Ship underwater spraying robot and underwater spraying method

Abstract

The invention provides a ship underwater spraying robot and an underwater spraying method, and relates to the field of underwater operation robots, the robot comprises a main body frame, a walking mechanism, a sinking and floating mechanism, a spraying module, a navigation module, a vision mechanism, a control module and a driving cabin; the walking mechanisms are located on the two sides of the main body frame and connected with the main body frame, the navigation module, the control module and the driving cabin are located in the main body frame, the vision mechanism transmits collected hull curvature and three-dimensional coordinate data to the control module, and the vision mechanism, the navigation module and the control module are sequentially connected. The control module conveys the generated spraying track to the driving cabin, and the driving cabin drives and controls the walking mechanism, the sinking and floating mechanism and the spraying module to move. The spraying module is fixed to the rear end of the body frame. The sinking-floating mechanism is fixed to the upper surface of the body frame. According to the technical scheme, the problems that in the prior art, spraying of a complex curved surface ship body depends on manpower, the spraying efficiency is low, and the spraying cost is high are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater operation robots, in particular to a ship underwater spraying robot and an underwater spraying method. BACKGROUND

[0002] When anticorrosion or repainting the outer surface of a ship, the traditional spraying method needs the ship to be docked, and the coating maintenance is carried out in the dock by exposing the outer surface of the ship body, which not only has high cost, but also uneven spraying. The robots for underwater spraying in the prior art cannot realize efficient and reliable automatic anticorrosion coating spraying underwater, and the related technology of underwater spraying robots is still in the blank.

[0003] Because the underwater environment is different from the air environment, there is water resistance in water, and a water film will be formed on the surface to be sprayed, so the spraying distance between the spray head and the spraying surface needs to be within a certain range to ensure the spraying effect. At the same time, there are large-area planes and curved surfaces on the surface of the ship, and the traditional spraying method is difficult to maintain a fixed spraying distance under complex curved surfaces.

[0004] Therefore, there is a need for a ship underwater spraying robot and an underwater spraying method which can realize automatic spraying of the outer surface of a ship and can uniformly spray complex curved surfaces. SUMMARY

[0005] The main purpose of the present application is to provide a ship underwater spraying robot and an underwater spraying method to solve the problems of dependence on manual spraying, low spraying efficiency and high spraying cost for complex curved ship bodies in the prior art.

[0006] To achieve the above purpose, the present application provides a ship underwater spraying robot, comprising a main frame, a walking mechanism, a sinking and floating mechanism, a spraying module, a navigation module, a vision mechanism, a control module and a drive cabin; the walking mechanism is located on both sides of the main frame and connected with the main frame, the navigation module, the control module and the drive cabin are located in the main frame, the vision mechanism is fixed to the front end of the main frame, the vision mechanism transmits the collected ship body curvature and three-dimensional coordinate data to the control module, the vision mechanism, the navigation module and the control module are connected in sequence, the control module transmits the generated spraying trajectory to the drive cabin, and the drive cabin drives and controls the movement of the walking mechanism, the sinking and floating mechanism and the spraying module; the spraying module is fixed to the rear end of the main frame, and the sinking and floating mechanism is fixed to the upper surface of the main frame.

[0007] Further, the walking mechanism comprises: a magnetic adsorption wheel, a connecting plate, a transverse spring damper, a longitudinal spring damper, a driving wheel support, a first driving motor, a transmission mechanism, a first connecting rod, a second connecting rod, a first waterproof shell and a second waterproof shell, the lower support of the main frame and the connecting plate are connected through the first connecting rod, one end of the transverse spring damper is connected to the lower support of the main frame, and the other end is connected to the connecting plate, and the transverse spring damper is adjacent to the first connecting rod; both ends of the connecting plate are connected to the magnetic adsorption wheel, the connecting plate is connected to the first waterproof shell through the second connecting rod, the first waterproof shell is connected to the driving wheel support, and longitudinal spring dampers are further arranged on both sides of the second connecting rod, one end of each longitudinal spring damper is connected to the connecting plate, and the other end is connected to the driving wheel support; the first driving motor and the transmission mechanism are located inside the first waterproof shell and the second waterproof shell, the first waterproof shell and the second waterproof shell are fixedly connected, the transmission mechanism comprises a first transmission shaft, a second transmission shaft, a first bearing, a second bearing, a third bearing and a fourth bearing, the first driving motor drives the first transmission shaft to rotate, the first bearing and the second bearing are sleeved on the first transmission shaft, the third bearing and the fourth bearing are sleeved on the second transmission shaft, one end of the first transmission shaft away from the first driving motor is provided with a first transmission gear, the second transmission shaft is arranged perpendicularly to the first transmission shaft and passes through the magnetic adsorption wheel, part of the second transmission shaft passes out of the magnetic adsorption wheel, a second transmission gear is arranged on one end of the passing-out part of the second transmission shaft close to the magnetic adsorption wheel, the second transmission gear and the first transmission gear are engaged with each other, the second transmission gear drives the second transmission shaft to rotate, the hub of the magnetic adsorption wheel is sleeved on the second transmission shaft and fixedly connected to the second transmission shaft, the first bearing is fixedly connected to the first waterproof shell, and the second bearing, the third bearing and the fourth bearing are fixedly connected to the second waterproof shell.

