Spraying robot for ship block closure seams

Abstract

The embodiment of the invention provides a spraying robot for ship block closure seams, which comprises a vehicle body frame, and the vehicle body frame can be adsorbed on the surface of a ship and can realize translation and steering operation in an XZ plane; the deflection adjusting assembly is arranged on the vehicle body frame and can achieve rotation operation in the XZ plane relative to the vehicle body frame; the translation assembly is arranged along the X direction, and one end of the translation assembly is fixed on the deflection adjusting assembly; the supporting assembly is fixed to the end, away from the deflection adjusting assembly, of the translation assembly and can be matched with the vehicle body frame to move; the spraying assembly is arranged on the translation assembly and can translate in the X-axis direction through the translation assembly; and the pitching adjusting assembly is arranged on the spraying assembly, and the pitching adjusting assembly can adjust the spraying direction of the spraying assembly in the YZ plane. According to the embodiment of the invention, on the premise of improving the construction efficiency, the waste of materials is effectively reduced.

Description

Technical Field

[0001] The invention relates to the technical field of shipbuilding, in particular to a spraying robot used for segmented closing seams of ships. Background Art

[0002] During ship construction, sections are assembled in the slipway or dock and the welding of the joint seams is completed. Surface treatment is required on both sides of the joint seams of the sections. The primer, intermediate paint and topcoat are grinded out with grooves respectively, and then the bottom, middle and surface paints are sprayed respectively.

[0003] In the process of segment closing, it is usually adopted to adjust the gap of the weld by welding the code iron on both sides of the segment, 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 code plate is removed, and then the surface treatment is performed. After grinding, it needs to be sprayed again. Since the closing seam coating area is not a strict straight line in the longitudinal direction, the coating width is uneven, and the horizontal and vertical grinding areas are not perpendicular, the existing spraying mechanism cannot fully adapt to similar special situations, resulting in low efficiency and quality of closing ring seam coating. Summary of the invention

[0004] In view of the above problems existing in the prior art, an embodiment of the present invention provides a spraying robot for closing seams of ship sections, so as to solve the technical problems existing in the prior art of low coating quality and low coating efficiency at the closing annular seam position.

[0005] An embodiment of the present invention provides a spraying robot for closing a segmented seam of a ship, comprising:

[0006] A vehicle frame, which can be adsorbed on the surface of the ship and can achieve translation and steering operations in the XZ plane;

[0007] a deflection adjustment component, the deflection adjustment component is arranged on the vehicle body frame and can realize a rotation operation in an XZ plane relative to the vehicle body frame;

[0008] A translation assembly, the translation assembly is arranged along the X direction, and one end of the translation assembly is fixed to the deflection adjustment assembly;

[0009] A support assembly, the support assembly is fixed to one end of the translation assembly away from the deflection adjustment assembly, the support assembly can be adsorbed on the surface of the ship and can move in coordination with the body frame;

[0010] A spraying assembly, wherein the spraying assembly is arranged on the translation assembly and can be translated along the X-axis direction by the translation assembly;

[0011] A pitch adjustment component is provided on the spraying component, and the pitch adjustment component can realize the spraying direction adjustment of the spraying group component in the YZ plane.

[0012] In one embodiment, the vehicle frame includes a vehicle chassis, two drive wheel sets are correspondingly installed at the rear end of the vehicle chassis, and a first universal wheel is installed at the front end of the vehicle chassis. The vehicle frame can be driven to move by controlling the movement of the drive wheel sets, and the vehicle frame can be driven to turn by controlling the differential speed of the two drive wheel sets.

[0013] In one embodiment, the deflection adjustment assembly includes a support shaft, which is rotatably mounted on the vehicle frame via a bearing base, and the support shaft can rotate relative to the vehicle frame in an XZ plane when driven by a drive motor.

