Paint spraying manipulator and working method

Abstract

The invention discloses a paint spraying manipulator and a working method. The paint spraying manipulator is used for spraying paint on a ship planking with a curved surface structure. The paint spraying manipulator comprises a multi-axis manipulator, a spray gun, a gas-collecting hood, a filtering structure, a distance measuring structure and a controller, the multi-axis manipulator is in transmission connection with the spray gun and the gas-collecting hood, and the spray gun penetrates through the gas-collecting hood and extends into the gas-collecting hood to directly face a hood opening of the gas-collecting hood; the filtering structure comprises a filtering box and a guide pipe, the filtering box is connected with the gas collecting hood through the guide pipe to be used for collecting paint mist, and the filtering box is connected with external negative pressure equipment; the distance measuring structure is mounted on the gas collecting hood to detect the distance between the spray gun and the ship outer plate; the multi-axis manipulator, the spray gun and the distance measuring structure are connected with the controller, the controller can control the multi-axis manipulator to drive the spray gun to move and spray paint in the length or height direction of the ship planking, the spray gun is always perpendicular to the ship planking in the paint spraying process, and the distance between the spray gun and the ship planking is kept at a set value, so that the paint spraying quality and the paint spraying efficiency are improved; paint mist is automatically collected, and cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship surface painting, in particular to a painting robot and a working method. BACKGROUND

[0002] At present, the shipboard painting after assembly is manual open-air painting, which has the following problems: the generated pollutants cannot be effectively collected, the labor productivity is low, the labor intensity is large, the paint utilization rate is low, and the paint film thickness is uneven; the current shipbuilding enterprises adopt two modes of overhead painting and basket painting, usually four people (two people working at high altitude and two people assisting on the ground) are needed for one operating unit, the labor cost is high, the operation efficiency is low, the painting quality is unstable, and the paint mist is unorganizedly discharged and cannot be collected. SUMMARY

[0003] The purpose of the embodiment of the present application is to provide a painting robot and a working method, which can improve the shipboard painting efficiency and painting quality, and can realize paint mist collection, and the labor cost is low.

[0004] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0005] On the one hand, a painting robot is provided for painting a shipboard with a curved surface structure, the painting robot comprises a multi-axis robot, a spray gun, a gas collecting hood, a filtering structure, a distance measuring structure and a controller, the multi-axis robot is in transmission connection with the spray gun and the gas collecting hood, the spray gun is arranged in a bottom plate of the gas collecting hood and extends into a hood of the gas collecting hood, and the spray gun is opposite to a hood opening of the gas collecting hood; the filtering structure comprises a filter box and a conduit, the filter box is connected with the gas collecting hood through the conduit for collecting paint mist, and the filter box is connected with an external negative pressure equipment; the distance measuring structure is installed on the gas collecting hood and is used for detecting the distance between the spray gun and the shipboard in real time; the multi-axis robot, the spray gun and the distance measuring structure are connected with the controller, and the controller can control the multi-axis robot to drive the spray gun to move in the length or height direction of the shipboard for painting, and make the spray gun always perpendicular to the shipboard during painting and keep the distance between the spray gun and the shipboard at a set value.

[0006] As a further scheme of the paint spraying manipulator, the filter box comprises a box body, first filter cotton, a support plate and a driving member, the support plate is provided with a plurality of through holes, all the through holes are uniformly distributed along the circumference of the support plate, and each through hole is provided with one first filter cotton; the driving member is installed outside the box body and is in transmission connection with the support plate, the box body is in a cylindrical structure, one side of the box body along the axial direction is provided with a first interface connected with the pipeline, the other side of the box body along the axial direction is connected with an external negative pressure device, and the support plate is adjacent to the first interface; the driving member is connected with the controller, and the controller can drive the driving member to rotate by a set angle every set time, so that one of the first filter cottons faces the first interface.

[0007] As a further scheme of the paint spraying manipulator, the gas collecting cover comprises a bottom plate, two oppositely arranged first side plates and two oppositely arranged second side plates, the first side plates and the second side plates are arranged to form a conical structure around the edges of the bottom plate, and two first side plates are respectively arranged at the two edges of the bottom plate along the width direction of the bottom plate; the number of the spray guns is two, and the two spray guns are arranged at intervals along the length direction of the bottom plate; one second interface is arranged on each of the two first side plates, and one end of the pipeline away from the filter box is connected with the second interface; the filter structure further comprises second filter cotton, and one second filter cotton is arranged at each second interface.

[0008] The distance measuring structure comprises four laser range finders, and the four laser range finders are arranged around the outside of the gas collecting cover through first connecting members.

[0009] As a further scheme of the paint spraying manipulator, the multi-axis manipulator comprises a first driving structure, a second driving structure, a third driving structure, a fourth driving structure and a fifth driving structure which are sequentially in transmission connection, the fifth driving structure is in transmission connection with the spray gun and the gas collecting cover, the fifth driving structure can drive the spray gun and the gas collecting cover to rotate around the horizontal axis, the fourth driving structure can drive the fifth driving structure to rotate around the Z-axis, the third driving structure can drive the fourth driving structure to drive the fifth driving structure, the spray gun and the gas collecting cover to move back and forth along the Z direction, the second driving structure can drive the third driving structure to drive the fourth driving structure, the fifth driving structure, the spray gun and the gas collecting cover to move back and forth along the Y direction, and the first driving structure can drive the second driving structure to drive the third driving structure, the fourth driving structure, the fifth driving structure, the spray gun and the gas collecting cover to move back and forth along the X direction, and the X direction, the Y direction and the Z direction are perpendicular to each other.

[0010] As a further scheme of the paint spraying manipulator, the first driving structure comprises a cross beam, a first base, a first motor, a first guide rail, a first transmission gear and a first transmission rack, the cross beam extends along the X direction, two first guide rails are installed on the cross beam along the Y direction, the first guide rails extend along the X direction, the first base is in sliding fit with the first guide rails through a first sliding block; the first transmission rack is installed on the cross beam and located between the two first guide rails, the first motor is installed on the first base, the driving shaft of the first motor is fixedly connected with the first transmission gear through the first base, the first transmission gear is in mesh with the first transmission rack; the second driving structure is installed on the first base.

