An environmentally friendly robot and method for spraying on ship hull surfaces

Abstract

The application discloses an environment-friendly robot and method for ship hull surface spraying, and solves the problems that existing ship hull spraying equipment has strong dependence on workers, low efficiency, and does not recycle and process dispersed paint mist and volatile organic compounds (VOCs), and seriously pollutes the air; the robot comprises a wall-climbing chassis module for moving on a ship hull surface, a spraying module connected to the wall-climbing chassis module, the spraying module moves on the ship hull surface along with the wall-climbing chassis module, and the spraying module is connected with a paint mist and VOCs recycling and processing module, a visual acquisition module and a control module; the spraying module, the wall-climbing chassis module, the paint mist and VOCs recycling and processing module and the visual acquisition module are all connected with the control module; the spraying area and position information are determined through the visual acquisition module, and the movement, spraying, paint mist recycling and processing are controlled through the control module; the robot can reduce the dispersion of the paint mist and VOCs into the air, and solve the problem of serious air pollution.

Description

TECHNICAL FIELD

[0001] The present application relates to a ship hull surface spraying device, in particular to an environmentally friendly robot and method for spraying the surface of a ship hull. BACKGROUND

[0002] At present, the ship hull surface needs to be maintained regularly for corrosion prevention, mainly by spraying paint on the large vertical plane of the ship hull to achieve the effect of corrosion prevention. In the prior art, the ship hull surface is mainly sprayed by manual operation, which has the problems of strong dependence on workers, low efficiency, high personnel cost, high risk, and the like during the operation process. In addition, a large amount of organic volatile matter (VOCs) and paint mist particles generated by the paint spraying are directly discharged into the air, which is inhaled by the operators, thereby endangering human health and polluting the atmospheric environment. Therefore, a wall-climbing automatic spraying robot is needed to replace manual operation for spraying.

[0003] A ship spraying and paint mist recycling device is disclosed in Chinese patent CN117160736A, which comprises 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 element, and a spraying cover. In actual use, the spraying cover is driven to move to the to-be-sprayed position of the to-be-sprayed surface, and the spraying cover is driven to rotate so that the end face of the opening end of the spraying cover is parallel to the to-be-sprayed surface, i.e., the spraying direction of the spray head is perpendicular to the to-be-sprayed surface. The spray head is opened to spray paint to the to-be-sprayed surface, the spraying cover is driven to move to realize automatic spraying of the to-be-sprayed surface, the spraying cover is driven 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 in the first direction, which can also realize the overall deflection of the third moving part driven by the second moving part at a large angle when spraying the curved surface on both sides of the length direction of the ship, so that the paint spraying thickness is uniform, thereby ensuring the spraying quality. However, the device has the problems of limited single spraying area and that the paint mist recycling device only recycles the paint mist without treating VOCs.

[0004] The Chinese patent CN217527905U discloses a magnetic wall-climbing spraying robot, comprising a magnetic trolley adsorbed to 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 installed on the magnetic trolley, and a pressurizing device for delivering paint in the liquid storage tank to the spraying assembly, wherein the magnetic trolley and the pressurizing device are respectively controlled by a controller. The robot is magnetically adsorbed to the outer wall of the steel pipe pile and moves along the outer wall of the steel pipe pile. During movement, the paint in the liquid storage tank is delivered to the spraying assembly by the pressurizing device to spray paint on the outer wall of the steel pipe pile. The spraying is reliable, and the multiple spray heads of the spraying assembly are arranged to realize simultaneous paint spraying operation of multiple spray heads, improve the spraying area, and effectively improve the work efficiency. Meanwhile, the robot realizes automatic control through the controller, improves the operability of the spraying operation, and greatly reduces the labor intensity. However, the device does not recycle and treat the dispersed paint mist and VOCs, which pollutes the environment and threatens the health of workers. SUMMARY

[0005] The purpose of the present application is to solve the problems of the existing ship hull spraying equipment, such as strong dependence on workers, low efficiency, and no recycling and treatment of dispersed paint mist and VOCs, which are directly discharged into the air and cause serious air pollution, and to provide an environmentally friendly robot and method for ship hull surface spraying.

