Environment-friendly robot and method for ship shell surface spraying

Abstract

The invention discloses an environment-friendly robot and method for ship shell surface spraying, and solves the problems that existing ship shell spraying equipment is high in dependency on workers and low in efficiency, dispersed paint mist and volatile organic compounds (VOC) are not recycled, and air is seriously polluted. Comprising a wall-climbing chassis module used for moving on the surface of a ship shell, the wall-climbing chassis module is connected with a spraying module, the spraying module moves on the surface of the ship shell along with the wall-climbing chassis module, and the spraying module is connected with a paint mist and VOCs recovery processing module, a visual acquisition module and a control module; the spraying module, the wall-climbing chassis module, the paint mist and VOCs recovery processing module and the visual acquisition module are all connected with the control module; a to-be-sprayed area and position information are determined through the visual collection module, and movement, spraying and paint mist recycling and processing are controlled through the control module; the paint mist and volatile organic compounds (VOC) dispersed in the air can be reduced, and the problem of serious pollution to the air is solved.

Description

Technical Field

[0001] The invention relates to a ship hull surface spraying device, and in particular to an environmentally friendly robot and method for ship hull surface spraying. Background Art

[0002] At present, the hull surface needs to be regularly anti-corrosion during maintenance, mainly by spraying paint on the large vertical plane of the hull to achieve the anti-corrosion effect. In the prior art, the hull surface is mostly sprayed with paint manually, which has the problems of strong dependence on workers, low efficiency, high personnel costs, and high risks during the operation. In addition, spraying paint produces a large amount of volatile organic compounds (VOCs) and paint mist particles that are directly discharged into the air and inhaled by operators, endangering human health and polluting the atmospheric environment. Therefore, a wall-climbing automatic spraying robot is needed to replace manual spraying operations.

[0003] Chinese patent CN117160736A discloses a ship spraying and paint mist recovery device, which 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 spray head, a distance measuring part and a spray hood. In actual use, the spray hood is driven to move to the spraying position of the surface to be sprayed, and the spray hood is driven to rotate so that the end face of the open end of the spray hood is parallel to the surface to be sprayed, that is, the spraying direction of the spray head is perpendicular to the surface to be sprayed. Open the spray head and spray paint on the surface to be sprayed, drive the spray hood to move to realize automatic painting of the surface to be sprayed, drive the spray hood to rotate, and 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 spraying the curved surfaces on both sides of the length direction of the ship, the second moving part can drive the third moving part to deflect at a large angle as a whole, so that the paint thickness is uniform, thereby ensuring the spraying quality; however, the device cannot be moved and the single spraying area is limited, and the paint mist recovery device only recovers the paint mist and does not process VOCs.

[0004] Chinese patent CN217527905U discloses a magnetic wall-climbing spraying robot, comprising a magnetic trolley adsorbed on the outer wall of a steel pipe pile and moving along the outer wall of the steel pipe pile, a liquid storage tank and a spraying assembly respectively mounted on the magnetic trolley, and a pressurizing member for conveying the paint in the liquid storage tank to the spraying assembly, the magnetic trolley and the pressurizing member are respectively controlled by a controller; the structure is reliable and the use performance is good. The robot is magnetically adsorbed on the outer wall of the steel pipe pile and moves along the outer wall of the steel pipe pile. During the movement, the paint in the liquid storage tank is conveyed to the spraying assembly through the pressurizing member to spray the outer wall of the steel pipe pile with paint, the spraying is reliable, and the multiple nozzles of the spraying assembly are set to realize the simultaneous spraying operation of multiple nozzles, increase the spraying area, and effectively improve the operation efficiency. At the same time, the robot realizes automatic control through the controller, improves the operability of the spraying operation, and greatly reduces the labor intensity of manual labor. However, the device does not recycle the scattered paint mist and VOCs, which will pollute the environment and threaten the health of workers. Summary of the invention