[0014] In one embodiment, the translation assembly comprises:

[0015] A support beam, the support beam is arranged along the X-axis direction, one end of the beam body is fixed on the deflection adjustment assembly, and the other end is fixed on the support assembly;

[0016] A stepper motor, wherein the stepper motor is fixed to one end of the support beam close to the deflection adjustment assembly, and a synchronous wheel is fixed to the output shaft of the stepper motor;

[0017] A pulley, which is arranged at the other end of the support beam and is rotatably mounted on a pulley seat fixed at the end of the support beam;

[0018] A synchronous belt, which is in a ring shape, one end of which is sleeved on the synchronous wheel, and the other end is sleeved on the pulley, and the synchronous belt can rotate with the rotation of the synchronous wheel;

[0019] A linear guide rail, the linear guide rail is arranged at the front end of the support beam, and the linear guide rail is arranged along the entire length of the support beam;

[0020] A slider, the slider is slidably mounted on the linear guide rail;

[0021] An adapter plate, one end of which is fixed on the slider, and the other end of which is fixed on the synchronous belt, and the spraying assembly is also fixed on the adapter plate.

[0022] In one embodiment, a tensioning assembly is further included, and the tensioning assembly includes a tensioning screw. The tensioning screw is inserted into the pulley seat, one end of the tensioning screw is provided with a U-shaped groove and the pulley is rotatably installed through a pin shaft assembly, and the other end is sleeved with a tensioning nut threadedly connected thereto. The tensioning nut fixes the tensioning screw by pressing the pulley seat.

[0023] In one embodiment, the spray assembly includes a spray gun connector, which is fixed on the adapter plate. One end of the spray gun connector is connected to the paint delivery pipe, and the other end is connected to the spray gun head.

[0024] In one embodiment, the pitch adjustment assembly includes a universal head, a servo and a connecting rod. The universal head is arranged between the spray gun joint and the spray gun head. The servo provides a fixed snap-on servo seat fixedly connected to the paint delivery pipe. The two ends of the connecting rod are respectively hinged to the steering wheel of the servo and the spray gun head.

[0025] In one embodiment, the support beam is an aluminum profile with grooves formed on all four sides.

[0026] In one embodiment, the belt body at the lower loop position of the synchronous belt is inserted into the top groove of the support beam.

[0027] In one embodiment, the linear guide rail is inserted into the front groove of the support beam, and the end of the linear guide rail is pressed and fixed by a limiting plate.

[0028] Compared with the prior art, the beneficial effect of a spraying robot for the segmented closing seams of ships provided by an embodiment of the present invention is that: the embodiment of the present invention adopts a method of crossing the closing ring seam to realize the spraying operation, and a large range of movement in the XZ plane is realized by the set body frame, and the X-direction movement adjustment is realized by the translation component to adapt to the requirements of different coating widths. The deflection adjustment component can realize small-range rotation adjustment in the XZ plane to adapt to the spraying requirements of spraying paths at different angles. The setting of the pitch adjustment component can better adapt to curved surfaces with a certain curvature to ensure that the spraying direction of the spraying component is always perpendicular to the weld area, so as to more accurately control the use of materials, and effectively reduce material waste while improving construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the structure of a spraying robot for closing the segmented seams of ships provided by an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of the structure of a spraying robot for closing the segmented seams of ships provided by an embodiment of the present invention at a spraying assembly;

[0031] Figure 3 A schematic structural diagram of a tensioning assembly of a spraying robot for closing segmented seams of ships provided in an embodiment of the present invention.

[0032] Reference numerals:

[0033] 1. Vehicle frame; 101. Vehicle chassis; 102. Driving wheel set; 103. First universal wheel; 2. Deflection adjustment assembly; 201. Support shaft; 202. Bearing base; 3. Translation assembly; 301. Support beam;

[0034] 302, synchronous belt; 303, mounting plate; 304, stepping motor; 305, synchronous wheel; 306, pulley;

[0035] 307, pulley seat; 308, linear guide rail; 309, slider; 310, adapter plate; 311, limit plate;

[0036] 312, supporting seat; 4, tensioning assembly; 401, tensioning screw; 402, tensioning nut; 5, supporting assembly; 501, supporting leg; 502, second universal wheel; 6, spraying assembly; 601, spray gun joint; 602, spray gun head; 7, pitch adjustment assembly; 701, universal head; 702, servo; 703, connecting rod. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0038] Various aspects and features of the present application are described herein with reference to the accompanying drawings.

