gun joint.

[0012] Furthermore, electronic limit switches are installed at both ends of the linear guide rail to prevent the slider from falling off.

[0013] Furthermore, the guide rail mechanism also includes a tensioning wheel fixing seat fixedly connected to one end of the mounting frame, a tensioning wheel seat fixedly connected to one side of the tensioning wheel fixing seat and used to install the tensioning wheel, and a tensioning wheel knob installed on the tensioning wheel seat for adjusting the tension of the conveyor belt.

[0014] Furthermore, a connecting seat for connecting a paint delivery pipe is installed at the top end of the spray gun joint, the servo is fixedly installed on one side of the connecting seat, and a connecting rod is fixedly connected between the movable part of the servo and the spray gun head.

[0015] Based on the same inventive concept, the present invention also discloses a control method for a spraying robot for closing a ship's segmented annular seam, comprising the following steps:

[0016] S1: Construct a three-dimensional coordinate system, in which the width direction of the base plate is parallel to the X-axis, the thickness direction of the base plate is parallel to the Y-axis, and the length direction of the base plate is parallel to the Z-axis;

[0017] S2: Synchronously control or differentially control the four driving wheel groups of the mobile support mechanism to move the spraying robot to the Z-axis operation starting position for spraying the ship's segmented closed annular seam;

[0018] S3: Control the first stepper motor to make the guide rail mechanism rotate with the universal turntable as the center of the circle until the linear guide rail of the guide rail mechanism is parallel to the edge of the segmented closed annular seam of the ship;

[0019] S4: Control the second stepper motor to make the conveyor belt drive the spray gun head of the spray gun mechanism to move to the X-axis operation starting position of the ship segment closing annular seam;

[0020] S5: Turn on the spray gun head for spraying operation, and control the second stepper motor to make the spray gun head move at a constant speed along the linear guide rail until the spray gun head moves to the X-axis end position of the ship segment closing annular seam at the current stage, then turn off the spray gun head and the second stepper motor, and during the spray gun head opening process, control the steering gear in real time to make the spray gun head rotate in the YZ plane, so that the spray gun head is always perpendicular to the ship segment closing annular seam;

[0021] S6: synchronously controlling or differentially controlling the four driving wheel groups of the mobile support mechanism again, so that the spraying robot moves to the next stage operation position of the Z axis for spraying the segmented annular seam of the ship;

[0022] S7: Control the first stepper motor to rotate the guide rail mechanism with the universal turntable as the center until the linear guide rail of the guide rail mechanism is parallel to the edge of the closed annular seam of the ship segment to be sprayed;

[0023] S8: Repeat steps S4 to S7 until all the circumferential seams of the ship sections are sprayed, and then stop the spraying operation.

[0024] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: the present invention can drive the robot to move within the plane where the segmented closed annular seam of the ship is located. During the movement of the robot, the setting of the guide rail mechanism enables the spray gun head to perform spraying operations along the linear guide rail; the setting of the rotating mechanism enables the mounting frame and the linear guide rail to deflect, thereby enabling the spray gun head to adapt to spraying paths at different angles; the setting of the servo enables the spray gun head to rotate in the YZ plane, thereby enabling the spraying direction of the spray gun head to always be perpendicular to the outer surface of the ship, that is, the robot of the present invention is not only suitable for spraying work in irregular areas, but also has strong flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the present invention;

[0026] Figure 2 Another structural schematic diagram of the present invention;

[0027] Figure 3 For the present invention Figure 1 A top view of

[0028] Figure 4 It is a structural schematic diagram of the guide rail mechanism of the present invention;

[0029] Figure 5 It is a structural schematic diagram of the spray gun mechanism of the present invention;