[0005] The purpose of the present invention is to solve the problems that the existing hull spraying equipment is highly dependent on workers, has low efficiency, does not recycle the dispersed paint mist and volatile organic compounds (VOCs), and directly discharges them into the air, causing serious air pollution, and to provide an environmentally friendly robot and method for spraying the surface of the hull.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] An environmental protection robot for spraying on the surface of a ship hull is special in that it comprises: a wall-climbing chassis module for moving on the surface of the ship hull, the wall-climbing chassis module is connected to a spraying module, the spraying module moves on the surface of the ship hull along with the wall-climbing chassis module, the spraying module is connected to a paint mist and VOCs recovery and processing module, a visual acquisition module and a control module; the spraying module, the wall-climbing chassis module, the paint mist and VOCs recovery and processing module and the visual acquisition module are all connected to a control module;

[0008] The visual acquisition module is used to collect images of the hull surface, analyze the spraying features and position features in the images, and input the analysis results into the control module;

[0009] The control module is used to control the movement of the wall climbing chassis module according to the analysis results, and control the spraying module to spray the hull surface, and at the same time control the paint mist and VOCs recovery and treatment module to recover and treat the paint mist and organic volatiles volatilized by spraying. Recovery and treatment can reduce the dispersion of paint mist and organic volatiles (VOCs) into the air, solving the problem of serious air pollution.

[0010] The present invention discloses an environmental protection robot for spraying the surface of a ship hull. The robot collects images through a visual collection module, analyzes the images, identifies an area to be sprayed and its location, controls a wall climbing chassis module to reach the area to be sprayed according to a control module, and controls a spraying module to spray the area to be sprayed.

[0011] Furthermore, the wall-climbing chassis module includes a chassis, one end of the chassis is connected to a rotating shaft through a harmonic reducer, two driving wheels are connected to the rotating shaft, and the other end of the chassis is connected to two driven wheels through a rotating shaft. A drive motor is fixedly connected to the chassis near the rotating shaft, and the drive motor is connected to a control module; the output shaft of the drive motor is connected to the rotating shaft through a coupling; the control module controls the rotation of the drive motor, driving the rotating shaft and the driving wheel to rotate, thereby achieving the effect of moving on the surface of the hull.

[0012] The bottom of the chassis is located between the two driving wheels and is connected to a main adsorption magnet;

[0013] An auxiliary adsorption magnet is connected to the bottom of the chassis near the two driven wheels;

[0014] The wall-climbing chassis module is adsorbed on the surface of the hull by the main adsorption magnet and the auxiliary adsorption magnet. At the same time, the driving wheel can move along the surface of the hull under the action of the driving motor.

[0015] One side of the chassis is connected to the spraying module, which supports the spraying module and can drive the spraying module to move.

[0016] The chassis is connected with a lifting ring for connecting a safety rope to prevent the robot from falling.

[0017] Furthermore, the spray module includes an outer shell with an opening at the bottom, and the outer wall of the outer shell is fixedly connected to the side of the chassis of the wall-climbing chassis module near one end of the driven wheel; the outer wall of the outer shell is connected to a paint filter, and the inner wall of the outer shell is connected to an automatic mist spray gun, the paint filter is connected to the automatic mist spray gun, the automatic mist spray gun is connected to a nozzle through the opening of the outer shell, the bottom of the outer shell is connected to a shielding shield along the outer circumferential edge, the shielding shield is connected to an air curtain fan, the air curtain fan is a positive pressure fan, the upper part of the outer wall of the outer shell is connected to a negative pressure fan, the air inlet end of the negative pressure fan extends to the inside of the outer shell, and the air outlet end of the positive curtain fan is connected to the paint mist and VOCs recovery and processing module through a pipeline; the automatic mist spray gun, the negative pressure fan, and the air curtain fan are all connected to the control module; the automatic mist spray gun and the positive pressure fan are controlled to be turned on by the control module. The hull surface is sprayed with automatic mist spray guns and nozzles; the paint mist and VOCs are prevented from escaping into the air by positive pressure fans; the paint mist and VOCs recovery fans are used to recover the paint mist and volatile organic compounds (VOCs) dispersed during spraying. The shielding cover can reduce the lateral dispersion of paint mist and volatile organic compounds (VOCs).

[0018] The outer wall of the outer shell is connected to the visual acquisition module and the control module.