[0039] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0040] It should also be understood that, although the present application has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present application that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0041] The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

[0042] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to determine the true intent based on the user's historical operations and to avoid unnecessary or redundant details that make the present application unclear. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but are merely used as the basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0043] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0044] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The embodiments are only used to explain the present invention and are not used to limit the scope of the present invention. Figure 1-3 , the preferred embodiments of the present invention are further described in detail:

[0045] like Figure 1-3 As shown, an embodiment of the present invention provides a spraying robot for closing the segmented seams of a ship, comprising:

[0046] A vehicle frame 1, which can be adsorbed on the surface of the ship and can achieve translation and steering operations in the XZ plane;

[0047] a deflection adjustment component 2, wherein the deflection adjustment component 2 is arranged on the vehicle frame 1 and can realize a rotation operation in an XZ plane relative to the vehicle frame 1;

[0048] A translation assembly 3, which is arranged along the X direction and has one end fixed on the deflection adjustment assembly 2;

[0049] a support assembly 5, wherein the support assembly 5 is fixed to one end of the translation assembly 3 away from the deflection adjustment assembly 2, and the support assembly 5 can be adsorbed on the surface of the ship and can move in coordination with the vehicle frame 1;

[0050] a spraying assembly 6, wherein the spraying assembly 6 is arranged on the translation assembly 3 and can be translated along the X-axis direction through the translation assembly 3;

[0051] A pitch adjustment component 7, wherein the pitch adjustment component 7 is arranged on the spraying component 6, and the pitch adjustment component 7 can adjust the spraying direction of the spraying component 6 in the YZ plane;

[0052] The vehicle frame 1 includes a vehicle chassis 101, two driving wheel sets 102 are correspondingly installed at the rear end of the vehicle chassis 101, and a first universal wheel 103 is installed at the front end of the vehicle chassis 101. The vehicle frame 1 can be driven to move by controlling the movement of the driving wheel set 102, and the vehicle frame 1 can be driven to turn by controlling the differential speed of the two driving wheel sets 102, that is, the driving wheel set 102 is driven by a motor to realize the longitudinal movement along the closed annular seam, and the differential speed of the wheel set can also be controlled to realize a large-scale rotation. In order to ensure that the robot can be stably adsorbed on the surface of the ship, the driving wheel set 102 and the first universal wheel 103 are both magnetic wheels;

[0053] The deflection adjustment assembly 2 includes a support shaft 201, which is rotatably mounted on the vehicle frame 1 through a bearing base 202, and the support shaft 201 can be driven by a matching drive motor to realize rotation relative to the vehicle frame 1 in the XZ plane, and the drive motor realizes rotational drive of the support shaft 201 through a matching gear set (not shown in the drawings);

[0054] The translation assembly 3 comprises:

[0055] A support beam 301, the support beam 301 is arranged along the X-axis direction, one end of the beam body is fixed on the deflection adjustment component 2, and the other end is fixed on the support component 5. In one embodiment, the support beam 301 is an aluminum profile with grooves on all four sides (usually, the opening width of the groove is smaller than the width of the internal groove body to prevent the internal contents from falling out). The aluminum profile structure is light and strong, which can meet the use requirements of this scene. The opening of the surrounding cavities can reduce the dead weight and material consumption on the one hand, and provide installation space for the synchronous belt 302 and the linear guide 308 on the other hand, thereby enhancing the running stability of the synchronous belt 302;

[0056] A stepper motor 304, wherein the stepper motor 304 is fixed to one end of the support beam 301 close to the deflection adjustment component 2, and a synchronous wheel 305 is fixed to its output shaft. In one embodiment, the stepper motor 304 is fixedly mounted on a support seat 312, the rear portion of the support seat 312 is fixed to the top of the support shaft 201, and the front portion thereof is fixed to the support beam 301 through a mounting plate 303. The output shaft of the stepper motor 304 sequentially penetrates the mounting plate 303 and the front end plate of the support seat 312 and is rotationally connected to the penetrated plate body through a bearing, and a synchronous wheel 305 is fixedly mounted to the front end of the output shaft of the stepper motor 304;

[0057] A pulley 306, which is disposed at the other end of the support beam 301, and the pulley 306 is rotatably mounted on a pulley seat 307 fixed at the end of the support beam 301;

