Robot for outer plate paint spraying in whole ship maintenance and control method thereof

Abstract

The invention belongs to the technical field of ship paint spraying equipment, particularly relates to a robot for paint spraying of a whole ship maintenance outer plate and a control method thereof, and provides the following scheme aiming at the problem that no autonomous wall-climbing paint spraying scheme exists in the existing ship outer plate paint spraying process: the robot comprises a main machine box, and a connecting seat is fixed on one side of the main machine box; a side machine box is fixed to the other side of the main machine box, a first electric push rod is fixed to the middle of the bottom of the main machine box, an electromagnet is fixed to the bottom of the first electric push rod, a sliding paint spraying sliding frame is installed on one side of the side machine box, and a spray head frame is installed at the bottom of the paint spraying sliding frame in a hinged mode. According to the ship paint spraying robot, the bottom of the main machine box is provided with the movable suction cup frames which walk alternately, the robot can walk on the outer wall of a ship body autonomously, it can be guaranteed that the robot is stably adsorbed and fixed to the surface of the ship body for paint spraying work through adsorption of the electromagnets, assistance of lifting equipment is not needed, and the ship paint spraying cost is greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship paint spraying equipment, in particular to a robot for painting the outer plate of a whole ship during maintenance and a control method thereof. BACKGROUND

[0002] The paint maintenance of a ship is an important part of ship maintenance. The paint maintenance of a ship is a repair project carried out in a dock or a shipyard. The paint maintenance of the outer plate of a ship usually requires that the paint surface be de-rusted and de-contaminated before new ship paint is sprayed. The paint spraying of a ship is usually carried out manually.

[0003] A paint spraying robot for a ship body is disclosed in Chinese patent document CN115382700B. The paint spraying robot comprises a movement module, a control module, and a spraying module. The movement module comprises a carrier, a lifting rod fixedly connected to the top end of the carrier, a guide rail fixedly connected to one side of the free end of the lifting rod, and an electric cylinder fixedly connected to the sliding table of the guide rail. The control module comprises a universal shaft, a rudder fixedly connected to one side of the electric cylinder, and a steel wire rope I connected between the universal shaft and the electric cylinder. The spraying module comprises a spray gun, a spraying pipe, and a recovery assembly. The above-mentioned patent discloses the following problems: the overall structure of the ship body paint spraying frame is very high, which requires more cost in terms of site occupation and manual operation. There is no autonomous wall climbing paint spraying scheme for the paint spraying of the outer plate of a ship. The existing technology cannot easily solve such problems. Therefore, there is an urgent need for a ball mill feeding device for processing electric porcelain insulators to solve the above-mentioned problems. SUMMARY

[0004] Based on the technical problem that there is no autonomous wall climbing paint spraying scheme for the paint spraying of the outer plate of a ship, the present application proposes a robot for painting the outer plate of a whole ship during maintenance and a control method thereof.

[0005] The robot for painting the outer plate of a whole ship during maintenance and the control method thereof proposed by the present application comprise a main box, a connecting seat fixed to one side of the main box, a side box fixed to the other side of the main box, a first electric push rod fixed to the middle position of the bottom of the main box, an electromagnet fixed to the bottom of the first electric push rod, a sliding paint spraying carriage installed on one side of the side box, a spray head frame hingedly installed at the bottom of the paint spraying carriage, a second electric push rod hingedly installed between the top of the spray head frame and the paint spraying carriage, a material guide pipe fixed to the top of the spray head frame, two center-symmetrically distributed mobile suction cup frames installed at the bottom of the main box, a third electric push rod and a fourth electric push rod hingedly installed at the top of each mobile suction cup frame, the third electric push rod and the fourth electric push rod being hingedly installed with the inner wall of the top of the main box, equally-distributed suction cups fixed to the bottom of each mobile suction cup frame, and equally-distributed paint spraying nozzles fixed to the bottom of the second electric push rod.