[0011] As a further scheme of the paint spraying manipulator, the second driving structure comprises a longitudinal beam, a second base, a second motor, a second guide rail, a second transmission gear and a second transmission rack, the longitudinal beam extends along the Y direction, two longitudinal beams are arranged along the X direction and fixedly connected through a second connecting piece, a second guide rail is installed on the bottom of each longitudinal beam, the second guide rail and the second transmission rack extend along the Y direction, the second guide rail is in sliding fit with the first base through a second sliding block; the second transmission rack is installed on the first base and located between the two second guide rails, the second base is fixedly connected with the longitudinal beam, the second motor is installed on the second base, the driving shaft of the second motor is in transmission connection with the second transmission gear through the second base, the second transmission gear is in mesh with the second transmission rack; the third driving structure is installed on the two longitudinal beams.

[0012] As a further scheme of the paint spraying manipulator, the third driving structure comprises a vertical beam, a connecting sleeve, a third motor, a third guide rail, a third transmission gear and a third transmission rack, the vertical beam extends along the Z direction, the vertical beam is located on one side of the cross beam along the Y direction, and a gap is formed between the vertical beam and the cross beam; the connecting sleeve is sleeved on the vertical beam, and the connecting sleeve is fixedly connected with one end of the longitudinal beam along the Y direction; one third guide rail is installed on each side of the vertical beam along the X direction, a third sliding block is installed on the inner side of the connecting sleeve corresponding to the third guide rail, the third guide rail is in sliding fit with the third sliding block; the third transmission rack is installed on the side of the vertical beam of the connecting sleeve close to the cross beam, the third motor is installed on the outer side of the connecting sleeve, the driving shaft of the third motor is fixedly connected with the third transmission gear through the connecting sleeve, the third transmission gear is located in the connecting sleeve and is in mesh with the third transmission rack; the fourth driving structure is installed on the upper end of the vertical beam.

[0013] As a further scheme of the paint spraying manipulator, the third driving structure further comprises an organ case and a top plate, the top plate is fixed on the upper end of the vertical beam frame, the organ case is sleeved on the vertical beam frame, and the upper end of the organ case is connected with the top plate, and the lower end is connected with the connecting sleeve;

[0014] The paint spraying manipulator further comprises a first protective cover and a second protective cover, the first protective cover is sleeved on the first motor and fixedly connected with the first base, the second protective cover is sleeved on the second motor, the third motor and the longitudinal beam frame and fixedly connected with the first base, and the filter box is installed on the second protective cover.

[0015] As a further scheme of the paint spraying manipulator, the fourth driving structure comprises a third base and a fourth motor, the third base is fixed above the top plate, and the fourth motor is installed on the third base; the fifth driving structure comprises a horizontal plate, a vertical plate, a fifth motor and a connecting arm, the horizontal plate is connected with the vertical plate perpendicularly, the driving shaft of the fourth motor is fixedly connected with the horizontal plate, and the fourth motor can drive the horizontal plate to rotate around the Z-direction axis; the fifth motor is installed on the vertical plate, the driving shaft of the fifth motor is in transmission connection with the connecting arm, and one end of the connecting arm away from the fifth motor is connected with the spray gun and the gas collecting cover.

[0016] On the other hand, a working method is provided, and the paint spraying manipulator is applied to perform paint spraying on a ship outer plate, and the working method comprises the following steps:

[0017] S10, placing the paint spraying manipulator on the lifting device, and adjusting the height of the paint spraying manipulator through the lifting device to make the spray gun located at the edge of a certain to-be-sprayed area of the ship outer plate;

[0018] S20, the controller controls the multi-axis manipulator to adjust the position of the spray gun relative to the ship outer plate according to the distance between the spray gun and the ship outer plate detected by the distance measuring structure, so that the spray gun is perpendicular to the ship outer plate and the distance between the spray gun and the ship outer plate is kept at a set value;

[0019] S30, the controller controls the multi-axis manipulator to drive the spray gun to move in the X direction, so that the spray gun performs paint spraying operation on the ship outer plate in the moving process, and at the same time, the external negative pressure device is started to collect paint mist, and the paint mist is filtered through the filtering structure, until the paint spraying operation on the ship outer plate within the X direction stroke range of the multi-axis manipulator is completed;

[0020] S40, the spray gun is adjusted by the multi-axis manipulator to move to the edge of the next height position of the ship outer plate; steps S20, S30 and S40 are repeated until the paint spraying operation on the ship outer plate within the height stroke range of the multi-axis manipulator is completed;

[0021] S50, the controller issues an instruction to make the lifting device at another height and repeat steps S20, S30, S40, S50 until the completion of the specified height, length range of the ship plate paint spraying operation;

[0022] S60, the controller issues an instruction to make the lifting device move to the next paint spraying starting point position of the ship plate along the length direction of the ship plate, and repeat steps S20, S30, S40, S50, S60 until the completion of the entire ship plate paint spraying operation;

[0023] The distance measuring structure detects the distance between the spray gun and the ship plate in real time during the paint spraying operation, and the multi-axis manipulator adjusts the spray gun in real time according to the distance, so that the spray gun is always perpendicular to the ship plate and the distance between the spray gun and the ship plate is kept at a set value.

[0024] Advantages:

[0025] The controller can control the multi-axis manipulator to drive the spray gun to move and paint along the length or height direction of the ship plate. After the distance measuring structure detects the distance between the spray gun and the ship plate in real time, the controller controls the multi-axis manipulator to work according to the distance, so that the spray gun is always perpendicular to the ship plate during the paint spraying process and the distance between the spray gun and the ship plate is kept at a set value. The lifting device makes the spray gun of the paint spraying manipulator at a certain height, and then the multi-axis manipulator fine-tunes the position of the spray gun to make the spray gun move and paint. After the paint spraying operation of the ship plate at the height is completed, the lifting device drives the paint spraying manipulator to another height, and the multi-axis manipulator continues to drive the spray gun to move and paint. Therefore, the controller of the present application can drive the multi-axis manipulator to make the spray gun always perpendicular to the ship plate and keep the distance between the spray gun and the ship plate constant with the assistance of the distance measuring structure. The paint spraying manipulator of the present application can realize full-automatic paint spraying operation of the ship plate with non-complete plane, effectively improving the paint spraying quality. The paint mist generated during the paint spraying process is automatically collected by the filtering structure, and automatic decontamination is realized during the paint spraying operation. BRIEF DESCRIPTION OF DRAWINGS

[0026] The present application will be further described in detail below according to the drawings and examples.

