A ship integrated maintenance robot

Abstract

This application relates to an integrated ship maintenance robot, comprising: a frame; a walking mechanism mounted on the frame and driving the frame to move along the ship's surface; and functional modules detachably mounted on the frame, including at least one of a cleaning module, a rust removal module, and a painting module: the cleaning module is equipped with a high-pressure spray assembly for spraying high-pressure water jets to remove deposits from the ship's surface; the rust removal module is equipped with a sealed cover, a rotating nozzle assembly, and a negative pressure recovery interface, the sealed cover forming a sealed chamber with the ship's surface, the rotating nozzle assembly being disposed within the chamber to spray high-pressure water jets to remove rust, and the negative pressure recovery interface being connected to a negative pressure recovery pipe for connecting to a negative pressure source to suck up wastewater from the chamber; the painting module is equipped with a multi-degree-of-freedom robotic arm and a spray gun device mounted at the end of the robotic arm for spraying paint onto the ship's surface; and a control unit communicating with the walking mechanism and each functional module to control the robot's operation. This solution offers high operational efficiency, low environmental pollution, and good operational safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship maintenance, in particular to a ship integrated maintenance robot. BACKGROUND

[0002] During long-term operation, marine organisms such as barnacles and oysters will attach to the underwater part of the ship body surface. These attachments not only significantly increase the sailing resistance, but also accelerate the corrosion process of the ship body, resulting in a decrease in structural strength. The upper part of the ship body is easily subject to electrochemical corrosion and coating aging due to long-term exposure to high-salinity seawater environment, forming local rust points. If not treated in time, the rust will spread to the deep layer, threatening the overall safety and service life of the ship. Therefore, the ship must be regularly docked for cleaning, rust removal, and re-spraying maintenance operations to maintain its normal operating state.

[0003] Currently, the above maintenance operations are highly dependent on manual operation. In the cleaning process, workers use high-pressure water guns to flush the ship body surface, but the water flow pressure and coverage range are difficult to accurately control, resulting in low cleaning efficiency, and high-pressure impact may damage the original coating. The rust removal operation mainly uses sand blasting or high-pressure water jet method. The sand blasting process produces a large amount of suspended dust, which not only pollutes the air in the operation site, but also may be inhaled by workers, causing health problems. Although the high-pressure water jet method avoids dust, the rust-containing wastewater produced will cause irreversible damage to the aquatic ecosystem if not effectively collected and directly discharged into the sea. In the spraying stage, workers hold spray guns and operate on high-altitude scaffolds. Since the ship surface is mostly complex curved, it is difficult for workers to maintain a stable spraying distance and uniform moving speed, resulting in uneven distribution of coating, with local over-thickness or under-thickness, which seriously affects the adhesion and corrosion resistance of the coating.

[0004] This traditional operation mode has multiple defects: First, the operation efficiency is extremely limited. Manual cleaning and rust removal are slow, and the spraying coverage area is small, which significantly prolongs the dock turnover period and cannot meet the efficient needs of modern shipbuilding industry. Second, the safety risk is outstanding. Workers need to operate heavy equipment on high-altitude ladders or temporarily built scaffolds, facing the risk of falling from a high place, equipment instability, and other safety hazards. The operation environment is harsh and the accident rate is high. Third, the environmental pollution problem is serious. The diffusion of sand blasting dust into the atmosphere, the direct discharge of high-pressure water jet wastewater into the sea, and the escape of paint mist and volatile organic compounds during the spraying process all pose a persistent threat to the surrounding ecological environment. Fourth, the operation quality is difficult to guarantee. The subjective nature and fatigue factors of manual operation lead to large fluctuations in coating thickness and unstable corrosion resistance, shortening the ship maintenance cycle and increasing long-term maintenance costs.