[0006] To achieve the above purpose, the present application adopts the following technical solutions:

[0007] An environmentally friendly robot for ship hull surface spraying, characterized in that it comprises a wall-climbing chassis module for moving on the surface of a ship hull, a spraying module connected to the wall-climbing chassis module, the spraying module moving with the wall-climbing chassis module on the surface of the ship hull, and a paint mist and VOCs recycling and treatment module, a visual acquisition module, and a control module connected to the spraying module; the spraying module, the wall-climbing chassis module, the paint mist and VOCs recycling and treatment module, and the visual acquisition module are all connected to the control module.

[0008] The visual acquisition module is used to acquire images of the surface of the ship hull and 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, control the spraying module to spray the surface of the ship hull, and control the paint mist and VOCs recycling and treatment module to recycle and treat the sprayed paint mist and organic volatile substances. Recycling and treatment can reduce the dispersion of paint mist and organic volatile substances (VOCs) into the air and solve the problem of serious air pollution.

[0010] This invention discloses an environmentally friendly robot for spraying ship hull surfaces. It acquires images through a vision acquisition module, analyzes the images, identifies the area to be sprayed and its location, and controls the wall-climbing chassis module to move to the area to be sprayed according to the control module, and controls the 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 via a harmonic reducer, and two drive wheels are connected to the rotating shaft. The other end of the chassis is connected to two driven wheels via 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 via a coupling. The control module controls the rotation of the drive motor, which in turn drives the rotating shaft and the drive wheels to rotate, thereby achieving the effect of moving on the surface of the hull.

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

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

[0014] The wall-climbing chassis module is attached to the hull surface by the main and auxiliary magnets, while the drive wheel can move along the hull surface under the action of the drive motor.

[0015] The chassis is connected to the spraying module on one side, which supports the spraying module and enables it to move.

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

[0017] Furthermore, the spraying module includes an outer shell with a bottom opening. The outer wall of the outer shell is fixedly connected to the side of the chassis of the climbing chassis module near the driven wheel. A paint filter is connected to the outer wall of the outer shell, and an automatic mist spray gun is connected to the inside of the outer shell. The paint filter is connected to the automatic mist spray gun, and the automatic mist spray gun passes through the opening of the outer shell and is connected to a nozzle. A shielding cover is connected to the bottom of the outer shell along its outer circumferential edge. The shielding cover is connected to an air curtain fan, which is a positive pressure fan. A negative pressure fan is connected to the upper part of the outer wall of the outer shell. The air inlet of the negative pressure fan extends into the interior of the outer shell, and the air outlet of the positive pressure fan is connected to the paint mist and VOCs recovery and treatment module through a pipe. The automatic mist spray gun, the negative pressure fan, and the air curtain fan are all connected to a control module. The control module controls the activation of the automatic mist spray gun and the positive pressure fan. The hull surface is coated using an automatic mist spray gun and nozzle; a positive pressure fan prevents paint mist and VOCs from escaping into the air; and a paint mist and VOCs recovery fan recovers the dispersed paint mist and volatile organic compounds (VOCs). A shielding cover further reduces the lateral dispersion of paint mist and VOCs.

[0018] The outer wall of the outer casing is connected to a vision acquisition module and a control module.

[0019] Furthermore, the shielding cover includes a fixed cover, a movable cover, and a lifting structure. The upper side of the fixed cover is connected to the bottom of the outer shell along the outer perimeter, and the lower outer wall is fitted with the movable cover. The movable cover and the fixed cover are slidably connected. The outer wall of the outer shell is connected to the lifting structure, which is connected to the control module. The working end of the lifting structure is connected to the movable cover and is used to drive the movable cover to move up or down, which facilitates the avoidance of obstacles on the hull surface.

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

[0021] Furthermore, the paint mist and VOCs recovery and treatment 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 catalytically combusted by the catalytic combustion chamber.

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

[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 capture images of the ship hull surface at the front of the spraying module.

[0025] The rear camera is connected to the rear of the spraying module and is used to capture images of the ship hull surface at the rear of the spraying module.

