Double-arm robot for spraying protective coating of ship plate

Abstract

The invention relates to the technical field of paint surface spraying, in particular to a double-arm robot for ship plate protective coating spraying, which comprises a double-arm robot main body, a spray pipe is arranged on the double-arm robot, a spray gun for spraying is arranged in the spray pipe, and a negative pressure recoverer and an air curtain generator are further arranged in the spray pipe. The negative pressure recoverer is used for adsorbing atomized paint mist, the air curtain generator is used for limiting dissipated paint mist in an expected spraying area, the negative pressure recoverer and the air curtain generator are both of an annular structure, and the negative pressure recoverer and the air curtain generator are sequentially arranged on the periphery of the spray gun in a sleeving mode. Atomized paint mist can be adsorbed through the negative pressure recoverer, the problems of material waste and environmental pollution are solved, meanwhile, the paint mist is actively restrained through the annular air curtain generator, dissipated paint is efficiently recovered, the dissipated paint mist is limited in an expected area through an air curtain, and the spraying uniformity of complex areas such as included angles is remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of paint spraying technology, in particular to a double-arm robot for spraying protective coating of ship plate. BACKGROUND

[0002] In the field of shipbuilding and maintenance, applying protective coating to ship plate is a crucial process, and its quality is directly related to the corrosion resistance and service life of the ship. Currently, whether it is traditional manual spraying or existing automated spraying equipment, its core still relies on an atomized spray gun to directly spray paint onto the surface of the plate. However, due to the inherent diffusion of atomized paint, the complex geometry of the workpiece (such as various angles and curved surfaces), and the rebound effect during spraying, a large amount of paint does not effectively adhere to the target area, but forms a diffuse paint mist that escapes into the air or contaminates the adjacent treated surface, resulting in a series of stubborn technical problems.

[0003] In the prior art, including the applied automated spraying robots, there are significant limitations in addressing the above problems. The main shortcomings are as follows: First, the existing system lacks the ability to actively constrain and accurately guide the sprayed paint plume. When spraying at an angle, the paint sprayed to one side will inevitably contaminate the other side, disrupting the uniformity of the coating. At the same time, a large amount of atomized paint mist is lost to the environment, and the actual utilization rate of the paint is usually less than 50%, causing waste of materials and cost pressure. Second, dust, moisture, and paint mist particles left over from the previous spraying operation in the spraying environment are extremely likely to adhere to the wet paint film surface before the coating solidifies. The existing technical solutions usually treat spraying and cleaning as two independent processes, and cannot provide a clean microenvironment for the work point at the moment of spraying, resulting in the possibility of impurities being mixed into the coating, causing defects such as pinholes and shrinkage, affecting its protective performance and appearance. In addition, for atomized paint mist, the current mainstream solution is to install a large external exhaust filtration system in the spraying workshop. This method is a passive end-of-pipe treatment, which is energy-intensive and requires large equipment, and cannot achieve direct recycling of valuable paint. More seriously, in confined spaces such as ship cabins, the accumulation of paint mist and volatile organic compounds poses a risk of flammability, explosiveness, and occupational health and safety, and large systems are difficult to effectively deploy in these scenarios. SUMMARY

[0004] The present application provides a double-arm robot for spraying protective coating of ship plate to solve the above technical problems.

[0005] To achieve the above purpose, the technical solution adopted by the present application is as follows: A double-arm robot for ship plate protective coating spraying, comprising a double-arm robot body, the double-arm robot body comprising a main arm rod and a rotating arm rod arranged at both ends of the main arm rod, a spray pipe movably connected to the free end of the rotating arm rod, a spray gun arranged in the spray pipe for spraying, a negative pressure collector and an air curtain generator arranged in the spray pipe, the negative pressure collector being used for adsorbing atomized paint mist, and the air curtain generator being used for limiting the escaped paint mist in the expected spraying area, the negative pressure collector and the air curtain generator being annular structures, the diameter of the air curtain generator being greater than the diameter of the negative pressure collector, and the negative pressure collector and the air curtain generator being sequentially sleeved on the periphery of the spray gun.

[0006] Further, the spray port of the spray pipe is sequentially provided with a spray material cavity, a negative pressure cavity and a gas injection cavity from inside to outside, and the spray material cavity, the negative pressure cavity and the gas injection cavity are coaxially arranged. The coaxial three-cavity design forms a dynamic and closed working environment, the negative pressure collector ensures that the capture range completely covers the atomized paint mist, and the protective air curtain generated by the air curtain generator surrounds the paint mist cone, which can ensure that the constraint and recovery effect of the paint mist remain consistent in the entire spraying track, especially for complex path spraying of the robot, especially for processing curved surfaces and special-shaped structures. The two form a closed loop of negative pressure collection and positive pressure constraint, reducing material waste and environmental pollution caused by escape. The air curtain generator uses the invisible barrier formed by high-speed airflow to constrain the paint mist on the ideal path.

