Marine multifunctional robot for curved surface repairing operation

Abstract

The invention discloses a marine multifunctional robot for curved surface repairing operation. Comprising a crawler walking mechanism, an adsorption mechanism, a cleaning mechanism, a repairing mechanism, a monitoring mechanism and a transmission mechanism. The crawler walking mechanism extrudes hollow air through downward pressure in the crawler rolling advancing process to form negative pressure, and continuous adsorption is achieved. The adsorption mechanisms are mutually matched in function through the adsorption system; the cleaning mechanism comprises two rotary cleaning brushes and a high-pressure washing spray head, the rotary cleaning brush assembly is used for removing a pollution layer of the ship outer plate, and the high-pressure washing spray head is washed through high-pressure water flow; the repairing mechanism undertakes the moving task of the spraying module on the Y axis and the X axis, and two-dimensional covering repairing of the surface of the target is achieved. The monitoring mechanism is used for carrying out real-time detection and intelligent identification on the surface of the fan blade; the transmission mechanism is used for providing power for the crawler walking mechanism; the method has high adaptability, reliability and good cooperative control capability, and is an ideal choice for improving the intelligent level of ship maintenance.

Description

Technical Field

[0001] This invention relates to a multi-functional marine robot designed for surface repair operations. Background Technology

[0002] In the field of ship maintenance, especially for large vessels, the cleaning, inspection, and repair of the hull is a time-consuming and complex task. Furthermore, with the advancement of deep-sea mineral resource exploration and trial mining activities, deep-sea mining equipment is exposed to extreme marine environments for extended periods, making its metal structures highly susceptible to electrochemical corrosion, microbial erosion, and mechanical wear. Damage to critical components, if not detected and repaired promptly, could lead to serious safety accidents or operational disruptions.

[0003] Recently, with the development of automation technology, various types of robots have emerged for the treatment of ship surfaces. However, existing robot systems have many design limitations, specifically in the following aspects: Insufficient adaptability: Many robots are only suitable for specific types of surfaces or working environments, and have poor adaptability to ship hull surfaces with complex curvature variations; Limited functionality: Most existing equipment focuses on a single task, such as limited to cleaning or painting, and cannot meet multiple operational needs (such as cleaning, inspection, repair, etc.); Low operational flexibility: Limited by mechanical structure design, current solutions on the market perform poorly in terms of operational flexibility, making it difficult to cope with the operational requirements of narrow spaces or challenging positions; Low level of intelligence: The lack of effective autonomous navigation and obstacle avoidance mechanisms limits the robot's ability to complete tasks without human intervention. Therefore, there is an urgent need to develop a new type of multi-functional marine robot. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to provide a multi-functional marine robot capable of efficiently and with high quality completing various maintenance tasks on the surface of a ship for curved surface repair.

[0005] The technical solution of this invention is: a multi-functional marine robot for curved surface repair operations, comprising a structural frame, which includes a main board frame, a fixed steel frame, a mounting base, a battery box, and a connecting plate. The connecting plate passes through and is fixedly connected to the main board frame. The mounting base is installed at the top of the center of the main board frame. A monitoring mechanism for real-time detection and intelligent identification of the ship's outer plate surface is installed on the top of the mounting base. The fixed steel frame is connected to the main board frame and the connecting plate, and the three are fixed together by drilled screws; The battery box is installed inside one side of the motherboard frame and connecting plate; At both ends of the outer walls on both sides of the structural frame, impact pins are installed to strike the springs of the track walking mechanism. A water tank frame and a paint tank frame are also installed on the rear outer side of the structural frame, near the firing pin.

[0006] Furthermore, the structural frame is sequentially equipped with a front adsorption mechanism and a rear adsorption mechanism for secure anchoring and providing continuous attachment support, a gear mechanism, a cleaning mechanism, a repair mechanism for achieving two-dimensional coverage repair of the target surface, and a transmission mechanism. Batteries, water tanks, and paint boxes are respectively installed in the battery box, water tank frame, and paint box frame; Tracked walking mechanisms for driving the robot to move and climb walls are also installed on the left and right sides of the structural frame. A high-pressure water washing assembly is also installed at the lower part of the structural frame. The high-pressure water washing assembly includes interconnected high-pressure water washing nozzles and water pipes, with the other end of the water pipes connected to a water tank.

[0007] Furthermore, the tracked walking mechanism includes a rear support wheel, a track, a support frame, a drive wheel, a chain, and a front support wheel connected in sequence. The rear support wheel is installed at the rear of the tracked traveling mechanism, and the front support wheel is installed at the front of the tracked traveling mechanism; the drive wheel, the rear support wheel, and the front support wheel are respectively engaged with the inner side of the track. The drive wheel is installed in the middle part on both sides of the structural frame and is connected by a universal joint. The chain is installed on both sides of the track walking mechanism and is connected to the drive wheel, rear support wheel, and front support wheel.

[0008] Furthermore, the front adsorption mechanism includes a suction cup, a lead screw, and a transmission gear. The suction cup is installed at the front bottom of the front suction mechanism. A slider and an air pipe are connected to the upper end of the suction cup. The air pipe is connected to a one-way valve. The lead screw is connected to the slider, and its other end is connected to the transmission gear, and the drive motor provides power to drive the transmission gear. The rear adsorption mechanism includes a second suction cup, a second lead screw, and a second transmission gear. The second suction cup is installed at the bottom of the rear suction mechanism. A second slider and a second air pipe are connected to the upper end of the second suction cup. The second air pipe is connected to a one-way air valve. The lead screw 2 is connected to the slider 2, and its other end is connected to the transmission gear 2, and the drive motor 2 installed thereon provides power to drive the transmission gear 2.

[0009] Furthermore, the gear mechanism includes a third drive motor, a third transmission gear, a fourth transmission gear, a seventh transmission gear, and a drive gear; The drive motor is connected to the battery via a circuit; The drive gear is connected to the drive motor three, the transmission gear three is connected to the drive gear, and the transmission gear four and transmission gear seven are respectively connected to the transmission gear three.