[0019] Furthermore, the shielding shield comprises a fixed shield, a movable shield and a lifting structure, the upper side of the fixed shield is connected to the bottom of the outer shell along the peripheral edge, the lower outer wall is sleeved with a movable shield, the movable shield and the fixed shield are slidably connected, the outer wall of the outer shell is connected to the lifting structure, and the lifting structure is connected to the control module; the working end of the lifting structure is connected to the movable shield, which is used to drive the movable shield to move upward or downward, so as to facilitate avoiding obstacles on the surface of the hull;

[0020] One side of the movable shield is connected to the air outlet end of the air curtain fan.

[0021] Furthermore, the paint mist and VOCs recovery and processing module includes a dry filter and a catalytic combustion chamber. The inlet end of the dry filter is connected to the outlet end of the air curtain fan through a pipe, and the outlet end is connected to the catalytic combustion chamber; the paint mist and volatile organic compounds (VOCs) are dried by the dry filter, and the volatile organic compounds (VOCs) are catalytically combusted by the catalytic combustion chamber.

[0022] The dry filter and the catalytic combustion chamber are both fixedly connected to the outer wall of the outer shell.

[0023] Furthermore, the visual acquisition module includes a front camera, a rear camera and an image processor;

[0024] The front camera is connected to the front of the spraying module and is used to collect the hull surface image of the front of the spraying module;

[0025] The rear camera is connected to the rear of the spraying module and is used to collect the hull surface image of the rear of the spraying module;

[0026] The front camera and the rear camera are both connected to an image processor, and the image processor is used to analyze the image captured by the front camera to identify the area to be sprayed; and is also used to analyze the image captured by the rear camera to identify the location of the wall-climbing chassis module;

[0027] The image processor is connected to the control module.

[0028] At the same time, the present invention also provides a method for spraying the surface of a hull, based on the above-mentioned environmental protection robot for spraying the surface of a hull, which is special in that the specific steps are as follows:

[0029] S1, placing the wall-climbing chassis module on the hull surface, and collecting images of the hull surface through the visual acquisition module;

[0030] S2, analyzing the spraying features and position features in the image to identify the area to be sprayed and the location of the visual acquisition module;

[0031] S3, according to the control module, the climbing chassis module is controlled to move to the area to be sprayed, and the spraying module is controlled to start, so as to spray the area to be sprayed;

[0032] S4, according to the control module, the paint mist and VOCs recovery and treatment module is controlled to recover and treat the paint mist and VOCs volatilized by spraying;

[0033] S5. The control module controls the wall-climbing chassis module to crawl on the hull surface, and controls the spraying module to gradually spray all the areas to be sprayed on the hull surface to complete the hull surface spraying.

[0034] Furthermore, S4 is specifically:

[0035] According to the control module, the wind curtain fan is controlled to apply positive pressure to the inner cavity of the shielding cover in the area between the spray module and the hull surface, and the negative pressure fan is controlled to apply negative pressure to the inner cavity of the shielding cover in the area between the spray module and the hull surface, so as to absorb the mixture of the scattered paint mist and VOCs, and pass the mixture of the scattered paint mist and VOCs through the dry filter and the catalytic combustion chamber in turn to dry the paint mist and catalytically burn the VOCs, and discharge the obtained gas into the air, so as to complete the recovery and treatment of the paint mist and VOCs volatilized by the spraying.

[0036] Beneficial effects of the present invention:

[0037] 1. The present invention discloses an environmentally friendly robot for spraying on the surface of a ship hull. The robot identifies the area to be sprayed by a visual acquisition module, controls the wall-climbing chassis module to move vertically or horizontally on the surface of the ship hull by a control module, and controls the spraying module to spray by the control module. The process does not require human intervention and has high spraying efficiency.

[0038] 2. The present invention provides an environmentally friendly robot for spraying on the surface of a ship hull. The paint mist and VOCs recovery and processing module designed to be connected to the spraying module can be used to recover the paint mist and VOCs generated during spraying, thereby reducing air pollution.