[0007] Further, the inner cavities of the rotating arm rod are respectively provided with a material guide pipe, a negative pressure pipe and a gas supply pipe, the material guide pipe is in communication with the spray material cavity, the negative pressure pipe is in communication with the negative pressure cavity, and the gas supply pipe is in communication with the gas injection cavity. The negative pressure pipe forms a local closed space in the gas injected by the gas supply pipe, thereby generating a strong inward suction force. All paint mist that fails to adhere to the workpiece, is blocked by the air curtain and escapes will be captured by the negative pressure cavity and sucked away, thereby solving the problems of low paint utilization rate and environmental pollution in traditional spraying. Continuous suction can also ensure the visibility of the spraying area, facilitating manual or mechanical monitoring. If the sprayed material is flammable paint, the negative pressure pipe can suck away flammable vapor, significantly improving the safety of the operation. The material guide pipe is used for feeding paint or sand blasting, and the gas supply pipe is used for conveying inert gas such as nitrogen or dry air. By compressing the gas and high-pressure injection, a conical curtain is formed, which can form a dynamic protective barrier around the sprayed material. In addition, in the process of high-pressure injection, the air curtain simultaneously sweeps the surface to be sprayed, which can remove dust and moisture on the surface, creating a clean and dry working microenvironment, and significantly improving the adhesion and quality of the coating.

[0008] Further, the spray pipe is connected with the rotating arm rod through a connecting shaft, and the material guide pipe, the negative pressure pipe and the air supply pipe are respectively connected with the material spraying cavity, the negative pressure cavity and the air spraying cavity through connecting pipes. The material spraying cavity, the negative pressure cavity and the air spraying cavity are relatively independent cavities, and in the working process, the posture of the spray pipe relative to the rotating arm rod can be flexibly adjusted through an electric control device to meet the spraying requirements at different angles. The connecting pipes ensure the continuous and stable conveying of the paint, the gas and the negative pressure in the movement process.

[0009] Further, the air curtain generator comprises a wind direction control assembly and a spraying assembly for conveying inert gas, the spraying assembly is communicated with the air spraying cavity through the air supply pipe, the end of the air spraying cavity is provided with a cover plate covering the air spraying cavity, a plurality of air holes are arranged on the cover plate, and the wind direction control assembly is arranged in the air spraying cavity. The diameter, inclination angle and distribution of the air holes on the cover plate can be individually designed according to actual spraying requirements, thereby ensuring that the airflow in the cavity is converted into a uniform, stable and covering entire annular plane air curtain. The spraying assembly is a positive pressure air blower for conveying inert gas to the air spraying cavity. The wind direction control assembly can change the pre-direction of the airflow before flowing out of the air hole, thereby dynamically controlling the angle and shape of the finally formed air curtain, so that it changes from a fixed barrier to a self-adaptive flexible barrier suitable for different curved surfaces and gaps.

[0010] Further, the wind direction control assembly is arranged at the spraying end of the air spraying cavity, and the wind direction control assembly comprises an outer sleeve ring, an inner sleeve ring and a plurality of guide vane plates, both ends of each guide vane plate are provided with rotating shafts, the plurality of guide vane plates are arranged between the outer sleeve ring and the inner sleeve ring through the rotating shafts at both ends, and the inner sleeve ring is fixedly sleeved on the outer pipe body of the spray gun. The rotating shaft of each guide vane plate of the guide vane plate assembly is the adjusting fulcrum thereof, and the inner sleeve ring is used as a fixed reference and is sleeved on the outer pipe body of the spray gun, thereby ensuring the coaxiality and stability of the entire assembly. By driving the outer sleeve ring, all the guide vane plates are synchronously deflected by the same angle, thereby uniformly changing the air outlet direction of the entire annular air channel. By linearly changing the angle of the guide vane plate, the spraying vector of the entire annular air curtain is controlled by a single driving source.

[0011] Further, the outer sleeve ring is externally connected with a driving motor through a wire, and the driving motor is used for driving the outer sleeve ring to reciprocatingly rotate in the circumferential direction and thereby controlling the wind direction. By controlling the reciprocating rotation of the outer sleeve ring in the circumferential direction through the driving motor, the angle of the guide vane plate can be steplessly adjusted. This enables the robot control system to dynamically adjust the spraying angle of the air curtain according to real-time path planning. For example, when spraying at a vertical included angle, the air curtain can be adjusted to be inclined to one side, thereby focusing on protecting the sprayed surface. When spraying a curved surface, the air curtain can be moderately expanded outward, thereby blowing away dust in advance. The active wind direction control can improve the air curtain from a single shielding tool to a multifunctional process optimization tool, thereby significantly improving the adaptability of the system to complex working conditions.