[0010] Furthermore, the cleaning mechanism includes a hydraulic lifting cylinder, a transmission gear five, a transmission gear six, and a cleaning brush one; The transmission gear five is connected to the transmission gear four, and the transmission gear six is ​​connected to the transmission gear seven; The first cleaning brush is connected to the sixth transmission gear, and the second cleaning brush is connected to the fifth transmission gear; A horizontal plate is installed between the first cleaning brush and the sixth transmission gear, and between the second cleaning brush and the fifth transmission gear. A hydraulic lifting cylinder is installed on the horizontal plate and between the fifth transmission gear and the sixth transmission gear.

[0011] Furthermore, the repair mechanism includes motor one, side plate one, roller one, motor two, housing, paint pipe, roller two, side plate two, four connecting rods, base plate, nozzle, lead screw one, roller three, slider one, roller four, slider two and lead screw two; The first motor is connected to the first lead screw; The upper end of the side plate is connected to roller one and roller four respectively, and its lower end is connected to slider two. The first roller is installed between the first side plate and the outer casing; The second motor is connected to the second lead screw; The outer casing is installed above roller one, roller two, roller three, roller four and connecting rod; The paint tube is installed inside the outer casing, with one end connected to the spray nozzle and the other end connected to the paint tank; The second roller is installed between the outer shell and the second side plate; The upper end of the second side plate is connected to the second and third rollers, and its lower end is connected to the first slider. The upper ends of the four connecting rods are connected to the outer casing, and the lower ends are connected to the base plate; The base plate is connected to the connecting rod; One end of the lead screw is connected to the second motor, and the other end is connected to the first slider; The roller three is installed between the outer shell and the side plate two; The slider one is installed between the lead screw one and the side plate two; The fourth roller is installed between the outer casing and the first side plate; The second slider is installed between the second lead screw and the first side plate; One end of the lead screw is connected to the motor, and the other end is connected to the slider.

[0012] Furthermore, the transmission mechanism includes a fixed plate one, a coupling, a drive motor four, a fixed plate two, and a transmission mechanism frame. The fixing plate is installed at the front of the transmission mechanism. Its upper part is fixed to the outer wall of the transmission mechanism frame by screws, and its lower part is fixed to the structural frame by screws. A bevel gear structure and a drive bevel gear are installed inside the transmission mechanism frame; Ball joint connecting rod one and ball joint connecting rod two are respectively installed on the outside of the transmission mechanism frame. One end of the ball joint connecting rod is connected to a universal joint, and the other end is connected to the bevel gear structure through the transmission mechanism frame. The other end of the universal joint is connected to the drive shaft of the track walking mechanism. One end of the ball joint link is connected to a universal joint, and the other end is connected to the bevel gear structure through the transmission mechanism frame. The other end of the universal joint is connected to the drive shaft of the track walking mechanism. One end of the active bevel gear is connected to the bevel gear structure, and the other end is connected to the drive motor four via an installed coupling. The drive motor four is connected to the battery. The second fixing plate is installed between the fourth drive motor and the coupling. Its upper end is connected to the fourth drive motor by screws, and its lower end is connected to the structural frame by screws.

[0013] Furthermore, the bevel gear structure includes a driven bevel gear, an output bevel gear one, and an output bevel gear two. The driven bevel gear meshes with the driving bevel gear and meshes with the output bevel gear one and the output bevel gear two through two small transmission bevel gears. The first output bevel gear is connected to the first ball joint rod via a high-strength coupling, and the second output bevel gear is connected to the second ball joint rod via a high-strength coupling.

[0014] Furthermore, the monitoring mechanism includes a camera, a mounting plate, and a mounting bracket. The camera is connected to the mounting plate. The upper end of the fixed bracket is connected to the fixed plate, and its lower end is connected to the structural frame.

[0015] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: The present invention adopts a distributed modular design concept, with a mechanical structure covering and equipped with an intelligent visual monitoring system to realize defect identification and environmental perception, and a mobile platform with multi-point adsorption and curved surface crawling capabilities; it integrates multi-functional actuators such as grinding, cleaning, and spraying, and constructs a complete on-site repair process chain for ship outer plates. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a bottom view of the present invention; Figure 3 This is a schematic diagram of the tracked walking structure in this invention; Figure 4 This is a schematic diagram of the universal joint connecting the two tracks in this invention; Figure 5 This is a schematic diagram of the unit structure of the track in the tracked walking structure of the present invention; Figure 6 This is a schematic diagram of the pre-adsorption mechanism in this invention; Figure 7 This is a schematic diagram of the post-adsorption mechanism in this invention; Figure 8 This is a schematic diagram of the gear mechanism and cleaning mechanism in this invention; Figure 9 This is a partial structural schematic diagram of the cleaning mechanism in this invention; Figure 10 This is a schematic diagram of the high-pressure water washing assembly in this invention; Figure 11 This is a schematic diagram of the repair mechanism in this invention; Figure 12 This is a partial top view of the repair mechanism in this invention; Figure 13 This is a schematic diagram of the monitoring mechanism in this invention; Figure 14 This is a schematic diagram of the transmission mechanism in this invention; Figure 15 This is a schematic diagram of the structural framework in this invention; In the diagram, 1 is the tracked walking mechanism, 9 is the water tank, 10 is the battery, and 12 is the paint tank. 13 is the rear support wheel, 14 is the track, 15 is the support frame, 16 is the drive wheel, 17 is the chain, 18 is the front support wheel, and 19 is the universal joint. 2 is the front adsorption mechanism, 20 is the lead screw, 21 is the slider, 22 is the air pipe, 23 is the drive motor, 24 is the transmission gear, and 201 is the suction cup. 11 is the rear suction mechanism, 29 is the second lead screw, 28 is the second slider, 27 is the second drive motor, 26 is the second air pipe, 25 is the second transmission gear, and 1101 is the second suction cup. 3 is the structural frame, 78 is the mainboard frame, 79 is the fixed steel frame, 80 is the mounting base, 81 is the water tank frame, 82 is the battery box, 83 is the striker, 84 is the paint box frame, and 85 is the connecting plate. 5 represents the gear mechanism, 30 represents the third drive motor, 31 represents the third transmission gear, 32 represents the fourth transmission gear, 37 represents the seventh transmission gear, and 38 represents the drive gear. 6 is the cleaning mechanism, 33 is the hydraulic lifting cylinder, 34 is transmission gear five, 35 is transmission gear six, 36 is cleaning brush one, 39 is cleaning brush two, and 40 is the horizontal plate. 41 is the high-pressure water washing assembly, 42 is the high-pressure water washing nozzle, and 43 is the water pipe; 7 is the repair mechanism, 45 is motor one, 46 is side plate one, 47 is roller one, 48 is motor two, 49 is the outer shell, 50 is the paint pipe, 51 is roller two, 52 is side plate two, 53 is the connecting rod, 54 is the base plate, 55 is the nozzle, 56 is lead screw one, 57 is roller three, 58 is slider one, 59 is roller four, 60 is slider two, and 61 is lead screw two. 8 is the monitoring mechanism, 62 is the camera, 63 is the mounting plate, and 64 is the mounting bracket; 4 is the transmission mechanism, 65 is the fixed plate one, 66 is the driven bevel gear, 67 is the universal joint two, 68 is the ball joint connecting rod one, 69 is the output bevel gear one, 70 is the driving bevel gear, 71 is the coupling, 72 is the drive motor four, 73 is the fixed plate two, 74 is the universal joint three, 75 is the ball joint connecting rod two, 76 is the output bevel gear two, and 77 is the transmission mechanism frame. Detailed Implementation