[0008] Further, the sinking and floating mechanism comprises: a buoyancy plate and a vertical underwater propeller, a plurality of first through holes are uniformly distributed on the buoyancy plate, the buoyancy plate is fixed to the upper support of the main frame, and the hub of the vertical underwater propeller is fixed to the side wall of the first through hole; a second through hole is formed in the middle of the buoyancy plate, the lifting module passes through the second through hole, and the lifting module is fixedly connected to the upper support through the cross connecting piece.

[0009] Further, the spraying module comprises a rotary motor, a linear motor and a spraying mechanism; the rotary motor is fixed to the lower support, the rotor of the rotary motor is fixedly connected with a female connector, the linear motor is fixed with a male connector, and the male connector is insertedly connected with the female connector; the spraying mechanism comprises a feeding pipe, an air inlet pipe, a second driving motor, a driving rod, a worm, a turbine, an extension mechanism and a cavitation cover, and the spraying mechanism is located on the linear motor and reciprocates on the linear motor; the second driving motor, the driving rod and the filler bin are located in a third waterproof shell, the worm and the turbine are located in the filler bin, and the third waterproof shell is fixed to the linear motor; the output end of the second driving motor drives the driving rod to rotate, the end of the driving rod away from the second driving motor is provided with first meshing teeth, the worm penetrates out of the filler bin, the worm and the driving rod are arranged perpendicularly to each other, the worm penetrating end is provided with second meshing teeth, the first meshing teeth and the second meshing teeth mesh to drive the worm to rotate, the worm drives the turbine to rotate, the turbine drives the extension mechanism to move, and the cavitation cover moves with the extension mechanism; the cavitation cover is internally provided with a spray head, the third waterproof shell is internally provided with the feeding pipe and the air inlet pipe, and the spray head is in communication with the feeding pipe and the air inlet pipe; paint and gas are respectively conveyed to the feeding pipe and the air inlet pipe through cables.

[0010] Further, the extension mechanism comprises a third transmission shaft, an extension sleeve and a barrel-shaped sleeve; the third transmission shaft penetrates through the turbine and is fixed with the turbine, the extension sleeve is sleeved on the end of the third transmission shaft away from the turbine and rotates with the third transmission shaft, the extension sleeve is provided with two symmetrically arranged inclined strip-shaped holes, the barrel-shaped sleeve is sleeved on the extension sleeve, the inner wall of the barrel-shaped sleeve is provided with a sliding block, the sliding block is matched with the inclined strip-shaped hole, when the extension sleeve rotates, the sliding block moves along the inclined strip-shaped hole, the outer side of the barrel-shaped sleeve is provided with a protrusion, the inner wall of the cavitation cover is provided with a groove matched with the protrusion, and the cavitation cover is fixed to the barrel-shaped sleeve through the protrusion and the groove.

[0011] Further, the visual mechanism comprises a binocular camera and a searchlight located at both ends of the binocular camera, and the binocular camera and the searchlight are located on the connecting support which is fixedly connected with the lower support of the main body frame.

[0012] Further, the robot further comprises horizontal underwater propellers, the horizontal underwater propellers are fixed to the buoyancy plate through O-shaped connecting pieces, two horizontal underwater propellers are arranged on the two sides of the robot respectively, and the plane where the hub of the horizontal underwater propeller is located is perpendicular to the plane where the buoyancy plate is located.

[0013] Further, the motors of the horizontal underwater propellers, the motors of the vertical underwater propellers, the first driving motor, the second driving motor, the rotary motor and the linear motor are electrically connected with the driving cabin.

[0014] Further, the four magnetic adsorption wheels are arranged in two groups on the two sides of the robot; the magnetic adsorption wheel comprises a wheel and two magnetic wheels, and the two magnetic wheels are fixed to the two sides of the wheel respectively.

[0015] The application also provides a ship underwater spraying method, which specifically comprises the following steps: S1, the robot is hoisted into a working area by a hoisting module, and the robot is initialized in a posture in water with the assistance of buoyancy plates and underwater thrusters, and an initial coordinate system is established by a navigation module.

[0016] S2, the robot approaches an outer surface of a ship body, and is positioned and hovered by the underwater thrusters; an electromagnetic adsorption function is started, and a magnetic adsorption wheel is adsorbed on the outer surface of the ship body; the position of the magnetic adsorption wheel is adjusted by transverse spring damping and longitudinal spring damping, so that the magnetic adsorption wheel is adapted to the curved surface of the ship body.