[0005] Although wall-climbing robot technology has been introduced into the field of ship maintenance in recent years, the existing equipment still has obvious limitations: the functional design is too single, most robots can only perform one of the tasks of cleaning, rust removal or spraying, cannot realize full-process collaborative work, need to replace equipment repeatedly, and reduce overall efficiency; the sealing performance of the wastewater recovery system is insufficient, the closed chamber is easy to leak due to the unevenness of the ship surface when high-pressure water jet is used for rust removal, resulting in low wastewater recovery rate and inability to effectively block pollution spread; the spraying device lacks dynamic adaptability to the curved surface of the ship, the mechanical arm has limited degrees of freedom, and it is difficult to maintain a constant spraying distance and track on the curved surface, resulting in coating quality defects; the adhesion ability of the walking mechanism to the large-curvature area of the ship is weak, the traditional adsorption or wheel structure is easy to lose stability on steep curved surfaces, and the coverage range is limited, which cannot meet the full-ship maintenance demand. These deficiencies make it difficult for the existing technology to balance efficiency, safety, environmental protection and work quality.

[0006] The existing technology needs to be improved in view of the above problems. SUMMARY

[0007] The purpose of the present application is to provide a ship integrated maintenance robot, which has the advantages of high work efficiency, small environmental pollution and good operation safety.

[0008] The present application provides a ship integrated maintenance robot, and the technical solution is as follows:

[0009] A ship integrated maintenance robot comprises:

[0010] a vehicle frame;

[0011] a walking mechanism installed on the vehicle frame, used to drive the vehicle frame to move along the surface of the ship;

[0012] a functional module detachably installed on the vehicle frame, the functional module comprising at least one of a cleaning module, a rust removal module and a spraying module;

[0013] the cleaning module comprises a high-pressure spraying assembly for spraying high-pressure water flow to the surface of the ship to remove adhering objects;

[0014] the rust removal module comprises a sealed cover, a rotating nozzle assembly and a negative pressure recovery interface, the sealed cover and the surface of the ship form a closed chamber, the rotating nozzle assembly is arranged in the closed chamber for spraying high-pressure water jet to the surface of the ship to remove rust, and the negative pressure recovery interface is connected with a negative pressure recovery pipe for connecting a negative pressure source to suck wastewater in the closed chamber;

[0015] the spraying module comprises a multi-degree-of-freedom mechanical arm and a spray gun device installed at the end of the mechanical arm, used to spray paint to the surface of the ship;

[0016] And a control unit, in communication with the walking mechanism, the cleaning module, the rust removal module and the spraying module, for controlling the robot to perform the work.

[0017] Further, the application further provides that the walking mechanism comprises two groups of wheel devices, each group of wheel devices is connected to the frame through an air spring suspension; each group of wheel devices comprises a wheel frame, a driving motor, a gearbox and a wheel, the wheel frame is hinged to the side of the frame, the driving motor and the gearbox are fixed to the wheel frame, the output end of the gearbox is in transmission connection with the hub of the wheel; an arc-shaped bracket is integrally arranged below the output shaft of the gearbox, the arc-shaped bracket is located inside the hub and embedded with a permanent magnetic adsorption assembly for adsorbing the robot to the surface of the ship.

[0018] Further, the application further provides that each air spring suspension comprises two air springs, the cylinder end of the air spring is hinged to the middle top end of the frame, and the piston rod end of the air spring is hinged to the upper end of the wheel frame.

[0019] Further, the application further provides that the driving motors of the two groups of wheel devices are independently controlled, and the steering of the robot is realized by adjusting the speed difference between the two groups of wheel devices.

[0020] Further, the application further provides that the hub of the wheel is made of a non-magnetic material, the permanent magnetic adsorption assembly is a sintered Nd-Fe-B strong magnet, and the tire of the wheel is a thin-walled non-inflatable tire, so as to reduce the magnetic gap between the permanent magnetic adsorption assembly and the surface of the ship.

[0021] Further, the application further provides that the cleaning module comprises a high-pressure cleaning pipeline, the high-pressure cleaning pipeline comprises a first pipeline and a second pipeline arranged at the front end of the frame, and an input pipeline, the first pipeline and the second pipeline are arranged on the left and right sides of the frame respectively, a reversing valve is arranged at the intersection of the first pipeline, the second pipeline and the input pipeline, and a fan-shaped nozzle is arranged at the end of the first pipeline and the end of the second pipeline.