[0058] A synchronous belt 302, wherein the synchronous belt 302 is in a circular ring shape, one end of which is sleeved on the synchronous wheel 305, and the other end is sleeved on the pulley 306. The synchronous belt 302 is positioned by the synchronous wheel 305 and the pulley 306, and the synchronous belt 302 can rotate with the rotation of the synchronous wheel 305. In one embodiment, the belt body of the lower ring position of the synchronous belt 302 is inserted into the top groove of the support beam 301 to ensure the position stability of the synchronous belt 302 when it rotates and avoid large-scale jumping;

[0059] A straight guide rail 308, the straight guide rail 308 is arranged at the front end of the support beam 301, and the straight guide rail 308 is arranged along the entire length of the support beam 301. In one embodiment, the straight guide rail 308 is inserted into the front groove of the support beam 301, and the end of the straight guide rail 308 is pressed and fixed by a limiting plate 311. A plurality of bolt holes are provided at intervals on the straight guide rail 308 to ensure that it can be fixed on the support beam 301. On this basis, the end of the limiting plate 311 protrudes from the straight guide rail 308 to ensure that it can form an end limit for the slider 309 to prevent the slider 309 from accidentally falling out;

[0060] A slider 309, the slider 309 is slidably mounted on the linear guide rail 308, and a slide groove matching the outer protrusion of the linear guide rail 308 is provided at the rear of the slider 309 to ensure that the slider 309 can be slidably embedded in the linear guide rail 308, which can ensure that the slider 309 can slide relative to the linear guide rail 308 and prevent the slider 309 from slipping off the linear guide rail 309;

[0061] An adapter plate 310, one end of which is fixed to the slider 309, and the other end of which is fixed to the synchronous belt 302, and the spray assembly 6 is also fixed to the adapter plate 310;

[0062] In one embodiment, the support assembly 5 includes a support leg 501, the top of which is fixed on the pulley seat 307, and the bottom of which is against the surface of the ship through a second universal wheel 502 in the form of a magnetic wheel. The height of the support assembly 5 needs to match the height of the vehicle frame 1 and the support shaft 201 to ensure that both ends of the support beam 301 can be stably supported;

[0063] like Figure 3 As shown, in order to facilitate the adjustment of the tightness of the synchronous belt 302 and ensure that the synchronous belt 302 is in a tensioned state, a tensioning assembly 4 is also included, and the tensioning assembly 4 includes a tensioning screw 401, which is inserted into the pulley seat 307, one end of which is provided with a U-shaped groove and the pulley 306 is rotatably installed through a pin shaft assembly, and the other end is sleeved with a tensioning nut 402 threadedly connected thereto, and the tensioning nut 402 fixes the tensioning screw 401 by pressing the pulley seat 307;

[0064] like Figure 2 As shown, the spray assembly 6 includes a spray gun connector 601, which is fixed on the adapter plate 310, one end of the spray gun connector 601 is connected to the paint delivery pipe, and the other end is connected to the spray gun head 602;

[0065] The pitch adjustment assembly 7 includes a universal head 701, a servo 702 and a connecting rod 703. The universal head 701 is arranged between the spray gun joint 601 and the spray gun head 602. The servo 702 provides a fixed snap-on servo seat fixedly connected to the paint delivery pipe. The two ends of the connecting rod 703 are respectively hinged to the steering plate of the servo 702 and the spray gun head 602, that is, the spray gun head 602 and the spray gun joint 601 are connected through the universal head 701, and the servo 702 controls the spray gun head 602 to rotate in the YZ plane through the connecting rod 703, and then controls the spray gun head 602 to directly shoot at the spraying plane through the servo 702, so that the spraying direction is always perpendicular to the spraying plane.

[0066] The embodiment of the present invention is designed for the special spraying area of ​​the closed annular seam. The main movement is realized along the vertical weld by the body frame 1, the lateral movement along the width direction of the annular seam by the spraying assembly 6 along the linear guide 308, the small deflection is realized by the deflection adjustment assembly 2, and the pitch adjustment of the spraying direction is realized by the pitch adjustment assembly 7, so as to meet the spraying requirements of the spraying paths at different angles. At the same time, the monitoring sensor set at the position of the spray gun head 602 collects the image and coating thickness data of the spraying area in real time, which effectively improves the recognition efficiency and automation degree of the robot, can more accurately control the use of materials, effectively reduce material waste, and realize efficient and fast spraying of the closed annular seam of the ship segment.

