A touch screen device for a vehicle

Abstract

The application discloses a kind of paint touch-up device for ship maintenance, belong to paint touch-up device technical field.It includes multi-shaft mechanical arm, the end of multi-shaft mechanical arm output shaft is equipped with two groups of branch rocker arms, the end of a group of branch rocker arms is equipped with main drive servo motor, the end of another group of branch rocker arms is equipped with second paint touch-up module, and the main drive servo motor and the second paint touch-up module are painted by the servo adjustment of multi-shaft mechanical arm output shaft before and after the pending paint touch-up surface close to paint touch-up, by integrating multiple functional modules such as polishing, debris cleaning, pretreatment reagent mixing and roll coating paint touch-up in the same end effector, using single power source driving mode, solve the problem that existing mechanical arm is in response to structural sheltered area of ship, because of the single function of end effector, process switching depends on manual, the problem of low operation efficiency, so that the device can still flexibly call spray type paint touch-up function while approaching the pending paint touch-up surface for fine polishing and roll coating.

Description

Technical Field

[0001] This invention relates to the field of paint touch-up devices, and more specifically, to a paint touch-up device for ship maintenance. Background Technology

[0002] After long-term voyages, the outer hull plates of large ships are subjected to seawater erosion, resulting in coating aging. Therefore, regular dry-docking maintenance and repainting are required. Current technology for repainting the outer hull plates generally involves first treating the surface of the area to be maintained to remove the damaged coating and rust products. Then, a chemical conversion treatment is performed on the cleaned steel plate surface, using pretreatment agents such as phosphating solution to convert the residual rust layer into an inert protective film, thereby enhancing the adhesion and corrosion resistance of the coating to the substrate. After the pretreatment agents have dried and cured, the corresponding primer is sprayed to ensure a strong bond between the new coating and the old coating and substrate.

[0003] However, in actual dry-dock repair conditions, the hull surface has numerous structurally obstructed areas, such as the interior of the hull's sea valve box and the area around the cathodic protection electrode base. These irregularly shaped structural components create blind spots for painting operations. For these complex areas, existing technologies have had to revert to traditional manual operation methods, typically involving maintenance personnel using hand brushes or rollers. To improve the mechanization of ship repainting, existing technologies have introduced automated equipment that uses wall-climbing robots equipped with spray guns or grinding heads for the operation.

[0004] However, the key problem is that the existing robotic arm end effectors have limited functionality and can usually only be fixedly installed with one type of tool. This makes it difficult to quickly switch between multiple processes such as grinding, blowing, pretreatment reagent spraying and touch-up painting in the same work process, which means that the pretreatment reagent spraying in these complex areas still needs to be done manually. Summary of the Invention

[0005] In view of the problems existing in the prior art, the purpose of the present invention is to provide a paint touch-up device for ship maintenance, which aims to solve the above-mentioned technical problems.

[0006] To solve the above problems, the present invention adopts the following technical solution.

[0007] A paint touch-up device for ship maintenance includes a multi-axis robotic arm. Two sets of branch rocker arms are assembled at the end of the output shaft of the multi-axis robotic arm. A main drive servo motor is assembled at the end of one set of branch rocker arms, and a second paint touch-up module is assembled at the end of the other set of branch rocker arms. By servo adjustment of the output shaft of the multi-axis robotic arm, the main drive servo motor and the second paint touch-up module are successively brought into contact with the surface to be touched up for paint touch-up.

[0008] A conveyor frame module is configured on the side of the main drive servo motor. The conveyor frame module has parallel liquid-dispensing and polishing modules and an integrated skeleton unit arranged inside. The liquid-dispensing and polishing module includes a hollow storage cylinder for temporarily storing the paint pretreatment reagent and a detachable magnetic polishing sleeve that is movably sleeved on the outer surface of the hollow storage cylinder for polishing the eroded layer. The integrated skeleton unit includes a cylindrical skeleton and a chip-collecting module disposed inside the cylindrical skeleton for uniformly mixing the paint pretreatment reagent and adsorbing the debris of the eroded layer. Several first paint-repairing modules are equidistantly arranged in a circular pattern on the upper outer edge of the cylindrical skeleton.

[0009] The output end of the main drive servo motor is equipped with a track sleeve for linking the liquid-dispensing grinding module and the integrated skeleton unit, so as to synchronously drive the detachable magnetic grinding sleeve to rotate and grind the eroded layer, and drive the chip suction module to rotate and mix the reagent, and supply the first touch-up paint module on the outside to maintain the masked area by roller coating.

[0010] As a further aspect of the present invention: the conveyor module includes a cavity assembly frame fixedly connected to one side surface of the output end of the main drive servo motor. The cavity assembly frame is composed of two flush racetrack-shaped cavity plates. Flush closed-type and open-type through-hole sleeves are fixedly installed on both sides of the cavity assembly frame. The cavity storage cylinder is fixedly connected to the middle of the cavity assembly frame composed of the two flush racetrack-shaped cavity plates, and the center of the cavity storage cylinder is aligned with the center of the closed-type through-hole sleeve. The cavity assembly frame... On one side near the closed-type inlet sleeve, there is a first liquid inlet arranged in a circle facing the cavity storage cylinder. Double-layer circular connectors are fixedly installed at the center positions on both sides of the cavity storage cylinder. The double-layer circular connector is composed of an inner cylinder and an outer ring. A first magnetic stirring rack is movably installed on the inner cylinder and is flush with the inside of the cavity storage cylinder. The outer ring is connected to the first liquid inlet on the side facing the cavity storage cylinder to pour the paint pretreatment reagent into the racetrack-shaped cavity plates on both sides.

[0011] As a further aspect of the present invention: a partition plate is fixedly connected at the middle position of the cavity of the cavity storage cylinder, dividing the cavity of the cavity storage cylinder into two symmetrical and independent sub-cavities. The first magnetic stirring rack passes through the partition plate and the stirring parts are symmetrically distributed in the two sub-cavities. One side of the first magnetic stirring rack is sealed and plugged in the inner cylinder of the double-layer round-mouth connector, and the other side passes through the inner cylinder of the double-layer round-mouth connector and is sealed and inserted into the corresponding closed-type through-hole sleeve and extends towards the main drive servo motor, and is fixedly connected to the output end of the main drive servo motor. The sides of the stirring parts of the first magnetic stirring rack symmetrically distributed in the two sub-cavities are all attached to the inner cavity wall and are attracted and correspond to the detachable magnetic polishing sleeve that is movably sleeved on the outer surface of the cavity storage cylinder.

[0012] As a further aspect of the present invention: the integrated skeleton unit further includes a plurality of concave semicircular slots arranged equidistantly on the outer edge of the cylindrical skeleton, and a collection drain slot is fixedly connected between every two concave semicircular slots; the first paint touch-up module includes an assembly conduit fixedly connected to both ends of each concave semicircular slot; the chip suction module includes a conical cylinder fixedly connected to both ends inside the cylindrical skeleton, and a docking port corresponding to the assembly conduit is provided on the side end surface of each conical cylinder; a core tube is fixedly installed at the center of the conical cylinder, and a liquid-guiding connector unit is provided on the side wall of each core tube.

[0013] As a further aspect of the present invention: the liquid inlet connector unit includes an annular cavity sleeve movably installed on the side end of a conical cylinder. The interior of the annular cavity sleeve is hollow, and a second row of slots for sealing and connecting are provided on the side of the annular cavity sleeve closest to the conical cylinder. An expansion connector is also fixedly installed at the middle position of the side of the annular cavity sleeve away from the main drive servo motor. The protruding end of the annular cavity sleeve is fixedly installed in the open port sleeves on both sides of the cavity assembly frame, and a first row of slots communicating with the open port sleeves are provided on the top of the annular cavity sleeve. The paint pretreatment reagent in the cavity assembly frame is poured into the annular cavity sleeve through the first row of slots, and then poured into the conical cylinders on both sides through the second row of slots.

[0014] As a further embodiment of the present invention: the dust suction module further includes a second sealing sleeve fixedly connected to the opposite sides of the two conical cylinders, and a cavity guide cylinder is movably installed between the two conical cylinders through the second sealing sleeves on both sides. A solid drive rod is fixedly connected to the side of the cavity guide cylinder near the main drive servo motor. The solid drive rod passes through a through-tube and an annular cavity sleeve, and a gear sleeve is fixedly installed on the end of the through-tube. A hollow output rod is fixedly connected to the side of the cavity guide cylinder away from the main drive servo motor. The hollow output rod also passes through a through-tube and an annular cavity sleeve, and an external guide hose connector is connected to the end of the through-tube through an expansion joint. The cavity guide cylinder communicates with the hollow output rod, and a number of circumferentially spaced air guide holes are opened on the outer surface of the cavity guide cylinder. A number of spiral fan blades are fixedly installed on the outer surface of the cavity guide cylinder.