[0006] Preferably, a rotating cleaning housing is installed in the middle of the connecting seat, a first servo motor is fixed on the top of the connecting seat, the output shaft of the first servo motor is fixed to the fixed shaft of the cleaning housing, a vertically lifting roller frame is installed inside the cleaning housing, two fourth electric push rods are fixed between the top of the lifting roller frame and the top of the cleaning housing, and three equidistant cleaning rollers are installed at the bottom of the lifting roller frame through bearings.

[0007] Preferably, baffles are hinged to both sides of the cleaning housing, and the two baffles are fixedly installed to the cleaning housing by means of coil springs.

[0008] Preferably, the main unit chassis has two anti-fall bolts fixed to its side wall.

[0009] Preferably, the side wall of the side housing has two side sliding grooves. A first limiting rod is fixed in the bottom side sliding groove and is slidably inserted into the paint spraying carriage. A first drive screw is installed in the top side sliding groove through a bearing. The first drive screw is threadedly fitted into the paint spraying carriage and is controlled to rotate by a first drive motor, which is installed inside the side housing.

[0010] Preferably, the side wall of the main unit is fixed with two side mounting brackets by bolts, the bottom of the two side mounting brackets is installed with a paint spraying machine, two fifth electric push rods are fixed on the two side mounting brackets respectively, and the bottom of the four fifth electric push rods are fixedly installed with the top of the paint spraying machine.

[0011] Preferably, a base fixing seat is fixed at the middle position of each of the four sides of the bottom of the paint spraying machine housing. Rotating air cushion adjusting rods are installed at both ends of the bottom of the base fixing seat. The air cushion adjusting rods are deflected by a third servo motor, which is installed inside the base fixing seat. Sealed air cushions are installed on the four sides of the bottom of the paint spraying machine housing, and the bottom inner wall of the sealed air cushions is fixedly installed with the bottom of the eight air cushion adjusting rods. Drainage outlets are opened at the bottom of each of the four sides of the paint spraying machine housing. A positive pressure air blower is connected to the top of the paint spraying machine housing.

[0012] Preferably, a sliding top frame is installed at the bottom of the paint spraying machine housing, and paint spray nozzles are fixed at equal intervals at the bottom of the sliding top frame. Two second limiting rods are fixed on the inner wall of the paint spraying machine housing, and the two second limiting rods are slidably inserted into the sliding top frame. A second drive screw is fixed in the middle of the inner wall of the paint spraying machine housing through a bearing. The second drive screw is threaded into the middle of the sliding top frame. The second drive screw is controlled to rotate by a second drive motor, which is installed inside the paint spraying machine housing.

[0013] Preferably, a sliding base box is installed at the bottom of the paint spraying machine housing. Two third limiting rods are fixed inside the paint spraying machine housing and are slidably inserted into the sliding base box. A third drive screw is installed in the middle of the inner wall of the paint spraying machine housing via a bearing. The third drive screw is threaded into the middle of the sliding base box and rotated by a third drive motor installed inside the paint spraying machine housing. A dehumidifying roller is installed at the bottom of the sliding base box via a bearing. A water-shoveling groove is opened at the top of the dehumidifying roller in the sliding base box. Three equidistant water-shoveling plates are fixed inside the water-shoveling groove. Four third limiting rods are fixed at the top of the water-shoveling plates. A water storage trough is formed between adjacent water-stop plates. The bottom of the water-shoveling plates is in contact with the top of the dehumidifying roller. A negative pressure water suction chamber is opened at the top of the sliding base box and communicates with the water-shoveling groove. A negative pressure suction device is connected to the outside of the negative pressure water suction chamber.

[0014] The beneficial effects of this invention are as follows:

[0015] 1. The robot and its control method for painting the outer hull of a ship are described. The bottom of the main unit has a mobile suction cup frame that moves alternately, allowing the robot to move autonomously on the outer wall of the ship. The robot can be stably attached to the hull surface for painting by the adsorption of an electromagnet. The autonomous movement and painting functions enable the robot to work independently, improving the efficiency of painting. Moreover, it does not require the assistance of lifting equipment, which greatly reduces the cost of ship painting.