[0022] Further, the application further provides that the sealing cover body comprises an upper cover body and a lower sealing cover body, the frame is mounted on the upper cover body, the lower sealing cover body is sleeved on the lower end of the upper cover body and can axially buffer and displace relative to the upper cover body, a sealing brush is arranged on the lower side edge of the lower sealing cover body for abutting against the surface of the ship to form a sealed chamber; a plurality of support guide wheel sets are circumferentially arranged on the side wall of the lower sealing cover body; a buffer guide assembly is arranged between the upper cover body and the lower sealing cover body, the buffer guide assembly comprises a guide rod fixedly connected to the lower sealing cover body, the upper end of the guide rod is slidably arranged in the upper cover body, a sliding seat and a compression spring are sleeved on the guide rod, the sliding seat is slidably arranged on the guide rod, the compression spring is arranged between the upper cover body and the sliding seat, and the lower end of the sliding seat is arranged at the position of the lower sealing cover body where the support guide wheel set is mounted.

[0023] Further, the application also proposes that the rotating spray head assembly comprises a cross-shaped spray head support, the center of the cross-shaped spray head support is rotatably arranged at the top center of the upper cover body, the top center of the upper cover body is also provided with a high-pressure water interface, and a plurality of high-pressure spray heads are arranged on each support arm of the cross-shaped spray head support; the upper end of the upper cover body is also provided with a negative pressure recovery interface.

[0024] Further, the application also proposes that the spraying module further comprises a mounting frame fixed to the vehicle frame, the multi-degree-of-freedom mechanical arm comprises a rotating disc base, a first mechanical arm, a second mechanical arm and a third mechanical arm, the rotating disc base comprises a fixed disc body and a movable disc body, the fixed disc body is fixed to the mounting frame, the movable disc body is rotatably arranged on the fixed disc body and is driven to rotate by a rotating disc motor, the first mechanical arm is hinged to the movable disc body, the second mechanical arm is hinged to the first mechanical arm, the third mechanical arm is hinged to the second mechanical arm, and the spray gun device is hinged to the end of the third mechanical arm; the first mechanical arm or the movable disc body is provided with a first motor for driving the second mechanical arm to rotate, the second mechanical arm is provided with a second motor for driving the third mechanical arm to rotate and a third motor for driving the spray gun device to rotate.

[0025] Further, the application also proposes that the second motor drives the third mechanical arm to rotate relative to the second mechanical arm through a first belt transmission mechanism, the first belt transmission mechanism comprises a first driving pulley arranged at the output end of the second motor, a first driven pulley rotatably arranged at the hinge between the second mechanical arm and the third mechanical arm, and a first transmission belt connecting the two, and the first driven pulley is fixedly connected with the third mechanical arm; the third motor drives the spray gun device to rotate relative to the third mechanical arm through a second belt transmission mechanism, the second belt transmission mechanism comprises a second driving pulley arranged at the output end of the third motor, a pulley shaft rotatably arranged at the hinge center between the second mechanical arm and the third mechanical arm, a second driven pulley and a third driven pulley arranged at both ends of the pulley shaft respectively, a fourth driven pulley arranged on the spray gun device, and corresponding transmission belts.

[0026] Further, the application also proposes that the spraying module further comprises a shielding cover and a negative pressure air bellow recovery device, the shielding cover is arranged around the spray gun, and the negative pressure air bellow recovery device is in communication with the shielding cover and is used for recovering paint mist generated in the spraying process.

[0027] Further, the application also proposes that the control unit comprises a wireless communication module for data interaction with a remote terminal, and the control unit is also provided with a real-time monitoring module for monitoring and feeding back the working state parameters of the robot.