[0015] As a further aspect of the present invention: the first paint touch-up module further includes a mixing cylindrical roller, on both sides of the mixing cylindrical roller are fixedly installed with a first sealing sleeve, and on each of the first sealing sleeves are movably installed a lateral sleeve block. The outer edge of each lateral sleeve block is provided with a circular rail groove that seals and fits with the first sealing sleeve. The lateral sleeve blocks on both sides of each mixing cylindrical roller are fixedly connected to the assembly guide tube, and the mixing cylindrical roller is mounted as a whole in a concave semi-circular groove. A ventilation cover is provided at the bottom of the mixing cylindrical roller in the concave semi-circular groove. A traction sleeve is fixedly installed at the center end of each lateral sleeve block, and a capillary liquid guiding rope is pulled inside the mixing cylindrical roller through the traction sleeve. Both sides of the capillary liquid guiding rope extend into the conical cylinder through the assembly guide tube.

[0016] As a further aspect of the present invention: the integrated skeleton unit further includes reserved inner openings on the side walls of both ends of the concave semi-circular groove. Each reserved inner opening has a limiting slide rail on its inner side wall, and a soft rubber extrusion plate is installed in parallel by sliding and limiting the limiting slide rails at both ends of the concave semi-circular groove. A reset spring sleeve connected to the soft rubber extrusion plate is fixedly installed inside each reserved inner opening, so that the soft rubber extrusion plate always has a force that is tightly attached to the outer surface of the mixing cylinder roller, and a coating layer is applied to the outer surface of the mixing cylinder roller.

[0017] As a further aspect of the present invention: magnetic coatings are fixedly installed on the outer rods of both the solid drive rod and the hollow output rod; a second magnetic stirring rack fitted on the outer surface of the tube is movably installed in the inner cavity of the conical cylinder; and a friction cylinder is fixedly installed on the outer side of the second magnetic stirring rack; the outer wall of the friction cylinder is in contact with the inner wall of the conical cylinder.

[0018] As a further aspect of the present invention: a gear collar is fixedly installed at the position where the solid drive rod is connected to the output end of the main drive servo motor. The gear collar and the gear sleeve are arranged flush, and a track sleeve is installed on the outer side of the gear sleeve and the gear collar.

[0019] Compared with the prior art, the technical solution provided by the present invention has at least the following beneficial effects:

[0020] (1) By integrating multiple functional modules such as grinding, debris cleaning, pretreatment reagent mixing, and roller coating for touch-up into the same end effector, and using a single power source drive, the problem of low work efficiency caused by manual switching of processes due to the single function of the end effector when dealing with structurally obstructed areas of ships is solved. The two sets of branch rocker arms at the end of the multi-axis robotic arm respectively carry the main drive servo motor and the second touch-up module, so that the device can still flexibly call the spray-type touch-up function while performing fine grinding and roller coating close to the surface to be touched up. This achieves efficient and automated maintenance of irregularly shaped structural parts such as seabed valve boxes and electrode bases, avoiding the safety risks and operational inconvenience of manual entry into confined spaces.

[0021] (2) Through the parallel arrangement of the liquid-dispensing grinding module and the integrated skeleton unit and the linkage design of the track sleeve, the grinding and chip suction processes are coordinated. The main drive servo motor drives the first magnetic suction stirring frame to rotate. On the one hand, the magnetic coupling drives the detachable magnetic suction grinding sleeve to rotate to remove the rust layer. On the other hand, the stirring part stirs the main agent and activator in the independent storage cavities on both sides of the cavity storage cylinder to ensure the chemical stability and activity of the two-component pretreatment reagent before application. At the same time, the rotating cavity guide cylinder drives the spiral fan blade to generate negative pressure, which sucks in the grinding debris through the air guide round port and discharges it through the hollow output rod, realizing the need for timely cleaning, avoiding the interference of debris residue on the subsequent pretreatment process, and improving the cleanliness and consistency of the surface treatment.

[0022] (3) By utilizing the passive liquid guiding characteristics of the capillary liquid guiding rope and the adaptive scraping structure of the soft rubber extrusion plate, the coating quality of the shielded area is optimized. The reagent in the conical cylinder is continuously transported to the coating sleeve of the mixing cylinder roller under capillary action, realizing stable liquid supply without pump valve control, simplifying the structural complexity. The soft rubber extrusion plate is always in close contact with the coating sleeve under the action of the return spring sleeve, ensuring the uniformity of coating pressure and scraping off excess reagent to prevent dripping. At the same time, the magnetic coating on the solid drive rod and the hollow output rod drives the second magnetic stirring frame and friction cylinder to rotate through magnetic force. The heat generated by friction slightly increases the reagent temperature, reduces the viscosity of the pretreatment reagent, and improves its fluidity and permeability on complex curved surfaces, thereby enhancing the adhesion and anti-corrosion effect of the rust conversion film. Attached Figure Description

[0023] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments of the invention and, together with the specification, further serve to explain the principles of the invention and enable those skilled in the art to practice and use the invention.

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2This is a schematic diagram of the conveyor frame module of the present invention;

[0026] Figure 3 This is a schematic diagram of the semi-disassembled state of the conveyor frame module and the liquid separation and grinding module of the present invention;

[0027] Figure 4 This is a schematic diagram of the integrated skeleton unit of the present invention;

[0028] Figure 5 This is a schematic diagram of the disassembled liquid-conducting connector unit of the present invention;

[0029] Figure 6 This is a schematic diagram of the internal structure of the integrated skeleton unit of the present invention;

[0030] Figure 7 This is a schematic diagram of the cylindrical skeleton of the present invention in a half-section state;

[0031] Figure 8 for Figure 7 Enlarged structural diagram at point A in the diagram;

[0032] Figure 9 This is a schematic diagram of the first paint touch-up module of the present invention in a disassembled state;

[0033] Figure 10 This is a schematic diagram of the disassembled state of the dust collection module of the present invention.

[0034] Figure Labels

[0035] 1. Multi-axis robotic arm; 2. Main drive servo motor;

[0036] 3. Conveyor frame module; 31. Cavity assembly frame; 32. Closed-type inlet sleeve; 33. First liquid inlet; 34. Open-type inlet sleeve; 35. Gear sleeve; 36. Track sleeve; 37. Gear collar;

[0037] 4. Liquid separation and polishing module; 41. Hollow storage cylinder; 42. Separate storage cavity; 43. Double-layer round port connector; 44. First magnetic stirring rack; 45. Detachable magnetic polishing sleeve;

[0038] 5. Integrated frame unit; 51. Cylindrical frame; 52. Concave semi-circular groove; 53. Collection drain groove; 54. Ventilation cover plate; 55. Reserved inner opening; 56. Limiting slide rail; 57. Soft rubber extrusion plate; 58. Reset spring sleeve;

[0039] 6. First paint touch-up module; 61. Mixing cylinder roller; 62. First sealing sleeve; 63. Side sleeve block; 64. Circular rail groove; 65. Assembly guide tube; 66. Traction sleeve; 67. Capillary liquid guiding rope; 68. Coating layer;

[0040] 7. Dust suction module; 71. Conical cylinder; 72. Through cylinder; 73. Second sealing sleeve; 74. Hollow guide cylinder; 75. Solid drive rod; 76. Hollow output rod; 77. Magnetic coating; 78. Second magnetic stirring rack; 79. Friction cylinder; 710. Docking port; 711. Air guide round port; 712. Spiral fan blade;

[0041] 8. Second touch-up paint module;

[0042] 9. Liquid inlet connector unit; 91. Circular cavity sleeve; 92. First outlet groove; 93. Second outlet groove; 94. Expansion connector;

[0043] 10. External guide hose connector.

[0044] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0045] The following is a detailed description of a paint touch-up device for ship maintenance provided by the present invention, with reference to the accompanying drawings and specific embodiments. It should be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art can use other alternative methods to implement some known technologies; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0046] like Figures 1 to 10 As shown, this embodiment of the invention provides a paint touch-up device for ship maintenance, including a multi-axis robotic arm 1. Two sets of branch rocker arms are assembled at the end of the output shaft of the multi-axis robotic arm 1. A main drive servo motor 2 is assembled at the end of one set of branch rocker arms, and a second paint touch-up module 8 is assembled at the end of the other set of branch rocker arms. By servo adjustment of the output shaft of the multi-axis robotic arm 1, the main drive servo motor 2 and the second paint touch-up module 8 are successively brought into contact with the surface to be touched up for paint touch-up.