[0017] The specific technical solution of the present invention will be further described in detail below with reference to specific examples.

[0018] like Figure 1 As shown, the marine multi-functional robot for curved surface repair operations described herein includes: Structural framework 3, Tracked walking mechanism 1: Located on both sides of the structural frame 3, used to drive the robot to move and climb walls; Front adsorption mechanism 2 and rear adsorption mechanism 11: located on the front and rear sides of the structural frame 3, used for safe anchoring and providing continuous attachment support; Gear mechanism 5 and cleaning mechanism 6: Located at the lower part of the structural frame 3, they are used to remove dust, wind erosion, and other contaminants from the surface of the ship's outer plating, as well as to remove residual impurities, salt, and particles. Repair mechanism 7: Located at the rear of cleaning mechanism 6, it is used to achieve two-dimensional coverage repair of the target surface; Monitoring unit 8: Located above the structural frame 3, it is used for real-time detection and intelligent identification of the ship's outer plate surface; Transmission mechanism 4: Located inside the structural frame 3, it provides power to the entire robot; Specifically, such as Figure 15 As shown, the structural frame 3 includes a motherboard frame 78, a connecting plate 85, and a mounting base 80; the connecting plate 85 passes through and is fixedly connected to the motherboard frame 78, and the mounting base 80 is installed on the top of the motherboard frame 78. The structural frame 3 also includes a fixed steel frame 79, a striker 83, a battery box 82, a water tank frame 81, and a paint box frame 84. The fixed steel frame 79 is connected to the main board frame 78 and the connecting plate 85, and the three are fixed together by drilling screws for easy maintenance and replacement in the future. There are two impact pins 83, a total of four, which are set at the front of the structural frame 3 and connected to the structural frame 3. They are used to actuate the mechanical pressure desorption device of the track 14 so that the robot can move forward smoothly. The battery box 82, water tank frame 81 and paint box frame 84 are all located at the rear of the structural frame 3. The battery box 82 is connected to the drive mechanism 4 to provide power to the drive mechanism 4. Considering that the robot mainly operates in high-salt-spray, high-humidity marine environments, including alternating wet and dry areas such as ship hull plates, decks, and ballast tanks, and may even be in short-term contact with seawater or in the highly corrosive atmosphere surrounding deep-sea mining mother ships, the material of the structural frame 3 is high-strength titanium alloy TC4. Specifically, in the actual processing, hydraulic or laser cutting can be used. Based on the overall layout of the multi-functional robot, the component connection requirements, and the stress level distribution, the overall shape of the titanium alloy main frame is designed, and the titanium plates are cut into the designed shape using hydraulic or laser cutting. This processing method can effectively reduce the amount of welding, thereby reducing the probability of welding defects and the impact of residual thermal stress. In addition, to save overall costs, the removed titanium alloy material can be used to manufacture other structural components.