[0016] 2. The robot and its control method for painting the outer hull of a ship for overall repair, with a paint spraying chamber that can drain water under positive pressure and maintain a positive pressure environment inside the paint spraying chamber, makes it easier to repair the hull paint below the waterline. The robot can repair the paint surface autonomously underwater without the need for the ship to go into dry dock for repair, saving a lot of time in hull paint repair, greatly improving the work efficiency of the shipyard, and effectively reducing the cost for the shipowner. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the robot for painting the outer hull of a ship during the overall repair of the present invention.

[0018] Figure 2 This is a schematic diagram of the painting carriage structure of the robot for painting the outer hull of a ship for overall ship maintenance proposed in this invention.

[0019] Figure 3 This is a schematic diagram of the mobile suction cup frame structure of the robot for painting the outer hull of a ship during the overall repair of a vessel, as proposed in this invention.

[0020] Figure 4This is a schematic diagram of the cleaning chassis structure of the robot for painting the outer hull of a ship during the overall repair of the vessel, as proposed in this invention.

[0021] Figure 5 This is a schematic diagram of the paint spraying machine structure in Embodiment 2 of the robot for painting the outer hull of a ship for overall ship repair proposed in this invention.

[0022] Figure 6 This is a schematic diagram of the bottom structure of the paint spraying machine box in Embodiment 2 of the robot for painting the outer hull of a ship for overall ship repair proposed in this invention.

[0023] Figure 7 This is a partial cross-sectional view of the sealing air cushion structure in Embodiment 2 of the robot for painting the outer hull of a ship during overall ship repair proposed in this invention.

[0024] Figure 8 This is a schematic diagram of the dehumidifier housing structure in Embodiment 2 of the robot for painting the outer hull of a ship during the overall repair of the present invention.

[0025] Figure 9 This is the second embodiment of the robot for painting the outer hull of a ship during overall maintenance proposed in this invention. Figure 8 An enlarged schematic diagram of part A of the structure.

[0026] In the diagram: 1. Main unit chassis; 2. Connecting seat; 3. Anti-fall bolt; 4. Cleaning chassis; 5. Baffle; 6. First servo motor; 7. Fourth electric actuator; 8. Side chassis; 9. Paint carriage; 10. Spray nozzle holder; 11. Material guide tube; 12. Side slide; 13. First drive screw; 14. First limit rod; 15. Second electric actuator; 16. First electric actuator; 17. Electromagnet; 18. Third electric actuator; 19. Fourth electric actuator; 20. Moving suction cup holder; 21. Suction cup; 22. Cleaning... 23. Lifting roller frame; 24. Side fixing frame; 25. Fifth electric push rod; 26. Paint spraying machine box; 27. Sealing air cushion; 28. Sliding top frame; 29. ​​Sliding bottom box; 30. Second limit rod; 31. Third limit rod; 32. Second drive screw; 33. Third drive screw; 34. Paint spray nozzle; 35. Dehumidifying roller; 36. Bottom fixing seat; 37. Air cushion adjusting rod; 38. Water scraper plate; 39. Negative pressure water suction chamber; 40. Water scraper top groove; 41. Water stop plate; 42. Water storage tank. Detailed Implementation

[0027] Example 1, refer to Figures 1-4A robot for painting the outer hull of a ship during overall maintenance includes a main unit 1. A connecting seat 2 is fixed to one side of the main unit 1, and a side unit 8 is fixed to the other side of the main unit 1. A first electric push rod 16 is fixed at the bottom center of the main unit 1, and an electromagnet 17 is fixed to the bottom of the first electric push rod 16. A sliding paint carriage 9 is installed on one side of the side unit 8. A spray head frame 10 is hinged to the bottom of the paint carriage 9, and a second electric push rod 1 is hinged between the top of the spray head frame 10 and the paint carriage 9. 5. A guide tube 11 is fixed to the top of the nozzle holder 10. Two centrally symmetrically distributed movable suction cup holders 20 are also installed at the bottom of the main unit box 1. The top of each movable suction cup holder 20 is hinged with a third electric push rod 18 and a fourth electric push rod 19. The third electric push rod 18 and the fourth electric push rod 19 are respectively hinged to the top inner wall of the main unit box 1. The bottom of the movable suction cup holder 20 is fixed with equally spaced suction cups 21. The bottom of the second electric push rod 15 is fixed with equally spaced paint nozzles 34.