[0047] The main drive servo motor 2 is equipped with a conveyor frame module 3 on its side. The conveyor frame module 3 is movably arranged with parallel liquid separation and polishing modules 4 and integrated skeleton unit 5. The liquid separation and polishing module 4 includes a hollow storage cylinder 41 for temporarily storing the paint pretreatment reagent and a detachable magnetic polishing sleeve 45 that is movably sleeved on the outer surface of the hollow storage cylinder 41 for polishing the eroded layer. The integrated skeleton unit 5 includes a cylindrical skeleton 51 and a chip suction module 7 disposed inside the cylindrical skeleton 51 for uniformly mixing the paint pretreatment reagent and adsorbing the debris of the eroded layer. Several first paint repair modules 6 are equidistantly arranged in a circular pattern on the upper outer edge of the cylindrical skeleton 51.

[0048] The output end of the main drive servo motor 2 is provided with a track sleeve 36 for linking the liquid-dispensing grinding module 4 and the integrated skeleton unit 5, so as to synchronously drive the detachable magnetic grinding sleeve 45 to rotate and grind the eroded layer and drive the chip suction module 7 to rotate and mix the reagent, and supply the first touch-up paint module 6 on the outside to maintain the masked area by roller coating.

[0049] To address the problem in existing technologies where the end effector of a robotic arm is limited in function and cannot quickly switch between multiple processes such as polishing, pretreatment reagent spraying, and paint touch-up in the same workflow when applying paint to structurally obscured areas on a ship's surface, the above-mentioned technical solution is adopted to solve this problem. This technical solution mainly consists of a multi-axis robotic arm 1, a main drive servo motor 2, a second paint touch-up module 8, a conveyor frame module 3, a liquid-dispensing polishing module 4, an integrated frame unit 5, and several first paint touch-up modules 6 mounted on it.

[0050] Specifically, the configured multi-axis robotic arm 1 is a multi-degree-of-freedom industrial robot commonly used in the prior art. The end of its output axis is not directly equipped with a single tool, but rather carries the main drive servo motor 2 and the second touch-up module 8 through two sets of branch rocker arms respectively. When the device is in operation, the multi-axis robotic arm 1 can use servo control to fit the main drive servo motor 2 and its connected structure to the masked area to be touched up for surface treatment. At the same time, the second touch-up module 8 is used as a spray-type touch-up valve head in the prior art. It is connected to the output end of the external paint supply motor through a hose, and the spray protective paint can be flexibly called according to the operation requirements.

[0051] The main drive servo motor 2 is fixedly installed at the end of one of the branch rocker arms, serving as the power source for the entire device to perform operations such as grinding and reagent mixing. A conveyor frame module 3 is fixedly connected to its side, which acts as a support and conveying base. Inside the conveyor frame module 3, parallel liquid-dispensing grinding modules 4 and integrated skeleton units 5 are movably installed. The liquid-dispensing grinding modules 4 and integrated skeleton units 5 are arranged one in front of the other, and under the servo adjustment of the multi-axis robotic arm 1, they perform orderly switching between grinding and initial spraying of reagent mixing. The liquid-dispensing grinding module 4 mainly consists of a hollow storage cylinder 41 and a detachable magnetic grinding sleeve 45. The hollow storage cylinder 41 is used to temporarily store the paint pretreatment reagent to be applied to the surface to be treated, while the detachable magnetic grinding sleeve 45 is movably fitted onto the outer surface of the hollow storage cylinder 41 for direct contact and grinding of the rust layer and failed coating on the hull surface. The overall detachable and magnetic design facilitates replacement after wear and allows for magnetic coupling with the internal drive components. The integrated skeleton unit 5 is configured parallel to the liquid-dispensing polishing module 4. Its main body is a cylindrical skeleton 51. Inside the cylindrical skeleton 51, a chip suction module 7 is set. This module has a dual function during operation. On the one hand, it is used to uniformly mix the introduced touch-up paint pretreatment reagent, further activating its activity while preventing it from settling and separating, ensuring the consistency of the pretreatment effect. On the other hand, it is used to generate adsorption force to simultaneously collect the erosion layer debris and dust generated during the polishing process of the detachable magnetic polishing sleeve 45, realizing polishing and cleaning at the same time, and providing a clean surface for the subsequent application of pretreatment reagents. On the outer edge of the cylindrical skeleton 51, several first touch-up paint modules 6 are equidistantly arranged along the circumferential direction. The first touch-up paint modules 6 constitute the execution end for touch-up paint operation on the masked area.

[0052] During operation, a track sleeve 36 is installed on the output end of the main drive servo motor 2. This track sleeve 36 serves as a power transmission element and simultaneously links the liquid separation and polishing module 4 and the integrated skeleton unit 5. When the main drive servo motor 2 starts, the track sleeve 36 synchronously drives the detachable magnetic polishing sleeve 45 to rotate around the hollow storage cylinder 41 to polish the etched layer. At the same time, the track sleeve 36 also drives the chip suction module 7 inside the integrated skeleton unit 5 to rotate. This rotation is used for both reagent homogenization and chip removal. Furthermore, multiple first touch-up paint modules 6 located on the outside can apply touch-up paint to the masked areas after polishing and pretreatment using a roller coating method, driven by the integrated skeleton unit 5. Through the linkage of a main drive servo motor 2 and the track sleeve 36, the sequential automated execution of multiple processes such as polishing, chip removal, reagent homogenization, and roller coating touch-up paint is achieved. This simplifies the structure of the end effector, improves the operating efficiency and process continuity in confined and complex spaces, and solves the problem of process switching relying on manual labor in existing technologies.

[0053] like Figure 1 , Figure 2 , Figure 3 As shown, the conveyor module 3 includes a cavity assembly frame 31 fixedly connected to one side surface of the output end of the main drive servo motor 2. The cavity assembly frame 31 is composed of two flush racetrack-shaped cavity plates. Flush closed-type through-hole sleeves 32 and open-type through-hole sleeves 34 are fixedly installed on both sides of the cavity assembly frame 31. The cavity storage cylinder 41 is fixedly connected to the middle of the cavity assembly frame 31 composed of two flush racetrack-shaped cavity plates, and the center of the cavity storage cylinder 41 is aligned with the center of the closed-type through-hole sleeve 32. The cavity assembly frame 31 is located near... One side of the closed-type sluice sleeve 32 is provided with a first liquid inlet 33 arranged in a ring and facing the cavity storage cylinder 41. A double-layer circular connector 43 is fixedly installed at the center position on both sides of the cavity storage cylinder 41. The double-layer circular connector 43 is composed of an inner cylinder and an outer ring. A first magnetic stirring rack 44 is movably installed on the inner cylinder and is flush with the inside of the cavity storage cylinder 41. The outer ring is connected to the first liquid inlet 33 facing the cavity storage cylinder 41 to pour the paint pretreatment reagent into the racetrack-shaped cavity plates on both sides respectively.

[0054] One side surface of the cavity assembly frame 31 is fixedly connected to the output end of the main drive servo motor 2, thereby suspending the entire front-end working component to the side of the main drive servo motor 2, forming a compact side-mounted layout. The cavity assembly frame 31 is composed of two parallel and flush racetrack-shaped cavity plates. The interior of these two cavity plates is hollow, forming a storage chamber for temporarily storing and guiding the paint pretreatment reagent. A closed-type through-hole sleeve 32 and an open-type through-hole sleeve 34 are fixedly installed on both sides of the cavity assembly frame 31, respectively. These two through-hole sleeves are also kept flush. The cavity storage cylinder 41 of the liquid separation and polishing module 4 is fixedly connected to the middle position of the cavity assembly frame 31 composed of two flush racetrack-shaped cavity plates, so that the cavity storage cylinder 41 is clamped and positioned between the two cavity plates. On the cavity assembly frame 31, on the side plate near the closed port sleeve 32, there are multiple first liquid inlets 33. These first liquid inlets 33 are arranged in a ring-shaped circumferential pattern, and their opening direction is all facing the cavity storage cylinder 41. They are used to guide the pretreatment reagent in the cavity plate inside the cavity assembly frame 31 to the end of the cavity storage cylinder 41.