[0012] Further, the negative pressure pipe is connected with the negative pressure driving device through the inner cavity of the rotating arm rod, and a filter screen for filtering impurities is arranged in the negative pressure pipe. The filter screen is used for intercepting solid impurities, dry paint particles or large particle dust in the environment which are sucked into the negative pressure pipe, so as to prevent the impurities from entering the subsequent recovery pipeline or the negative pressure driving device and causing blockage or damage. Through primary filtration, the rear equipment can be protected, and the maintenance frequency and cost are reduced. Meanwhile, the proportion of paint particles in the airflow which is preliminarily purified and is still in a wet state is higher, which creates favorable conditions for subsequent paint recycling and reuse.

[0013] Further, the inner cavity of the rotating arm rod is further provided with a material collecting cavity which is communicated with the side wall of the negative pressure pipe, the material collecting cavity is communicated with the supply end of the material guide pipe through a conveying pipeline, and the filter screen is arranged at the rear end of the connection position of the negative pressure pipe and the material collecting cavity. The gas-liquid mixture containing paint mist captured by the negative pressure enters the material collecting cavity with relatively large space, and part of the larger droplets can be preliminarily separated and collected through gravity due to the reduced flow rate. Then, the airflow carrying the fine particles passes through the filter screen for fine filtration. In this way, the filter screen is prevented from being directly blocked by a large amount of wet paint mist, and hierarchical recovery is realized through the sinking of gravity, the material collecting cavity collects the paint which can be directly reused, and the efficiency of the whole recovery process is optimized.

[0014] Further, the rotating arm rod is rotationally connected with a main arm rod through a driving rotating shaft, the main arm rod is connected with a sliding mechanism through a rotating part, and the sliding mechanism is arranged on an external gantry body. The gantry covers the length and width of the whole ship plate, and the robot double arms perform fine attitude adjustment and spraying operation in the local area positioned by the gantry. Through the cooperation mode of large-scale positioning and local fine operation, the characteristics of the huge size of the ship plate and the complex surface structure are matched, and efficient and dead-angle-free automatic spraying on the whole operation surface is realized. Meanwhile, compared with manual operation, the efficiency is higher, and the spraying effect of the bending area and the special-shaped part which is difficult to operate by manual operation is better.

[0015] Compared with the prior art, the present application has the following beneficial effects: 1. The negative pressure recycler and the annular air curtain generator are arranged in the spray pipe, the negative pressure recycler can adsorb atomized paint mist, the material waste and environmental pollution problems are solved, the paint utilization rate is greatly improved, the annular air curtain generator actively restrains the paint mist and efficiently recovers the escaped paint, the air curtain limits the atomized paint mist in the expected area, and the spraying uniformity of the complex areas such as the included angle is significantly improved. 2、The present application can clean the surface to be sprayed and dynamically control the direction of the air curtain by setting the wind direction control assembly in the air curtain generator, the inert gas sprayed by the air curtain generator can blow off the dust and moisture on the surface to be sprayed while forming a protective curtain, the angle of the guide vane plate can be controlled by the driving motor, the spraying direction and range of the air curtain can be adjusted in real time, so that it better adapts to different curved surfaces and angles, thereby improving the quality of the coating; 3、The present application can filter and recycle the atomized paint by setting the material collecting cavity and filter screen connected with the negative pressure pipe and the material guide pipe, the useful paint particles are transported back to the feeding system after removing impurities through the filter screen, realizing closed loop utilization of resources, not only further reducing the material cost, but also reducing paint mist emission in the cabin and other closed spaces with limited ventilation conditions. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a three-dimensional structure schematic diagram of the present application; Figure 2 is Figure 1 is an enlarged structure schematic diagram of A in Figure 3 is a plane schematic diagram of the present application; Figure 4 is a structure schematic diagram of the rotating arm rod; Figure 5 is a sectional view of the rotating arm rod; Figure 6 is a split structure schematic diagram of the spray pipe; Figure 7 is a plane schematic diagram of the negative pressure pipe and the material collecting cavity; The figure mark: 1-main arm rod, 2-rotating arm rod, 3-spray pipe, 4-spray gun, 5-paint mist, 6-paint spraying cavity, 7-negative pressure cavity, 8-air injection cavity, 9-material guide pipe, 10-negative pressure pipe, 11-gas supply pipe, 12-connection pipe, 13-cover plate, 14-air hole, 15-outer sleeve ring, 16-inner sleeve ring, 17-guide vane plate, 18-filter screen, 19-material collecting cavity, 20-conveying pipeline, 21-rotating part, 22-sliding mechanism. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and advantages of the present application more clear and obvious, the present application is further described in detail below combined with examples and drawings, the illustrative embodiment of the present application and its description are only used to explain the present application, and do not limit the present application.