[0027] Figure 1 is a schematic view of the structure of the paint spraying manipulator in the present application;

[0028] Figure 2 is a schematic view of the local structure of the paint spraying manipulator in the present application Figure 1 ;

[0029] Figure 3 isFigure 2 Partial enlarged view of part A;

[0030] Figure 4 Partial structure diagram of the paint spraying robot in the present application Figure 2 ;

[0031] Figure 5 Partial structure diagram of the paint spraying robot in the present application Figure 3 ;

[0032] Figure 6 Connection structure diagram of the filter box (without cover bottom plate) and the conduit in the present application;

[0033] Figure 7 Assembly diagram of the first driving structure, the second driving structure and the third driving structure in the present application;

[0034] Figure 8 Structure diagram of the second driving structure in the present application;

[0035] Figure 9 Structure diagram of the third driving structure in the present application.

[0036] In the figure:

[0037] 100, multi-axis robot; 110, first driving structure; 111, cross beam frame; 112, first base; 113, first motor; 114, first guide rail; 115, first transmission gear; 116, first transmission rack; 117, first sliding block; 120, second driving structure; 121, longitudinal beam frame; 122, second base; 123, second motor; 124, second guide rail; 125, second transmission gear; 126, second transmission rack; 127, second sliding block; 130, third driving structure; 131, vertical beam frame; 132, connecting sleeve; 133, third motor; 134, third guide rail; 135, third transmission gear; 136, third transmission rack; 137, third sliding block; 138, piano case; 139, top plate; 140, fourth driving structure; 141, third base; 142, fourth motor; 150, fifth driving structure; 151, horizontal plate; 152, vertical plate; 153, fifth motor; 154, connecting arm;

[0038] 200, spray gun;

[0039] 300, gas collecting cover; 310, bottom plate; 320, first side plate; 330, second side plate;

[0040] 400, filter structure; 410, filter box; 411, box body; 4111, box main body; 4112, cover body; 412, first filter cotton; 413, support plate; 414, driving piece; 420, conduit; 430, second filter cotton;

[0041] 500, ranging structure; 510, laser range finder; 520, first connecting piece;

[0042] 600, first protective cover;

[0043] 700, second protective cover. DETAILED DESCRIPTION

[0044] In order to make the technical problems solved by the present application, the technical solutions adopted and the technical effects reached more clear, the technical solutions of the embodiments of the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0045] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrated; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0046] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first feature and the second feature are in direct contact, or that the first feature and the second feature are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0047] In the description of the embodiments, if the terms "upper", "lower", "left", "right" and the like orientation or position relationship appear, they are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, if the terms "first", "second" and the like appear, they are only used to distinguish in the description, and have no special meaning.

[0048] The conventional spray gun is connected with a manipulator, and the spray gun is controlled by a controller to spray paint on a surface to be painted along a pre-planned path. However, for a ship outer plate, generally a curved surface structure, the curved surfaces of each ship type are inconsistent and vary greatly, and there are only a few ships for each ship type, so it is impossible to complete the paint spraying by pre-planning the path. When the paint spraying is performed by the conventional method, the distance between the spray gun and the curved surface cannot be kept constant and perpendicular, resulting in uneven paint spraying thickness and poor paint spraying effect. Therefore, the present embodiment designs a paint spraying manipulator for a ship outer plate with a curved surface structure.

[0049] As shown in Figures 1 to 9 The paint spraying manipulator of the present embodiment is used for paint spraying on a ship outer plate (not shown in the figure) with a curved surface structure. The paint spraying manipulator comprises a multi-axis manipulator 100, a spray gun 200, a gas collecting hood 300, a filtering structure 400, a distance measuring structure 500 and a controller (not shown in the figure). The multi-axis manipulator 100 is drivingly connected with the spray gun 200 and the gas collecting hood 300. The spray gun 200 is arranged through a bottom plate 310 of the gas collecting hood 300 and extends into the hood of the gas collecting hood 300, and the spray gun 200 is opposite to the hood opening of the gas collecting hood 300. The filtering structure 400 comprises a filtering box 410 and a conduit 420. The filtering box 410 is connected with the gas collecting hood 300 through the conduit 420 for collecting paint mist. The filtering box 410 is connected with an external negative pressure device. The distance measuring structure 500 is installed on the gas collecting hood 300 for real-time detection of the distance between the spray gun 200 and the ship outer plate. The multi-axis manipulator 100, the spray gun 200 and the distance measuring structure 500 are connected with the controller. The controller can control the multi-axis manipulator 100 to drive the spray gun 200 to move along the length or height direction of the ship outer plate for paint spraying, and make the spray gun 200 always perpendicular to the ship outer plate during the paint spraying process and keep the distance between the spray gun 200 and the ship outer plate at a set value.

[0050] In the present embodiment, the paint spraying manipulator is installed on a lifting device. The present application selects a high-altitude vehicle to be connected with the paint spraying manipulator, of course, other devices that can perform up and down operation such as elevators, lifting platforms and the like are not excluded.

[0051] The ship outer plate of the embodiment has a curved surface, that is, is not completely flat. The length of the ship outer plate is along the X direction in the figure, the height of the ship outer plate is along the Z direction in the figure, and the spray gun 200 always maintains a constant distance (a set value) with the ship outer plate in the Y axis direction. In order to optimize the paint spraying effect, the embodiment connects the multi-axis robot 100, the distance measuring structure 500, the spray gun 200 and the controller. The controller can control the multi-axis robot 100 to drive the spray gun 200 to move and spray paint along the length or height direction of the ship outer plate. After the distance measuring structure 500 detects the distance between the spray gun 200 and the ship outer plate in real time, the controller controls the multi-axis robot 100 to work according to the distance, so that the spray gun 200 always vertically faces the ship outer plate and the distance between the spray gun 200 and the ship outer plate is kept at a set value during the paint spraying process.