[0039] 3. The method for spraying the surface of a ship hull of the present invention can carry out the spraying operation independently, has a wide operating area, high efficiency and little air pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a control block diagram of a control module in an embodiment of an environmental protection robot for spraying a hull surface of the present invention;

[0041] Figure 2 It is a structural schematic diagram of an embodiment of an environmental protection robot for spraying on the surface of a ship hull according to the present invention;

[0042] Figure 3 It is a structural schematic diagram of a wall-climbing chassis module in an embodiment of an environmental protection robot for spraying a hull surface of the present invention;

[0043] Figure 4 It is a bottom view of a wall-climbing chassis module in an embodiment of an environmentally friendly robot for spraying the surface of a ship hull;

[0044] Figure 5 This is a spraying operation trajectory diagram of an embodiment of an environmental protection robot for spraying a hull surface of the present invention;

[0045] Figure 6 It is a structural schematic diagram of a spraying module in an embodiment of an environmental protection robot for spraying a hull surface of the present invention;

[0046] Figure 7 This is a schematic diagram of the internal structure of a spraying module in an embodiment of an environmentally friendly robot for spraying a hull surface according to the present invention;

[0047] Figure 8 It is a schematic diagram of a control module in an embodiment of an environmental protection robot for spraying a hull surface according to the present invention.

[0048] Among them, 1-spraying module, 101-outer shell, 102-fixed shield, 103-movable shield, 104-lifting structure, 105-negative pressure fan, 106-automatic mist spray gun, 107-nozzle, 108-wind curtain fan, 109. Paint filter; 2-wall climbing chassis module, 201-driving wheel, 202-chassis, 203-driven wheel, 204-driving motor, 205-auxiliary adsorption magnet, 206-main adsorption magnet; 3-paint mist and VOCs recovery and processing module, 301-catalytic combustion chamber, 302-dry filter; 4-visual acquisition module, 401-front camera, 402-rear camera; 5-control module. DETAILED DESCRIPTION

[0049] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] This embodiment is an environmentally friendly robot for spraying on the surface of a ship hull, such as Figure 1As shown, it includes: a wall-climbing chassis module 2 for moving on the hull surface, the wall-climbing chassis module 2 is connected to a spraying module 1, the spraying module 1 is connected to a paint mist and VOCs recovery and processing module 3, a visual acquisition module 4 and a control module 5, and the spraying module 1 supports the paint mist and VOCs recovery and processing module 3, the visual acquisition module 4 and the control module 5; the spraying module 1, the wall-climbing chassis module 2, the paint mist and VOCs recovery and processing module 3 and the visual acquisition module 4 are all connected to the control module 5. The control module 5 controls the spraying module 1 to spray the hull surface, controls the movement of the wall-climbing chassis module 2, and receives the picture of the visual acquisition module 4.

[0051] (1) Positioning and determination of the area to be sprayed:

[0052] In this embodiment, Figure 2 and Figure 5 As shown, the visual acquisition module 4 includes a front camera 401, a rear camera 402 and an image processor; the front camera 401 is connected to the front of the outer shell 101 in the spray module 1, and is used to collect the hull surface image of the front part of the middle outer shell 101 in the spray module 1; the rear camera 402 is connected to the rear of the outer shell 101 in the spray module 1, and is used to collect the hull surface image of the rear part of the middle outer shell 101 in the spray module 1; the front camera 401 and the rear camera 402 are both connected to the image processor, which is used to analyze the image collected by the front camera 401 and identify the area to be sprayed; it is also used to analyze the image collected by the rear camera 402 and identify the location of the wall-climbing chassis module 2; the image processor is connected to the control module 5.

[0053] The front camera 401 is located at the front of the outer shell 101 of the spray module 1, and can face the hull surface, capture images of the hull surface, and transmit the images to the image processor; the image processor determines whether there is an area to be sprayed in the captured image, and inputs the determination result into the control module 5.

[0054] At the same time, through the rear camera 402 located at the rear of the outer shell 101 of the spray module 1, the image of the rear hull surface of the outer shell 101 can be captured and the image is transmitted to the image processor; through comparison and analysis by the image processor, the position on the hull surface is determined, and the position information is transmitted to the control module 5.