[0018] Example one, as Figures 1-7The application discloses a double-arm robot for ship plate protective coating spraying, which comprises a double-arm robot body, the double-arm robot body comprises a main arm rod 1 and rotating arm rods 2 arranged at two ends of the main arm rod 1, free ends of the rotating arm rods 2 are movably connected with spray pipes 3, the spray pipes 3 are provided with spray guns 4 for spraying, the spray pipes 3 are also provided with negative pressure collectors and air curtain generators, the negative pressure collectors are used for adsorbing atomized paint mist 5, the air curtain generators are used for limiting the escaped paint mist 5 in an expected spraying area, the negative pressure collectors and the air curtain generators are annular structures, the diameter of the air curtain generator is larger than that of the negative pressure collector, and the negative pressure collector and the air curtain generator are sequentially sleeved on the periphery of the spray gun 4.

[0019] The spray port of the spray pipe 3 is sequentially provided with a spraying cavity 6, a negative pressure cavity 7 and a gas spraying cavity 8 coaxially from inside to outside. Specifically, the three-cavity coaxial design forms a dynamic and closed working environment, the negative pressure collector ensures that the capture range completely covers the atomized paint mist 5, and the protective air curtain generated by the air curtain generator surrounds the paint mist cone, so that the robot can be sprayed along a complex path, especially the curved surface and the special-shaped structure can be processed, and the constraint and recovery effect of the paint mist 5 can be kept consistent in the whole spraying track. The two form a closed loop of negative pressure collection and positive pressure constraint, and the material waste and environmental pollution caused by the escape are reduced. The invisible barrier formed by the high-speed airflow of the air curtain generator can constrain the paint mist 5 on the ideal path, especially when the spray angle is applied, the air curtain generator can prevent the already sprayed side from being sprayed again, and the coating uniformity is improved.

[0020] The inner cavity of the rotating arm rod 2 is respectively provided with a material guide pipe 9, a negative pressure pipe 10 and a gas feeding pipe 11. The material guide pipe 9 is communicated with the material spraying cavity 6, the negative pressure pipe 10 is communicated with the negative pressure cavity 7, and the gas feeding pipe 11 is communicated with the gas spraying cavity 8. Specifically, the pipelines for conveying three different media are integrated in the inner cavity of the rotating arm rod 2, and the embedded pipelines are protected by the outer shell structure of the rotating arm rod 2. The opening edge of the negative pressure pipe 10 is made of flexible sealing material, such as wear-resistant bristles or flexible rubber lip. The negative pressure pipe 10 forms a local closed space in the gas sprayed by the gas feeding pipe 11, thereby generating strong inward suction. All paint mist 5 that fails to adhere to the workpiece, is blocked by the gas curtain and escapes will be captured by the negative pressure cavity 7 and sucked away, thereby solving the problems of low paint utilization rate and environmental pollution in traditional spraying. Continuous suction can also ensure the visibility of the spraying area, facilitating manual or mechanical monitoring. If the sprayed material is flammable paint, the negative pressure pipe 10 can suck away flammable vapor, significantly improving the safety of the operation. The material guide pipe 9 is used for feeding paint or sand blasting, and the gas feeding pipe 11 is used for conveying inert gas such as nitrogen or dry air. By compressing the gas and high-pressure spraying, a conical curtain is formed, which can form a dynamic protective barrier around the sprayed material. In addition, in the process of high-pressure spraying, the gas curtain simultaneously blows the surface to be sprayed, which can remove dust and moisture on the surface, create a clean and dry working microenvironment, and significantly improve the adhesion and quality of the coating.

[0021] The spray pipe 3 is connected with the rotating arm rod 2 through a connecting shaft, and the material guide pipe 9, the negative pressure pipe 10 and the gas feeding pipe 11 are respectively connected with the material spraying cavity 6, the negative pressure cavity 7 and the gas spraying cavity 8 through a connecting pipe 12. Specifically, the material spraying cavity 6, the negative pressure cavity 7 and the gas spraying cavity 8 are relatively independent chambers. During the operation, the posture of the spray pipe 3 relative to the rotating arm rod 2 can be flexibly adjusted through an electric control device to meet the spraying requirements of different angles. The connecting pipe 12 ensures the continuous and stable conveying of paint, gas and negative pressure during the movement.