[0019] like Figure 3-5 As shown, the tracked walking mechanism 1 includes a track 14, a rear support wheel 13, a support frame 15, a drive wheel 16, a support frame 17, and a front support wheel 18 connected in sequence. The track 14 adopts a modular hollow cavity design, and its internal structure is an air-sealed flexible elastic cavity. The external material of the track 14 is nitrile rubber with good elasticity and wear resistance. Each side of the track 14 is equipped with a hydraulic shock absorption device at the front and rear. Through the highly responsive hydraulic cylinder and flexible buffer structure, the disturbance caused by sudden terrain changes, local load changes or impact vibrations can be effectively absorbed and released. There are two drive wheels 16, located in the middle of both sides of the structural frame 3, connected by universal joint 19, used to transmit power, which can effectively realize the independent swing and relative movement of the front and rear tracks 14, and give the track system a higher degree of mechanical freedom without interfering with the transmission of the main power. The rear support wheel 13 is installed at the rear of the track walking mechanism 1, and the front support wheel 18 is installed at the front of the track walking mechanism 1, engaging with the lower side of the track 14 to support the weight of the robot and make the track 14 walk more smoothly. The drive wheel 16, the rear support wheel 13, and the front support wheel 18 respectively mesh with the inner side of the track 14; The support frame 17 is installed on both sides of the tracked walking mechanism 1, and is connected to the drive wheel 16, the rear support wheel 13, and the front support wheel 18. In addition, four pressure bearings are installed on the inner side of the track walking mechanism 1. The upper end of the bearings is connected to the support frame 15, and the lower end is connected to the structural frame 3, which are used to support the connection between the track walking mechanism 1 and the structural frame 3. The transmission mechanism 4 provides rotational power to the drive wheel 16. The drive wheel 16 meshes with the inner side of the track 14. The rotational power is transmitted to the front support wheel 18 and the rear support wheel 13 through the track 14. The two drive wheels are connected by a universal joint 19 and synchronized. The track 14 is designed with double rows of guide teeth, which provide stability when the track 14 and the drive wheel 16 are engaged, prevent the track 14 from slipping, and ensure smooth movement. In addition, each side of the track 14 of the track walking mechanism 1 is equipped with a hydraulic shock absorption device at the front and rear. Through highly responsive hydraulic cylinders and flexible buffer structures, the device effectively absorbs and mitigates disturbances caused by sudden terrain changes, local load changes, or impact vibrations, significantly improving the robot's fit and running stability on the curved surface of the ship's outer plate. Furthermore, the hydraulic shock absorption system can also provide timely return force when the track 14 deviates from or tends to lift off the surface, enhancing overall stability and safety. The external structure of the track 14 is covered by a support frame 15. This frame not only protects the track 14 from external physical damage, but also serves as a support skeleton for pipeline layout or module positioning, improving the flexibility and ease of maintenance of the system's modular design. In the track system structure, to ensure that the front and rear tracks 14 have stronger adaptability and flexibility in complex curved surface environments, a high-strength universal joint 19 is added between the front and rear tracks 14. The universal joint 19 is installed in the middle of the track connecting shaft and serves as a key rotating support component. It can effectively realize the independent swing and relative movement of the front and rear tracks 14, giving the track system a higher degree of mechanical freedom without interfering with the transmission of the main power. This design allows the robot to maintain its gripping force and adsorption effect by making small angle adjustments to the front and rear tracks 14 when facing undulations, curvature changes, or local twists on the surface of the ship's outer plate, thereby improving the overall gripping stability and motion continuity of the robot. In practical applications, this robot uses elastic suspension and employs four high-strength pressure bearings in different positions to reduce the number of suspension components, making maintenance relatively easy. These bearings are arranged along the width of the robot.

[0020] The outer material of the track 14 is nitrile rubber (NBR), which has good elasticity and wear resistance. NBR possesses excellent oil resistance, weather resistance, and fatigue resistance, enabling it to achieve a higher degree of adhesion to the ship's outer plating surface and effectively address irregularities such as unevenness, scratches, and stains. During the movement of the track-walking structure 1, the negative pressure adsorption relies on a passive adaptive adsorption mechanism. Its core principle is to utilize the downward pressure generated by the track 14 during movement to compress the hollow structure, thereby achieving instantaneous negative pressure adsorption. Specifically, the track 14 adopts a modular hollow cavity design. Its internal structure is an air-sealed flexible elastic cavity. When the robot moves on the surface of the ship's outer plate, each track 14 is subjected to a vertically downward pressure at the moment of contact with the ground, which is generated by the combined action of the weight of the whole machine and the thrust of the drive system. This pressure causes the track 14 to undergo local deformation, the hollow cavity is compressed, and the air in the cavity is quickly squeezed out, thereby forming a region in the cavity that is relatively lower than the external atmospheric pressure, i.e., a negative pressure zone. At this time, the external atmospheric pressure acts on the contact area between the track 14 and the surface of the ship's outer plate, so that the track 14 is firmly attached to the surface of the outer plate, realizing a passive negative pressure adsorption effect.

[0021] At this time, the equipment continues to move forward, and the track 14 rotates forward. The track 14, which was originally adsorbed, needs to be detached due to the forward movement of the equipment. A mechanical pressure detachment device is integrated on the top of the track 14. This device works by having the track 14 contact the impact pin 83 during movement, pushing it to generate axial displacement, thereby compressing the internal spring. At the same time as the spring is compressed, the air intake channel of the hollow cavity is opened, allowing external air to quickly enter the interior of the track 14, relieving the original negative pressure state and completing the detachment of the adsorption surface. The impact pin 83 adopts a one-sided locking structure, which only allows triggering in a specific direction, ensuring the unidirectionality and safety of the detachment action and effectively preventing accidental triggering or reverse action. This mechanism relies on a purely mechanical structure to achieve detachment control, without the need for a complex electrical control system. It has the advantages of simple structure, rapid response, and reliable control, providing a solid guarantee for the stable movement and precise positioning of the track 14 in the complex curved surface environment of the wind turbine blade. Since the load on the track 14 during travel is not too high, the track walking mechanism 1 is equipped with two support wheels. At the same time, the elastic suspension enables it to effectively absorb impact force during travel, which is sufficient to withstand the pressure during the working process and reduce the vibration of the track 14 during movement.