[0030] Figure 6 It is a schematic diagram of the structure of the present invention during spraying operation. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0032] The present invention discloses a spraying robot for closing annular seams in sections of a ship, such as Figure 1 As shown, it includes a rotating mechanism 1, a spray gun mechanism 2, a guide rail mechanism 3 and a movable support mechanism 4, the movable support mechanism 4 can move in the plane where the ship segment closing annular seam is located, the guide rail mechanism 3 is arranged above the movable support mechanism 4 and can rotate in the plane of the movable support mechanism 4, the rotating mechanism 1 is arranged between the guide rail mechanism 3 and the movable support mechanism 4, and the rotating mechanism 1 drives the guide rail mechanism 3 to rotate in the plane of the movable support mechanism 4, the spray gun mechanism 2 is installed on one side of the guide rail mechanism 3, and the spray gun mechanism 2 can move along the guide rail mechanism 3, the spray gun mechanism 2 is used for spraying operations, and the spray gun head 24 of the spray gun mechanism 2 can rotate.

[0033] like Figure 1 , Figure 2 and Figure 3 As shown, the mobile support mechanism 4 includes four driving wheel groups 21 distributed in a matrix, two base plates 23 and three trusses 22, the base plate 23 is fixedly mounted between the fixing parts of the two driving wheel groups 21 on the short sides of the rectangle, and the two base plates 23 are symmetrically arranged, and the three trusses 22 are respectively fixedly mounted on the two base plates 23, wherein two trusses 22 are symmetrically arranged, and another truss 22 is located at the center of the other two trusses 22. Preferably, the truss 22 is made of aluminum profiles. A three-dimensional coordinate system is constructed, wherein the width direction of the base plate 23 is parallel to the X-axis, the thickness direction of the base plate 23 is parallel to the Y-axis, and the length direction of the base plate 23 is parallel to the Z-axis; when in use, the four driving wheel groups 21 are controlled to move synchronously, and the painting robot can be driven to move along the Z-axis, and the four driving wheel groups 21 are controlled to rotate differentially, so that the painting robot can move in the XZ plane, and the painting robot can be turned.

[0034] like Figure 1 and Figure 2As shown, the rotating mechanism 1 is used to drive the linear guide 14 to rotate in the XZ plane. The rotating mechanism 1 includes a first stepper motor 5, a cylindrical gear 6, a toothed plate 29, a universal turntable 7, and a guide groove plate 8. The universal turntable 7 is installed at the top of the truss 22 located in the middle, and the mounting frame 13 is installed at the top of the universal turntable 7. The setting of the universal turntable 7 allows the mounting frame 13 to rotate in the XZ plane; the first stepper motor 5 is fixedly installed at the bottom end of one of the bottom plates 23, and the cylindrical gear 6 is rotatably installed at the top of the bottom plate 23, and the output shaft of the first stepper motor 5 passes through the bottom plate 23 and is fixedly connected to the cylindrical gear 6. The top of the bottom plate 23 is slidably mounted with an arc-shaped tooth plate 29, the tooth plate 29 is meshed and connected with the cylindrical gear 6, and the mounting plate 16 is fixedly connected with the top of the tooth plate 29; preferably, the bottom plate 23 is provided with an arc groove adapted to the tooth plate 29, and the bottom of the tooth plate 29 is integrally provided with a protrusion extending into the arc groove and slidably connected therewith; the guide groove plate 8 is mounted on the top of another bottom plate 23, and the top of the guide groove plate 8 is provided with a guide groove adapted to the curvature of the tooth plate 29, and the bottom end of the mounting frame 13 is fixedly connected with a guide rod 32, and the bottom of the guide rod 32 extends into the guide groove and moves along the inner wall of the guide groove. Preferably, the truss 22 is made of aluminum profiles. Preferably, the curvature of the tooth plate 29 and the guide groove plate 8 can realize that the mounting frame 13 swings 5°-10° with the universal turntable 7 as the rotation center. When in use, the first stepper motor 5 is started, and the first stepper motor 5 drives the cylindrical gear 6 to rotate, and the cylindrical gear 6 drives the toothed plate 29 to rotate. The mounting frame 13 is fixedly connected to the toothed plate 29 through the mounting plate 16, so that the toothed plate 29 drives the mounting frame 13 to rotate with the universal turntable 7 as the rotation center. The setting of the guide groove plate 8 and the guide rod 32 is conducive to improving the stability of the mounting frame 13 during rotation.