[0022] The gas curtain generator includes a wind direction control assembly and a jetting assembly for conveying inert gas. The jetting assembly is communicated with the gas spraying cavity 8 through the gas feeding pipe 11. The end of the gas spraying cavity 8 is provided with a cover plate 13 covering the gas spraying cavity 8. A plurality of air holes 14 are arranged on the cover plate 13. The wind direction control assembly is arranged in the gas spraying cavity 8. Specifically, the diameter, inclination and distribution of the air holes 14 on the cover plate 13 can be individually designed according to the actual spraying requirements, thereby ensuring that the airflow in the cavity is converted into a uniform, stable and covering entire annular plane gas curtain. The jetting assembly is a positive pressure air blower for conveying inert gas to the gas spraying cavity 8. The wind direction control assembly can change the pre-direction of the airflow before flowing out of the air hole 14, thereby dynamically controlling the angle and shape of the finally formed gas curtain, making it change from a fixed barrier to a self-adaptive flexible barrier that can adapt to different curved surfaces and gaps.

[0023] The wind direction control assembly is arranged at the spraying end of the air jet cavity 8, and comprises an outer sleeve ring 15, an inner sleeve ring 16 and a plurality of guide vane plates 17. The two ends of each guide vane plate 17 are provided with rotating shafts, and the guide vane plates 17 are arranged between the outer sleeve ring 15 and the inner sleeve ring 16 through the rotating shafts at the two ends. The inner sleeve ring 16 is fixedly sleeved on the outer pipe body of the spray gun 4. Specifically, the guide vane plate 17 assembly is similar to a miniature ring louver mechanism. The rotating shaft of each guide vane plate 17 is the adjusting fulcrum thereof, and the inner sleeve ring 16 is used as a fixed reference and is sleeved on the outer pipe body of the spray gun 4, thereby ensuring the coaxiality and stability of the entire assembly. By driving the outer sleeve ring 15, all the guide vane plates 17 can be synchronously deflected by the same angle, so as to uniformly change the air outlet direction of the entire ring-shaped air channel. By linearly changing the angle of the guide vane plates 17, the spraying vector of the entire ring-shaped air curtain can be controlled by a single driving source.

[0024] The outer sleeve ring 15 is externally connected with a driving motor through a wire. The driving motor is used for driving the outer sleeve ring 15 to reciprocatingly rotate in the circumferential direction and thereby controlling the wind direction. Specifically, by driving the outer sleeve ring 15 to reciprocatingly rotate in the circumferential direction, the angle of the guide vane plates 17 can be steplessly adjusted. This enables the robot control system to dynamically adjust the spraying angle of the air curtain according to real-time path planning. For example, when spraying at a vertical included angle, the air curtain can be adjusted to be inclined to one side, so as to focus on protecting the sprayed surface. When spraying a curved surface, the air curtain can be slightly expanded outward, so as to blow off dust in advance. The active wind direction control can improve the air curtain from a single shielding tool to a multifunctional process optimization tool, thereby significantly improving the adaptability of the system to complex working conditions. Preferably, the driving motor adopts a compact ring-shaped servo mechanism. The driving motor can be fixed in the interior of the rear rotating arm lever 2. A driving gear is mounted on the output shaft of the motor. The driving gear is engaged with a driven gear ring. The driven gear ring is fixedly mounted on the outer cylindrical surface of the outer sleeve ring 15 through interference fit or fasteners. Through the transmission function of the motor, the gear and the gear ring, the rotary motion of the motor shaft is converted into the circumferential reciprocating rotation of the outer sleeve ring 15 around its axis. On the inner side wall of the outer sleeve ring 15, a guide groove is formed corresponding to the rotating shaft at one end of each guide vane plate 17. The guide groove is designed as a specific curved groove according to the control requirement. The rotating shaft at one end of each guide vane plate 17 is embedded in the guide groove. When the motor drives the outer sleeve ring 15 to rotate through the gear, the guide groove will generate a tangential thrust on the rotating shaft of the guide vane plate 17. Since the rotating shafts at the other ends of all the guide vane plates 17 are fixed on the inner sleeve ring 16, the thrust will force the guide vane plates 17 to deflect around their fixed shafts. By the cooperation of the guide groove and the shaft of the guide vane plate 17, the deflection angle of all the guide vane plates 17 will be synchronously changed by a certain angle of rotation of the outer sleeve ring 15, thereby realizing stepless and synchronous adjustment of the air outlet direction of the entire ring-shaped air curtain.

[0025] The negative pressure pipe 10 is connected with the negative pressure driving device through the inner cavity of the rotating arm rod 2, and a filter screen 18 for filtering impurities is arranged in the negative pressure pipe 10. Specifically, the filter screen 18 is used to intercept solid impurities, dry paint particles or large-particle dust in the environment that are sucked into the negative pressure pipe 10, so as to prevent the impurities from entering the subsequent recovery pipeline or the negative pressure driving device and causing blockage or damage. Through primary filtration, the rear equipment can be protected, and the maintenance frequency and cost are reduced. At the same time, the proportion of paint particles in the airflow that has been preliminarily purified is higher, which creates favorable conditions for subsequent paint recycling and reuse.