[0055] Double-layer circular connectors 43 are fixedly installed at the center positions on both sides of the hollow storage cylinder 41. These double-layer circular connectors 43 adopt a coaxial double-layer structure design, consisting of an inner cylinder and an outer ring. The inner cylinder is a through-type hollow shaft structure used to movably mount the first magnetic stirring rack 44, allowing it to be mounted flush inside the hollow storage cylinder 41 and rotate freely. The outer ring surrounds the inner cylinder, forming an annular sealed flow channel. One side of the outer ring is sealed and connected to the first liquid inlet 33 facing the hollow storage cylinder 41. This structural design, separating the inner and outer layers, achieves physical isolation and parallel operation of power transmission and liquid delivery. The pretreatment reagent flows from the inside of the hollow storage cylinder 41 into the outer ring of the double-layered circular connector 43, then through the cavity of the outer ring of the double-layered circular connector 43 into the first liquid inlet 33, and finally into the interior of the hollow assembly frame 31, thus establishing a liquid path for supplying reagents to subsequent modules. Simultaneously, the first magnetic stirring rack 44 extends through the inner cylinder to receive power from the main drive servo motor 2, laying the foundation for the subsequent magnetic drive of the detachable magnetic polishing sleeve 45. The hollow assembly frame 31 not only serves as a supporting framework to securely integrate the liquid dispensing and polishing module 4 onto one side of the main drive servo motor 2, but also utilizes its internal cavity, the first liquid inlet 33, and the double-layered circular connector 43 to construct a complete liquid transmission path, ensuring that the pretreatment reagent can be smoothly delivered to the predetermined location.

[0056] like Figure 1 , Figure 2 , Figure 3 As shown, a partition plate is fixedly connected to the middle position of the cavity of the cavity storage cylinder 41, dividing the cavity of the cavity storage cylinder 41 into two symmetrical and independent sub-cavities 42. The first magnetic stirring rack 44 passes through the partition plate and the stirring part is symmetrically distributed in the two sub-cavities 42. One side of the first magnetic stirring rack 44 is sealed and plugged in the inner cylinder of the double-layer round mouth connector 43, and the other side passes through the inner cylinder of the double-layer round mouth connector 43 and is sealed and inserted into the opposite closed through-hole sleeve 32 and extends towards the main drive servo motor 2, and is fixedly connected to the output end of the main drive servo motor 2. The stirring parts of the first magnetic stirring rack 44 symmetrically distributed in the two sub-cavities 42 are all attached to the inner cavity wall and are attracted and correspond to the detachable magnetic polishing sleeve 45 that is movably sleeved on the outer surface of the cavity storage cylinder 41.

[0057] Specifically, a partition plate is fixedly installed in the center of the inner cavity of the configured cavity storage cylinder 41. This partition plate divides the entire inner cavity into two symmetrical and independent storage cavities 42 on the left and right sides. These two storage cavities 42 are used to hold different reagents for preparing the paint touch-up pretreatment reagent, ensuring that the pretreatment reagent is mixed in real time before use. This avoids the problem of premature mixing of the activating reagent leading to failure or reduced effectiveness, and provides a basis for subsequent on-demand supply. Specifically, one storage cavity 42 is used to store the main agent, i.e., the phosphating solution concentrate in the prior art, while the other storage cavity 42 is used to store the activator, i.e., the accelerator or diluent in the prior art. Physical isolation storage ensures that the main agent and the activator are always kept separate before use, effectively preventing chemical reactions caused by premature contact, which could lead to reagent activity attenuation, precipitation, or failure. This ensures that the pretreatment reagent has the best chemical activity and treatment effect when applied, providing a reliable basis for subsequent on-demand supply and immediate mixing.

[0058] The first magnetic stirring rack 44 is a rod-shaped component that extends axially through the hollow storage cylinder 41. Its middle section, through a sealing element as used in the prior art, moves through a partition plate, allowing the stirring sections at both ends to extend into the left and right separate storage cavities 42, thereby achieving synchronous stirring of reagents with different components on both sides. One end of the first magnetic stirring rack 44 is tightly sealed within the inner cylinder of one of the double-layered round-mouth connectors 43, forming a rotational support and seal. The other end passes through the inner cylinder of another double-layered round-mouth connector 43 and continues to extend outward, sealingly entering the opposite closed-type through-sleeve 32. Finally, it extends out from the closed-type through-sleeve 32 and faces the main drive servo motor 2. This extended end is fixedly connected to the output end of the main drive servo motor 2, thus allowing the rotational power of the main drive servo motor 2 to be directly transmitted to the first magnetic stirring rack 44, driving it to rotate around its own axis.

[0059] The stirring sections located in the two side storage cavities 42 are designed to be close to the inner wall of the corresponding storage cavity 42 to ensure that the reagents are sufficiently agitated during rotation, preventing solid particles from settling and promoting macroscopic uniformity of reagents in different areas, thus ensuring that the pre-treated reagents maintain uniform composition before mixing. Furthermore, the stirring section of the first magnetic stirring rack 44 is embedded with a permanent magnet to possess magnetism, thereby forming a magnetic adsorption relationship with the detachable magnetic polishing sleeve 45 that is movably mounted on the outer surface of the cavity storage cylinder 41. When the first magnetic stirring rack 44 is driven to rotate by the main drive servo motor 2, the rotating magnetic field generated by its stirring part will pass through the wall of the hollow storage cylinder 41 and magnetically couple to the detachable magnetic polishing sleeve 45, driving the detachable magnetic polishing sleeve 45 to rotate synchronously. This avoids the need to open a shaft hole on the hollow storage cylinder 41 for the polishing sleeve to drive, ensuring the sealing of the storage cavity and preventing leakage or cross-contamination of reagents of different components. On the other hand, through the rotation of the same stirring part, the independent stirring and maintenance of different reagent components inside and the rotational polishing of the external polishing sleeve are realized simultaneously. The detachable magnetic polishing sleeve 45 moves with the magnetic attraction. When it is worn, it can be easily removed from the outside of the hollow storage cylinder 41 for replacement, making maintenance convenient. Through the above structure, the hollow storage cylinder 41 realizes the isolated storage and independent sealed stirring of different pretreatment reagent components, and achieves magnetic linkage with the external polishing sleeve, providing a guarantee for timely mixing, efficient activation and cleaning of reagents in subsequent pretreatment processes.

[0060] like Figure 4 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, the integrated skeleton unit 5 also includes several concave semi-circular slots 52 arranged equidistantly on the outer edge of the cylindrical skeleton 51, and a collection slot 53 is fixedly connected between every two concave semi-circular slots 52. The first paint touch-up module 6 includes an assembly conduit 65 fixedly connected to both ends of each concave semi-circular slot 52. The chip suction module 7 includes a conical cylinder 71 fixedly connected to both ends inside the cylindrical skeleton 51, and a docking port 710 corresponding to the assembly conduit 65 is opened on the side end surface of each conical cylinder 71. A core tube 72 is fixedly installed at the center of the conical cylinder 71, and a liquid-guiding connector unit 9 is arranged on the side wall of each core tube 72.

[0061] The cylindrical frame 51 is provided with a plurality of concave semi-circular slots 52 at equal intervals along the circumferential direction on its outer edge. These concave semi-circular slots 52 are used to accommodate and position the roller coating component of the first paint touch-up module 6. Between every two adjacent concave semi-circular slots 52, a collection drain groove 53 is fixedly connected. The collection drain groove 53 extends along the axial direction of the cylindrical frame 51 and is used to collect larger debris or dripping reagents that may be generated during the polishing process, preventing them from contaminating the working surface or the inside of the device.

[0062] The assembly conduit 65 of the first paint touch-up module 6 is a pair of parallel bent solid tubular components, which are fixedly connected to the two ends of each concave semi-circular groove 52. That is, along the axial direction of the cylindrical frame 51, an assembly conduit 65 is fixed at each end of the concave semi-circular groove 52. On the one hand, it is used to support and install the other components of the first paint touch-up module 6, and on the other hand, its hollow internal cavity forms a channel for conveying pretreatment reagents.

[0063] The dust collection module 7 includes two conical cylinders 71, which are fixedly connected to the two ends of the inner cylindrical frame 51. The diameter of the conical cylinders 71 gradually decreases from the connecting end to the inside, forming a funnel-shaped structure, which helps to guide airflow and debris. On the side end surface of each conical cylinder 71, there are multiple docking ports 710. The number and position of these docking ports 710 correspond one-to-one with the assembly conduits 65 fixed on the outer edge of the cylindrical frame 51. The end of the assembly conduit 65 passes through the wall of the cylindrical frame 51 and is sealed to the corresponding docking port 710, thereby connecting the first paint touch-up module 6 to the inner conical cylinder 71.