[0028] Furthermore, a rotating cleaning housing 4 is installed in the middle of the connecting seat 2, and a first servo motor 6 is fixed on the top of the connecting seat 2. The output shaft of the first servo motor 6 is fixed to the fixed shaft of the cleaning housing 4. A vertically lifting roller frame 23 is installed inside the cleaning housing 4. Two fourth electric push rods 7 are fixed between the top of the lifting roller frame 23 and the top of the cleaning housing 4. Three equally spaced cleaning rollers 22 are installed at the bottom of the lifting roller frame 23 through bearings. Baffles 5 are hinged on both sides of the cleaning housing 4, and the two baffles 5 are fixed to the cleaning housing 4 through coil springs. The baffles 5 prevent the debris generated during cleaning from affecting the position of the paint spraying.

[0029] Furthermore, two anti-fall bolts 3 are fixed to the side wall of the main unit 1; the robot is fixed to the cable on the hull by the two anti-fall bolts 3 to prevent the robot from falling and being damaged.

[0030] Furthermore, two side sliding grooves 12 are provided on the side wall of the side housing 8. A first limiting rod 14 is fixed in the side sliding groove 12 at the bottom. The first limiting rod 14 is slidably inserted and installed with the paint carriage 9. A first drive screw 13 is installed in the side sliding groove 12 at the top through a bearing. The first drive screw 13 is threaded and installed with the paint carriage 9. The first drive screw 13 is controlled to rotate by a first drive motor, which is installed inside the side housing 8.

[0031] Example 2, refer to Figures 1-9 Compared to Embodiment 1, it also includes two side mounting brackets 24 fixed to the side wall of the main unit 1 by bolts. The bottom of the two side mounting brackets 24 is equipped with a paint spraying machine 26. Two fifth electric push rods 25 are fixed on the two side mounting brackets 24 respectively, and the bottom of the four fifth electric push rods 25 are fixedly installed to the top of the paint spraying machine 26.

[0032] Furthermore, a base mounting seat 36 is fixed at the middle position of each of the four sides of the bottom of the paint spraying machine housing 26. Rotating air cushion adjusting rods 37 are installed at both ends of the bottom of the base mounting seat 36. The air cushion adjusting rods 37 are deflected by a third servo motor, which is installed inside the base mounting seat 36. Sealed air cushions 27 are installed on the four sides of the bottom of the paint spraying machine housing 26, and the bottom inner wall of the sealed air cushions 27 is fixedly installed with the bottom of the eight air cushion adjusting rods 37. Drainage outlets are opened at the bottom positions of the four sides of the paint spraying machine housing 26. A positive pressure air blowing device is connected to the top of the paint spraying machine housing 26.

[0033] Furthermore, a sliding top frame 28 is installed at the bottom of the paint spraying machine housing 26, and paint spraying nozzles 34 are fixed at equal intervals at the bottom of the sliding top frame 28. Two second limiting rods 30 are fixed on the inner wall of the paint spraying machine housing 26. The two second limiting rods 30 are slidably inserted and installed with the sliding top frame 28. A second drive screw 32 is fixed in the middle of the inner wall of the paint spraying machine housing 26 through a bearing. The second drive screw 32 is threaded and installed with the middle of the sliding top frame 28. The second drive screw 32 is controlled to rotate by a second drive motor, which is installed inside the paint spraying machine housing 26.