[0026] The inner cavity of the rotating arm rod 2 is further provided with a material collecting cavity 19 that is communicated with the side wall of the negative pressure pipe 10. The material collecting cavity 19 is communicated to the supply end of the material guide pipe 9 through a conveying pipeline 20, and the filter screen 18 is arranged at the rear end of the connection between the negative pressure pipe 10 and the material collecting cavity 19. Specifically, the gas-liquid mixture containing paint mist 5 captured by negative pressure enters the material collecting cavity 19 with relatively large space, and part of the larger droplets can be preliminarily separated and collected by gravity due to the reduction of flow rate. Then, the airflow carrying fine particles passes through the filter screen 18 for fine filtration. In this way, a large amount of wet paint mist 5 is avoided from directly blocking the filter screen 18, and hierarchical recovery is realized through the sinking of gravity, the material collecting cavity 19 collects paint that can be directly reused, and the efficiency of the entire recovery process is optimized.

[0027] The rotating arm rod 2 is rotationally connected with the main arm rod 1 through a driving rotating shaft, the main arm rod 1 is connected with a sliding mechanism 22 through a rotating part 21, and the sliding mechanism 22 is arranged on an external gantry body. Specifically, the gantry covers the length and width of the entire ship plate, and the robot double arms perform fine attitude adjustment and spraying operation in the local area positioned by the gantry. Through the division and cooperation mode of large-scale positioning and local fine operation, the characteristics of the large size of the ship plate and the complex surface structure are matched, and efficient, dead-angle-free automatic spraying on the entire working surface is realized. Compared with manual operation, the efficiency is higher, and the spraying effect of the bending area and the special-shaped part that is difficult to operate by manual operation is better.

[0028] In the embodiment one, a specific operation step of the double-arm robot for spraying the protective coating of the ship plate is further provided.

[0029] The dual-arm robot is installed on the gantry of the ship plate spraying vehicle through the sliding mechanism 22, and is connected with the external supply system (paint or protective material), inert gas source (such as nitrogen or dry air) and power system. After starting the system, the operator inputs or calls the three-dimensional model data of the ship plate to be sprayed through the control terminal, and the system plans the global spraying path based on the model. The control system moves the sliding mechanism 22 on the gantry according to the planned path, and positions the main arm rod 1 above the target working area. The main arm rod 1 adjusts the overall orientation of the two rotating arm rods 2 through the driving shafts at both ends, so that they are aligned with the area of the plate to be sprayed. The spray pipe 3 at the free end of the rotating arm rod 2 is adjusted through the connecting shaft, so that the axis of the spray gun 4 maintains a preset distance and angle with the surface to be sprayed.

[0030] The gas curtain generating system and the negative pressure driving device are started synchronously, and the positive pressure blower pumps the inert gas into the air injection cavity 8 through the air supply pipe 11. The gas is injected through the designed air holes 14 on the cover plate 13 to form a conical inert gas curtain surrounding the spray gun 4. Finally, the spray gun 4 is turned on, and the paint is uniformly atomized and sprayed from the paint injection cavity 6 through the paint guide pipe 9.

[0031] The robot moves along the predetermined path, and in the moving process, the control system dynamically adjusts the posture of the rotating arm rod 2 and the spray pipe 3 according to the real-time curved surface and angle of the plate, especially when encountering special-shaped structures such as angles and welds. When spraying a vertical angle, the control system sends a command to the driving motor, and the motor drives the outer sleeve ring 15 to rotate through the transmission of the driving gear and the driven gear ring. The curved guide groove on the inner side of the outer sleeve ring 15 pushes all the guide vane plates 17 to deflect synchronously, so that the gas curtain is deflected to the side that has been sprayed, and is protected. When spraying an open curved surface, the guide vane plates 17 are adjusted in angle, so that the gas curtain is moderately expanded outward to blow off dust and constrain the paint mist 5. In addition, since there is also a negative pressure cavity 7 between the paint injection cavity 6 and the air injection cavity 8, and the negative pressure cavity 7 has a certain width ratio, there will be a situation that the atomized paint mist 5 is not fine during spraying. In order to improve the spraying precision, the spray angle of the guide vane plate 17 can be adjusted to form a conical gas curtain, so as to limit the paint mist 5 within a more precise spraying controllable range, for more fine spraying work on narrow areas.