[0026] Both the front and rear cameras are connected to an image processor. The image processor is used to analyze the images captured by the front camera to identify the area to be sprayed; it is also used to analyze the images 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] Meanwhile, the present invention also provides a method for spraying on the surface of a ship hull, based on the aforementioned environmentally friendly robot for spraying on the surface of a ship hull, characterized in that the specific steps are as follows:

[0029] S1. Place the wall-climbing chassis module on the surface of the ship hull and acquire images of the ship hull surface through the vision acquisition module;

[0030] S2. Analyze the spraying features and positional features in the image to identify the area to be sprayed and the location of the vision acquisition module;

[0031] S3. The control module moves the climbing chassis module to the area to be sprayed according to the control module, and controls the spraying module to be turned on, and sprays the area to be sprayed.

[0032] S4. The control module controls the paint mist and VOCs recovery and treatment module to recover and treat the paint mist and VOCs volatilized during spraying.

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

[0034] Furthermore, S4 specifically refers to:

[0035] The control module controls the air curtain fan to apply positive pressure to the inner cavity of the shielding cover between the spraying module and the hull surface, and the negative pressure fan to apply negative pressure to the inner cavity of the shielding cover between the negative pressure fan and the hull surface. This absorbs the mixture of escaping paint mist and VOCs. The mixture of escaping paint mist and VOCs is then passed sequentially through a dry filter and a catalytic combustion chamber for paint mist drying and VOCs catalytic combustion. The resulting gas is then discharged into the air, completing the recovery and treatment of paint mist and VOCs volatilized from the spraying process.

[0036] The beneficial effects of this invention are:

[0037] 1. The present invention provides an environmentally friendly robot for spraying on the surface of ship hulls. The robot identifies the area to be sprayed through a vision acquisition module, controls the wall-climbing chassis module to move vertically or horizontally on the surface of the ship hull through a control module, and controls the spraying module to perform spraying through a control module. The process requires no human intervention and has high spraying efficiency.

[0038] 2. The present invention provides an environmentally friendly robot for spraying on the surface of ship hulls. It is designed with a paint mist and VOCs recovery and treatment module connected to the spraying module, which can recover the paint mist and VOCs generated during spraying and reduce air pollution.

[0039] 3. The present invention provides a method for spraying on the surface of ship hulls, which can carry out spraying operations autonomously, cover a wide area, have high efficiency, and cause little air pollution. Attached Figure Description

[0040] Figure 1 This is a control block diagram of the control module in an embodiment of an environmentally friendly robot for spraying on the surface of a ship hull according to the present invention;

[0041] Figure 2 This is a schematic diagram of an embodiment of an environmentally friendly robot for spraying on the surface of a ship hull according to the present invention;

[0042] Figure 3 This is a schematic diagram of the wall-climbing chassis module in an embodiment of an environmentally friendly robot for spraying ship hull surfaces according to the present invention;

[0043] Figure 4 This is a bottom view of the wall-climbing chassis module in an embodiment of an environmentally friendly robot for spraying on ship hull surfaces.

[0044] Figure 5 This is a spraying operation trajectory diagram of an embodiment of an environmentally friendly robot for spraying on the surface of a ship hull according to the present invention;

[0045] Figure 6 This is a schematic diagram of the structure of the spraying module in an embodiment of an environmentally friendly robot for spraying on the surface of a ship hull according to the present invention;

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

[0047] Figure 8 This is a schematic diagram of the control module in an embodiment of an environmentally friendly robot for spraying on the surface of a ship hull according to the present invention.