[0064] At the center of each conical cylinder 71, a through-tube 72 is fixedly installed. This through-tube 72 extends axially through the conical cylinder 71, is hollow, and accommodates the drive rods of the chip suction module 7 and the chip output rods. Its outer wall forms an annular cavity with the inner wall of the conical cylinder 71. On the side wall of each through-tube 72, a liquid inlet connector unit 9 is provided. This liquid inlet connector unit 9 introduces the pretreatment reagent from the conveyor module 3 into the cavity of the conical cylinder 71, and then, through the docking port 710 and the assembly conduit 65, delivers the reagent to each first touch-up paint module 6, providing raw materials for the roller coating touch-up operation. Through the above structure, the cylindrical frame 51 not only serves as the mounting base for the first paint touch-up module 6, but its internal conical cylinder 71, through cylinder 72, docking port 710, and liquid inlet connector unit 9 together form an integrated multi-channel fluid distribution network, realizing the uniform and synchronous supply of reagents from the center of the device to multiple first paint touch-up modules 6 on the periphery, providing a structural basis for multi-point simultaneous roller coating operations, while also taking into account the cleaning and maintenance needs during the operation process.

[0065] like Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 As shown, the liquid inlet connector unit 9 includes an annular cavity sleeve 91 movably installed on the side end of the conical cylinder 71. The interior of the annular cavity sleeve 91 is hollow, and a second row of slots 93 for sealing connection are opened on the side of the annular cavity sleeve 91 near the conical cylinder 71. An expansion connector 94 is also fixedly installed at the middle position of the side of the annular cavity sleeve 91 away from the main drive servo motor 2. The protruding end of the annular cavity sleeve 91 is fixedly installed in the open port sleeves 34 on both sides of the cavity assembly frame 31, and a first row of slots 92 connected to the open port sleeves 34 are opened on the top of the annular cavity sleeve 91. The paint pretreatment reagent in the cavity assembly frame 31 is poured into the annular cavity sleeve 91 through the first row of slots 92, and then poured into the conical cylinders 71 on both sides through the second row of slots 93.

[0066] The annular cavity sleeve 91 is circular in shape with a hollow interior for temporarily storing and guiding fluid. The annular cavity sleeve 91 is movably mounted on the side end of the conical cylinder 71, meaning its annular surface is fitted and rotatably around the outer edge of the conical cylinder 71. Each annular end edge is equipped with a corresponding annular sealing ring to ensure a tight seal at the rotating end. A second row of slots 93 is formed on the surface of the annular cavity sleeve 91 near the conical cylinder 71. This second row of slots 93 has an annular opening, sealing the cavity inside the annular cavity sleeve 91 with the internal cavity of the conical cylinder 71, allowing reagents to flow from the annular cavity sleeve 91 into the conical cylinder 71. The liquid-guiding connector units 9 located on both sides of the device differ in structure to adapt to different functional requirements. Specifically, on the annular cavity sleeve 91 on the side away from the main drive servo motor 2, an expansion connector 94 is fixedly installed at its middle position. This expansion connector 94 is a tubular interface, and its interior is not connected to the cavity of the annular cavity sleeve 91. The expansion connector 94 is only used to connect to the external guide hose connector 10, thereby guiding the debris collected by the debris suction module 7 outward. On the annular cavity sleeve 91 on the side closer to the main drive servo motor 2, this expansion connector 94 is not provided, and only the basic structure of the annular cavity sleeve 91 is retained.

[0067] Both annular cavity sleeves 91 on both sides have an extended end, which is fixedly installed in the open passage sleeves 34 on both sides of the cavity assembly frame 31, thereby connecting and positioning the entire integrated skeleton unit 5 with the conveyor frame module 3. At the top of each annular cavity sleeve 91, a first row of slots 92 is provided. The position of the first row of slots 92 corresponds to the internal channel of the open passage sleeve 34, and is used to connect the open passage sleeve 34 with the internal cavity of the annular cavity sleeve 91.

[0068] During operation, the paint pretreatment reagent in the cavity assembly frame 31 is poured into the cavity of the annular cavity sleeve 91 through the open port sleeve 34 and the first outlet groove 92. Subsequently, the reagent is poured into the conical cylinders 71 on both sides through the second outlet groove 93 inside the annular cavity sleeve 91, providing raw materials for subsequent supply to the first paint module 6.

[0069] like Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 As shown, the chip suction module 7 also includes a second sealing sleeve 73 fixedly connected to the opposite sides of the two conical cylinders 71, and a cavity guide cylinder 74 is movably installed between the two conical cylinders 71 through the second sealing sleeves 73 on both sides. A solid drive rod 75 is fixedly connected to the cavity guide cylinder 74 on the side near the main drive servo motor 2. The solid drive rod 75 passes through the through cylinder 72 and the annular cavity sleeve 91, and a gear sleeve 35 is fixedly installed on the protruding end. A hollow output rod 76 is fixedly connected to the side away from the main drive servo motor 2. The hollow output rod 76 also passes through a tube 72 and an annular cavity sleeve 91. The protruding end is connected to an external guide hose connector 10 through an expansion connector 94. The cavity guide tube 74 communicates with the hollow output rod 76. Several air guide holes 711 are equidistantly opened in a circular pattern on the outer surface of the cavity guide tube 74. Several spiral fan blades 712 are fixedly installed on the outer surface of the cavity guide tube 74.

[0070] On the opposite sides of the two conical cylinders 71, i.e., on the end faces of the two cylinders facing each other, a second sealing sleeve 73 is fixedly connected. These two second sealing sleeves 73 are annular sealing components, which are coaxially arranged opposite each other and are used to movably install the cavity guide cylinder 74 at the middle position of the two conical cylinders 71. The cavity guide cylinder 74 is a cylindrical component, whose two ends are respectively engaged with the second sealing sleeves 73 on both sides through sliding seals, thereby being supported between the two conical cylinders 71 and being able to rotate freely around its own axis.

[0071] A solid drive rod 75 is fixedly connected to the cavity guide cylinder 74 on the side near the main drive servo motor 2. The solid drive rod 75 is a solid shaft that extends axially from the center of the end face of the cavity guide cylinder 74, passes through the through cylinder 72 inside the conical cylinder 71 on the right side, and continues to pass out of the annular cavity sleeve 91 on the right side. A gear sleeve 35 is fixedly installed on the protruding end of the solid drive rod 75. The gear sleeve 35 is used to mesh with the track sleeve 36, thereby receiving the rotational power from the main drive servo motor 2 and driving the entire cavity guide cylinder 74 to rotate. A hollow output rod 76 is fixedly connected to the side of the cavity guide tube 74 away from the main drive servo motor 2. The hollow output rod 76 is a tubular rod with a through hollow channel inside. The hollow output rod 76 extends axially from the center of the side end face of the cavity guide tube 74, passes through the core tube 72 inside the left conical cylinder 71, and continues to exit the left annular cavity sleeve 91. The exit end of the hollow output rod 76 is connected to an external guide hose connector 10 through an expansion connector 94. The internal channel of the hollow output rod 76 communicates with the internal channel of the external guide hose connector 10, and the internal cavity of the cavity guide tube 74 is also connected with the internal channel of the hollow output rod 76, thus forming a continuous airflow channel from the inside of the cavity guide tube 74 to the external hose.

[0072] On the outer surface of the cavity guide cylinder 74, several air guide openings 711 are equidistantly arranged along the circumferential direction. These air guide openings 711 are through holes penetrating the cylinder wall, connecting the internal cavity of the cavity guide cylinder 74 with its external environment. In addition, several spiral fan blades 712 are fixedly installed on the outer surface of the cavity guide cylinder 74. These spiral fan blades 712 are distributed in a spiral shape on the surface of the cylinder, similar to the configuration of fan blades. When the main drive servo motor 2 drives the solid drive rod 75 to rotate through the track sleeve 36 and gear sleeve 35, the solid drive rod 75 will drive the entire cavity guide cylinder 74, its spiral fan blades 712, and the hollow output rod 76 to rotate together. The rotating spiral fan blades 712, like an axial flow fan, will generate negative pressure around them, thereby drawing air from the external cavity of the cavity guide cylinder 74, as well as fine erosion layer debris mixed in the air, into the cavity guide cylinder 74 through the air guide openings 711. The airflow containing debris is drawn in and then transported to a dust collection device outside the device via the internal channel of the hollow output rod 76, which communicates with the cavity guide tube 74, and then through the expansion joint 94 and the external guide hose joint 10, thereby achieving debris suction. At the same time, the rotation of the cavity guide tube 74 also drives the fluid movement around it, which further agitates and homogenizes the paint pretreatment reagent located in the conical cylinder 71 cavity, ensuring uniform reagent concentration and stable activity.