[0067] The embodiment of the present invention further provides a spraying method using the above-mentioned spraying robot, which specifically includes the following steps:

[0068] Step 1: Obtain the data of the weld seam in the closed annular seam area and the different width areas that need to be painted after the code plate is processed, including the position, size, etc., and input them into the control system as the initial data;

[0069] Step 2: Plan the main movement path of the robot as a whole along the vertical weld downward, as well as the lateral spraying path of the spray assembly 6 at different positions, and send the planned movement instructions to each drive module. For the vertical movement mechanism, the motor drive module receives the instruction, controls the movement of the drive wheel group 102, and realizes the main movement of the robot along the vertical weld downward. At the same time, the wheel group differential can be controlled to turn as needed; for the translation assembly 3, the stepper motor 304 drive module receives the instruction, controls the stepper motor 304 to drive the synchronous wheel 305 to rotate, and then realizes the lateral movement of the spray gun head 602; for the deflection adjustment assembly 2, the drive module controls its matching drive motor to drive the support shaft 201 to rotate along the bearing base 202, so as to realize the rotation of the support beam 301; for the spray assembly 6, the servo 702 drive module receives the instruction, controls the servo 702 to adjust the angle of the spray gun head 602 through the connecting rod 703 transmission, and ensures that the spraying direction is perpendicular to the spraying plane;

[0070] Step 3: The robot moves to the designated position, and the spray gun head 602 performs spraying according to the preset spraying parameters. During the spraying process, the monitoring sensor installed on the robot collects the image and coating thickness data of the spraying area in real time. After the spraying is completed, the relevant data of this spraying is recorded.

[0071] The auxiliary steps are: debug and initialize the robot to ensure that all components are in normal working condition.

[0072] The preparation steps are as follows: the coating is polished on both sides of the ship's closed annular seam, welds, and damaged areas on the yard plate; the spray robot moves upward along the closed annular seam area to the highest position, and adjusts the robot body frame 1 and the support assembly 5 to ensure that the support beam 301 spans across both sides of the closed annular seam area to complete its coating preparation process.

[0073] The follow-up steps are: after the spraying work is completed, the spraying assembly 6 and the robot are cleaned and maintained, and the data of the spraying operation is recorded and processed.

[0074] The basic process is: obtaining the closed annular seam area data, performing path planning, controlling the robot to move to a specified position, controlling the spray gun head 602 to spray, and detecting and providing feedback on the spraying process.

[0075] The embodiment of the present invention can realize unmanned automatic spraying, which is beneficial to improving the working environment of workers. Moreover, the embodiment of the present invention also has the characteristics of small footprint, small safety hazards, environmental protection and economy, great practical value, and easy promotion and utilization.

[0076] For the convenience of description, in the above embodiment of the present invention, the length direction of the support beam 301 is defined as the X direction, the width direction of the support beam 301 is defined as the Z direction, and the height direction of the support beam 301 is defined as the Y direction.

[0077] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A spraying robot for ship segmented joints, characterized in that: include: A vehicle frame (1), wherein the vehicle frame (1) can be adsorbed on the surface of the ship and can realize translation and steering operations in an XZ plane; a deflection adjustment component (2), the deflection adjustment component (2) being arranged on the vehicle body frame (1) and capable of realizing a rotation operation in an XZ plane relative to the vehicle body frame (1); a translation assembly (3), the translation assembly (3) being arranged along the X direction and having one end fixed on the deflection adjustment assembly (2); a support assembly (5), the support assembly (5) being fixed to one end of the translation assembly (3) away from the deflection adjustment assembly (2), the support assembly (5) being capable of being adsorbed on the surface of the ship and being capable of moving in coordination with the vehicle body frame (1); a spraying assembly (6), wherein the spraying assembly (6) is arranged on the translation assembly (3) and can be translated along the X-axis direction through the translation assembly (3); A pitch adjustment component (7) is provided on the spraying component (6), and the pitch adjustment component (7) can adjust the spraying direction of the spraying group component (6) in the YZ plane.