[0055] (2) Moving on the hull surface:

[0056] like Figure 3As shown, the wall-climbing chassis module 2 includes a chassis 202, one end of the chassis 202 is connected to the rotating shaft through a harmonic reducer, the rotating shaft is connected to two driving wheels 201, the other end of the chassis 202 is connected to two driven wheels 203 through a rotating shaft, the chassis 202 is fixedly connected to a driving motor 204 near the rotating shaft, and the driving motor 204 is connected to the control module 5; the output shaft of the driving motor 204 is connected to the rotating shaft through a coupling; Figure 4 As shown, the main adsorption magnet 206 is connected to the bottom of the chassis 202 and located between the two driving wheels 201; the auxiliary adsorption magnet 205 is connected to the bottom of the chassis 202 and close to the two driven wheels 203, and the auxiliary adsorption magnet 205 is used to prevent the chassis 202 from overturning; one side of the chassis 202 is connected to the spray module 1.

[0057] The chassis 202 is connected with a lifting ring to prevent the robot from falling.

[0058] According to the information of the area to be sprayed and the location determined by the visual acquisition module 4, the control module 5 controls the driving motor 204 to rotate, driving the driving wheel 201 to move vertically or horizontally on the hull surface to the area to be sprayed. In this embodiment, the spraying trajectory is as follows: Figure 5 This process is to automatically control the movement of the drive motor 204 according to the information collected by the visual collection module 4, which has a high degree of intelligence and does not require manual control, can improve work efficiency, and ensure the safety of the staff at the same time.

[0059] In this embodiment, the main adsorption magnet 206 and the auxiliary adsorption magnet 205 are connected to the bottom of the chassis 202, and the main adsorption magnet 206 and the auxiliary adsorption magnet 205 are not directly adsorbed on the surface of the hull. The main adsorption magnet 206 and the auxiliary adsorption magnet 205 form a magnetic force with the surface of the hull, which can adsorb the chassis 202 on the surface of the hull. At the same time, under the driving action of the driving motor 204, the driving wheel 201 can move along the surface of the hull.

[0060] (3) Spraying the spraying area:

[0061] like Figure 6 and Figure 7As shown, the spraying module 1 includes an outer shell 101 with an opening at the bottom, and the outer wall of the outer shell 101 is fixedly connected to the chassis 202 of the wall-climbing chassis module 2; the outer wall of the outer shell 101 is connected to a paint filter 109, and the outer shell 101 is connected to an automatic mist spray gun 106, and the paint filter 109 is connected to the automatic mist spray gun 106. The paint filter 109 is used to filter the paint input into the automatic mist spray gun 106, and the automatic mist spray gun 106 passes through the opening of the outer shell 101 and is connected to the nozzle 109. 7. The bottom of the outer shell 101 is connected to a shielding cover along the outer circumferential edge, and the shielding cover is connected to an air curtain fan 108. The air curtain fan 108 is a positive pressure fan. The upper part of the outer wall of the outer shell 101 is connected to a negative pressure fan 105. The air inlet end of the negative pressure fan 105 extends to the inside of the outer shell 101. The air outlet end of the negative pressure fan 105 is connected to the paint mist and VOCs recovery and processing module 3 through a pipeline; the automatic mist spray gun 106, the negative pressure fan 105, and the air curtain fan 108 are all connected to the control module 5; Figure 8 As shown; when in use, the open side of the outer shell 101 faces the hull surface, and the control module 5 controls the automatic mist spray gun 106 to spray paint mist, and the spraying area is sprayed through the nozzle 107, and the paint mist dispersion is reduced by the wind curtain fan 108. At the same time, the negative pressure fan 105 is turned on to absorb the paint mist and VOCs generated during spraying into the outer shell 101, so that they can enter the paint mist and VOCs recovery and processing module 3 through the pipeline, so as to achieve the recovery effect and reduce air pollution.

[0062] In this embodiment, the shielding shield includes a fixed shield 102, a movable shield 103 and a lifting structure 104. The upper side of the fixed shield 102 is connected to the bottom of the outer shell 101 along the outer circumferential edge, the lower outer wall is slidably connected to the movable shield 103, the outer wall of the outer shell 101 is connected to the lifting structure 104, and the lifting structure 104 is connected to the control module; the working end of the lifting structure 104 is connected to the movable shield 103, and is used to drive the movable shield 103 to move upward / downward.

[0063] One side of the movable shield 103 is connected to the air outlet end of the air curtain fan 108 .

[0064] The lifting structure 104 controls the movable shield 103 to move upward or downward, so as to avoid obstacles on the surface of the hull, and facilitate the movement of the wall-climbing chassis module 2.