[0073] like Figure 4 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 As shown, the first paint touch-up module 6 also includes a mixing cylindrical roller 61. A first sealing sleeve 62 is fixedly installed on both sides of the mixing cylindrical roller 61, and a lateral sleeve block 63 is movably installed on each of the first sealing sleeves 62. A circular rail groove 64 is opened on the outer edge of each lateral sleeve block 63 to seal and fit with the first sealing sleeve 62. The lateral sleeve blocks 63 on both sides of each mixing cylindrical roller 61 are fixedly connected to the assembly guide tube 65, and the mixing cylindrical roller 61 is mounted as a whole in the concave semi-circular groove 52. A ventilation cover plate 54 is opened at the bottom of the mixing cylindrical roller 61 in the concave semi-circular groove 52. A traction sleeve 66 is fixedly installed at the center end of each lateral sleeve block 63, and a capillary liquid guiding rope 67 is pulled inside the mixing cylindrical roller 61 through the traction sleeve 66. Both sides of the capillary liquid guiding rope 67 extend into the conical cylinder 71 through the assembly guide tube 65.

[0074] The mixing cylinder roller 61 is a cylindrical roller body used to directly contact the paint surface to be repaired and apply the pretreatment reagent by rolling. At the center of both end faces of the mixing cylinder roller 61, a first sealing sleeve 62 is fixedly installed. This first sealing sleeve 62 is a disc-shaped sealing member used to seal the end of the roller body and form a rotational support. A lateral sleeve block 63 is movably installed on each first sealing sleeve 62. The lateral sleeve block 63 is a disc-shaped block member with a circular groove 64 on its outer edge that mates with the outer circumference of the first sealing sleeve 62, allowing the mixing cylinder roller 61 to rotate freely relative to the lateral sleeve block 63 while maintaining a seal between them to prevent reagent leakage. Each mixing cylinder roller 61 has lateral sleeves 63 on both sides that are fixedly connected to the corresponding assembly guide 65. Specifically, the assembly guide 65 located at both ends of the concave semi-circular groove 52 has its end fixedly connected to the side of the lateral sleeve 63 facing away from the mixing cylinder roller 61, thereby suspending the entire mixing cylinder roller 61 assembly in the concave semi-circular groove 52, so that the outer periphery of the mixing cylinder roller 61 is exposed to the outside of the cylindrical frame 51 so as to contact the surface to be touched up with paint.

[0075] At the bottom of the concave semi-circular groove 52, directly below the mixing cylinder roller 61, a ventilation hood 54 is provided. This ventilation hood 54 is an open plate that allows air circulation to dissipate any heat and moisture that may accumulate. It also works in conjunction with the scraping action of the soft rubber extrusion plate 57 to collect residual reagent scraped off the outer surface of the coating layer 68, preventing excessive residue of large particles that could reduce the coating effect at the roller coating end. At the center of the lateral sleeve block 63, aligned with the axis of the mixing cylinder roller 61, a traction sleeve 66 is fixedly installed. This traction sleeve 66 is a tubular connector through which a capillary liquid guiding rope 67 is pulled axially inside the mixing cylinder roller 61. This capillary liquid guiding rope 67 is a rope-like body made of porous fiber material, which has good capillary action and can adsorb and conduct liquid. The capillary liquid guiding rope 67 extends from both ends of the mixing cylinder roller 61 and passes through the lateral sleeves 63 on both sides, the traction sleeve 66 and the internal channel of the assembly guide tube 65 in sequence, and finally extends into the cavity of the conical cylinder 71.

[0076] During operation, the pretreatment reagent for touch-up painting inside the conical cylinder 71 is soaked in the portion of the capillary guide rope 67 located inside the conical cylinder 71. Under capillary action, the reagent is continuously adsorbed and conducted along the capillary guide rope 67 to the portion located inside the mixing cylinder roller 61. When the mixing cylinder roller 61 rolls on the surface to be touched up, the capillary guide rope 67 inside it evenly permeates the reagent to the outer surface of the mixing cylinder roller 61, thereby achieving continuous and uniform coating of the touch-up surface. The mixing cylinder roller 61 can rotate freely through the engagement of the first sealing sleeve 62 with the circular track groove 64 of the side sleeve block 63, ensuring a smooth rolling coating process, and is particularly suitable for multi-point synchronous rolling coating operations in confined spaces.

[0077] like Figure 4 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 As shown, the integrated skeleton unit 5 also includes reserved inner openings 55 on the side walls of the concave semi-circular groove 52. Each reserved inner opening 55 has a limiting slide rail 56 on its inner side wall. Soft rubber extrusion plates 57 are installed in parallel by sliding and limiting the limiting slide rails 56 at both ends of the concave semi-circular groove 52. A reset spring sleeve 58 connected to the soft rubber extrusion plate 57 is fixedly installed inside each reserved inner opening 55 so that the soft rubber extrusion plate 57 always has a force that is tightly attached to the outer surface of the mixing cylinder roller 61. The outer surface of the mixing cylinder roller 61 is covered with a coating layer 68.

[0078] Each concave semicircular groove 52 has a reserved inner opening 55 on both axial sidewalls for accommodating and installing the extrusion component. A limiting slide rail 56 is provided on the inner sidewall of each reserved inner opening 55. This limiting slide rail 56 is a guide groove extending perpendicular to the axial direction of the mixing cylinder roller 61. A soft rubber extrusion plate 57 is slidably and limitedly installed via the limiting slide rails 56 at both ends of the concave semicircular groove 52. The soft rubber extrusion plate 57 is a long strip-shaped plate with both ends embedded in the limiting slide rails 56 and can slide back and forth along the limiting slide rails 56. The soft rubber extrusion plates 57 are arranged flush, their length direction parallel to the axial direction of the mixing cylinder roller 61, and facing the outer surface of the mixing cylinder roller 61. Inside each pre-reserved recess 55, a return spring sleeve 58 is fixedly installed. This return spring sleeve 58 is a hollow sleeve structure containing a spring. One end is fixedly connected to the inner wall of the pre-reserved recess 55, and the other end is connected to the end of the soft rubber extrusion plate 57. Through the elastic action of the return spring sleeve 58, a force is always applied to the soft rubber extrusion plate 57 towards the mixing cylinder roller 61, ensuring that the surface of the soft rubber extrusion plate 57 always tends to adhere tightly to the outer surface of the mixing cylinder roller 61. Furthermore, a coating layer 68 is fitted onto the outer surface of the mixing cylinder roller 61. This coating layer 68 is made of a material with good absorbency and abrasion resistance, such as fibrous fabric in the prior art, to absorb the pretreatment reagent seeping from the capillary liquid guiding rope 67 and evenly coat it onto the surface to be touched up.

[0079] During operation, as the mixing cylinder roller 61 rolls and coats the surface to be touched up, the soft rubber extrusion plate 57, under the pushing force of the return spring sleeve 58, keeps its surface in close contact with the outer surface of the coating layer 68. This allows the soft rubber extrusion plate 57 to apply a certain amount of pressure to the coating layer 68, ensuring that the coating layer 68 has appropriate pressure when in contact with the surface to be touched up, thereby ensuring uniform coating. On the other hand, the edge of the soft rubber extrusion plate 57 can scrape off any excess or accumulated reagent that may be generated on the surface of the coating layer 68 due to the liquid supply from the capillary liquid guiding rope 67, preventing reagent dripping or excessive coating thickness. The scraped-off excess reagent can flow to the ventilation hood 54 at the bottom of the concave semi-circular groove 52, where it is collected and drained, preventing contamination of other parts of the device. When the mixing cylinder roller 61 experiences slight vibrations due to uneven surface, the soft rubber extrusion plate 57 can slide slightly along the limiting slide rail 56, and through the buffering and resetting effect of the reset spring sleeve 58, it always maintains contact with the coating sleeve 68, realizing adaptive follow-up extrusion and scraping.

[0080] like Figure 4 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10As shown, both the solid drive rod 75 and the hollow output rod 76 are fixedly mounted with magnetic coating 77 on their outer rod bodies. The inner cavity of the conical cylinder 71 is movably mounted with a second magnetic stirring rack 78 that is sleeved on the outer surface of the tube cylinder 72. A friction cylinder 79 is fixedly mounted on the outer side of the second magnetic stirring rack 78. The outer wall of the friction cylinder 79 is in contact with the inner wall of the conical cylinder 71.