[0022] like Figure 6-7 As shown, the front adsorption mechanism includes a suction cup 201, a lead screw 20, a slider 21, an air tube 22, a drive motor 23, and a drive gear 24. The suction cup 201 is installed at the front bottom of the structural frame 3 and connected to the slider 21 and the air pipe 22. The lead screw 20 is connected to the slider 21, and the other end is connected to the drive gear 24. The drive motor 23 provides power to drive the drive gear 24. The drive gear 24 is connected to the lead screw 20, and the lead screw 20 is connected to the slider 21. The rotation of the drive gear 24 drives the lead screw 20 and the slider 21 to move up and down at a point in the X and Y directions. The air pipe 22 is connected to the suction cup 201, so that the suction cup 201 is firmly attached to the surface of the ship's outer plate. The other end of the air pipe is connected to a one-way air valve. The rear adsorption mechanism 11 is installed at the rear bottom of the structural frame 3, and includes a second suction cup 1101, a second lead screw 29, a second slider 28, a second drive motor 27, a second air pipe 26, and a second transmission gear 25. The second suction cup 1101 is installed at the bottom of the rear adsorption mechanism 11, and its upper end is connected to the second slider 28 and the second air pipe 26. One end of the second lead screw 29 is connected to the second air pipe 26, and the other end controls the height of the second suction cup 1101 through the second slider 28. The second drive motor 27 is responsible for providing power to the rear adsorption mechanism 11. The other end of the second air pipe 26 is connected to a one-way air valve. Specifically, the front and rear suction cup adsorption devices are mainly installed at the front and rear ends of the structural frame 3. Their main function is to provide highly reliable position fixation and safety protection when the robot enters the working state. When performing ship outer plate repair, inspection or stationary operations, the suction cups can form a stable negative pressure adsorption interface, so that the robot can remain absolutely stationary at high altitudes or on surfaces with large curvatures, effectively preventing slippage, displacement or danger caused by external disturbances, and improving the overall reliability and operational safety of the operation. This suction cup adsorption module adopts an electric drive-screw transmission structure, featuring precise control, rapid response, and high stability. Its working principle is as follows: a motor provides power, which reduces the speed and increases the torque through a set of reduction gears, driving the screw to rotate. This, in turn, causes sliders mounted on both sides of the screw to move in opposite linear directions. Through the coordinated propulsion of the screw and sliders, the suction cup body can achieve a vertical downward pressing action, firmly adhering the suction cup to the surface of the fan blades, thus forming a stable negative pressure adsorption. During desorption, the system uses a lead screw to reverse-drive the suction cup upwards. Simultaneously, a one-way air valve is installed inside the suction cup. When desorption is required, compressed air is rapidly injected into the suction cup via the controlled air system to overcome the original negative pressure and disrupt the adsorption seal, thus achieving efficient and rapid desorption. This ensures the robot can be released smoothly and safely from the ship's outer surface, avoiding structural damage or operational loss of control due to adhesion or residual negative pressure. Furthermore, the module is compact and features precise motion control, automatically adjusting the suction cup's depth and adsorption force according to different operating conditions, adapting to the diverse curvature variations and material properties of the ship's outer surface. Guide rails and support structures on both sides of the lead screw enhance operational stability and torsional resistance, effectively ensuring the suction cup's adsorption reliability in complex high-altitude environments. The overall system balances adsorption strength with rapid desorption and reusability, demonstrating excellent mechanical efficiency and engineering adaptability.

[0023] like Figure 8-9 As shown, the gear mechanism 5 and the cleaning mechanism 6 are both installed at the bottom of the structural frame 3, including a drive motor 30, a drive gear 38, a transmission gear 31, a transmission gear 4 32, a transmission gear 7 37, a transmission gear 5 34, a transmission gear 6 35, a cleaning brush 1 36, and a cleaning brush 2 39. The drive gear 38 is connected to the drive motor 30, the transmission gear 31 is connected to the drive gear 38, the transmission gears 4 and 7 are connected to the transmission gear 31, the transmission gear 5 is connected to the transmission gear 4 and 32, the transmission gear 6 is connected to the transmission gear 7 and 37, the cleaning brush 1 is connected to the transmission gear 6 and 35, and the cleaning brush 2 and the cleaning brush 1 are connected to the transmission gears 5 and 34 and the transmission gear 6 and 35 by splines. The cleaning brush 1 and the cleaning brush 2 are also connected to the horizontal plate 40, which is connected to the hydraulic lifting cylinder 33. The hydraulic lifting cylinder 33 is used to adjust the cleaning brush 1 and the cleaning brush 2. In the non-operating state or during system movement, the brushes are automatically raised and automatically lowered after entering the operating state, closely adhering to the surface of the ship's outer plating to carry out cleaning operations.

[0024] like Figure 10 As shown, it also includes a high-pressure water washing assembly 41, which is installed at the lower part of the structural frame 3 and includes a high-pressure water washing nozzle 42 and a water pipe 43. The water pipe 43 is connected to the high-pressure water washing nozzle 42 and to the water tank 9. Specifically, the cleaning brush assembly is located at the bottom of the robot. Driven by a motor, the power is transmitted to two sets of bevel gears after multi-stage gear reduction, ultimately driving the rotating cleaning brush installed at the end for efficient mechanical cleaning, removing stubborn deposits such as mud and insect stains. To achieve good terrain adaptability and maneuverability, the cleaning brush assembly is equipped with a hydraulic lifting cylinder for height adjustment: in non-operational state or during system movement, the cleaning brush automatically rises to avoid interference with the ship's outer structure; after entering the working state, it automatically lowers to clean the blade surface. The hydraulic lifting cylinder 33 is fixedly installed on the horizontal plate 40 with four guide springs. The horizontal plate 40 is rigidly connected to the main frame 78 to form a stable support structure. The guide springs provide guidance and buffering during the lifting and lowering of the cleaning brush to ensure that the cleaning brush moves smoothly up and down without deviation or shaking, thereby ensuring the continuity and reliability of the cleaning operation. In terms of power transmission, the decelerated rotational motion is transmitted to the cleaning brush via a bevel gear, and the bevel gear is connected to the cleaning brush spindle via a spline connection. The spline connection not only efficiently transmits torque and ensures stable brush rotation, but also allows for axial free sliding when the brush floats up and down or is replaced, improving the maintainability and structural adaptability of the system. Compared with traditional rigid connections, the spline structure provides greater installation flexibility and operational reliability for the brush assembly without sacrificing transmission rigidity, making it an ideal connection method for high-frequency lifting and continuous operation.

[0025] like Figure 10 As shown, the high-pressure water washing nozzle 42 adopts a parallel double nozzle, and the water pipe 43 is connected to the water tank 12 and installed at the bottom of the structural frame 3. By extending the water pipe 43, the nozzle extends to the perimeter of the cleaning mechanism 6, and is flushed by high-pressure water flow to further remove residual impurities, salt and particles, achieving deep cleaning, which is especially suitable for the treatment of complex concave areas. In practical applications, in order to improve cleaning efficiency, multiple high-pressure water washing nozzles can be arranged side by side. In this embodiment, a parallel double nozzle is adopted, and the two high-pressure water washing nozzles 42 are symmetrically distributed along the axis of the multi-functional robot and can rotate independently.