[0028] As can be seen from the above, the ship integrated maintenance robot provided by the application comprises a vehicle frame, a walking mechanism installed on the vehicle frame and used to drive the vehicle frame to move along the surface of the ship, a functional module installed on the vehicle frame in a detachable manner, the functional module comprising at least one of a cleaning module, a rust removal module and a spraying module, the cleaning module comprising a high-pressure spraying assembly used to spray high-pressure water flow to the surface of the ship to remove attachments, the rust removal module comprising a sealed cover, a rotary nozzle assembly and a negative pressure recovery interface, the sealed cover forming a sealed chamber with the surface of the ship, the rotary nozzle assembly being arranged in the sealed chamber and used to spray high-pressure water jet to the surface of the ship to remove rust, and the negative pressure recovery interface being connected with a negative pressure recovery pipe used to connect a negative pressure source to suck waste water in the sealed chamber, the spraying module comprising a multi-degree-of-freedom mechanical arm and a spray gun device installed at the end of the mechanical arm and used to spray paint to the surface of the ship, and a control unit in communication connection with the walking mechanism, the cleaning module, the rust removal module and the spraying module respectively and used to control the robot to perform work, through integration of the cleaning, rust removal and spraying functional modules and in combination with the sealed chamber design and the negative pressure recovery mechanism, the ship surface maintenance integrated work is effectively realized, waste water leakage and paint mist diffusion are significantly reduced, work efficiency is improved, environmental pollution is reduced and operation safety is ensured, and the ship integrated maintenance robot has the advantages of high work efficiency, small environmental pollution and good operation safety. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a top view of the ship integrated maintenance robot provided by the application.

[0030] Figure 2 It is a bottom view of the ship integrated maintenance robot provided by the application.

[0031] Figure 3 It is a schematic view of the ship integrated maintenance robot without the spraying module.

[0032] Figure 4 It is a schematic view of the ship integrated maintenance robot with the rust removal module.

[0033] Figure 5 It is a structural schematic view of the rust removal module.

[0034] Figure 6 It is a structural schematic view of the wheel device.

[0035] Figure 7 It is a schematic view of the magnet installation in the wheel device.

[0036] Figure 8 It is a schematic view of the spraying module in a folded state.

[0037] Figure 9 It is a schematic view of the spraying module in an unfolded state.

[0038] Figure 10 Schematic diagram of the recycling structure at the end of the spraying module. DETAILED DESCRIPTION

[0039] The technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0040] It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0041] Traditional ship maintenance operations mainly rely on manual work, which has problems such as low efficiency, high safety risk, serious environmental pollution, and unstable operation quality. Existing wall-climbing robots have single functions and are difficult to achieve integrated maintenance, and still have deficiencies in wastewater recycling, spraying quality, and curved surface adaptability.

[0042] As shown in Figures 1-10 The present application proposes a ship integrated maintenance robot, which includes a vehicle frame 1, a walking mechanism, detachable functional modules (including at least one of a cleaning module, a derusting module, and a spraying module), and a control unit. The robot performs cleaning through a high-pressure spraying assembly, performs derusting through a sealed cover body 2, a rotating nozzle assembly 3, and a negative pressure recycling interface 4, and performs spraying through a multi-degree-of-freedom mechanical arm 5 and a spray gun device 6, with the control unit coordinating the execution of work by each module.

[0043] For ease of understanding, some key terms in the present embodiment are explained as follows:

[0044] The ship integrated maintenance robot refers to an automated device that can integrate multiple maintenance functions such as cleaning, derusting, and spraying, and can move on the surface of a ship to perform work.

[0045] The vehicle frame 1 is the main structure of the robot, used to carry and connect various functional components, providing overall mechanical support.

[0046] The walking mechanism is a component that enables the robot to move on the surface of the ship, usually through driving wheels, tracks, or suction devices.

[0047] The functional module refers to an independent functional unit that can be replaced or combined according to the requirements of the task, such as a cleaning module for removing attachments, a rust removal module for removing rust, and a spraying module for applying a protective layer.

[0048] The high-pressure spray assembly is a device that uses high-pressure water flow for cleaning. Water is sprayed at high speed through nozzles onto the target surface to physically remove dirt with impact force.

[0049] The sealed cover 2 is a structure that forms a physical barrier between the working area and the external environment, creating a local closed space for specific tasks such as rust removal.

[0050] The rotating spray head assembly 3 is a spraying device with rotating components inside, which can make the spray flow cover the working area in a rotating manner, improving the efficiency and uniformity of the work.