[0052] Specifically, the embodiment makes the spray gun 200 of the paint spraying robot be at the starting point of the area to be sprayed by the lifting device, and then adjusts the position of the spray gun 200 by the multi-axis robot 100 to move the spray gun 200 to spray paint along the X direction. After completing the paint spraying work of the ship outer plate along the full stroke of the X axis of the multi-axis robot 100, the spray gun 200 is driven by the multi-axis robot 100 to be at another height, and the spray gun 200 is continuously driven by the multi-axis robot 100 to move and spray paint along the X direction. This is repeated until the full stroke of the Z axis of the multi-axis robot 100. Then the controller controls the lifting device to move to the starting point of the area to be sprayed at another height position of the ship outer plate, and repeats the above operation until the paint spraying work of the specified height and length area of the ship outer plate is completed. Finally, the controller controls the lifting device to move to the starting point of the area to be sprayed at another specified length and height of the ship outer plate, and repeats the above operation until the paint spraying work of the entire ship outer plate is completed. The controller of the embodiment can drive the multi-axis robot 100 to make the spray gun 200 always vertically face the ship outer plate and keep the distance between the spray gun 200 and the ship outer plate constant with the assistance of the distance measuring structure 500. The paint spraying robot of the embodiment can realize omnidirectional automatic paint spraying work of the ship outer plate with a non-completely flat surface, effectively improve the paint spraying quality and efficiency, and reduce labor costs. The embodiment can automatically collect paint mist generated during the paint spraying process by the filtering structure 400, and realize automatic pollution removal during the paint spraying work.

[0053] The distance measuring structure 500 in the embodiment actually detects the distance between the detection end of the distance measuring structure 500 and the ship outer plate. The distance between the detection end of the distance measuring structure 500 and the spray gun 200 (the nozzle end of the spray gun 200) can indirectly obtain the distance between the spray gun 200 and the ship outer plate.

[0054] In the embodiment, the paint mist generated during the paint spraying work is filtered by the filter box 410, which can prevent the paint mist from blocking the paint spraying waste gas conveying pipeline (an external negative pressure device such as an air extractor is connected with the filter box 410 through the paint spraying waste gas conveying pipeline).

[0055] Further, the filter box 410 of the embodiment comprises a box body 411, first filter cottons 412, a support plate 413 and a driving member 414. The support plate 413 is provided with a plurality of through holes, all of which are uniformly distributed along the circumference of the support plate 413, and each of the through holes is provided with a first filter cotton 412. The driving member 414 is installed outside the box body 411 and is in driving connection with the support plate 413. The box body 411 is in a cylindrical structure, and one side of the box body 411 along the axial direction is provided with a first interface connected with the conduit 420, and the other side of the box body 411 along the axial direction is connected with an external negative pressure equipment, and the support plate 413 is adjacent to the first interface. The driving member 414 is connected with a controller, and the controller can drive the driving member 414 to rotate by a certain angle every certain time, so that one of the first filter cottons 412 is opposite to the first interface.

[0056] It can be understood that, since the support plate 413 is adjacent to the first interface, when the driving member 414 drives the support plate 413 to rotate, one of the first filter cottons 412 installed on the support plate 413 is opposite to the first interface. When the external negative pressure equipment connected with the box body 411 is started to work, the paint mist generated in the paint spraying process enters the box body 411 through the conduit 420, is filtered by the first filter cotton 412 opposite to the first interface, and is then collected and treated. When the first filter cotton 412 is used for a certain period of time, the driving member 414 drives the support plate 413 to rotate, so that another first filter cotton 412 adjacent to the first filter cotton 412 is opposite to the first interface. When all the first filter cottons 412 are used, all the first filter cottons 412 are replaced at one time.

[0057] For example, the number of the first filter cottons 412 is six, and the driving member 414 drives the support plate 413 to rotate by 60°, so that one of the first filter cottons 412 is opposite to the first interface. The specific interval time can be 1-3h, for example, 1h, 1.5h, 2h, 2.5h, 3h, etc., and is specifically determined according to the type of paint.

[0058] In order to facilitate the replacement of the first filter cottons 412, the box body 411 of the embodiment is designed as a detachable split structure, that is, the box body 411 comprises a box body 4111 and a cover body 4112, and the cover body 4112 is clamped and fixed with the box body 4111. The first interface is arranged at the bottom of the groove opposite to the cover body 4112 of the box body 4111, and the external negative pressure equipment is connected with the cover body 4112.

[0059] The driving member 414 in the embodiment is a motor, which is installed on the side of the box body 4111 away from the cover body 4112, and the output shaft of the motor is fixedly connected with the support plate 413 through the box body 4111, so that the support plate 413 can be driven to rotate by the motor.

[0060] In the embodiment, the gas collecting hood 300 comprises a bottom plate 310, two oppositely arranged first side plates 320 and two oppositely arranged second side plates 330, the first side plates 320 and the second side plates 330 are arranged around the edges of the bottom plate 310 to form a conical structure, the two first side plates 320 are respectively located at the two edges of the bottom plate 310 along the width direction thereof; the number of the spray guns 200 is two, the two spray guns 200 are arranged at intervals along the length direction of the bottom plate 310; one second interface is formed on each of the two first side plates 320, and the end of the conduit 420 away from the filter box 410 is connected with the second interface; the filter structure 400 further comprises second filter cottons 430, and one second filter cotton 430 is installed at each second interface.

[0061] In the embodiment, the gas collecting hood 300 is designed as a conical structure, and two spray guns 200 are arranged on the bottom plate 310 of the gas collecting hood 300, so that the paint spraying efficiency can be improved. The second filter cotton 430 is arranged at the second interface, so that the paint mist can be preliminarily filtered and then further filtered by the filter box 410, thereby improving the paint mist filtering effect.