[0017] S3, binocular cameras and searchlights are started, and a visual mechanism located on the ship body collects images and depth information of the surface of the ship body; a control module performs three-dimensional reconstruction on the data, calculates local curvature and normal information, and generates local spraying path points according to a spraying width and a designed coating thickness.

[0018] S4, the control module fuses the posture of the robot, the positions of the thrusters and the advancing speed, generates a global spraying track, and drives a cabin to receive track parameters to control the magnetic adsorption wheel to move according to the planned route.

[0019] S5, a spraying mechanism adjusts the distance between the front and back through a linear motor, adjusts the spraying angle through a rotary motor, and keeps a constant distance between the nozzle and the surface of the ship body through a telescopic mechanism; a cavitation cover is started to form a local water-free area, reduce the water film and improve the kinetic energy of the coating and the deposition speed.

[0020] S6, the nozzle sprays coating according to the planned track; the control module corrects the track and the speed in real time through spraying progress monitoring to prevent missing spraying and re-spraying; the multi-degree-of-freedom adjustment of the spraying mechanism compensates for the change of the curved surface of the ship body at the same time, so as to ensure the uniformity of the coating thickness; the camera of the spraying mechanism detects spraying defects and revises the spraying times in real time.

[0021] S7, after spraying of a region is completed, the underwater thrusters and the magnetic adsorption wheel are switched to the next working area; steps S3-S6 are repeated to gradually cover the outer surface of the whole ship; a navigation module records the completed region to avoid repeated spraying.

[0022] S8, after the spraying task is completed, the underwater thrusters drive the robot to separate from the ship body; the hoisting module cooperates with the buoyancy plates to recycle the robot to a deck.

[0023] The application has the following beneficial effects: The present application can realize fixed spraying height spraying of the curved surface of a ship by designing a spraying mechanism composed of a rotary motor, a linear motor and an extension mechanism. Meanwhile, aiming at the underwater spraying environment, a nozzle mechanism composed of an underwater cavitation cover and a high-pressure nozzle is designed to remove the water film on the surface of the base, increase the kinetic energy of the coating and effectively improve the underwater spraying effect. Compared with the traditional ship spraying operation and maintenance method, the spraying efficiency is improved and the spraying effect is guaranteed. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings. In the drawings: Figure 1 A whole structure diagram of a ship underwater spraying robot is shown.

[0025] Figure 2 An exploded view of Figure 1 is shown.

[0026] Figure 3 A structure diagram of a walking mechanism of Figure 1 is shown.

[0027] Figure 4 An enlarged detail view of A of Figure 3 is shown.

[0028] Figure 5 Another angle structure diagram of Figure 1 is shown.

[0029] Figure 6 An exploded view of a spraying mechanism is shown.

[0030] Figure 7 A partial structure diagram of an extension mechanism is shown.

[0031] Figure 8 A partial structure diagram of the extension mechanism from another angle is shown.

[0032] Figure 9 Another angle structure diagram of Figure 1 is shown.

[0033] The reference signs in the above drawings are as follows: 11, upper support; 12, lower support; 21, magnetic adsorption wheel; 22, connecting plate; 23, transverse spring damping; 231, damper; 232, spring; 24, longitudinal spring damping; 25, drive wheel support; 26, first drive motor; 27, encoder; 281, first transmission shaft; 2811, first transmission tooth; 282, second transmission shaft; 2821, second transmission tooth; 283, first bearing; 284, second bearing; 285, third bearing; 286, fourth bearing; 29, first connecting rod; 30, second connecting rod; 31, first waterproof shell; 32, second waterproof shell; 33, buoyancy plate; 34, vertical underwater propeller; 41, rotary motor; 411, female joint; 42, linear motor; 421, male joint; 431, feeding pipe; 432, air inlet pipe; 433, second drive motor; 434, drive rod; 4341, first meshing tooth; 435, worm; 4351, second meshing tooth; 436, turbine; 4371, third transmission shaft; 4372, telescopic sleeve; 43721, oblique strip hole; 4373, barrel-shaped sleeve; 43731, sliding block; 438, cavitation cover; 439, third waterproof shell; 44, filler bin; 45, camera; 50, navigation module; 61, binocular camera; 62, searchlight; 70, control module; 80, drive cabin; 90, horizontal underwater propeller; 100, hoisting module. DETAILED DESCRIPTION