[0048] The module comprises: 1-Spraying module, 101-Outer shell, 102-Fixed protective cover, 103-Moving protective cover, 104-Lifting structure, 105-Negative pressure fan, 106-Automatic mist spray gun, 107-Nozzle, 108-Air curtain fan, 109-Paint filter; 2-Wall climbing chassis module, 201-Drive wheel, 202-Chassis, 203-Driven wheel, 204-Drive motor, 205-Auxiliary adsorption magnet, 206-Main adsorption magnet; 3-Paint mist and VOCs recovery and treatment module, 301-Catalytic combustion chamber, 302-Dry filter; 4-Vision acquisition module, 401-Front camera, 402-Rear camera; 5-Control module. Detailed Implementation

[0049] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] This embodiment describes an environmentally friendly robot used for spraying coating on ship hull surfaces, such as... Figure 1As shown, the system includes: a wall-climbing chassis module 2 for moving on the hull surface; a spraying module 1 connected to the wall-climbing chassis module 2; and the spraying module 1 connected to a paint mist and VOCs recovery and treatment module 3, a vision acquisition module 4, and a control module 5. The spraying module 1 provides support for the paint mist and VOCs recovery and treatment module 3, the vision 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 treatment module 3, and the vision 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 images from the vision acquisition module 4.

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

[0052] In this embodiment, as 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 spraying module 1 and is used to acquire images of the hull surface at the front of the outer shell 101 in the spraying module 1. The rear camera 402 is connected to the rear of the outer shell 101 in the spraying module 1 and is used to acquire images of the hull surface at the rear of the outer shell 101 in the spraying module 1. Both the front camera 401 and the rear camera 402 are connected to the image processor, which is used to analyze the images acquired by the front camera 401 and identify the area to be sprayed. It is also used to analyze the images acquired 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 spraying module 1, and can face the hull surface directly to 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 judgment result to the control module 5.

[0054] Meanwhile, the rear camera 402, located at the rear of the outer shell 101 of the spraying module 1, can capture images of the rear hull surface of the outer shell 101 and transmit the images 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 surface of the ship's hull:

[0056] like Figure 3As shown, the climbing chassis module 2 includes a chassis 202. One end of the chassis 202 is connected to a rotating shaft via a harmonic reducer, and two drive wheels 201 are connected to the rotating shaft. The other end of the chassis 202 is connected to two driven wheels 203 via a rotating shaft. A drive motor 204 is fixedly connected to the chassis 202 near the rotating shaft, and the drive motor 204 is connected to the control module 5. The output shaft of the drive motor 204 is connected to the rotating shaft via a coupling. Figure 4 As shown, a main adsorption magnet 206 is connected to the bottom of the chassis 202 and between the two drive wheels 201; an auxiliary adsorption magnet 205 is connected to the bottom of the chassis 202 and near the two driven wheels 203. The auxiliary adsorption magnet 205 is used to prevent the chassis 202 from tipping over; a spraying module 1 is connected to one side of the chassis 202.

[0057] A lifting ring is attached to the chassis 202 to prevent the robot from falling.

[0058] Based on the area to be sprayed and its location information determined by the vision acquisition module 4, the control module 5 controls the drive motor 204 to rotate, driving the drive 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 As shown in the diagram, this process automatically controls the movement of the drive motor 204 based on the information collected by the vision acquisition module 4. It is highly intelligent, requires no manual control, improves work efficiency, and ensures the safety of staff.

[0059] In this embodiment, the bottom of the chassis 202 is connected to the main adsorption magnet 206 and the auxiliary adsorption magnet 205. 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 onto the surface of the hull. At the same time, under the driving action of the drive motor 204, the drive wheel 201 can move along the surface of the hull.

[0060] (3) Spraying the area to be sprayed:

[0061] like Figure 6 and Figure 7As shown, the spraying module 1 includes an outer shell 101 with a bottom opening. The outer wall of the outer shell 101 is fixedly connected to the chassis 202 of the climbing chassis module 2. A paint filter 109 is connected to the outer wall of the outer shell 101, and an automatic mist spray gun 106 is connected inside the outer shell 101. The paint filter 109 is used to filter the paint entering the automatic mist spray gun 106. The automatic mist spray gun 106 passes through the opening of the outer shell 101 and is connected to a nozzle 10. 7. A shielding cover is connected to the bottom of the outer casing 101 along its outer circumferential edge. The shielding cover is connected to an air curtain fan 108, which is a positive pressure fan. A negative pressure fan 105 is connected to the upper part of the outer wall of the outer casing 101. The air inlet of the negative pressure fan 105 extends into the interior of the outer casing 101, and the air outlet of the negative pressure fan 105 is connected to the paint mist and VOCs recovery and treatment module 3 via a pipe. 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; during use, the open side of the outer shell 101 faces the hull surface. The automatic mist spray gun 106 sprays paint mist through the control module 5, and the area to be sprayed is sprayed through the nozzle 107. The air curtain fan 108 reduces the dispersion of paint mist. 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 treatment module 3 through the pipeline to achieve the effect of recovery and reduce air pollution.