[0026] like Figure 11-12 As shown, the repair mechanism (7) includes a motor 45, a side plate 46, a roller 47, a motor 48, a housing 49, a paint pipe 50, a roller 51, a side plate 52, a connecting rod 53, a base plate 54, a nozzle 55, a lead screw 56, a roller 57, a slider 58, a roller 59, a slider 60, and a lead screw 61; The motor 45 is mounted on the side of the repair mechanism 7 and is connected to the lead screw 56. The side plate 46 is installed on the side of the repair mechanism 7, with its upper end connected to roller 47 and roller 59, and its lower end connected to slider 60. The roller 47 is installed in the middle of the repair mechanism 7 and is connected between the side plate 46 and the outer shell 49; The second motor 48 is installed on the side of the repair mechanism 7 and is connected to the second lead screw 61; The outer casing 49 is installed above the repair mechanism 7 and is connected above the roller 1 47, roller 2 51, roller 3 57, roller 4 59 and connecting rod 53; The paint pipe 50 is installed inside the repair mechanism 7, with one end connected to the nozzle 55 and the other end connected to the paint box 12; The second roller 51 is installed in the middle part of the repair mechanism 7 and is connected between the outer shell 49 and the second side plate 52; The second side plate 52 is installed on the side of the repair mechanism 7, with its upper end connected to the second roller 51 and the third roller 57, and its lower end connected to the first slider 58. There are four connecting rods 53, which are installed on the side of the repair mechanism 7. Their upper ends are connected to the outer shell 49 and their lower ends are connected to the base plate 54. The base plate 54 is installed at the lower part of the repair mechanism 7 and is connected to the connecting rod 53; The lead screw 56 is installed on the side of the repair mechanism 7, with one end connected to the motor 48 and the other end connected to the slider 58. The roller 3 57 is installed in the middle part of the repair mechanism 7 and is connected between the outer shell 49 and the side plate 2 52; The slider 58 is connected between the lead screw 56 and the side plate 52; The roller 459 is installed in the middle part of the repair mechanism 7 and is connected between the outer shell 49 and the side plate 46. The second slider 60 is connected between the second lead screw 61 and the first side plate 46; The second lead screw 61 is installed in the middle part of the repair mechanism 7, with one end connected to the first motor 45 and the other end connected to the second slider 60. Specifically, such as Figure 12As shown, the two side plates are equipped with independent motors, which drive the sliders via connecting screws to achieve smooth linear movement of the spraying module in the corresponding axis. The screw drive method has high transmission efficiency and positioning accuracy, ensuring that the nozzle runs stably along the set trajectory and meeting the strict requirements of repeatability for meticulous repair. To ensure the continuity and safety of material supply, the entire system is equipped with a special material paint box frame 84, which is fixed inside the machine body and connected to the nozzle 55 through a sealed pipe. During operation, the repair material is stably delivered to the spraying unit through the pipeline system, ensuring uniform coating and reliable material supply. In addition, the combination of the nozzle 55 body and the ball head structure not only realizes multi-degree-of-freedom spraying angle adjustment, but also provides a certain degree of self-adaptation during the spraying process, improving the consistency and quality of the repair effect. In practical applications, to improve the efficiency of robot repair, it can be set up like the high-pressure water washing nozzle 42, adopting a parallel double nozzle arrangement mode, with the two nozzles arranged symmetrically along the paint pipe 50.

[0027] The monitoring mechanism 8 is installed on the upper part of the structural frame 3, and includes a camera 62, a fixing plate 63 and a fixing bracket 64. The camera 62 is connected to the fixing plate 63, and the upper end of the fixing bracket 64 is connected to the fixing plate 63, and the lower end is connected to the structural frame 3. Specifically, the monitoring unit 8 is equipped with a high-definition industrial camera and an image processing unit, which runs a deep learning-based surface defect recognition algorithm. It can automatically identify typical damage types such as rust, coating peeling, cracks, and biofouling, and mark the location, area, and severity level. At the same time, the monitoring module continuously tracks the effect after cleaning and spraying during the operation. Through image comparison and algorithm evaluation, it judges whether the operation meets the standards, ensuring the reliability and consistency of the repair quality. The collected images and analysis data will be transmitted to the ground control center in real time through the wireless communication module, which can facilitate operators to remotely monitor the operation status, adjust operation parameters, or make manual interventions. In practical applications, high-speed data transmission with shore-based / mother ship control terminals can be achieved through industrial-grade Wi-Fi 6 or fiber optic slip rings. It supports dual modes of local storage (≥256GB solid-state drive) and remote real-time backhaul, and is equipped with LED status indicators and an emergency stop button to facilitate on-site operators in monitoring the operating status.

[0028] like Figure 14 As shown, the transmission mechanism 4 includes a fixed plate 65, a bevel gear structure, a universal joint 67, a ball joint connecting rod 68, a drive bevel gear 70, a coupling 71, a drive motor 72, a fixed plate 73, a universal joint 74, and a ball joint connecting rod 75. The fixing plate 65 is installed at the front of the transmission mechanism 4. Its upper part is fixed to the transmission mechanism frame 77 by screws, and its lower part is fixed to the structural frame 3 by screws. Universal joint 67 is installed on the middle side of transmission mechanism 4 and connects to ball joint connecting rod 68. Ball joint connecting rod 68 is installed on the middle side of transmission mechanism 4, with one end connected to universal joint 67 and the other end connected to bevel gear structure. The active bevel gear 70 is installed in the middle part of the transmission mechanism 4, with one end connected to the bevel gear structure and the other end connected to the drive motor 72 through the coupling 71. The fixing plate 73 is installed between the drive motor 72 and the coupling 71. The upper end is connected to the drive motor 72 by screws, and the lower end is connected to the structural frame 3 by screws. The ball joint 75 is installed on the middle side of the transmission mechanism 4, with a universal joint 74 installed at one end and the other end connected to the bevel gear structure. The bevel gear structure includes a driven bevel gear 66, an output bevel gear 69, and a second output bevel gear 76. The driven bevel gear 66 meshes with the driving bevel gear 70, and is also meshed with the output bevel gear 69 and the second output bevel gear 76 through two small transmission bevel gears. The output bevel gear 69 is connected to a ball joint connecting rod 68 through a high-strength coupling, and the second output bevel gear 76 is connected to a ball joint connecting rod 75 through a high-strength coupling. The drive system primarily uses an integrated battery within the fuselage as its power source. It outputs rotational power via a drive motor 72, which is then stably transmitted to the bevel gear mechanism via a coupling 71. Figure 14 In the middle, the driving bevel gear 70 is mounted on the main drive shaft on one side of the coupling 71, and it meshes with the driven bevel gear sets distributed in two directions, forming a typical differential bevel gear system structure; it can not only effectively change the power transmission direction (from longitudinal to lateral), but also allow the left and right tracks 14 to move differentially to a certain extent.