[0034] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0035] Embodiment one As Figure 1 shown and Figure 2The underwater ship spraying robot comprises a main frame, a walking mechanism, a sinking and floating mechanism, a spraying module, a navigation module 50, a visual mechanism, a control module 70 and a driving cabin 80. The walking mechanism is located on both sides of the main frame and connected with the main frame. The navigation module 50, the control module 70 and the driving cabin 80 are located in the main frame. The visual mechanism is fixed to the front end of the main frame. The visual mechanism transmits the collected ship curvature and three-dimensional coordinate data to the control module 70. The visual mechanism, the navigation module 50 and the control module 70 are sequentially connected. The control module 70 transmits the generated spraying track to the driving cabin 80. The driving cabin 80 drives and controls the movement of the walking mechanism, the sinking and floating mechanism and the spraying module. The spraying module is fixed to the rear end of the main frame. The sinking and floating mechanism is fixed to the upper surface of the main frame. The main frame provides a space for placing each part of the robot and provides structural rigidity for the whole robot. The control module 70 calculates the target spraying track of the spraying module by using the three-dimensional coordinate data of the ship surface measured by the visual mechanism, the size data of the robot itself and the speed data of the robot, and sends the target spraying track to the driving cabin 80. The control module 70 is connected with the driving cabin 80, the power supply, the communication module, the navigation module 50 and the visual mechanism. The control module 70 receives the visual data and the navigation module 50 data, generates the spraying track and sends the control instruction. The navigation module 50 uses the IMU, the depth sensor and the visual data fusion to perform the underwater autonomous positioning and track recording.

[0036] Specifically, as Figure 2 , Figure 3 and Figure 4As shown, the walking mechanism comprises: magnetic adsorption wheel 21, connecting plate 22, transverse spring damping 23, longitudinal spring damping 24, drive wheel support 25, first drive motor 26, encoder 27, transmission mechanism, first connecting rod 29, second connecting rod 30, first waterproof shell 31 and second waterproof shell 32, the lower support 12 of the main body frame and the connecting plate 22 are connected through the first connecting rod 29, and one end of the transverse spring damping 23 is connected to the lower support 12 of the main body frame, and the other end is connected to the connecting plate 22, and the transverse spring damping 23 is adjacent to the first connecting rod 29; both ends of the connecting plate 22 are connected to the magnetic adsorption wheel 21, and the connecting plate 22 is connected to the first waterproof shell 31 through the second connecting rod 30, and the first waterproof shell 31 is connected to the drive wheel support 25, and the longitudinal spring damping 24 is also provided on both sides of the second connecting rod 30, one end of the longitudinal spring damping 24 is connected to the connecting plate 22, and the other end is connected to the drive wheel support 25; the encoder 27 is arranged on the first drive motor 26, and the first drive motor 26 and the transmission mechanism are located inside the first waterproof shell 31 and the second waterproof shell 32, and the first waterproof shell 31 and the second waterproof shell 32 are fixedly connected, and the transmission mechanism comprises: first transmission shaft 281, second transmission shaft 282, first bearing 283, second bearing 284, third bearing 285 and fourth bearing 286, the first drive motor 26 drives the first transmission shaft 281 to rotate, the first bearing 283 and the second bearing 284 are sleeved on the first transmission shaft 281, the third bearing 285 and the fourth bearing 286 are sleeved on the second transmission shaft 282, one end of the first transmission shaft 281 away from the first drive motor 26 is provided with first transmission gear 2811, the second transmission shaft 282 passes through the magnetic adsorption wheel 21 and is arranged perpendicularly to the first transmission shaft 281, part of the second transmission shaft 282 passes out of the magnetic adsorption wheel 21, and the end of the passing-out part of the second transmission shaft 282 close to the magnetic adsorption wheel 21 is provided with second transmission gear 2821, the second transmission gear 2821 and the first transmission gear 2811 are engaged with each other, the second transmission gear 2821 drives the second transmission shaft 282 to rotate, the hub of the magnetic adsorption wheel 21 is sleeved on the second transmission shaft 282 and is fixed with the second transmission shaft 282, the first bearing 283 is fixedly connected with the first waterproof shell 31, and the second, third and fourth bearings 286 are all fixedly connected with the second waterproof shell 32. The rotary power of the first drive motor 26 is transmitted to the magnetic adsorption wheel 21, so that the torque transmission is stable. The first drive motor 26 is a high-torque motor, which provides the power required for walking, and ensures that it can advance smoothly even under the action of water resistance. Each connecting rod serves as a connecting piece, transmits elastic force and adjusts the position of the wheel shaft, and realizes coordinated movement. The drive wheel support 25 is used for fixing and supporting the magnetic adsorption wheel 21 shaft, ensuring stable bearing and keeping the magnetic adsorption wheel 21 shaft and the motor output shaft aligned in the middle position.

[0037] Specifically, the transverse spring damping 23 mechanism and the longitudinal spring damping 24 mechanism include a damper 231 and a spring 232 sleeved on the damper 231, the spring 232 provides elastic pre-tightening force, ensures the continuous adhesion of the adsorption wheel to the hull, and absorbs the displacement impact caused by the curvature change. The damper 231 collects the rotation speed and position data of the adsorption wheel in real time, and provides feedback signals for the positioning and speed closed-loop control. The spring damping mechanism enables the magnetic adsorption wheel 21 to adapt to the curvature of the ship outer surface, thereby realizing the reliable adsorption and stable movement of the ship outer surface, and maintaining the constant adhesion pressure of the wheel surface and the steel plate.