[0062] Further, the distance measuring structure 500 comprises four laser distance meters 510, and the four laser distance meters 510 are arranged around the outside of the gas collecting hood 300 through the first connecting members 520. For example, one laser distance meter 510 is arranged on the outside of each first side plate 320 and each second side plate 330, and when the four distance parameters detected by the four laser distance meters 510 are consistent or the difference between the four distance parameters is less than a threshold value, it is determined that the spray gun 200 is perpendicular to the ship plate.

[0063] Further, the multi-axis mechanical arm 100 comprises the first driving structure 110, the second driving structure 120, the third driving structure 130, the fourth driving structure 140 and the fifth driving structure 150 which are sequentially drivingly connected, the fifth driving structure 150 is drivingly connected with the spray gun 200 and the gas collecting hood 300, the fifth driving structure 150 can drive the spray gun 200 and the gas collecting hood 300 to rotate around the horizontal axis, the fourth driving structure 140 can drive the fifth driving structure 150 to drive the spray gun 200 and the gas collecting hood 300 to rotate around the Z-direction axis, the third driving structure 130 can drive the fourth driving structure 140 to drive the fifth driving structure 150, the spray gun 200 and the gas collecting hood 300 to reciprocate along the Z-direction, the second driving structure 120 can drive the third driving structure 130 to drive the fourth driving structure 140, the fifth driving structure 150, the spray gun 200 and the gas collecting hood 300 to reciprocate along the Y-direction, and the first driving structure 110 can drive the second driving structure 120 to drive the third driving structure 130, the fourth driving structure 140, the fifth driving structure 150, the spray gun 200 and the gas collecting hood 300 to reciprocate along the X-direction, and the X-direction, the Y-direction and the Z-direction are perpendicular to each other.

[0064] The embodiment can realize rotation of the spray gun 200 around the horizontal axis, rotation of the spray gun 200 around the Z-axis, reciprocating movement of the spray gun 200 along the Z direction, reciprocating movement of the spray gun 200 along the X direction, and reciprocating movement of the spray gun 200 along the Y direction, so that accurate position adjustment of the spray gun 200 can be realized.

[0065] Further, as shown in Figures 1 to 3 , Figure 7 The first driving structure 110 includes a cross beam frame 111, a first base 112, a first motor 113, a first guide rail 114, a first transmission gear 115, and a first transmission rack 116. The length of the cross beam frame 111 extends along the X direction. Two first guide rails 114 are installed on the cross beam frame 111 at intervals along the Y direction. The length of the first guide rail 114 extends along the X direction. The first base 112 is in sliding cooperation with the first guide rail 114 through a first sliding block 117. The first transmission rack 116 is installed on the cross beam frame 111 and is located between the two first guide rails 114. The first motor 113 is installed on the first base 112, and the driving shaft of the first motor 113 is fixedly connected with the first transmission gear 115 through the first base 112. The first transmission gear 115 is in mesh with the first transmission rack 116. The second driving structure 120 is installed on the first base 112.

[0066] The first motor 113 is installed on the first base 112, and the bottom of the first base 112 is in sliding cooperation with the first guide rail 114 through the first sliding block 117. Since the first transmission rack 116 is fixed, when the first motor 113 works, it drives the first transmission gear 115 in mesh with the first transmission rack 116 to rotate, so that the first transmission rack 116 drives the first base 112, the first motor 113 on the first base 112, and the second driving structure 120 to move along the X direction, thereby realizing accurate position adjustment of the spray gun 200 along the X direction.

[0067] Further, as shown in Figures 7 to 9As shown, the second driving structure 120 comprises longitudinal beam frames 121, a second base 122, a second motor 123, second guide rails 124, a second transmission gear 125 and a second transmission rack 126. The longitudinal beam frames 121 extend along the Y direction. Two longitudinal beam frames 121 are arranged at intervals along the X direction and are fixedly connected by a second connecting piece. The bottom of each longitudinal beam frame 121 is provided with a second guide rail 124. The second guide rail 124 and the second transmission rack 126 extend along the Y direction. The second guide rail 124 is in sliding fit with the first base 112 through a second sliding block 127. The second transmission rack 126 is installed on the first base 112 and is located between the two second guide rails 124. The second base 122 is fixedly connected with the longitudinal beam frames 121. The second motor 123 is installed on the second base 122. The driving shaft of the second motor 123 is in transmission connection with the second transmission gear 125 through the second base 122. The second transmission gear 125 is in engagement with the second transmission rack 126. The third driving structure 130 is installed on the two longitudinal beam frames 121.

[0068] In this embodiment, the second motor 123 is installed on the second base 122. When the second motor 123 drives the second transmission gear 125 in engagement with the second transmission rack 126 to rotate, the second transmission gear 125 drives the second base 122, the second motor 123, the longitudinal beam frames 121, the second guide rails 124 and the third driving structure 130 to move along the Y direction relative to the slider fixed on the first base 112, so as to realize the accurate position adjustment of the spray gun 200 along the Y direction.

[0069] Further, as shown in Figure 7 and Figure 9 The third driving structure 130 comprises a vertical beam frame 131, a connecting sleeve 132, a third motor 133, third guide rails 134, a third transmission gear 135 and a third transmission rack 136. The vertical beam frame 131 extends along the Z direction. The vertical beam frame 131 is located at one side of the cross beam frame 111 along the Y direction, and has a gap between the vertical beam frame 131 and the cross beam frame 111. The connecting sleeve 132 is sleeved on the vertical beam frame 131, and is fixedly connected with the longitudinal beam frames 121 at one end along the Y direction. The vertical beam frame 131 is provided with a third guide rail 134 at each side along the X direction. The inner side of the connecting sleeve 132 is provided with a third sliding block 137 corresponding to the third guide rail 134. The third guide rail 134 is in sliding fit with the third sliding block 137. The inner side of the connecting sleeve 132 and the side of the vertical beam frame 131 close to the cross beam frame 111 are provided with the third transmission rack 136. The third motor 133 is installed on the outer side of the connecting sleeve 132. The driving shaft of the third motor 133 is fixedly connected with the third transmission gear 135 through the connecting sleeve 132. The third transmission gear 135 is located in the connecting sleeve 132 and is in engagement with the third transmission rack 136. The fourth driving structure 140 is installed on the upper end of the vertical beam frame 131.