[0065] The outer wall of the outer shell 101 is connected to the vision acquisition module 4 and the control module 5 .

[0066] (4) Recovery and treatment of paint mist and VOCs:

[0067] like Figure 2As shown, in this embodiment, the paint mist and VOCs recovery and treatment module 3 includes a dry filter 302 and a catalytic combustion chamber 301. The inlet end of the dry filter 302 is connected to the shielding shield through a pipeline, and the outlet end is connected to the dry filter 302 and the catalytic combustion chamber 301 in sequence; the dry filter 302 and the catalytic combustion chamber 301 are fixedly connected to the outer wall of the outer shell 101. The negative pressure fan 105 applies negative pressure to the inner cavity of the shielding shield in the area between the spraying module 1 and the hull surface, and the wind curtain fan 108 applies positive pressure to the inner cavity of the shielding shield in the area between the hull surface. The mixture of the scattered paint mist and VOCs is absorbed by the negative pressure, and the mixture of the scattered paint mist and VOCs is sequentially passed through the dry filter 302 and the catalytic combustion chamber 301 for paint mist drying and VOCs catalytic combustion, producing pollution-free water and carbon dioxide, which are discharged into the air, completing the recovery and treatment of the paint mist and VOCs volatilized by spraying.

[0068] The above description is only a specific embodiment of the present invention, and a comparison of the effects of the specific embodiments and the related comparative examples, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An environmentally friendly robot for spraying on the surface of a ship hull, characterized in that: include: A wall-climbing chassis module (2) for moving on the surface of a ship hull, wherein the wall-climbing chassis module (2) is connected to a spraying module (1), and the spraying module (1) is connected to a paint mist and VOCs recovery and processing module (3), a visual acquisition module (4), and a control module (5); the spraying module (1), the wall-climbing chassis module (2), the paint mist and VOCs recovery and processing module (3), and the visual acquisition module (4) are all connected to the control module (5); The visual acquisition module (4) is used to acquire images of the hull surface, analyze the spraying features and position features in the images, and input the analysis results into the control module (5); The control module (5) is used to control the movement of the wall climbing chassis module (2) according to the analysis results, and to control the spraying module (1) to spray the hull surface, and at the same time control the paint mist and VOCs recovery and treatment module (3) to recover and treat the paint mist and organic volatiles volatilized by the spraying.

2. The environmentally friendly robot for spraying the surface of a ship hull according to claim 1, characterized in that: The wall-climbing chassis module (2) comprises a chassis (202), one end of the chassis (202) is connected to a rotating shaft via a harmonic reducer, the rotating shaft is connected to two driving wheels (201), the other end of the chassis (202) is connected to two driven wheels (203) via a rotating shaft, a driving motor (204) is fixedly connected to a position of the chassis (202) close to the rotating shaft, and the driving motor (204) is connected to a control module (5); the output shaft of the driving motor (204) is connected to the rotating shaft via a coupling; A main adsorption magnet (206) is connected to the bottom of the chassis (202) and is located between the two driving wheels (201); An auxiliary adsorption magnet (205) is connected to the bottom of the chassis (202) and close to the two driven wheels (203); The side surface of the chassis (202) close to one end of the driven wheel (203) is connected to the spraying module (1).

3. The environmentally friendly robot for spraying the surface of a ship hull according to claim 2, characterized in that: The chassis (202) is connected to a lifting ring.

4. The environmentally friendly robot for spraying the surface of a ship hull according to claim 2, characterized in that: The spraying module (1) comprises an outer shell (101) with an opening at the bottom, the outer wall of the outer shell (101) being fixedly connected to the side of the chassis (202) of the wall-climbing chassis module (2) close to one end of the driven wheel (203); the outer wall of the outer shell (101) is connected to a paint filter (109), the inner part of the outer shell (101) is connected to an automatic mist spray gun (106), the paint filter (109) is connected to the automatic mist spray gun (106), the automatic mist spray gun (106) is connected to a nozzle (107) through the opening of the outer shell (101), and the outer shell The bottom of (101) is connected to a shielding cover along the outer circumferential edge, the shielding cover is connected to an air curtain fan (108), the air curtain fan (108) is a positive pressure fan, the upper part of the outer side wall of the outer shell (101) is connected to a negative pressure fan (105), the air inlet end of the negative pressure fan (105) extends to the inside of the outer shell (101), and the air outlet end of the negative pressure fan (105) is connected to the paint mist and VOCs recovery and processing module (3) through a pipeline; the automatic mist spray gun (106), the negative pressure fan (105), and the air curtain fan (108) are all connected to the control module (5); The outer wall of the outer shell (101) is connected to the vision collection module (4) and the control module (5).