[0038] Specifically, the sinking and floating mechanism includes a buoyancy plate 33 and a vertical underwater propeller 34, the buoyancy plate 33 is uniformly distributed with a plurality of first through holes, the buoyancy plate 33 is fixed to the upper support 11 of the main body frame, and the hub of the vertical underwater propeller 34 is fixed to the side wall of the first through hole; a second through hole is formed in the middle of the buoyancy plate 33, the hoisting module 100 passes through the second through hole, and the hoisting module 100 is fixedly connected with the upper support 11 through a cross connecting piece. The buoyancy plate 33 provides buoyancy balance, reduces the pressure of the magnetic adsorption wheel 21, and can improve the energy efficiency. The hoisting module 100 is used for launching and recycling the robot and quickly deploying on the outside of the hull.

[0039] Specifically, as shown in Figure 2 , Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, the spraying module comprises: a rotary motor 41, a linear motor 42 and a spraying mechanism; the rotary motor 41 is fixed to the lower support 12, the rotor of the rotary motor 41 is fixedly connected with a female connector 411, the linear motor 42 is fixed with a male connector 421, and the male connector 421 is connected with the female connector 411 in a plug-in manner; the spraying mechanism comprises: a feeding pipe 431, an air inlet pipe 432, a second driving motor 433, a driving rod 434, a worm 435, a turbine 436, a telescopic mechanism and a cavitation cover 438, the spraying mechanism is located on the linear motor 42 and reciprocates on the linear motor 42; the second driving motor 433, the driving rod 434 and the filler bin 44 are located in a third waterproof shell 439, the worm 435 and the turbine 436 are located in the filler bin 44, and the third waterproof shell 439 is fixed on the linear motor 42; the output end of the second driving motor 433 drives the driving rod 434 to rotate, the end of the driving rod 434 away from the second driving motor 433 is provided with a first meshing tooth 4341, the worm 435 penetrates out of the filler bin 44, the worm 435 is arranged perpendicular to the driving rod 434, the penetrating end of the worm 435 is provided with a second meshing tooth 4351, the first meshing tooth 4341 and the second meshing tooth 4351 mesh to drive the worm 435 to rotate, the worm 435 drives the turbine 436 to rotate, the turbine 436 drives the telescopic mechanism to move, and the cavitation cover 438 moves with the telescopic mechanism; the cavitation cover 438 is provided with a spray head inside, the third waterproof shell 439 is provided with the feeding pipe 431 and the air inlet pipe 432 inside, and the spray head is communicated with the feeding pipe 431 and the air inlet pipe 432; paint and gas are respectively conveyed to the feeding pipe 431 and the air inlet pipe 432 through a cable, and the gas and the paint are conveyed in proportion. The cavitation cover 438 forms a local "water-free area" at the spray port through high-speed airflow or bubbles, effectively removes the water film on the substrate, and ensures the kinetic energy of the paint particles and the adhesion effect. The rotary motor 41 controls the spray head to rotate around the vertical or horizontal shaft, adapts to the complex curve of the ship body, and realizes the optimization of the spraying angle. The linear motor 42 controls the linear displacement of the spray head in the front-back direction, and realizes the dynamic accurate adjustment of the spraying distance. The telescopic mechanism provides precise telescopic adjustment support for the spray head, and cooperates with the linear motor 42 to realize the distance keeping function. The spray head is a high-pressure seawater protection nozzle, which is responsible for atomizing paint and uniformly spraying on the surface of the substrate; the internal channel is subjected to anti-blocking and anti-corrosion treatment.

[0040] Specifically, as Figure 7 and Figure 8As shown, the telescopic mechanism comprises a third transmission shaft 4371, a telescopic sleeve 4372 and a barrel-shaped sleeve 4373. The third transmission shaft 4371 passes through the turbine 436 and is fixed with the turbine 436. The telescopic sleeve 4372 is sleeved on the end of the third transmission shaft 4371 away from the turbine 436 and rotates with the third transmission shaft 4371. The telescopic sleeve 4372 has two symmetrical inclined strip-shaped holes 43721. The barrel-shaped sleeve 4373 is sleeved on the telescopic sleeve 4372. The inner wall of the barrel-shaped sleeve 4373 has a sliding block 43731 which is matched with the inclined strip-shaped hole 43721. When the telescopic sleeve 4372 rotates, the sliding block 43731 moves along the inclined strip-shaped hole 43721. The barrel-shaped sleeve 4373 has a protrusion on the outer side. The inner wall of the cavitation cover 438 has a groove matched with the protrusion. The cavitation cover 438 is fixed on the barrel-shaped sleeve 4373 through the protrusion and the groove.

[0041] Through the rotary motor 41, the linear motor 42 and the telescopic mechanism, the spraying mechanism realizes three degrees of freedom movement, thereby realizing the coating spraying of underwater curved surfaces, filling the gap of current underwater unmanned spraying equipment. The spraying mechanism can keep the spray head at a fixed distance from the ship body, ensuring uniform coating thickness. The cavitation cover 438 removes the base water film through local air curtain or micro-bubble, improving the adhesion and deposition efficiency of the coating.