[0034] Furthermore, a sliding base box 29 is installed at the bottom of the paint spraying machine housing 26. Two third limiting rods 31 are fixed inside the paint spraying machine housing 26, and are slidably inserted into the sliding base box 29. A third drive screw 33 is installed in the middle of the inner wall of the paint spraying machine housing 26 via a bearing. The third drive screw 33 is threaded into the sliding base box 29. The third drive screw 33 is controlled to rotate by a third drive motor installed inside the paint spraying machine housing 26. A dehumidifying roller 35 is installed at the bottom of the sliding base box 29 via a bearing. A water-scooping groove 4 is provided on the top of the dehumidifying roller 35 in the sliding base box 29. 0. Inside the top trough 40, three equidistantly distributed shovel plates 38 are fixed. Four third limiting rods 31 are fixed on the top of the shovel plates 38. A water storage trough 42 is formed between adjacent water-stop plates 41. The bottom of the shovel plates 38 is in contact with the top of the dehumidifying roller 35. The top of the sliding bottom box 29 is provided with a negative pressure suction channel 39 that is connected to the top trough 40. A negative pressure suction device is connected to the negative pressure suction channel 39. The shovel plates 38 squeeze the water adsorbed by the dehumidifying roller 35 and collect it in the water storage trough 42 at the top. The four water-stop plates 41 prevent the backflow of water. The squeezed water is sucked out by the device connected to the negative pressure suction channel 39 at the top.

[0035] When using this invention: For painting and repairing the outer hull of a ship, this robot is first placed vertically on the ship's deck. The robot is secured to the cables via two anti-fall bolts 3. The robot's power assembly cables and the painting pipeline assembly are then connected to external equipment to ensure the normal operation of the power, air, and painting pipelines. The robot can move autonomously on the ship's outer wall. During movement, the two movable suction cup frames 20 at the bottom are reciprocated under the control of the third electric push rod 18 and the fourth electric push rod 19. Stability is ensured by the suction cups 21 at the bottom engaging with the hull. Once the robot reaches the painting position, the first electric push rod... 16 extends to bring the electromagnet 17 into contact with the hull and energize it to attract the robot, thus stabilizing the robot's overall adsorption. During the operation, the robot's painting trajectory planning involves cleaning the hull before painting. During the cleaning process, the lifting roller frame 23 inside the cleaning housing 4 is controlled by the fourth electric push rod 7 to bring the cleaning roller 22 into contact with the hull, removing rust and other impurities from the surface. During the painting process, the painting range is within the movement range of the spray head frame 10. The first drive motor controls the movement of the painting slide 9, and the painting nozzle 34 paints the hull. The second electric push rod 15 controls the angle of the spray head frame 10 to conform to the changes in the curved hull.

[0036] When performing paint repair on the bottom of the hull, the main engine box 1 is submerged underwater and attached to the hull, aligning the paint spraying machine box 26 with the paint spraying position. The extension of the four fifth electric push rods 25 brings the paint spraying machine box 26 into contact with the hull. The angle of the air cushion adjustment rod 37 is controlled by the third rudder to ensure that the sealing air cushion 27 is in contact with the hull. The positive pressure blowing device connected to the paint spraying machine box 26 blows air into the paint spraying machine box 26, causing the water inside the inner paint spraying machine box 26 to be discharged through the drain port. The blowing continues to maintain the positive pressure inside. At this time, the sliding bottom box 29 moves first and uses the dehumidifying roller 35 to roll and absorb the water on the surface of the hull. The water on the dehumidifying roller 35 is scooped out by the water scraper 38 and sucked out by the negative pressure water suction chamber 39 at the top. After the water on the surface of the hull is removed, the sliding top frame 28 moves and sprays paint on the position through the paint spray nozzle 34, completing the underwater paint repair of the ship's outer hull.