[0029] The bevel gear meshing section adopts a helical tooth structure, which can improve the contact ratio between gears, reduce operating noise and vibration, and extend service life. In terms of structural layout, the entire gear mechanism is encapsulated in a rigid metal frame, providing necessary axial and radial support to prevent shaft misalignment and meshing failure caused by high load torque. At the same time, the driven bevel gear 66 outputs power through the left and right drive shafts respectively, providing driving torque to the track wheel sets or reduction mechanisms on both sides to complete the overall propulsion of the robot. The power output by the bevel gear is transmitted to the universal joint mechanism through a set of high-strength couplings. As the core flexible transmission component, the universal joint plays a key role in the flexible transmission of power in complex spaces. It is connected to two ball joint linkage assemblies at the front and rear, enabling the system to adapt to the multi-dimensional attitude changes and swings of the track structure during movement, thereby ensuring that the power can still be smoothly and reliably transmitted to the track drive shaft under nonlinear paths.

[0030] Therefore, the marine multi-functional robot for curved surface repair provided in this embodiment, by adopting a high-strength titanium alloy TC4 structural frame, ensures excellent corrosion resistance and structural reliability of the entire machine in harsh marine environments with high salt spray, high humidity, and alternating wet and dry conditions. The tracked walking mechanism 1, based on a modular hollow cavity design and a passive negative pressure adsorption mechanism, combined with a mechanical desorption device triggered by the front and rear impact pins 83, achieves stable crawling and reliable attachment on complex curved hull surfaces. The front and rear dual adsorption mechanisms provide continuous support during movement and form a safe anchor when stationary, significantly improving operational safety. The cleaning mechanism 6 integrates dual rotating brushes and high-pressure water washing nozzles 42, and uses hydraulic lifting to achieve elevation in non-operational states, ensuring both high efficiency and high performance. The system includes decontamination and equipment protection; the repair mechanism 7 uses a two-dimensional spraying platform driven by dual lead screws on the X / Y axes, combined with paint pipe 50 and nozzle 55, to achieve precise coverage and repair of damaged areas; the monitoring mechanism 8 is equipped with a high-definition camera 62 and intelligent recognition algorithm to complete real-time detection, positioning and repair effect evaluation of surface defects; each functional module achieves high synergy through a distributed modular design concept; the overall system constructs a complete ship outer plate maintenance process chain integrating "curved surface adaptive walking - surface depth cleaning - intelligent defect recognition - precise in-situ repair", which is not only suitable for traditional ship maintenance, but can also be extended to extreme marine engineering scenarios such as deep-sea mining equipment, and has outstanding practicality, advanced technology and industrialization prospects.

Claims

1. A marine multi-functional robot for curved surface repair operations, characterized in that, It includes a structural frame (3), which includes a main board frame (78), a fixed steel frame (79), a mounting base (80), a battery box (82), and a connecting plate (85). The connecting plate (85) passes through and is fixedly connected to the main board frame (78). The mounting base (80) is installed at the top of the center of the main board frame (78). A monitoring mechanism (8) for real-time detection and intelligent identification of the ship's outer plate surface is installed on the top of the mounting base (80). The fixed steel frame (79) is connected to the main board frame (78) and the connecting plate (85), and the three are fixed together by drilled screws; The battery box (82) is installed on one side inside the main board frame (78) and the connecting plate (85); At both ends of the outer walls on both sides of the structural frame (3), there are impact pins (83) for impacting the springs of the track walking mechanism (1). A water tank frame (81) and a paint box frame (84) are also installed on the rear outer side of the structural frame (3), near the firing pin (83).

2. The marine multi-functional robot for surface repair operations according to claim 1, characterized in that, The structural frame (3) is equipped with a front adsorption mechanism (2) and a rear adsorption mechanism (11) for secure anchoring and providing continuous attachment support, a gear mechanism (5), a cleaning mechanism (6), a repair mechanism (7) for achieving two-dimensional coverage repair of the target surface, and a transmission mechanism (4). A battery (10), a water tank (9), and a paint box (12) are respectively installed in the battery box (82), the water tank frame (81), and the paint box frame (84). On the left and right sides of the structural frame (3), there are also tracked walking mechanisms (1) for driving the robot to move and climb walls. A high-pressure water washing assembly (41) is also installed at the lower part of the structural frame (3). The high-pressure water washing assembly (41) includes a high-pressure water washing nozzle (42) and a water pipe (43) connected to each other. The other end of the water pipe (43) is connected to the water tank (9).

3. The marine multi-functional robot for surface repair operations according to claim 2, characterized in that, The tracked walking mechanism (1) includes a rear support wheel (13), a track (14), a support frame (15), a drive wheel (16), a chain (17), and a front support wheel (18) connected in sequence. The rear support wheel (13) is installed at the rear of the tracked walking mechanism (1), and the front support wheel (18) is installed at the front of the tracked walking mechanism (1); the drive wheel (16), the rear support wheel (13) and the front support wheel (18) respectively mesh with the inner side of the track (14); The drive wheel (16) is installed in the middle part on both sides of the structural frame (3) and is connected by the installed universal joint (19); The chain (17) is installed on both sides of the track walking mechanism (1) and connected to the drive wheel (16), the rear support wheel (13), and the front support wheel (18).