5. The environmentally friendly robot for spraying the surface of a ship hull according to claim 4, characterized in that: The shielding shield comprises a fixed shield (102), a movable shield (103) and a lifting structure (104); the upper side of the fixed shield (102) is connected to the bottom of the outer shell (101) along the outer peripheral edge; the lower outer wall is sleeved with the movable shield (103); the movable shield (103) and the fixed shield (102) are slidably connected; the outer wall of the outer shell (101) is connected to the lifting structure (104); and the lifting structure (104) is connected to the control module (5); the working end of the lifting structure (104) is connected to the movable shield (103) for driving the movable shield (103) to move upward or downward; One side of the movable shield (103) is connected to the air outlet end of the air curtain fan (108).

6. The environmentally friendly robot for spraying the surface of a ship hull according to claim 4, characterized in that: The paint mist and VOCs recovery and processing module (3) comprises a dry filter (302) and a catalytic combustion chamber (301), wherein the inlet end of the dry filter (302) is connected to the air outlet end of the negative pressure fan (105) through a pipeline, and the outlet end is connected to the catalytic combustion chamber (301); The dry filter (302) and the catalytic combustion chamber (301) are both fixedly connected to the outer wall of the outer shell (101).

7. The environmentally friendly robot for spraying the surface of a ship hull according to claim 4, characterized in that: The visual acquisition module (4) comprises a front camera (401), a rear camera (402) and an image processor; The front camera (401) is connected to the front part of the outer shell (101) of the spraying module (1) and is used to collect the hull surface image of the front part of the spraying module (1); The rear camera (402) is connected to the rear of the outer shell (101) of the spraying module (1) and is used to collect an image of the hull surface at the rear of the spraying module (1); The front camera (401) and the rear camera (402) are both connected to an image processor, and the image processor is used to analyze the image captured by the front camera (401) to identify the area to be sprayed; and is also used to analyze the image captured by the rear camera (402) to identify the location of the wall-climbing chassis module (2); The image processor is connected to the control module (5).

8. A method for spraying a ship hull surface, using an environmentally friendly robot for spraying a ship hull surface according to any one of claims 1 to 7, characterized in that: The specific steps are: S1, placing the wall-climbing chassis module (2) on the hull surface, and collecting images of the hull surface through the visual collection module (4); S2, analyzing the spraying features and position features in the image to identify the area to be sprayed and the location of the visual acquisition module (4); S3, controlling the wall-climbing chassis module (2) to move to the area to be sprayed according to the control module (5), and controlling the spraying module (1) to start, so as to spray the area to be sprayed; S4, controlling the paint mist and VOCs recovery and processing module (3) to recover and process the paint mist and VOCs volatilized by spraying according to the control module (5); S5, the control module (5) controls the wall-climbing chassis module (2) to crawl on the hull surface, and controls the spraying module (1) to gradually spray all the areas to be sprayed on the hull surface, thereby completing the spraying of the hull surface.

9. A method for spraying a hull surface according to claim 8, characterized in that: S4 is specifically: According to the control module (5), the wind curtain fan (108) is controlled to apply positive pressure to the inner cavity of the shielding cover in the area between the spraying module (1) and the hull surface, and the negative pressure fan (105) is controlled to apply negative pressure to the inner cavity of the shielding cover in the area between the spraying module (1) and the hull surface, so as to absorb the mixture of the scattered paint mist and VOCs, and the mixture of the scattered paint mist and VOCs is passed through the dry filter (302) and the catalytic combustion chamber (301) in turn to dry the paint mist and catalytically combust the VOCs, and the obtained gas is discharged into the air, thereby completing the recovery and treatment of the paint mist and VOCs volatilized by the spraying.

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