[0032] As shown in Figure 7 , the arrow direction represents the flow direction of the paint mist 5 sucked into the negative pressure pipe 10, and the atomized paint mist 5 is constrained by the gas curtain and guided to the negative pressure cavity 7, and is sucked into the inside by the negative pressure. The airflow mixed with the paint mist 5 first enters the collection cavity 19, and part of the larger and still usable paint droplets are preliminarily separated and settled under the action of gravity due to the decrease of flow rate. Subsequently, the airflow carrying fine particles passes through the filter screen 18 for fine filtering, and the purified airflow is discharged or further processed.

[0033] The control system instructs the sliding mechanism 22 of the gantry to move, and the robot as a whole is transferred to the next area to be worked on, and the above steps are repeated until the entire ship plate is automatically sprayed. After completing all the spraying tasks, the system performs an automatic cleaning program to clean the material guide pipe 9, the spray gun 4 and the related pipeline to prevent clogging due to solidification of the paint. The robot returns to the initial position and is powered off. The operator can periodically clean or replace the filter screen 18 and empty the residual material in the collection chamber 19 to prepare for the next operation.

[0034] In Example Three, on the basis of Example One, this embodiment proposes a closed-loop spraying system for the integrated paint recycling, purification and real-time mixing of a double-arm robot for the spraying of protective coatings on ship plates.

[0035] The collection chamber 19 is also designed with a centrifugal mechanism with a high-speed rotating inner wall. When the mixture of paint mist 5 enters, under the action of centrifugal force, the heavier and non-solidified paint droplets are thrown to the wall and collected at the bottom of the discharge port, while the lighter gas, dust and solidified paint are directed to the central exhaust outlet, achieving complete gas-liquid-solid three-phase separation. At the same time, a viscosity sensor is installed on the discharge pipeline at the bottom of the collection chamber 19 to monitor the viscosity data of the recycled paint in real time.

[0036] The new material supply pipe is connected to an external source of new paint, the recycled material supply pipe is connected to the discharge port of the collection chamber 19, and the multi-channel proportional valve receives signals from the control unit to accurately control the mixing ratio of new and recycled materials. The inlet of the proportional valve is connected to the new material supply pipe and the recycled material supply pipe, and the outlet is connected to the supply end of the material guide pipe 9 through the delivery pipeline 20. A static mixer is also provided, which is installed in the delivery pipeline 20 downstream of the proportional valve, and has a spiral blade inside. When the two types of paint flow through, they can be efficiently and uniformly mixed through the processes of division, shearing and recombination.

[0037] After the atomized paint mist 5 is captured by the negative pressure system, it first enters the centrifugal mechanism of the collection chamber 19. The centrifugal mechanism is started and rotates at high speed inside, using centrifugal force for fine separation. The available liquid paint, due to its large specific gravity, is gathered to the edge of the collection chamber 19 and flows out through the bottom outlet. The waste gas and light impurities are discharged from the central pipe to the later stage processing system, so as to obtain higher purity of the recovered paint. The recovered paint flowing out of the collection chamber 19 will flow through the viscosity sensor before entering the mixing stage. The sensor measures the viscosity value of the recovered paint in real time and continuously, and immediately transmits the data to the intelligent control unit. The intelligent control unit pre-stores the standard viscosity threshold range of the current paint type. The control unit compares the received real-time viscosity data with the standard threshold. If the viscosity of the recovered paint is too high, it is judged that it may be too dense, and the control unit will instruct the multi-channel proportional valve to increase the inflow proportion of the new material and reduce the inflow proportion of the recovered material until the estimated viscosity of the mixed paint returns to the normal range.

[0038] If the viscosity of the recovered paint is normal, the control unit instructs the proportional valve to mix at the preset optimal proportion (such as 50% new material and 50% recovered material). If the viscosity of the recovered paint is too low or the data is abnormal, the control unit can temporarily close the recovered material flow and use only new material to ensure the spraying quality and issue a maintenance warning. The new and old paints accurately matched by the proportional valve flow into the downstream static mixer together. In the process of flowing through the static mixer, the two paints are fully and uniformly mixed to form a mixed paint with uniform performance. Finally, the batch of mixed paint is supplied to the guide pipe 9 through the conveying pipeline 20 and sprayed out by the spray gun 4.

[0039] The present application controls the diffusion range of the paint within the required range through the combined action of negative pressure recovery and air curtain restraint. Through active management and directional recovery of the paint, the paint utilization rate can be greatly improved to more than 90%, which is much higher than the 30-60% of the traditional method. In addition, compared with fixed mechanical baffles, as long as the flexible lip of the negative pressure chamber 7 can move with the curved surface, the air curtain and the recovery effect can continue to work. The robot can continuously spray complex curved surfaces and special-shaped structures in a unified and non-frequent switching posture, greatly simplifying the path planning of the robot and improving the spraying efficiency. The system forms a local micro-environmental closed loop of blowing, spraying and recovery at the spraying point, which not only ensures the quality of the coating, but also maximizes the accumulation of paint mist 5 on the robot itself, fixtures and surrounding equipment, reduces the system maintenance frequency and cost.