[0062] In this embodiment, the shielding cover includes a fixed cover 102, a movable cover 103, and a lifting structure 104. The upper side of the fixed cover 102 is connected to the bottom of the outer shell 101 along the outer circumferential edge, and the lower outer wall is slidably connected to the movable cover 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 cover 103 and is used to drive the movable cover 103 to move up / down.

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

[0064] The movable shield 103 is controlled to move up or down via the lifting structure 104 to avoid obstacles on the hull surface. This facilitates the movement of the wall-climbing chassis module 2.

[0065] The outer wall of the outer casing 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 cover via a pipe, and the outlet end is connected to the dry filter 302 and the catalytic combustion chamber 301 in sequence. Both 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 cover in the area between the spraying module 1 and the hull surface, and the air curtain fan 108 applies positive pressure to the inner cavity of the shielding cover in the area between the air curtain fan 108 and the hull surface. The mixture of escaping paint mist and VOCs is absorbed by the negative pressure, and the mixture of escaping paint mist and VOCs is passed through the dry filter 302 and the catalytic combustion chamber 301 in sequence for paint mist drying and VOCs catalytic combustion, producing pollution-free water and carbon dioxide, which are discharged into the air, thus completing the recovery and treatment of paint mist and VOCs volatilized from the spraying process.

[0068] The above description is merely a specific embodiment of the present invention and a comparison of the effects of the specific embodiments with relevant comparative examples. However, the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An environmentally friendly robot for hull surface painting, characterized in that, The application relates to a wall-climbing painting system. The wall-climbing painting system comprises a wall-climbing chassis module (2) for moving on a ship surface, a spraying module (1) connected to the wall-climbing chassis module (2), a paint mist and VOCs recovery and treatment module (3), a visual acquisition module (4) and a control module (5) connected to the spraying module (1); the spraying module (1), the wall-climbing chassis module (2), the paint mist and VOCs recovery and treatment module (3) and the visual acquisition module (4) are all connected to the control module (5); The visual acquisition module (4) is used for acquiring images of the ship surface and analyzing spraying features and position features in the images, and the analysis results are input into the control module (5); The control module (5) is used for controlling the wall-climbing chassis module (2) to move according to the analysis results, controlling the spraying module (1) to spray the ship surface, and controlling the paint mist and VOCs recovery and treatment module (3) to recover and treat the paint mist and organic volatile matters volatilized during spraying; The visual acquisition module (4) comprises a front camera (401), a rear camera (402) and an image processor; The front camera (401) is used for acquiring images of the ship surface in front of the spraying module (1); The rear camera (402) is used for acquiring images of the ship surface behind the spraying module (1); The front camera (401) and the rear camera (402) are both connected to the image processor, the image processor is used for analyzing the images acquired by the front camera (401) and identifying a region to be sprayed, and is also used for analyzing the images acquired by the rear camera (402) and identifying a position of the wall-climbing chassis module (2); The image processor is connected to the control module (5); The spraying module (1) comprises a bottom-opened outer shell (101), an outer wall of the outer shell (101) is fixedly connected to a side of a chassis (202) of the wall-climbing chassis module (2) close to one end of a driven wheel (203), a paint filter (109) is connected to the outer wall of the outer shell (101), an automatic mist spraying gun (106) is connected to the inside of the outer shell (101), the paint filter (109) is connected to the automatic mist spraying gun (106), the automatic mist spraying gun (106) passes through an opening of the outer shell (101) and is connected to a nozzle (107), a shielding shield is connected to the bottom of the outer shell (101) along an outer circumferential edge, the shielding shield is connected to a wind curtain fan (108), the wind curtain fan (108) is a positive pressure fan, a negative pressure fan (105) is connected to the upper portion of the outer side wall of the outer shell (101), an air inlet end of the negative pressure fan (105) extends to the inside of the outer shell (101), an air outlet end of the negative pressure fan (105) is connected to the paint mist and VOCs recovery and treatment module (3) through a pipeline; the automatic mist spraying gun (106), the negative pressure fan (105) and the wind curtain fan (108) are all connected to the control module (5); A front portion of the outer shell (101) is connected to the front camera (401), a rear portion of the outer shell (101) is connected to the rear camera (402), and an outer wall of the outer shell (101) is connected to the control module (5). The shielding shield comprises a fixed shield (102), a moving shield (103) and a lifting structure (104), the upper side of the fixed shield (102) is connected at the bottom of the outer shell (101) along the outer peripheral edge position, the lower side outer wall is sleeved with the moving shield (103), the moving shield (103) and the fixed shield (102) are in sliding connection, the outer side wall of the outer shell (101) is connected with the lifting structure (104), and the lifting structure (104) is connected with the control module (5); the working end of the lifting structure (104) is connected with the moving shield (103) for driving the moving shield (103) to move upwards or downwards. One side of the moving shield (103) is connected with the air curtain fan (108).