4. The marine multi-functional robot for surface repair operations according to claim 2, characterized in that, The front adsorption mechanism (2) includes a suction cup (201), a lead screw (20), and a transmission gear (24). The suction cup 1 (201) is installed at the front bottom of the front suction mechanism (2). A slider 1 (21) and an air pipe 1 (22) are respectively connected to the upper end of the suction cup 1 (201). The air pipe 1 (22) is connected to a one-way air valve. The lead screw (20) is connected to the slider (21), and its other end is connected to the transmission gear (24), and the drive motor (23) installed provides power to drive the transmission gear (24). The rear adsorption mechanism (11) includes a second suction cup (1101), a second lead screw (29), and a second transmission gear (25). The second suction cup (1101) is installed at the bottom of the rear suction mechanism (11). A second slider (28) and a second air pipe (26) are connected to the upper end of the second suction cup (1101). The second air pipe (26) is connected to a one-way air valve. The lead screw (29) is connected to the slider (28), and its other end is connected to the transmission gear (25), and the drive motor (27) provides power to drive the transmission gear (25).

5. The marine multi-functional robot for surface repair operations according to claim 2, characterized in that, The gear mechanism (5) includes a third drive motor (30), a third transmission gear (31), a fourth transmission gear (32), a seventh transmission gear (37), and a drive gear (38). The drive motor three (30) is connected to the battery (10) via a circuit; The drive gear (38) is connected to the drive motor (30), the transmission gear (31) is connected to the drive gear (38), and the transmission gear (4) (32) and transmission gear (7) (37) are respectively connected to the transmission gear (31).

6. The marine multi-functional robot for surface repair operations according to claim 5, characterized in that, The cleaning mechanism (6) includes a hydraulic lifting cylinder (33), a transmission gear five (34), a transmission gear six (35), and a cleaning brush one (36). The transmission gear five (34) is connected to the transmission gear four (32), and the transmission gear six (35) is connected to the transmission gear seven (37); The first cleaning brush (36) is connected to the sixth transmission gear (35), and the second cleaning brush (39) is connected to the fifth transmission gear (34); A horizontal plate (40) is installed between the first cleaning brush (36) and the sixth transmission gear (35), and between the second cleaning brush (39) and the fifth transmission gear (34). A hydraulic lifting cylinder (33) is installed on the horizontal plate (40) and between the fifth transmission gear (34) and the sixth transmission gear (35).

7. The marine multi-functional robot for surface repair operations according to claim 2, characterized in that, The repair mechanism (7) includes motor one (45), side plate one (46), roller one (47), motor two (48), housing (49), paint pipe (50), roller two (51), side plate two (52), four connecting rods (53), base plate (54), nozzle (55), lead screw one (56), roller three (57), slider one (58), roller four (59), slider two (60) and lead screw two (61); The motor (45) is connected to the lead screw (56); The upper end of the side plate 1 (46) is connected to roller 1 (47) and roller 4 (59) respectively, and its lower end is connected to slider 2 (60); The roller (47) is installed between the side plate (46) and the outer casing (49); The second motor (48) is connected to the second lead screw (61); The outer casing (49) is installed above roller one (47), roller two (51), roller three (57), roller four (59) and connecting rod (53); The paint tube (50) is installed inside the outer casing (49), with one end connected to the nozzle (55) and the other end connected to the paint box (12). The second roller (51) is installed between the outer shell (49) and the second side plate (52); The upper end of the second side plate (52) is connected to the second roller (51) and the third roller (57), and its lower end is connected to the first slider (58). The upper ends of the four connecting rods (53) are connected to the outer shell (49), and the lower ends are connected to the base plate (54); The base plate (54) is connected to the connecting rod (53); One end of the lead screw (56) is connected to the motor (48), and the other end is connected to the slider (58); The roller three (57) is installed between the outer shell (49) and the side plate two (52); The slider one (58) is installed between the lead screw one (56) and the side plate two (52); The roller four (59) is installed between the outer shell (49) and the side plate one (46); The second slider (60) is installed between the second lead screw (61) and the first side plate (46); One end of the lead screw (61) is connected to the motor (45), and the other end is connected to the slider (60).

8. The marine multi-functional robot for surface repair operations according to claim 2, characterized in that, The transmission mechanism (4) includes a fixed plate (65), a coupling (71), a drive motor (72), a fixed plate (73), and a transmission mechanism frame (77). The fixing plate (65) is installed at the front of the transmission mechanism (4). Its upper part is fixed to the outer wall of the transmission mechanism frame (77) by screws, and its lower part is fixed to the structural frame (3) by screws. A bevel gear structure and a drive bevel gear (70) are installed inside the transmission mechanism frame (77); Ball joint rod one (68) and ball joint rod two (75) are respectively installed on the outside of the transmission mechanism frame (77). One end of the ball joint connecting rod (68) is connected to the universal joint (67), and the other end is connected to the bevel gear structure through the transmission mechanism frame (77). The other end of the universal joint (67) is connected to the transmission shaft of the track walking mechanism (1). One end of the ball joint link 2 (75) is connected to a universal joint 3 (74), and the other end is connected to the bevel gear structure through the transmission mechanism frame (77). The other end of the universal joint 3 (74) is connected to the drive shaft of the track walking mechanism (1). One end of the active bevel gear (70) is connected to the bevel gear structure, and the other end is connected to the drive motor (72) via the installed coupling (71). The drive motor (72) is connected to the battery (10). The fixing plate 2 (73) is installed between the drive motor 4 (72) and the coupling (71). Its upper end is connected to the drive motor 4 (72) by screws, and its lower end is connected to the structural frame (3) by screws.

9. The marine multi-functional robot for surface repair operations according to claim 8, characterized in that, The bevel gear structure includes a driven bevel gear (66), an output bevel gear one (69), and an output bevel gear two (76). The driven bevel gear (66) meshes with the driving bevel gear (70) and meshes with the output bevel gear one (69) and the output bevel gear two (76) through two small transmission bevel gears. The first output bevel gear (69) is connected to the first ball joint rod (68) via a high-strength coupling, and the second output bevel gear (76) is connected to the second ball joint rod (75) via a high-strength coupling.

10. The marine multi-functional robot for surface repair operations according to claim 1, characterized in that, The monitoring mechanism (8) includes a camera (62), a mounting plate (63), and a mounting bracket (64). The camera (62) is connected to the fixing plate (63). The upper end of the fixed bracket (64) is connected to the fixed plate (63), and its lower end is connected to the structural frame (3).

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