[0042] Specifically, as shown in the figure, Figure 9 The spraying mechanism further comprises a camera 45 arranged on the third waterproof shell 439.

[0043] Specifically, the vision mechanism comprises a binocular camera 61 and a searchlight 62 located at both ends of the binocular camera 61. The binocular camera 61 and the searchlight 62 are located on a connecting bracket which is fixedly connected with the lower bracket 12 of the main body frame. The binocular camera 61 is used for measuring the curvature of the outer surface of the ship. The searchlight 62 provides sufficient illumination for the field of view of the binocular camera 61. The binocular camera 61 outputs three-dimensional coordinate information of the outer surface of the ship body. The searchlight 62 is a low-energy high-brightness LED, which ensures the visibility range in turbid water.

[0044] Specifically, the robot further comprises horizontal underwater thrusters 90 which are fixed to the buoyancy plate 33 through O-shaped connectors. Two horizontal underwater thrusters are arranged on the two sides of the robot respectively. The plane where the hub of the horizontal underwater thruster is located is perpendicular to the plane where the buoyancy plate 33 is located.

[0045] Specifically, the motor of the horizontal underwater thruster 90, the motor of the vertical underwater thruster 34, the first driving motor 26, the second driving motor 433, the rotary motor 41 and the linear motor 42 are electrically connected with the driving cabin 80. The horizontal underwater thruster 90 and the vertical underwater thruster 34 are used for underwater attitude adjustment, forward and backward movement, left and right movement and fine positioning.

[0046] Specifically, the magnetic adsorption wheels 21 are four, two by two arranged on the two sides of the robot; the magnetic adsorption wheels 21 include: a wheel and two magnetic wheels, and the two magnetic wheels are fixed on the two sides of the wheel respectively. The magnetic adsorption wheels 21 are adsorbed on the surface of the ship by the principle of electromagnetic adsorption, and at the same time, they serve as the rolling walking contact surface to realize driving traction and drive the robot to move on the outer surface of the ship.

[0047] Specifically, the first waterproof shell 31, the second waterproof shell 32 and the third waterproof shell 439 are made of pressure-resistant and corrosion-resistant materials to prevent seawater erosion and paint deposition. The waterproof shell encapsulates the driving or transmission components.

[0048] Embodiment two A ship underwater spraying method, specifically comprising the following steps: S1, the robot is hoisted into the working area by the hoisting module 100, and the robot is initialized in the water in the posture with the assistance of the buoyancy plate 33 and each underwater propeller, and the initial coordinate system is established by the navigation module 50.

[0049] S2, the robot approaches the outer surface of the ship body, and each underwater propeller is used for fixed-point hovering; the electromagnetic adsorption function is started, and the magnetic adsorption wheels 21 are adsorbed on the outer surface of the ship; the transverse spring damper 23 and the longitudinal spring damper 24 adjust the position of the magnetic adsorption wheels 21, so that the magnetic adsorption wheels 21 adapt to the curved surface of the ship body.

[0050] S3, the binocular camera 61 and the searchlight 62 are started, the visual mechanism located on the ship body collects the image and depth information of the ship body surface; the control module 70 performs three-dimensional reconstruction on the data, calculates the local curvature and normal information, and generates local spraying path points according to the spraying width and designed coating thickness.

[0051] S4, the control module 70 fuses the robot's own posture, propeller position and travel speed to generate a global spraying track; the drive cabin 80 receives the track parameters, and controls the magnetic adsorption wheels 21 to move according to the planned route.

[0052] S5, the spraying mechanism adjusts the front and back distance through the linear motor 42, adjusts the spraying angle through the rotary motor 41, and keeps the nozzle at a constant distance from the ship body surface through the telescopic mechanism; the cavitation cover 438 is started to form a local water-free area, reduce the water film, and improve the kinetic energy and deposition speed of the paint.

[0053] S6, the nozzle sprays paint according to the planned track; the control module 70 corrects the track and speed in real time through spraying progress monitoring to prevent missed spraying and re-spraying; the multi-degree-of-freedom adjustment of the spraying mechanism simultaneously compensates for the change of the curved surface of the ship body to ensure the uniformity of the coating thickness; the camera 45 of the spraying mechanism detects the spraying defects and revises the spraying times in real time.

[0054] S7, after a piece of area spraying is completed, each underwater propeller is matched with the magnetic adsorption wheel 21 and is switched to the next operation area; steps S3-S6 are repeated, and the whole ship surface is gradually covered; the navigation module 50 records the completed area, and avoids repeated spraying.

[0055] S8, after the spraying task is completed, each underwater propeller drives the robot to separate from the ship body; the hoisting module 100 cooperates with the buoyancy plate 33 and recycles the robot to the deck.