[0035] like Figure 1 and Figure 4As shown, the guide rail mechanism 3 is used to drive the spray gun mechanism 2 to move in the X-axis direction. The guide rail mechanism 3 includes a mounting frame 13, a second stepper motor 17, a conveyor belt 20, a linear guide rail 14, a limit switch 19, a synchronous wheel 18, a tensioning wheel 11, a tensioning wheel fixing seat 12, a tensioning wheel knob 9, a tensioning wheel seat 10, an adapter plate 15 and a mounting plate 16. The linear guide 14 is fixedly installed on one side of the mounting frame 13, one end of the mounting frame 13 is fixedly connected to the mounting plate 16, the second stepper motor 17 is fixedly installed on the mounting plate 16, and the synchronous wheel 18 is fixedly connected to the output shaft of the second stepper motor 17; the other end of the mounting frame 13 is fixedly installed with a tensioning wheel fixing seat 12, one side of the tensioning wheel fixing seat 12 is installed with a tensioning wheel seat 10, and the tensioning wheel 11 is installed on the tensioning wheel seat 10; the conveyor belt 20 is transmission-installed on the outer periphery of the synchronous wheel 18 and the tensioning wheel 11, and the tensioning wheel knob 9 for adjusting the tension of the conveyor belt 20 is installed on the tensioning wheel seat 10. A slider 30 is slidably mounted on the linear guide 14, and electronic limit switches 19 are mounted on both ends of the mounting frame 13. The adapter plate 15 is fixedly connected to the slider 30. The adapter plate 15 is composed of a first splicing plate parallel to the XZ axis and a second splicing plate parallel to the XY axis. One side of the second splicing plate is fixedly connected to the spray gun joint 26, and one side of the first splicing plate is fixedly connected to the conveyor belt 20. The mounting plate 16 is composed of a third splicing plate parallel to the XZ plane and a fourth splicing plate parallel to the XY axis. The third splicing plate is fixedly mounted on the tooth plate 29, and the third splicing plate is fixedly mounted on one side of the mounting frame 13. The second stepper motor 17 is installed in the right angle space formed by the third splicing plate and the fourth splicing plate. When in use, the second stepper motor 17 is started, and the second stepper motor 17 drives the synchronous wheel 18 to rotate, and the synchronous wheel 18 drives the conveyor belt 20 to rotate, so that the adapter plate 15 moves along the linear guide rail 14 with the spray gun mechanism 2; during the movement of the spray gun mechanism 2, when the slider 30 moves to the extreme position and touches the electronic limit switch 19, the electronic limit switch 19 controls the second stepper motor 17 to stop, so as to prevent the slider 30 from falling off the linear guide rail 14.

[0036] Figure 1 and Figure 5As shown, the spray gun mechanism 2 includes a spray gun head 24, a universal head 25, a spray gun joint 26, a steering gear 27 and a connecting rod 28. The top end of the spray gun joint 26 is connected to the connecting seat 31, and the bottom end of the spray gun joint 26 is connected to the spray gun head 24 through the universal head 25. The steering gear 27 is installed on one side of the connecting seat 31 through a fixed buckle steering gear seat. One end of the connecting rod 28 is connected to the movable end of the steering gear 27, and the other end of the connecting rod 28 is connected to the spray gun head 24. When in use, the steering gear 27 is started, the steering gear 27 drives the connecting rod 28 to rotate, and the connecting rod 28 drives the spray gun head 24 to rotate, thereby adjusting the nozzle angle of the spray gun head 24; part of the grinding area of ​​the outer surface of the ship is not a plane, but a plane with a certain curvature. Controlling the rotation of the spray gun head 24 in the YZ plane can make the spray direction of the spray gun head 24 always perpendicular to the outer surface of the ship. When in use, the other end of the connecting seat 31 is connected to the paint delivery pipe that provides the spraying material, and the use of the spraying material is controlled by the connecting seat 31 and the paint delivery pipe, which can effectively reduce material waste.