[0070] The third guide rail 134 is installed on the upright beam frame 131, the third sliding block 137 is installed on the inner side of the connecting sleeve 132 and is in sliding cooperation with the third guide rail 134, the third transmission rack 136 extends in the vertical direction and is fixed on the side of the upright beam frame 131 and is in meshing cooperation with the third transmission gear 135, the third motor 133 is installed on the outer side of the connecting sleeve 132, when the third motor 133 is started, the third transmission gear 135 rotates, the third transmission gear 135 drives the third transmission rack 136 and the upright beam frame 131 and the fourth driving structure 140 to move along the length direction of the third guide rail 134 through the third transmission rack 136 in meshing cooperation with the third transmission gear 135, so that the position of the spray gun 200 along the Z direction is accurately adjusted.

[0071] Further, as shown in Figure 2 and Figure 5 , the third driving structure 130 further comprises an organ case 138 and a top plate 139, the top plate 139 is fixed on the upper end of the upright beam frame 131, the organ case 138 is sleeved on the upright beam frame 131, and the upper end of the organ case 138 is connected with the top plate 139 and the lower end is connected with the connecting sleeve 132. The organ case 138 is sleeved on the upright beam frame 131, the upper end is fixedly connected with the top plate 139 on the upper end of the upright beam frame 131, and the lower end is connected with the connecting sleeve 132, so that the entire upright beam frame 131, the third guide rail 134, the third transmission rack 136 and the third sliding block 137 can be shielded and protected, preventing pollution during the paint spraying process, while not affecting the up and down movement of the connecting sleeve 132.

[0072] As shown in Figure 2 and Figure 3 , the paint spraying manipulator further comprises a first protective cover 600 and a second protective cover 700, the first protective cover 600 is sleeved on the first motor 113 and is fixedly connected with the first base 112, the first motor 113 is protected, preventing the first motor 113 from being polluted; the second protective cover 700 is sleeved on the second motor 123, the third motor 133 and the longitudinal beam frame 121 and is fixedly connected with the first base 112, the second motor 123 and the third motor 133 are protected, preventing the second motor 123 and the third motor 133 from being polluted; the filter box 410 is installed on the second protective cover 700.

[0073] The second protective cover 700 in the embodiment not only protects the second motor 123 and the third motor 133, but also provides a mounting position for the filter box 410, so that the overall structure of the paint spraying manipulator is more compact.

[0074] Further, as shown in Figure 4As shown, the fourth driving structure 140 includes a third base 141 fixed above the top plate 139 and a fourth motor 142 installed on the third base 141; the fifth driving structure 150 includes a horizontal plate 151, a vertical plate 152, a fifth motor 153 and a connecting arm 154, the horizontal plate 151 is connected with the vertical plate 152 perpendicularly, the driving shaft of the fourth motor 142 is fixedly connected with the horizontal plate 151, and the fourth motor 142 can drive the horizontal plate 151 to rotate around the axis in the Z direction; the fifth motor 153 is installed on the vertical plate 152, the driving shaft of the fifth motor 153 is drivingly connected with the connecting arm 154, and the end of the connecting arm 154 away from the fifth motor 153 is connected with the spray gun 200 and the fume hood 300.

[0075] The fourth motor 142 is installed on the third base 141, when the fourth motor 142 drives the horizontal plate 151 to rotate, it can drive the vertical plate 152 fixedly connected with the horizontal plate 151 and the fifth motor 153 installed on the vertical plate 152 to rotate, so as to realize the rotation of the spray gun 200 around the axis in the Z direction and make the spray gun 200 swing to the appropriate position. The output shaft of the fifth motor 153 is fixedly connected with the spray gun 200 and the fume hood 300 through the connecting arm 154, when the fifth motor 153 starts to work, it can drive the connecting arm 154, the spray gun 200 and the fume hood 300 to rotate around the horizontal axis. Since the fourth motor 142 drives the fifth motor 153 to rotate through the horizontal plate 151 and the vertical plate 152, when the fifth motor 153 starts to work, the rotation axis of the connecting arm 154, the spray gun 200 and the fume hood 300 is not fixed, which will not be described in detail.

[0076] The embodiment also provides a working method, which applies the paint spraying manipulator in the above embodiment to perform paint spraying on the ship outer plate, and the working method comprises the following steps:

[0077] S10, placing the paint spraying manipulator on the lifting device and adjusting the height of the paint spraying manipulator through the lifting device, so that the spray gun 200 is located at the edge of a certain paint spraying area of the ship outer plate;

[0078] S20, controlling the multi-axis manipulator 100 to adjust the position of the spray gun 200 relative to the ship outer plate according to the distance between the spray gun 200 and the ship outer plate detected by the distance measuring structure 500, so that the spray gun 200 is perpendicular to the ship outer plate and the distance between the spray gun 200 and the ship outer plate is kept at a set value;

[0079] S30, controlling the multi-axis manipulator 100 to drive the spray gun 200 to move in the X direction, so that the spray gun 200 performs paint spraying operation on the ship outer plate in the moving process, and at the same time, the external negative pressure device is started to collect paint mist and the paint mist is filtered through the filtering structure 400, until the paint spraying operation on the ship outer plate within the X direction stroke range of the multi-axis manipulator 100 is completed;

[0080] S40, adjusting the spray gun 200 by the multi-axis mechanical arm 100 to move the spray gun 200 to the edge of the next height position of the ship outer plate; repeating steps S20, S30, S40 until the paint spraying work of the ship outer plate in the height stroke range of the multi-axis mechanical arm 100 is completed;

[0081] S50, the controller issues an instruction to make the lifting device at another height and repeats steps S20, S30, S40, S50 until the paint spraying work of the ship outer plate in the specified height and length range is completed;

[0082] S60, the controller issues an instruction to make the lifting device move to the next paint spraying starting position of the ship outer plate along the length direction of the ship outer plate, and repeats steps S20, S30, S40, S50, S60 until the paint spraying work of the entire ship outer plate is completed;

[0083] Wherein, the distance measuring structure 500 detects the distance between the spray gun 200 and the ship outer plate in real time during the paint spraying work, and the multi-axis mechanical arm 100 adjusts the spray gun 200 in real time according to the distance, so that the spray gun 200 is always perpendicular to the ship outer plate and the distance between the spray gun 200 and the ship outer plate is kept at a set value.