[0081] Magnetic coating 77 is fixedly installed on the outer body of both the solid drive rod 75 and the hollow output rod 76. This magnetic coating 77 is made of a material with permanent magnetism and rotates together with the solid drive rod 75 and the hollow output rod 76, forming a rotating magnetic field source. A second magnetic stirring rack 78 is movably installed in the inner cavity of each of the two conical cylinders 71. This second magnetic stirring rack 78 is a ring-shaped frame that is entirely fitted onto the outer surface of the hollow cylinder 72 and can rotate freely relative to the hollow cylinder 72. The second magnetic stirring rack 78 is made of a material that can be attracted by magnetic force, thus forming a magnetic attraction relationship with the solid drive rod 75 and the hollow output rod 76 with the magnetic coating 77. A friction cylinder 79 is fixedly installed on the outer side of the second magnetic stirring rack 78. The friction cylinder 79 is a cylindrical component, and its outer wall is closely fitted with the inner wall of the conical cylinder 71 to form a friction pair. The friction cylinder 79 can be made of a material alloy with a certain coefficient of friction and wear resistance.

[0082] During operation, the main drive servo motor 2 drives the solid drive rod 75 and the hollow output rod 76 to rotate via the track sleeve 36. The magnetic coating 77 on these rods rotates accordingly, generating a rotating magnetic field. This rotating magnetic field, through magnetic coupling, drives the second magnetic stirring rack 78 to rotate around the hollow cylinder 72. The rotation of the second magnetic stirring rack 78 causes the friction cylinder 79, which is fixed to it, to rotate together, resulting in continuous and stable friction between the outer wall of the friction cylinder 79 and the inner wall of the conical cylinder 71. On one hand, the rotating second magnetic stirring rack 78 itself further stirs and agitates the pretreatment reagents inside the conical cylinder 71, preventing solid particles from settling and promoting a uniform suspension of the reagent components. On the other hand, the friction between the friction cylinder 79 and the inner wall of the conical cylinder 71 will generate a certain amount of heat. This heat is transferred to the pretreatment reagent inside the conical cylinder 71 through the cylinder wall, causing the temperature of the reagent to rise slightly. For some paint pretreatment reagents such as phosphating solution and activator, appropriate heating can effectively reduce their viscosity and improve their fluidity, making them easier to be transported and penetrated through the capillary liquid guiding rope 67.

[0083] like Figure 4 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10As shown, a gear collar 37 is fixedly installed at the position where the solid drive rod 75 is connected to the output end of the main drive servo motor 2. The gear collar 37 is arranged flush with the gear sleeve head 35, and a track sleeve 36 is installed on the outer side of the gear sleeve head 35 and the gear collar 37.

[0084] The usage method provided by this invention is as follows:

[0085] In use, this invention firstly uses the servo control of the multi-axis robotic arm 1 to adjust the two sets of branch rocker arms at the end of its output shaft to the masking area to be painted. This brings the main drive servo motor 2 mounted at the end of one set of branch rocker arms and its side-connected conveyor frame module 3 close to the surface to be treated. Simultaneously, the second paint-painting module 8 mounted at the end of the other set of branch rocker arms is in standby mode as the paint-painting execution end. The main drive servo motor 2 starts and its output end rotates. Since a gear collar 37 is fixedly installed on the output end of the main drive servo motor 2, and this gear collar 37 is flush with the gear sleeve head 35 at the end of the solid drive rod 75 that passes through the right annular cavity sleeve 91, and the two are meshed with a track sleeve 36 on their outer sides, the rotational power of the main drive servo motor 2 is synchronously transmitted to the liquid-dispensing grinding module 4 and the integrated skeleton unit 5 through the track sleeve 36.

[0086] Then, driven by power, the permanent magnet on the stirring part of the first magnetic stirring frame 44 is magnetically coupled to the detachable magnetic grinding sleeve 45, which is movably sleeved on its outer surface, through the wall of the hollow storage cylinder 41. This drives the detachable magnetic grinding sleeve 45 to rotate synchronously, grinding the rust layer and failed coating on the hull surface. At the same time, the liquid separation grinding module 4 starts to work. The track sleeve 36 drives the solid drive rod 75 to rotate through the linkage of the gear collar 37 and the gear sleeve head 35, thereby driving the hollow guide cylinder 74 and its spiral fan blades 712 inside the entire chip suction module 7 to rotate. At the same time, the output end of the main drive servo motor 2 directly drives the first magnetic stirring frame 44, which is fixedly connected to it, to rotate. The rotation of the first magnetic stirring frame 44 causes its stirring part to stir the main agent and activator separately in the independent storage cavities 42 on both sides of the hollow storage cylinder 41, preventing the two from settling and separating, and ensuring that they maintain uniform composition before mixing.

[0087] Then, after the polishing work is completed, the multi-axis robotic arm 1 makes a secondary adjustment, rotating the liquid-distributing polishing module 4, which was originally close to the hull surface, to the rear, and rotating the integrated skeleton unit 5 to the front, that is, to the side close to the hull surface. At this time, the drive of the main drive servo motor 2 starts the dust suction module 7. The rotating cavity guide cylinder 74 drives the spiral fan blades 712 on its outer surface to rotate at high speed, generating negative pressure. Through the air guide round port 711 opened on the outer surface of the cavity guide cylinder 74, the debris and dust remaining on the hull surface after the detachable magnetic polishing sleeve 45 is polished are sucked into the cavity guide cylinder 74. The dust-laden airflow is transported to the dust collection equipment outside the device through the internal channel of the hollow output rod 76, which is connected to the cavity guide cylinder 74, and then through the expansion joint 94 and the external guide hose joint 10, to meet the need for immediate cleaning and provide a clean surface for the application of pretreatment reagents. At the same time, the rotating cavity guide tube 74 and the spiral fan blade 712 also drive the fluid movement inside the conical cylinder 71 cavity, disturbing and homogenizing the pretreatment reagent poured in through the liquid inlet connector unit 9.

[0088] Simultaneously, the pretreatment reagent delivery and supply process is initiated. The pretreatment reagent temporarily stored in the cavity assembly frame 31 is poured into the cavity of the annular cavity sleeve 91 through the open port sleeve 34 and the first outlet groove 92, and then poured into the conical cylinders 71 on both sides through the second outlet groove 93. The reagent inside the conical cylinder 71 wets the end of the capillary guide rope 67 extending into it. Under capillary action, the reagent is continuously adsorbed and conducted along the capillary guide rope 67 to the part located inside the mixing cylinder roller 61. When the multi-axis robotic arm 1 adjusts the coating sleeve 68 on the outer surface of the mixing cylinder roller 61 to contact the surface to be touched up and rolls it, the capillary guide rope 67 evenly seeps the reagent into the coating sleeve 68, realizing the roller coating touch-up of the masked area.

[0089] During the roller coating process, the soft rubber extrusion plate 57 is always in close contact with the surface of the coating layer 68 under the pushing force of the return spring sleeve 58. On the one hand, this ensures uniform coating pressure, and on the other hand, it scrapes off excess reagent. The scraped-off reagent flows to the ventilation hood plate 54 and is collected to prevent dripping.

[0090] In addition, the magnetic coating 77 on the solid drive rod 75 and the hollow output rod 76 rotates with the rod, driving the second magnetic stirring frame 78, which is sleeved on the outer surface of the tube 72, to rotate through magnetic coupling. The second magnetic stirring frame 78 drives the friction cylinder 79 to rub against the inner wall of the conical cylinder 71 to generate heat, slightly increasing the temperature of the reagent, reducing its viscosity, improving its fluidity and chemical activity, and ensuring the coating effect.