[0037] The four driving wheel groups 21 of the control mobile support mechanism 4 can drive the robot to move along the vertical weld. During the movement of the robot, the second stepper motor 17 is controlled so that the adapter plate 15 moves along the linear guide rail 14 with the spray gun mechanism 2, and then the spray gun head 24 moves to the corresponding position for spraying operation; the first stepper motor 5 is controlled so that the gear plate 29 drives the mounting frame 13 to rotate with the universal turntable 7 as the rotation center, so that the spray gun head 24 can adapt to the spraying path at different angles; the steering gear 27 is controlled so that the spray gun head 24 rotates in the YZ plane, so that the spraying direction of the spray gun head 24 is always perpendicular to the outer surface of the ship. In summary, the robot of the present invention can realize unmanned automatic spraying operation, which is conducive to protecting the life and health of the staff during operation.

[0038] Example 2

[0039] The control method of the spraying robot for closing the annular seam of a ship in sections according to the present invention is as follows: Figure 6 As shown, the following steps are included:

[0040] S1: Construct a three-dimensional coordinate system, in which the width direction of the base plate is parallel to the X-axis, the thickness direction of the base plate is parallel to the Y-axis, and the length direction of the base plate is parallel to the Z-axis.

[0041] S2: Synchronously control or differentially control the four driving wheel groups 21 of the mobile support mechanism 4, so that the spraying robot moves to the Z-axis operation starting position of the ship segment closing annular seam spraying. According to the actual situation, the four driving wheel groups 21 of the mobile support mechanism 4 are regulated. If the forward direction of the four driving wheel groups 21 is parallel to the Z-axis of the ship segment closing annular seam spraying, the four driving wheel groups 21 are synchronously controlled; if the forward direction of the four driving wheel groups 21 is not parallel to the Z-axis of the ship segment closing annular seam spraying, the four driving wheel groups 21 of the mobile support mechanism 4 are differentially controlled to move the spraying robot to the target position.

[0042] S3: Control the first stepper motor 5 to make the guide mechanism 3 rotate with the universal turntable 7 as the center of the circle until the linear guide 14 of the guide mechanism 3 is parallel to the edge of the ship segment closing annular seam. The ship segment closing annular seam is an irregular area, so it is necessary to adjust the position of the linear guide 14 according to the specific shape of the ship segment closing annular seam. During the adjustment, the first stepper motor 5 drives the cylindrical gear 6 to rotate, and the cylindrical gear 6 drives the tooth plate 29 to move. The tooth plate 29 is linked with the mounting frame 13 through the mounting plate 16, so that the mounting frame 13 rotates with the universal turntable 7 as the center of the circle.

[0043] S4: Control the second stepper motor 17 to make the conveyor belt 20 drive the spray gun head 24 of the spray gun mechanism 2 to move to the X-axis operation starting position of the ship segment closing annular seam. After the second stepper motor 17 is started, under the transmission action of the tensioning wheel 11, the conveyor belt 20 drives the spray gun mechanism 2 to move through the adapter plate 15, and the moving direction of the conveyor belt 20 is parallel to the direction of the linear guide rail 14; the movement direction of the spray gun mechanism 2 along the linear guide rail 14 can be controlled by adjusting the rotation direction of the second stepper motor 17.