[0037] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robot for painting the outer hull of a ship during overall maintenance, comprising a main unit (1), a connecting seat (2) fixed to one side of the main unit (1), and a side unit (8) fixed to the other side of the main unit (1), characterized in that, A first electric push rod (16) is fixed at the bottom center of the main unit (1), and an electromagnet (17) is fixed at the bottom of the first electric push rod (16). A sliding paint carriage (9) is installed on one side of the side unit (8). A spray head frame (10) is hinged to the bottom of the paint carriage (9). A second electric push rod (15) is hinged between the top of the spray head frame (10) and the paint carriage (9). A guide tube (11) is fixed to the top of the spray head frame (10). Two centrally symmetrically distributed movable suction cup holders (20) are also installed at the bottom of the main unit (1). The top of each movable suction cup holder (20) is hinged with a third electric push rod (18) and a fourth electric push rod (19), and the third electric push rod (18) and the fourth electric push rod (19) are respectively hinged to the top inner wall of the main unit (1). The bottom of the movable suction cup holder (20) is fixed with equally spaced suction cups (21), and the bottom of the second electric push rod (15) is fixed with equally spaced paint spray nozzles (34).

2. The robot for painting the outer hull of a ship during overall repair as described in claim 1, characterized in that, A rotating cleaning machine box (4) is installed in the middle of the connecting seat (2). A first servo motor (6) is fixed on the top of the connecting seat (2). The output shaft of the first servo motor (6) is fixed to the fixed shaft of the cleaning machine box (4). A vertically lifting roller frame (23) is installed inside the cleaning machine box (4). Two fourth electric push rods (7) are fixed between the top of the lifting roller frame (23) and the top of the cleaning machine box (4). Three equally spaced cleaning rollers (22) are installed at the bottom of the lifting roller frame (23) through bearings.

3. The robot for painting the outer hull of a ship during overall repair, as described in claim 2, is characterized in that... Both sides of the cleaning machine box (4) are hinged with baffles (5), and the two baffles (5) are fixedly installed between the cleaning machine box (4) by coil springs.

4. The robot for painting the outer hull of a ship during overall repair as described in claim 1, characterized in that, Two anti-fall bolts (3) are fixed to the side wall of the main unit (1).

5. The robot for painting the outer hull of a ship during overall repair, as described in claim 1, is characterized in that... The side wall of the side housing (8) has two side sliding grooves (12). A first limiting rod (14) is fixed in the side sliding groove (12) at the bottom. The first limiting rod (14) is slidably inserted into the paint carriage (9). A first drive screw (13) is installed in the side sliding groove (12) at the top through a bearing. The first drive screw (13) is threadedly installed in the paint carriage (9). The first drive screw (13) is controlled to rotate by a first drive motor, which is installed inside the side housing (8).

6. The robot for painting the outer hull of a ship during overall repair as described in claim 1, characterized in that, The side wall of the main unit (1) is fixed with two side mounting brackets (24) by bolts. The bottom of the two side mounting brackets (24) is equipped with a paint spraying machine (26). Two fifth electric push rods (25) are fixed on the two side mounting brackets (24) respectively, and the bottom of the four fifth electric push rods (25) are fixedly installed with the top of the paint spraying machine (26).

7. The robot for painting the outer hull of a ship during overall repair, as described in claim 6, is characterized in that... The bottom of the paint spraying machine housing (26) is fixed with a base mounting base (36) at the middle of each of the four sides. Rotating air cushion adjusting rods (37) are installed at both ends of the bottom of the base mounting base (36). The air cushion adjusting rods (37) are deflected by a third servo motor, which is installed inside the base mounting base (36). Sealed air cushions (27) are installed on the bottom of the paint spraying machine housing (26), and the bottom inner wall of the sealed air cushions (27) is fixedly installed with the bottom of the eight air cushion adjusting rods (37). Drainage outlets are provided at the bottom of each of the four sides of the paint spraying machine housing (26). A positive pressure air blower is connected to the top of the paint spraying machine housing (26).

8. The robot for painting the outer hull of a ship during overall maintenance, as described in claim 7, is characterized in that... The bottom of the paint spraying machine housing (26) is equipped with a sliding top frame (28), and the bottom of the sliding top frame (28) is fixed with equidistantly distributed paint spray nozzles (34). The inner wall of the paint spraying machine housing (26) is fixed with two second limiting rods (30), which are slidably inserted into the sliding top frame (28). The middle of the inner wall of the paint spraying machine housing (26) is fixed with a second drive screw (32) through a bearing. The second drive screw (32) is threadedly fitted into the middle of the sliding top frame (28). The second drive screw (32) is controlled to rotate by a second drive motor, which is installed inside the paint spraying machine housing (26).