[0051] The negative pressure recovery interface 4 is a port for connecting an external negative pressure source, with a negative pressure recovery pipe 57 connected to it. It creates negative pressure to suck out liquid, solid particles, or gas in the closed space, achieving waste recovery.

[0052] The multi-degree-of-freedom mechanical arm 5 is a mechanical device with multiple motion joints, capable of flexible positioning and posture adjustment in three-dimensional space.

[0053] The spray gun device 6 is a tool for atomizing and spraying paint or other liquids onto the target surface, usually driven by air pressure or hydraulic pressure.

[0054] The control unit is the core of the robot, responsible for receiving instructions, processing data, coordinating the actions of various components, and monitoring the status of the robot to ensure accurate execution of tasks.

[0055] The ship integrated maintenance robot of the embodiment has a rectangular frame as the car frame 1, which is welded by metal profiles to fix and support other components. As an optional implementation, the car frame 1 can also be designed as a structure with curvature to better adapt to the curvature of the ship surface. In another implementation, the car frame 1 can be made of high-strength materials to reduce the overall weight of the robot.

[0056] The walking mechanism is used to drive the robot to move along the surface of the ship. One implementation is to adopt a tracked structure, which generates thrust by friction between the driving track and the surface of the ship. Another implementation is to adopt a wheeled structure, which realizes movement by the rotation of the driving wheels. These wheels can be made of materials such as rubber or polyurethane to provide grip. In addition, the walking mechanism can also integrate suction devices such as vacuum cups or electromagnetic cups to ensure the stable adhesion of the robot on vertical or inclined surfaces.

[0057] The functional module is designed to be detachably mounted on the vehicle frame 1 to realize quick switching of different operation modes. For example, the functional module can be fixed with the vehicle frame 1 by bolt connection or quick buckle mechanism. When cleaning operation is needed, cleaning module can be installed; when rust removal is needed, rust removal module is replaced; when spraying is needed, spraying module is installed. This modular design enables the robot to be flexibly configured according to actual needs.

[0058] The cleaning module is used to remove attachments on the surface of the ship. It can include a high-pressure spray assembly, which can be composed of one or more nozzles connected to a high-pressure water pump to deliver high-pressure water flow through pipes. For example, the nozzles can be fixedly installed at the bottom of the cleaning module, and when the robot moves, the high-pressure water flow is directly sprayed onto the surface of the ship to flush away the dirt. The pressure and flow of the high-pressure water flow can be adjusted according to the type of attachments.

[0059] The rust removal module is used to remove rust on the surface of the ship. The module can include a sealed cover 2 that contacts the surface of the ship during operation to form a sealed chamber. For example, the edges of the sealed cover 2 can be made of flexible material to adapt to the undulations of the surface of the ship. Inside the sealed chamber, a rotating spray head assembly 3 is provided, which impacts the rust layer by spraying high-pressure water jet. The high-pressure water jet can be generated by one or more high-pressure nozzles 32 installed on a cross-shaped nozzle support 30. The waste water generated during operation is sucked away through the negative pressure recovery pipe 57 connected to the negative pressure recovery interface 4, which can be connected to an external vacuum pump or negative pressure tank.

[0060] The spraying module is used to spray paint on the surface of the ship. The module can include a multi-degree-of-freedom robot arm 5, which can be composed of multiple joints and links to realize multi-directional movement through motor drive. For example, the robot arm can have three or four degrees of freedom, enabling it to position the spray gun device 6 to a specified position on the surface of the ship. The spray gun device 6 is installed at the end of the multi-degree-of-freedom robot arm 5 for atomizing and uniformly spraying paint. The spray gun device 6 can be a pneumatic spray gun or an airless spray gun, which works by connecting a paint supply system and a compressed air source (if needed).

[0061] The control unit is the core of the robot, responsible for coordinating the operation of all components. It can be an embedded controller or an industrial PC, running its own control program. The control unit communicates with the walking mechanism, cleaning module, rust removal module, and painting module via wired or wireless connections. For example, the control unit can send movement commands to the walking mechanism, receive data from sensors, and control the start, stop, and operating status of functional modules according to preset work paths and parameters.