2. A spraying robot for ship segmented joints according to claim 1, characterized in that: The vehicle frame (1) comprises a vehicle chassis (101), two driving wheel sets (102) are correspondingly mounted at the rear end of the vehicle chassis (101), and a first universal wheel (103) is mounted at the front end of the vehicle chassis (101). The vehicle frame (1) can be driven to move by controlling the movement of the driving wheel sets (102), and the vehicle frame (1) can be driven to turn by controlling the differential speed of the two driving wheel sets (102).

3. A spraying robot for ship segmental closure seams according to claim 1, characterized in that: The deflection adjustment component (2) comprises a support shaft (201), the support shaft (201) being rotatably mounted on the vehicle body frame (1) via a bearing base (202), and the support shaft (201) being able to rotate relative to the vehicle body frame (1) within an XZ plane when driven by a drive motor.

4. A spraying robot for ship segmental closure seams according to claim 1, characterized in that: The translation assembly (3) comprises: A support beam (301), the support beam (301) being arranged along the X-axis direction, with one end of the beam body being fixed on the deflection adjustment component (2), and the other end being fixed on the support component (5); A stepping motor (304), wherein the stepping motor (304) is fixed to one end of the support beam (301) close to the deflection adjustment assembly (2), and a synchronous wheel (305) is fixed to the output shaft of the stepping motor (304); A pulley (306), the pulley (306) is arranged at the other end of the support beam (301), and the pulley (306) is rotatably mounted on a pulley seat (307) fixed at the end of the support beam (301); A synchronous belt (302), the synchronous belt (302) is in a circular ring shape, one end of which is sleeved on the synchronous wheel (305), and the other end is sleeved on the pulley (306), and the synchronous belt (302) can rotate with the rotation of the synchronous wheel (305); A linear guide rail (308), wherein the linear guide rail (308) is arranged at the front end of the support beam (301), and the linear guide rail (308) is arranged along the entire length of the support beam (301); A slider (309), wherein the slider (309) is slidably mounted on the linear guide rail (308); An adapter plate (310), one end of the adapter plate (310) is fixed on the slider (309), and the other end is fixed on the synchronous belt (302), and the spraying assembly (6) is also fixed on the adapter plate (310).

5. A spraying robot for ship segmental closure seams according to claim 4, characterized in that: The invention also comprises a tensioning assembly (4), wherein the tensioning assembly (4) comprises a tensioning screw (401), wherein the tensioning screw (401) is inserted into the pulley seat (307), wherein one end of the tensioning screw (401) is provided with a U-shaped groove and the pulley (306) is rotatably mounted thereon via a pin assembly, and the other end of the tensioning screw (401) is sleeved with a tensioning nut (402) threadedly connected thereto, wherein the tensioning nut (402) fixes the tensioning screw (401) by pressing the pulley seat (307).

6. A spraying robot for ship segmental closure seams according to claim 4, characterized in that: The spray assembly (6) comprises a spray gun connector (601), which is fixed on the adapter plate (310), one end of the spray gun connector (601) is connected to the paint delivery pipe, and the other end is connected to the spray gun head (602).

7. A spraying robot for ship segmental closure seams according to claim 6, characterized in that: The pitch adjustment assembly (7) comprises a universal head (701), a steering gear (702) and a connecting rod (703); the universal head (701) is arranged between the spray gun joint (601) and the spray gun head (602); the steering gear (702) provides a fixed buckle steering gear seat fixedly connected to the paint delivery pipe; and the two ends of the connecting rod (703) are respectively hinged to the steering plate of the steering gear (702) and the spray gun head (602).

8. The spraying robot for the segmented closing seams of ships according to claim 4 is characterized in that: The support beam (301) is an aluminum profile with grooves formed on all four sides.

9. A spraying robot for ship segmental closure seams according to claim 8, characterized in that: The belt body at the lower loop position of the synchronous belt (302) is inserted into the top groove of the support beam (301).

10. A spraying robot for ship segmental closure seams according to claim 9, characterized in that: The linear guide rail (308) is inserted into the front groove of the support beam (301), and the end of the linear guide rail (308) is pressed and fixed by a limiting plate (311).

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