[0044] S5: Turn on the spray gun head 24 to spray, and control the second stepper motor 17 to make the spray gun head 24 move at a constant speed along the linear guide rail 14 until the spray gun head 24 moves to the X-axis end position of the current stage of the ship segment closing annular seam, then turn off the spray gun head 24 and the second stepper motor 17, and during the opening process of the spray gun head 24, control the steering gear 27 in real time to make the spray gun head 24 rotate in the YZ plane, so that the spray gun head 24 is always perpendicular to the ship segment closing annular seam. The ship segment closing annular seam on the outer surface of the ship is not a plane, but a plane with a certain curvature. Controlling the spray gun head 24 to rotate in the YZ plane can make the spray direction of the spray gun head 24 always perpendicular to the outer surface of the ship, which is conducive to improving the uniformity of the paint spraying.

[0045] S6: Synchronously control or differentially control the four driving wheel groups 21 of the mobile support mechanism 4 again, so that the spraying robot moves to the next stage of the Z-axis operation position for the segmented closing annular seam spraying of the ship.

[0046] S7: Control the first stepper motor 5 to rotate the guide rail mechanism 3 with the universal turntable 7 as the center until the linear guide rail 14 of the guide rail mechanism 3 is parallel to the edge of the closed annular seam of the ship segment to be sprayed;

[0047] S8: Repeat steps S4 to S7 until all the circumferential seams of the ship sections are sprayed, and then stop the spraying operation.

Claims

1. A spraying robot for closing the annular seam of a ship in sections, characterized in that: The invention comprises a movable support mechanism (4), a guide rail mechanism (3) arranged above the movable support mechanism (4) and capable of rotating within the plane of the movable support mechanism (4), a rotating mechanism (1) arranged between the guide rail mechanism (3) and the movable support mechanism (4) and used for driving the guide rail mechanism (3) to rotate, and a spray gun mechanism (2) installed on one side of the guide rail mechanism (3) and capable of moving along the guide rail mechanism (3); the spray gun mechanism (2) comprises a spray gun joint (26), a spray gun head (24) connected to the spray gun joint (26) via a universal head (25), and a steering gear (27) used for driving the spray gun head (24) to rotate.

2. The spraying robot for closing the annular seam of a ship section according to claim 1 is characterized in that: The mobile support mechanism (4) comprises two symmetrically arranged base plates (23), four driving wheel sets (21) distributed in a rectangular array and mounted on the base plates (23), and a truss (22) fixedly mounted between the two base plates (23).

3. The spraying robot for closing the annular seam of a ship section according to claim 2 is characterized in that: The rotating mechanism (1) comprises a cylindrical gear (6) rotatably mounted on the top of a base plate (23), a first stepper motor (5) fixedly mounted on the base plate (23) and having an output shaft fixedly connected to the cylindrical gear (6), an arc-shaped toothed plate (29) slidably mounted on the top of the base plate (23) and meshingly connected to the cylindrical gear (6), a universal turntable (7) mounted on the top of a truss (22), a mounting frame (13) mounted on the top of the universal turntable (7), and a mounting plate (16) fixedly connected between the toothed plate (29) and the mounting frame (13).

4. The spraying robot for closing the annular seam of a ship section according to claim 3 is characterized in that: The bottom plate (23) is provided with an arc-shaped groove adapted to the tooth plate (29), and the bottom of the tooth plate (29) is integrally provided with a protrusion extending into the arc-shaped groove and slidably connected thereto.

5. The spraying robot for closing the annular seam of a ship section according to claim 3 is characterized in that: The rotating mechanism (1) further comprises a guide groove plate (8) fixedly mounted on the top end of another base plate (23) and a guide rod (32) fixedly mounted on the bottom end of the mounting frame (13); the guide groove plate (8) is provided with a guide groove adapted to the curvature of the tooth plate (29); the bottom of the guide rod (32) extends into the guide groove and is slidably connected thereto.