[0091] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0092] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A paint touch-up device for ship maintenance, comprising a multi-axis robotic arm (1), characterized in that: The output shaft of the multi-axis robotic arm (1) is equipped with two sets of branch rocker arms. One set of branch rocker arms is equipped with a main drive servo motor (2), and the other set of branch rocker arms is equipped with a second touch-up paint module (8). The main drive servo motor (2) and the second touch-up paint module (8) are brought into contact with the surface to be touched up by the servo adjustment of the output shaft of the multi-axis robotic arm (1) in turn. The main drive servo motor (2) is equipped with a conveyor frame module (3) on its side. The conveyor frame module (3) is equipped with parallel liquid-dispensing polishing modules (4) and integrated skeleton units (5). The liquid-dispensing polishing module (4) includes a hollow storage cylinder (41) for temporarily storing paint pretreatment reagent and a detachable magnetic polishing sleeve (45) that is movably sleeved on the outer surface of the hollow storage cylinder (41) for polishing the eroded layer. The integrated skeleton unit (5) includes a cylindrical skeleton (51) and a chip-collecting module (7) set inside the cylindrical skeleton (51) for uniformly mixing paint pretreatment reagent and adsorbing eroded layer debris. Several first paint-repairing modules (6) are equidistantly arranged in a circular pattern on the upper outer edge of the cylindrical skeleton (51). Among them, the output end of the main drive servo motor (2) is provided with a track sleeve (36) for linking the liquid separation and polishing module (4) and the integrated skeleton unit (5) to synchronously drive the detachable magnetic polishing sleeve (45) to rotate and polish the eroded layer and drive the chip suction module (7) to rotate and mix the reagent, and supply the first touch-up paint module (6) to the outside to maintain the shielded area by roller coating; The conveyor module (3) includes a cavity assembly frame (31) fixedly connected to one side surface of the output end of the main drive servo motor (2). The cavity assembly frame (31) is composed of two flush racetrack-shaped cavity plates. Flush closed-type through-hole sleeves (32) and open-type through-hole sleeves (34) are fixedly installed on both sides of the cavity assembly frame (31). The cavity storage cylinder (41) is fixedly connected in the middle of the cavity assembly frame (31) composed of two flush racetrack-shaped cavity plates, and the center of the cavity storage cylinder (41) is aligned with the center of the closed-type through-hole sleeve (32). The cavity assembly frame (31) is located on the side of the cavity assembly frame (31). A first liquid inlet (33) is opened on one side of the near-closed inlet sleeve (32) and is arranged in a circle facing the cavity storage cylinder (41). A double-layer round mouth connector (43) is fixedly installed at the center position on both sides of the cavity storage cylinder (41). The double-layer round mouth connector (43) is composed of an inner cylinder and an outer ring. A first magnetic stirring rack (44) is movably installed on the inner cylinder and is flush with the cavity storage cylinder (41). The outer ring is connected to the first liquid inlet (33) facing the cavity storage cylinder (41) to inject the paint pretreatment reagent into the racetrack-shaped cavity plates on both sides respectively. A partition plate is fixedly connected at the middle position of the cavity of the cavity storage cylinder (41), dividing the cavity of the cavity storage cylinder (41) into two symmetrical and independent sub-storage cavities (42). The first magnetic stirring rack (44) passes through the partition plate and the stirring part is symmetrically distributed in the two sub-storage cavities (42). One side of the first magnetic stirring rack (44) is sealed and plugged in the inner cylinder of the double-layer round mouth connector (43), and the other side passes through the inner cylinder of the double-layer round mouth connector (43) and is sealed and inserted into the opposite closed through-hole sleeve (32) and extends toward the main drive servo motor (2), and is fixedly connected to the output end of the main drive servo motor (2). The stirring parts of the first magnetic stirring rack (44) symmetrically distributed in the two sub-storage cavities (42) are all attached to the inner cavity wall and are attracted and correspond to the detachable magnetic polishing sleeve (45) that is movably sleeved on the outer surface of the cavity storage cylinder (41).

2. The paint touch-up device for ship maintenance according to claim 1, characterized in that, The integrated skeleton unit (5) also includes several concave semi-circular slots (52) arranged equidistantly on the outer edge of the cylindrical skeleton (51), and a collection slot (53) is fixedly connected between every two concave semi-circular slots (52). The first paint repair module (6) includes an assembly conduit (65) fixedly connected to both ends of each concave semi-circular slot (52). The chip suction module (7) includes a conical cylinder (71) fixedly connected to both ends inside the cylindrical skeleton (51), and a docking port (710) corresponding to the assembly conduit (65) is opened on the side end surface of each conical cylinder (71). A core tube (72) is fixedly installed at the center of the conical cylinder (71), and a liquid-guiding connector unit (9) is provided on the side wall of each core tube (72).

3. A paint touch-up device for ship maintenance according to claim 2, characterized in that, The liquid inlet connector unit (9) includes an annular cavity sleeve (91) movably mounted on the side end of a conical cylinder (71). The interior of the annular cavity sleeve (91) is hollow, and a second row of slots (93) for sealing connection are provided on the side of the annular cavity sleeve (91) closest to the conical cylinder (71). An expansion connector (94) is also fixedly installed at the middle position of the side of the annular cavity sleeve (91) away from the main drive servo motor (2). The extended end of the annular cavity sleeve (91) is fixedly installed in the open port sleeves (34) on both sides of the cavity assembly frame (31), and the top of the annular cavity sleeve (91) is provided with a first row of slots (92) that communicate with the open port sleeves (34). The paint pretreatment reagent in the cavity assembly frame (31) is poured into the annular cavity sleeve (91) through the first row of slots (92), and then poured into the conical cylinders (71) on both sides through the second row of slots (93).

4. A paint touch-up device for ship maintenance according to claim 3, characterized in that, The chip suction module (7) further includes a second sealing sleeve (73) fixedly connected to the opposite sides of the two conical cylinders (71), and a cavity guide cylinder (74) is movably installed between the two conical cylinders (71) through the second sealing sleeves (73) on both sides. A solid drive rod (75) is fixedly connected to the side of the cavity guide cylinder (74) near the main drive servo motor (2). The solid drive rod (75) passes through a through-tube (72) and an annular cavity sleeve (91), and a gear sleeve (35) is fixedly installed on the protruding end. A hollow output rod (76) is fixedly connected to the side away from the main drive servo motor (2). The hollow output rod (76) also passes through a tube (72) and an annular cavity sleeve (91). The protruding end is connected to an external guide hose connector (10) through an expansion connector (94). The cavity guide tube (74) is connected to the hollow output rod (76). Several air guide holes (711) are equidistantly opened in a circular pattern on the outer surface of the cavity guide tube (74). Several spiral fan blades (712) are fixedly installed on the outer surface of the cavity guide tube (74).

5. A paint touch-up device for ship maintenance according to claim 4, characterized in that, The first paint touch-up module (6) also includes a mixing cylinder roller (61). A first sealing sleeve (62) is fixedly installed on both ends of the mixing cylinder roller (61), and a lateral sleeve block (63) is movably installed on each of the first sealing sleeves (62). A circular groove (64) is provided on the outer edge of each lateral sleeve block (63) to seal and fit with the first sealing sleeve (62). The lateral sleeve blocks (63) on both sides of each mixing cylinder roller (61) are fixedly connected to the assembly guide tube (65), thus connecting the mixing cylinder roller... The roller (61) is mounted in a concave semi-circular groove (52). Ventilation hoods (54) are provided at the bottom of the mixing roller (61) in the concave semi-circular groove (52). A traction sleeve (66) is fixedly installed at the center end of each side sleeve (63). A capillary guide rope (67) is pulled inside the mixing roller (61) through the traction sleeve (66). Both sides of the capillary guide rope (67) extend into the conical cylinder (71) through assembly guide tubes (65).

6. A paint touch-up device for ship maintenance according to claim 5, characterized in that, The integrated skeleton unit (5) also includes reserved inner openings (55) on the side walls of the concave semi-circular groove (52). Each reserved inner opening (55) has a limiting slide rail (56) on its inner side wall. Soft rubber extrusion plates (57) are installed in parallel by sliding and limiting the limiting slide rails (56) at both ends of the concave semi-circular groove (52). The interior of each reserved inner opening (55) is fixedly installed with a reset spring sleeve (58) connected to the soft rubber extrusion plate (57) so that the soft rubber extrusion plate (57) always has a force that is close to the outer surface of the mixing cylinder roller (61). The outer surface of the mixing cylinder roller (61) is covered with a coating layer (68).

7. A paint touch-up device for ship maintenance according to claim 6, characterized in that, The solid drive rod (75) and the hollow output rod (76) are both fixedly equipped with magnetic coating (77). The inner cavity of the conical cylinder (71) is movably equipped with a second magnetic stirring rack (78) that is sleeved on the outer surface of the tube cylinder (72). A friction cylinder (79) is fixedly installed on the outer side of the second magnetic stirring rack (78). The outer wall of the friction cylinder (79) is in contact with the inner wall of the conical cylinder (71).

8. A paint touch-up device for ship maintenance according to claim 7, characterized in that, A gear collar (37) is fixedly installed at the position where the solid drive rod (75) is connected to the output end of the main drive servo motor (2). The gear collar (37) is arranged flush with the gear sleeve (35), and a track sleeve (36) is installed on the outer side of the gear sleeve (35) and the gear collar (37).

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