[0084] Specifically, before the paint spraying work is performed by the paint spraying mechanical arm, it is first checked and confirmed whether each component of the paint spraying mechanical arm is in good condition. After confirming that each component of the paint spraying mechanical arm is in good condition, the controller is controlled to start the first motor 113 and the spray gun 200, and the paint spraying work is started, that is, the first motor 113 drives the spray gun 200 to move along the X direction (approaching the length direction of the ship outer plate), and the spray gun 200 sprays paint during the movement. The laser range finder 510 detects the distance between the spray gun 200 and the ship outer plate in real time, and if the distance does not reach the set value, the second motor 123 is started by the controller, and the second transmission gear 125 and the second transmission rack 126 are engaged to further adjust the position of the spray gun 200 from the ship outer plate. If a curved surface position on the ship outer plate is encountered, the controller controls the fourth motor 142 and / or the fifth motor 153 to adjust the position of the spray gun 200 to ensure that the spray gun 200 maintains a constant distance from the ship and is perpendicular. After the spray gun 200 completes the paint spraying work in the X direction stroke range of the multi-axis mechanical arm 100, the third motor 133 is started to make the spray gun 200 reach a new height layer and continue the paint spraying work along the X direction, and the operation is repeated until the Z axis is full stroke. Then the controller controls the lifting device to be at another height, and the above operation is repeated until the paint spraying work of the ship outer plate in the specified height and length range is completed. Finally, the controller controls the lifting device to move the paint spraying mechanical arm to the paint spraying starting position of another length range of the ship outer plate, and the above operation is repeated until the paint spraying work of the entire ship outer plate is completed.

[0085] Further, the filter box 410 of the embodiment comprises a box body 411, first filter cottons 412, a support plate 413 and a driving member 414. The support plate 413 is provided with a plurality of through holes, all of which are uniformly distributed along the circumference of the support plate 413, and each of the through holes is provided with a first filter cotton 412. The driving member 414 is mounted outside the box body 411 and is in driving connection with the support plate 413. The box body 411 is in a cylindrical structure, and has a first interface connected with the conduit 420 on one side along the axial direction of the box body 411. The other side of the box body 411 along the axial direction is connected with an external negative pressure device, and the support plate 413 is adjacent to the first interface. The driving member 414 and the external negative pressure device are connected with a controller, and the controller can drive the driving member 414 to rotate by a set angle every set time, so as to make one of the first filter cottons 412 face the first interface.

[0086] For the structure of the filter box 410, the working method of the embodiment further comprises: when the spray gun 200 is in paint spraying operation, the controller controls the driving member 414 to rotate by a set angle every set time, so as to adjust the position of the first filter cotton 412 facing the first interface.

[0087] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the description of the present application. Especially, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A painting robot for painting the outer hull of ships with curved surfaces, characterized in that, The paint spraying manipulator comprises a multi-axis manipulator, a spray gun, a fume hood, a filtering structure, a distance measuring structure and a controller, the multi-axis manipulator is in driving connection with the spray gun and the fume hood, the spray gun is arranged through the bottom plate of the fume hood and extends into the hood of the fume hood, and the spray gun is opposite to the hood opening of the fume hood; the filtering structure comprises a filtering box and a pipe, the filtering box is connected with the fume hood through the pipe for collecting paint mist, and the filtering box is connected with an external negative pressure device; the distance measuring structure is installed on the fume hood for real-time detection of the distance between the spray gun and the ship plate; the multi-axis manipulator, the spray gun and the distance measuring structure are connected with the controller, and the controller can control the multi-axis manipulator to drive the spray gun to move along the length or height direction of the ship plate for paint spraying, and make the spray gun always perpendicular to the ship plate during paint spraying and keep the distance between the spray gun and the ship plate at a set value.

2. The paint spraying robot according to claim 1, characterized in that, The filtering box comprises a box body, first filter cotton, a support plate and a driving member, the support plate is provided with a plurality of through holes, all the through holes are uniformly distributed along the circumference of the support plate, and one first filter cotton is arranged in each through hole; the driving member is arranged outside the box body and in driving connection with the support plate, the box body is in a cylindrical structure, one side of the box body in the axial direction is provided with a first interface connected with the pipe, the other side of the box body in the axial direction is connected with an external negative pressure device, and the support plate is adjacent to the first interface; the driving member is connected with the controller, and the controller can drive the driving member to rotate by a set angle every set time, so that one of the first filter cottons is opposite to the first interface.

3. The paint spraying robot according to claim 2, wherein The fume hood comprises a bottom plate, two oppositely arranged first side plates and two oppositely arranged second side plates, the first side plates and the second side plates are arranged around the edges of the bottom plate to form a conical structure, and two first side plates are arranged at the two edges of the bottom plate along the width direction of the bottom plate; the number of the spray guns is two, and two spray guns are arranged at intervals along the length direction of the bottom plate; one second interface is arranged on each of the two first side plates, and one end of the pipe away from the filtering box is connected with the second interface; the filtering structure further comprises second filter cotton, and one second filter cotton is arranged at each second interface; The distance measuring structure comprises four laser range finders, and the four laser range finders are arranged around the outside of the fume hood through first connecting members.

4. The paint spraying robot according to claim 2, wherein The multi-axis manipulator comprises a first driving structure, a second driving structure, a third driving structure, a fourth driving structure and a fifth driving structure which are sequentially connected in transmission, the fifth driving structure is in transmission connection with the spray gun and the gas hood, the fifth driving structure can drive the spray gun and the gas hood to rotate around an axis in the horizontal direction, the fourth driving structure can drive the fifth driving structure to drive the spray gun and the gas hood to rotate around an axis in the Z direction, the third driving structure can drive the fourth driving structure to drive the fifth driving structure, the spray gun and the gas hood to reciprocate along the Z direction, the second driving structure can drive the third driving structure to drive the fourth driving structure, the fifth driving structure, the spray gun and the gas hood to reciprocate along the Y direction, and the first driving structure can drive the second driving structure to drive the third driving structure, the fourth driving structure, the fifth driving structure, the spray gun and the gas hood to reciprocate along the X direction, the X direction, the Y direction and the Z direction are perpendicular to each other.