9. The robot for painting the outer hull of a ship during overall repair as described in claim 8, characterized in that, A sliding base box (29) is installed at the bottom of the paint spraying machine housing (26). Two third limiting rods (31) are fixed inside the paint spraying machine housing (26). The two third limiting rods (31) are slidably inserted into the sliding base box (29). A third drive screw (33) is installed in the middle of the inner wall of the paint spraying machine housing (26) via a bearing. The third drive screw (33) is threaded into the sliding base box (29). The third drive screw (33) is controlled to rotate by a third drive motor, which is installed inside the paint spraying machine housing (26). A sliding base box (29) is installed at the bottom via a bearing. The dehumidifying roller (35) has a sliding base box (29) located on the top of the dehumidifying roller (35) with a water-shoveling top groove (40). Inside the water-shoveling top groove (40) are three equidistantly distributed water-shoveling plates (38). The top of the water-shoveling plates (38) is fixed with four third limiting rods (31). A water storage trough (42) is formed between adjacent water-stop plates (41). The bottom of the water-shoveling plates (38) is pressed against the top of the dehumidifying roller (35). The top of the sliding base box (29) has a negative pressure water suction channel (39) that communicates with the water-shoveling top groove (40). The negative pressure water suction channel (39) is connected to a negative pressure suction device.

10. A control method for a robot used for painting the outer hull of a ship during overall repair, characterized in that, The robot for painting the outer hull of a ship as described in any one of claims 1-9, comprising the following steps: when painting the outer hull of a ship, the robot is used. First, two cables are vertically placed on the deck of the ship. The robot is fixed to the cables by two anti-fall bolts 3. The power assembly cable and the painting pipeline assembly of the robot are connected to external equipment to ensure the normal use of the power, air circuit and painting pipeline. The robot can move on its own on the outer wall of the ship. During the movement, the two moving suction cup frames (20) at the bottom are moved back and forth by the control of the third electric push rod (18) and the fourth electric push rod (19) to achieve walking. During the walking process, the suction cup (21) at the bottom is attracted to the hull to ensure stability. The robot moves to the spraying point. In the painting process, the first electric push rod (16) extends to bring the electromagnet (17) into contact with the hull and energize it to attract the robot, thus stabilizing the robot's overall adsorption. During the work process, in the robot's painting trajectory planning, the hull is first cleaned and then painted. During the cleaning process, the lifting roller frame (23) in the cleaning machine box (4) is controlled by the fourth electric push rod (7) and the cleaning roller (22) is brought into contact with the hull to remove rust and other impurities from the surface. During the painting process, the painting range is within the movement range of the spray head frame (10). The first drive motor controls the movement of the painting slide (9), and the painting nozzle (34) paints the hull. The angle of the spray head frame (10) is controlled by the second electric push rod (15) to match the changes in the curved hull. When performing paint repairs on the bottom of the hull, the main engine box (1) is submerged underwater and attached to the hull, aligning the paint spraying machine box (26) with the painting position. The four fifth electric push rods (25) extend to bring the paint spraying machine box (26) into contact with the hull. The angle of the air cushion adjustment rod (37) is controlled by the third servo motor to bring the sealing air cushion (27) into contact with the hull. The positive pressure blowing device connected to the paint spraying machine box (26) blows air into the paint spraying machine box (26), causing the inner paint spraying machine box (26) to... The water inside is discharged through the drain outlet, and the air is continuously blown to ensure the positive pressure inside. At this time, the sliding bottom box (29) moves first and the water on the surface of the hull is adsorbed by the dehumidifying roller (35). The water on the dehumidifying roller (35) is scooped out by the water scooping plate (38) and sucked out by the negative pressure water suction channel (39) at the top. After the water on the surface of the hull is removed, the sliding top frame (28) moves and the paint spray nozzle (34) is used to spray paint on the position to complete the underwater repair and painting of the outer plate of the ship.

Images