[0056] The method provided by the application is suitable for coating spraying in the scene of ship surface corrosion prevention and repainting. The underwater coating operation efficiency is improved, the personnel operation safety is improved, and the working range is increased. The application uses the binocular camera 61 to obtain the ship surface curvature data, and uses the linear motor 42, the rotary motor 41 and the telescopic mechanism to realize the ship underwater spraying robot for curved surface spraying. The robot and the method provided by the application can change the traditional spraying method of ship into the dock, expose the ship surface, and maintain the coating in the dock. The high-cost ship operation and maintenance operation mode is changed. The coating of the ship can be repainted in the water, the operation and maintenance cost is reduced, and the cleaning efficiency is improved.

[0057] Of course, the above description is not a limitation of the application, and the application is not limited to the above examples. Changes, modifications, additions or replacements made by the person skilled in the art within the essential scope of the application should also belong to the protection scope of the application.

Claims

1. A ship underwater spraying robot, characterized in that, include: The system comprises a main frame, a walking mechanism, a floating mechanism, a painting module, a navigation module, a vision mechanism, a control module, and a drive cabin. The walking mechanism is located on both sides of the main frame and connected to it. The navigation module, control module, and drive cabin are located inside the main frame. The vision mechanism is fixed to the front end of the main frame and transmits the collected hull curvature and three-dimensional coordinate data to the control module. The vision mechanism, navigation module, and control module are connected in sequence. The control module transmits the generated painting trajectory to the drive cabin, which drives and controls the movement of the walking mechanism, floating mechanism, and painting module. The painting module is fixed to the rear end of the main frame, and the floating mechanism is fixed to the upper surface of the main frame.

2. The underwater painting robot for ships according to claim 1, characterized in that, The walking mechanism includes: magnetic adsorption wheels, a connecting plate, a transverse spring damper, a longitudinal spring damper, a drive wheel bracket, a first drive motor, a transmission mechanism, a first connecting rod, a second connecting rod, a first waterproof shell, and a second waterproof shell. The lower support of the main frame and the connecting plate are connected via the first connecting rod. One end of the transverse spring damper is connected to the lower support of the main frame, and the other end is connected to the connecting plate. The transverse spring damper is adjacent to the first connecting rod. Both ends of the connecting plate are connected to the magnetic adsorption wheels. The connecting plate is connected to the first waterproof shell via the second connecting rod. The first waterproof shell is connected to the drive wheel bracket. Longitudinal spring dampers are also provided on both sides of the second connecting rod. One end of the longitudinal spring damper is connected to the connecting plate, and the other end is connected to the drive wheel bracket. The first drive motor and the transmission mechanism are located inside the first and second waterproof shells. The first and second waterproof shells are fixedly connected. The structure includes a first drive shaft, a second drive shaft, a first bearing, a second bearing, a third bearing, and a fourth bearing. A first drive motor drives the first drive shaft to rotate. The first and second bearings are sleeved on the first drive shaft, and the third and fourth bearings are sleeved on the second drive shaft. The end of the first drive shaft away from the first drive motor is provided with a first drive tooth. The second drive shaft passes through a magnetic adsorption wheel and is perpendicular to the first drive shaft. A portion of the second drive shaft extends out of the magnetic adsorption wheel. The end of the second drive shaft extending out of the magnetic adsorption wheel is provided with a second drive tooth. The second drive tooth and the first drive tooth mesh with each other, and the second drive tooth drives the second drive shaft to rotate. The hub of the magnetic adsorption wheel is sleeved on the second drive shaft and fixed to the second drive shaft. The first bearing is fixedly connected to the first waterproof shell, and the second, third, and fourth bearings are all fixedly connected to the second waterproof shell.

3. The underwater painting robot for ships according to claim 1, characterized in that, The buoyancy mechanism includes a buoyancy plate and a vertical underwater thruster. Multiple first through holes are evenly distributed on the buoyancy plate. The buoyancy plate is fixed to the upper support of the main frame. The rotor hub of the vertical underwater thruster is fixed to the side wall of the first through hole. A second through hole is opened in the middle of the buoyancy plate. The hoisting module passes through the second through hole and is fixedly connected to the upper support through a cross connector.

4. The underwater painting robot for ships according to claim 1, characterized in that, The spraying module includes: a rotary motor, a linear motor, and a spraying mechanism; the rotary motor is fixed to the lower support, and its rotor is fixedly connected to the female connector; the linear motor has a male connector fixed to it, which is plugged into the female connector; the spraying mechanism includes: a feed pipe, an air inlet pipe, a second drive motor, a drive rod, a worm gear, a turbine, a telescopic mechanism, and a cavitation hood; the spraying mechanism is located on the linear motor and reciprocates on it; the second drive motor, the drive rod, and the filling chamber are located inside a third waterproof housing; the worm gear and turbine are located inside the filling chamber; the third waterproof housing is fixed to the linear motor. Above; the output end of the second drive motor drives the drive rod to rotate. The end of the drive rod away from the second drive motor has a first meshing tooth. The worm protrudes from the packing chamber. The worm and the drive rod are set perpendicular to each other. The protruding end of the worm has a second meshing tooth. The first and second meshing teeth mesh to drive the worm to rotate. The worm drives the turbine to rotate. The rotation of the turbine drives the telescopic mechanism to move. The cavitation hood moves with the telescopic mechanism to extend and retract. The cavitation hood has a nozzle inside. The third waterproof shell has a feed pipe and an air inlet pipe inside. The nozzle is connected to the feed pipe and the air inlet pipe. Coating and gas are delivered to the feed pipe and the air inlet pipe respectively through cables.