5. The paint spraying robot according to claim 4, wherein The first driving structure comprises a cross beam, a first base, a first motor, a first guide rail, a first transmission gear and a first transmission rack, the length of the cross beam extends along the X direction, two first guide rails are mounted on the cross beam and are spaced apart along the Y direction, the length of the first guide rail extends along the X direction, the first base is in sliding fit with the first guide rail through a first sliding block, the first transmission rack is mounted on the cross beam and is located between the two first guide rails, the first motor is mounted on the first base, and the driving shaft of the first motor is fixedly connected with the first transmission gear through the first base, and the first transmission gear is in engagement with the first transmission rack; The second driving structure is mounted on the first base.

6. The paint spraying robot according to claim 5, wherein The second driving structure comprises a longitudinal beam, a second base, a second motor, a second guide rail, a second transmission gear and a second transmission rack, the length of the longitudinal beam extends along the Y direction, two longitudinal beams are spaced apart along the X direction and are fixedly connected through a second connecting piece, one second guide rail is mounted on the bottom of each longitudinal beam, the length of the second guide rail and the second transmission rack extends along the Y direction, and the second guide rail is in sliding fit with the first base through a second sliding block, the second transmission rack is mounted on the first base and is located between the two second guide rails, the second base is fixedly connected with the longitudinal beam, the second motor is mounted on the second base, and the driving shaft of the second motor is in transmission connection with the second transmission gear through the second base, and the second transmission gear is in engagement with the second transmission rack; The third driving structure is mounted on the two longitudinal beams.

7. The paint spraying robot according to claim 6, wherein The third driving structure comprises a vertical beam frame, a connecting sleeve, a third motor, a third guide rail, a third transmission gear and a third transmission rack. The vertical beam frame extends in the Z direction. The vertical beam frame is located at one side of the cross beam frame in the Y direction, and has a gap between the vertical beam frame and the cross beam frame. The connecting sleeve is sleeved on the vertical beam frame, and one end of the connecting sleeve is fixedly connected with the longitudinal beam frame in the Y direction. Two third guide rails are respectively installed on both sides of the vertical beam frame in the X direction. Third sliding blocks corresponding to the third guide rails are installed on the inner side of the connecting sleeve. The third guide rails are in sliding cooperation with the third sliding blocks. The third transmission rack is installed on the inner side of the connecting sleeve and located at the side of the vertical beam frame close to the cross beam frame. The third motor is installed on the outer side of the connecting sleeve. The driving shaft of the third motor is fixedly connected with the third transmission gear through the connecting sleeve. The third transmission gear is located in the connecting sleeve and is in meshing cooperation with the third transmission rack. The fourth driving structure is installed on the upper end of the vertical beam frame.

8. The paint spraying robot according to claim 7, characterized in that The third driving structure further comprises an organ case and a top plate. The top plate is fixed on the upper end of the vertical beam frame. The organ case is sleeved on the vertical beam frame, and the upper end of the organ case is connected with the top plate, and the lower end is connected with the connecting sleeve. The third driving structure further comprises a first protective cover and a second protective cover. The first protective cover is sleeved on the first motor and is fixedly connected with the first base. The second protective cover is sleeved on the second motor, the third motor and the longitudinal beam frame and is fixedly connected with the first base. The filter box is installed on the second protective cover.

9. The paint spraying robot according to claim 8, wherein The fourth driving structure comprises a third base and a fourth motor. The third base is fixed above the top plate. The fourth motor is installed on the third base. The fifth driving structure comprises a horizontal plate, a vertical plate, a fifth motor and a connecting arm. The horizontal plate is perpendicularly connected with the vertical plate. The driving shaft of the fourth motor is fixedly connected with the horizontal plate. The fourth motor can drive the horizontal plate to rotate around the Z direction axis. The fifth motor is installed on the vertical plate. The driving shaft of the fifth motor is in transmission connection with the connecting arm. One end of the connecting arm away from the fifth motor is connected with the spray gun and the gas collecting cover.

10. A method of operation, characterized by, The application of the paint spraying manipulator according to any one of claims 1 to 9 to the paint spraying of the ship outer plate comprises the following steps: S10, placing the paint spraying manipulator on the lifting device, and adjusting the height of the paint spraying manipulator through the lifting device to make the spray gun located at the edge of a certain to-be-sprayed area of the ship outer plate; S20, controlling the multi-axis manipulator to adjust the position of the spray gun relative to the ship outer plate according to the distance between the spray gun and the ship outer plate detected by the distance measuring structure, so that the spray gun is perpendicular to the ship outer plate and the distance between the spray gun and the ship outer plate is kept at a set value; S30, the controller controls the multi-axis robot to drive the spray gun to move along the X direction, so that the spray gun performs the paint spraying operation on the ship outer plate during the movement, and the external negative pressure device is started to collect the paint mist and filter the paint mist through the filtering structure until the paint spraying operation on the ship outer plate within the X direction stroke range of the multi-axis robot is completed; S40, the spray gun is adjusted by the multi-axis robot, so that the spray gun moves to the edge of the next height position of the ship outer plate; the steps S20, S30 and S40 are repeated until the paint spraying operation on the ship outer plate within the height stroke range of the multi-axis robot is completed; S50, the controller issues an instruction to make the lifting device at another height, and the steps S20, S30, S40 and S50 are repeated until the paint spraying operation on the ship outer plate within the specified height and length range is completed; S60, the controller issues an instruction to make the lifting device move to the next paint spraying starting position of the ship outer plate along the length direction of the ship outer plate, and the steps S20, S30, S40, S50 and S60 are repeated until the paint spraying operation on the entire ship outer plate is completed; The distance measuring structure detects the distance between the spray gun and the ship outer plate in real time during the paint spraying operation, and the multi-axis robot adjusts the spray gun in real time according to the distance, so that the spray gun is always perpendicular to the ship outer plate and the distance between the spray gun and the ship outer plate is kept at a set value.

Images