[0040] Of course, the present application can have other various implementations. Those skilled in the art can make various corresponding changes and modifications according to the present application without departing from the spirit and essence of the present application, but these corresponding changes and modifications should all belong to the protection scope of the claims attached to the present application.

Claims

1. A dual-arm robot for spraying protective coatings on ship plates, comprising a dual-arm robot body, the dual-arm robot body comprising a main arm (1) and rotating arms (2) disposed at both ends of the main arm (1), wherein a spray pipe (3) is movably connected to the free end of the rotating arms (2), and a spray gun (4) for spraying is disposed inside the spray pipe (3), characterized in that: The nozzle (3) is also equipped with a negative pressure recovery device and an air curtain generator. The negative pressure recovery device is used to adsorb the atomized paint mist (5), and the air curtain generator is used to confine the escaping paint mist (5) to the expected spraying area. Both the negative pressure recovery device and the air curtain generator are annular structures. The diameter of the air curtain generator is larger than the diameter of the negative pressure recovery device. The negative pressure recovery device and the air curtain generator are sequentially fitted around the spray gun (4).

2. The dual-arm robot for spraying protective coatings on ship plates according to claim 1, characterized in that: The nozzle (3) has a spraying chamber (6), a negative pressure chamber (7) and a jet chamber (8) arranged sequentially from the inside to the outside. The spraying chamber (6), the negative pressure chamber (7) and the jet chamber (8) are arranged coaxially.

3. A dual-arm robot for spraying protective coatings on ship plates according to claim 2, characterized in that: The inner cavity of the rotating arm (2) is respectively provided with a material guide pipe (9), a negative pressure pipe (10) and an air delivery pipe (11). The material guide pipe (9) is connected to the spraying chamber (6), the negative pressure pipe (10) is connected to the negative pressure chamber (7), and the air delivery pipe (11) is connected to the jet chamber (8).

4. A dual-arm robot for spraying protective coatings on ship plates according to claim 3, characterized in that: The nozzle (3) is connected to the rotating arm (2) via a connecting shaft. The guide pipe (9), negative pressure pipe (10), and air delivery pipe (11) are all connected to the spraying chamber (6), negative pressure chamber (7), and air jet chamber (8) respectively via connecting pipe (12).

5. A dual-arm robot for spraying protective coatings on ship plates according to claim 2, characterized in that: The air curtain generator includes a wind direction control component and a jet component for conveying inert gas. The jet component is connected to the jet chamber (8) through an air supply pipe (11). The end of the jet chamber (8) is provided with a cover plate (13) covering the jet chamber (8). Several air holes (14) are arranged on the cover plate (13). The wind direction control component is located inside the jet chamber (8).

6. A dual-arm robot for spraying protective coatings on ship plates according to claim 5, characterized in that: The wind direction control component is located at the spraying end of the jet chamber (8). The wind direction control component includes an outer ring (15), an inner ring (16), and several guide vanes (17). The guide vanes (17) have rotating shafts at both ends. Several guide vanes (17) are located between the outer ring (15) and the inner ring (16) through the rotating shafts at both ends. The inner ring (16) is fixedly sleeved on the outer tube of the spray gun (4).

7. A dual-arm robot for spraying protective coatings on ship plates according to claim 6, characterized in that: The outer ring (15) is connected to a drive motor via a wire. The drive motor is used to drive the outer ring (15) to rotate circumferentially and thus control the wind direction.

8. A dual-arm robot for spraying protective coatings on ship plates according to claim 3, characterized in that: The negative pressure pipe (10) passes through the inner cavity of the rotating arm (2) and is connected to the negative pressure drive device. A filter screen (18) for filtering impurities is provided inside the negative pressure pipe (10).

9. A dual-arm robot for spraying protective coatings on ship plates according to claim 8, characterized in that: The inner cavity of the rotating arm (2) is also provided with a material collection chamber (19), which is connected to the side wall of the negative pressure pipe (10). The material collection chamber (19) is connected to the supply end of the guide pipe (9) through the conveying pipeline (20). The filter screen (18) is located at the rear end of the connection between the negative pressure pipe (10) and the material collection chamber (19).

10. A dual-arm robot for spraying protective coatings on ship plates according to claim 1, characterized in that: The rotating boom (2) is rotatably connected to the main boom (1) via a drive shaft. The main boom (1) is connected to a sliding mechanism (22) via a rotating component (21). The sliding mechanism (22) is mounted on the external gantry frame.

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