5. A ship underwater spraying robot according to claim 4, characterized in that, The telescopic mechanism includes: a third drive shaft, a telescopic sleeve, and a barrel-shaped assembly; the third drive shaft passes through and is fixed to the turbine; the telescopic sleeve is fitted onto the end of the third drive shaft away from the turbine and rotates with the third drive shaft; the telescopic sleeve has two symmetrically arranged oblique strip-shaped holes; the barrel-shaped assembly is fitted onto the telescopic sleeve; the inner wall of the barrel-shaped assembly has a sliding block that matches the oblique strip-shaped holes; when the telescopic sleeve rotates, the sliding block moves along the oblique strip-shaped holes; the outer side of the barrel-shaped assembly has a protrusion; the inner wall of the cavitation hood has a groove that matches the protrusion; the cavitation hood is fixed to the barrel-shaped assembly by the protrusion and the groove.

6. The underwater painting robot for ships according to claim 1, characterized in that, The vision mechanism includes: a binocular camera and searchlights located at both ends of the binocular camera. The binocular camera and searchlights are located on a connecting bracket, which is fixedly connected to the lower bracket of the main frame.

7. A ship underwater spraying robot according to claim 3, characterized in that, The robot also includes: a horizontal underwater thruster, which is fixed to the buoyancy plate by an O-ring connector. Two horizontal underwater thrusters are respectively set on both sides of the robot, and the plane of the thruster hub is perpendicular to the plane of the buoyancy plate.

8. A ship underwater spraying robot according to claim 7, characterized in that, The motors of the horizontal underwater thruster, the vertical underwater thruster, the first drive motor, the second drive motor, the rotary motor, and the linear motor are electrically connected to the drive cabin.

9. A ship underwater spraying robot according to claim 2, characterized in that, There are four magnetic adsorption wheels, arranged in pairs on both sides of the robot; the magnetic adsorption wheels include: a wheel and a magnetic wheel, with two magnetic wheels fixed to both sides of the wheel respectively.

10. A method for underwater spraying of a ship, utilizing the robot described in any one of claims 1-9, characterized in that, Specifically, the steps include the following: S1, the robot is hoisted into the work area by the hoisting module. With the assistance of the buoyancy plate and various underwater thrusters, the robot initializes its attitude in the water and the navigation module establishes the initial coordinate system. S2, the robot approaches the outer surface of the hull and hovers at a fixed point using various underwater thrusters; the electromagnetic adsorption function is activated, and the magnetic adsorption wheel is attached to the outer surface of the ship; the lateral spring damping and longitudinal spring damping adjust the position of the magnetic adsorption wheel so that the magnetic adsorption wheel adapts to the curved surface of the hull. S3: The binocular camera and searchlight are activated, and the vision mechanism located on the hull acquires images and depth information of the hull surface; the control module performs three-dimensional reconstruction of the data, calculates local curvature and normal information; and generates local spraying path points according to the spraying width and designed coating thickness. S4, the control module integrates the robot's own posture, thruster position and travel speed to generate a global spraying track; the drive cabin receives trajectory parameters and controls the magnetic adsorption wheels to move according to the planned route; S5, the spraying mechanism adjusts the front and rear distance through a linear motor, adjusts the spraying angle through a rotary motor, and maintains a constant distance between the nozzle and the hull surface through a telescopic mechanism; the cavitation hood is activated to form a local waterless zone, reduce the water film, and increase the kinetic energy and deposition rate of the coating. S6, the nozzle sprays paint according to the planned trajectory; the control module monitors the spraying progress and corrects the trajectory and speed in real time to prevent missed spraying and re-spraying; the multi-degree-of-freedom adjustment of the spraying mechanism also compensates for changes in the hull surface to ensure uniform coating thickness. The spraying unit's camera detects spraying defects and adjusts the number of sprays in real time; S7: After one area is painted, each underwater propulsion unit and magnetic adsorption wheel work together to switch to the next work area; repeat steps S3-S6 to gradually cover the entire outer surface of the ship; the navigation module records the completed areas to avoid repeated painting. S8, after the painting task is completed, each underwater thruster drives the robot to detach from the hull; the hoisting module, together with the buoyancy plate, retrieves the robot back to the deck.

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