2. An environmentally friendly robot for painting the surface of a ship's 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 with a rotating shaft through a harmonic reducer, two driving wheels (201) are connected on the rotating shaft, the other end of the chassis (202) is connected with two driven wheels (203) through a rotating shaft, a driving motor (204) is fixedly connected on the chassis (202) close to the rotating shaft, and the driving motor (204) is connected with the control module (5); and the output shaft of the driving motor (204) is connected with the rotating shaft through a shaft coupling. The main adsorbing magnet (206) is connected at the bottom of the chassis (202) and between the two driving wheels (201); The auxiliary adsorbing magnet (205) is connected at the bottom of the chassis (202) and close to the two driven wheels (203); The spraying module (1) is connected on one side of the chassis (202) close to the driven wheel (203).

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

4. The environmentally friendly robot for hull surface painting according to claim 1, characterized in that: The paint mist and VOCs recovery and treatment module (3) comprises a dry filter (302) and a catalytic combustion chamber (301), the inlet end of the dry filter (302) is connected with the air outlet end of the negative pressure fan (105) through a pipeline, and the outlet end is connected with the catalytic combustion chamber (301). The dry filter (302) and the catalytic combustion chamber (301) are fixedly connected on the outer wall of the outer shell (101).

5. A method for hull surface painting using the environmentally friendly robot for hull surface painting according to any one of claims 1 to 4, characterized in that, The specific steps are as follows: S1, place the wall-climbing chassis module (2) on the surface of the ship shell, and collect the image of the surface of the ship shell through the visual acquisition module (4); S2, analyze the spraying features and position features in the image, identify the to-be-sprayed area and the position of the visual acquisition module (4); S3, according to the control module (5), control the wall-climbing chassis module (2) to move to the to-be-sprayed area, and control the spraying module (1) to be started, and spray the to-be-sprayed area; S4, according to the control module (5), control the paint mist and VOCs recovery and treatment module (3) to recover and treat the paint mist and VOCs volatilized during spraying; S5, the control module (5) controls the wall-climbing chassis module (2) to crawl on the surface of the ship shell, and controls the spraying module (1) to gradually spray all the to-be-sprayed areas on the surface of the ship shell, and completes the spraying on the surface of the ship shell.

6. A method for the spray coating of a ship's hull surface according to claim 5, characterised in that, S4 is specifically: According to the control module (5) controls the air curtain fan (108) to the spraying module (1) and the inner side cavity of the shielding cover between the ship surface area applies positive pressure, the negative pressure fan (105) and the inner side cavity of the shielding cover between the ship surface area applies negative pressure, absorbs the mixture of the escaping paint mist and VOCs, and the mixture of the escaping paint mist and VOCs is sequentially dried through the dry filter (302) and the catalytic combustion chamber (301) to carry out paint mist drying and catalytic combustion of VOCs. The obtained gas is discharged into the air, and the spraying volatile paint mist and VOCs are recovered and treated.

Images