6. The spraying robot for closing the annular seam of a ship section according to claim 3 is characterized in that: The guide rail mechanism (3) comprises a second stepper motor (17) fixed on a mounting plate (16), a synchronous wheel (18) fixedly connected to an output shaft of the second stepper motor (17), a tensioning wheel (11) arranged at an end of the mounting frame (13) away from the second stepper motor (17), a conveyor belt (20) installed on the outer periphery of the synchronous wheel (18) and the tensioning wheel (11), a linear guide rail (14) fixedly connected to one side of the mounting frame (13), a slider (30) slidably mounted on the linear guide rail (14), and an adapter plate (15) fixedly connected between the slider (30) and the conveyor belt (20), wherein the side of the adapter plate (15) facing away from the linear guide rail (14) is fixedly connected to a spray gun joint (26).

7. The spraying robot for closing the annular seam of a ship section according to claim 6 is characterized in that: Electronic limit switches (19) are installed at both ends of the linear guide rail (14) to prevent the slider (30) from falling off.

8. The spraying robot for closing the annular seam of a ship section according to claim 6 is characterized in that: The guide rail mechanism (3) further comprises a tensioning wheel fixing seat (12) fixedly connected to one end of the mounting frame (13), a tensioning wheel seat (10) fixedly connected to one side of the tensioning wheel fixing seat (12) and used for mounting the tensioning wheel (11), and a tensioning wheel (11) knob (9) mounted on the tensioning wheel (11) seat (10) and used for adjusting the tension of the conveyor belt (20).

9. The spraying robot for closing the annular seam of a ship section according to claim 1 is characterized in that: The top end of the spray gun joint (26) is connected to a connecting seat (31) for connecting a paint delivery pipe, the steering gear (27) is fixedly installed on one side of the connecting seat (31), and a connecting rod (28) is fixedly connected between the movable part of the steering gear (27) and the spray gun head (24).

10. The control method of the spraying robot for closing the annular seam of a ship in sections according to any one of claims 1 to 9, characterized in that: The following steps are included: S1: Construct a three-dimensional coordinate system, in which the width direction of the base plate is parallel to the X-axis, the thickness direction of the base plate is parallel to the Y-axis, and the length direction of the base plate is parallel to the Z-axis; S2: Synchronously controlling or differentially controlling the four driving wheel groups (21) of the mobile support mechanism (4) so ​​that the spraying robot moves to the Z-axis operation starting position for spraying the segmented annular seam of the ship; S3: Controlling the first stepper motor (5) to rotate the guide rail mechanism (3) with the universal turntable (7) as the center of the circle until the linear guide rail (14) of the guide rail mechanism (3) is parallel to the edge of the segmented closed annular seam of the ship; S4: Controlling the second stepping motor (17) to enable the conveyor belt (20) to drive the spray gun head (24) of the spray gun mechanism (2) to move to the X-axis operation starting position for closing the annular seam of the ship segment; S5: Turn on the spray gun head (24) to perform spraying operation, and control the second stepper motor (17) to make the spray gun head (24) move at a uniform speed along the linear guide rail (14), until the spray gun head (24) moves to the X-axis end position of the ship segment closing annular seam at the current stage, and then turn off the spray gun head (24) and the second stepper motor (17), and control the steering gear (27) in real time during the opening process of the spray gun head (24) to make the spray gun head (24) rotate in the YZ plane, so that the spray gun head (24) is always perpendicular to the ship segment closing annular seam; S6: again synchronously controlling or differentially controlling the four driving wheel groups (21) of the mobile support mechanism (4) so ​​that the spraying robot moves to the next stage of operation position of the Z axis for spraying the segmented annular seam of the ship; S7: Controlling the first stepper motor (5) to rotate the guide rail mechanism (3) with the universal turntable (7) as the center of the circle until the linear guide rail (14) of the guide rail mechanism (3) is parallel to the edge of the closed annular seam of the ship segment to be sprayed; S8: Repeat steps S4 to S7 until all the circumferential seams of the ship sections are sprayed, and then stop the spraying operation.

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