[0062] The integrated ship maintenance robot of this application effectively solves the problems of low efficiency, high safety risks, serious environmental pollution, and unstable work quality associated with traditional manual maintenance operations by integrating cleaning, rust removal, and spraying functions. This robot can remove adhering substances from ship surfaces, remove rust, and uniformly spray paint. Especially during the rust removal process, the wastewater recovery rate is improved and the pollution to the marine environment is reduced through the closed chamber and the negative pressure recovery pipe 57 connected to the negative pressure recovery interface 4. At the same time, the application of the multi-degree-of-freedom robotic arm 5 improves the flexibility of the spraying operation and the uniformity of the coating, thus enhancing the overall automation level and comprehensive efficiency of ship maintenance operations.

[0063] like Figures 1-4 As shown in Figures 6 and 7, this application proposes an integrated ship maintenance robot, whose walking mechanism includes two sets of wheel devices 8. Each set of wheel devices 8 is connected to the frame 1 via a gas spring suspension. Each set of wheel devices 8 includes a wheel frame 9, a drive motor 10, a gearbox 11, and a wheel 12. The wheel frame 9 is hinged to the side of the frame 1. The drive motor 10 and the gearbox 11 are fixed to the wheel frame 9. The output end of the gearbox 11 is connected to the wheel hub 13 of the wheel 12. An arc-shaped bracket 14 is integrally provided below the output shaft of the gearbox 11. The arc-shaped bracket 14 is located inside the wheel hub 13 and is fitted with a permanent magnet adsorption component 15 for adsorbing the robot onto the surface of the ship.

[0064] Specifically, the robot is equipped with two sets of wheel assemblies 8, whose main function is to provide the robot with mobility and support. Through the coordinated work of the two sets of wheel assemblies 8, the robot can achieve smooth linear movement and turning on the ship's surface, while distributing the robot's own weight to ensure stability during operation. Each set of wheel assemblies 8 is connected to the frame 1 via a gas spring suspension. The gas spring suspension is an adjustable elastic support mechanism filled with gas, which can automatically adjust stiffness and damping according to external loads and road conditions. In this application, the main function of the gas spring suspension is to provide cushioning and shock absorption, absorb the impact from the unevenness of the ship's surface, and ensure that the wheels 12 always maintain good contact with the ship's surface, thereby improving the robot's driving stability and adhesion. The wheel frame 9 is the structural skeleton of the wheel assembly 8, used to install components such as the drive motor 10, gearbox 11, and wheels 12. The wheel frame 9 is hinged to the side of the frame 1. This hinged method allows the wheel assembly 8 to swing to a certain extent relative to the frame 1, thereby adapting to the undulations and curvature changes of the ship's surface and further enhancing the robot's terrain adaptability. The drive motor 10 is the power source for the wheel assembly 8, responsible for converting electrical energy into mechanical energy to drive the wheels 12 to rotate, thereby propelling the robot forward. The drive motor 10 typically uses a brushless DC motor or a servo motor to provide precise speed and torque control. The gearbox 11 is mounted on the wheel frame 9 and works in conjunction with the drive motor 10. Its main function is to change the output speed and torque of the drive motor 10 to adapt to different robot travel speeds and load requirements. Through the gearbox 11, the robot can reduce speed when high torque is needed and increase speed when rapid movement is required, thereby optimizing power transmission efficiency. The wheels 12 are the components that directly contact the robot's surface, achieving robot movement through rolling friction. The material and structural design of the wheels 12 affect their grip, wear resistance, and surface adaptability. The hinge structure between the wheel frame 9 and the chassis 1 allows the wheel assembly 8 to rotate or swing around the hinge point. This design allows the wheel assembly 8 to float independently up and down when encountering uneven surfaces, thus maintaining effective contact between all wheels 12 and the ship's surface, avoiding decreased adhesion or slippage due to localized suspension. The drive motor 10 and gearbox 11 are fixed to the wheel frame 9 as an integrated power unit. This integrated design makes the power transmission path shorter and more compact, reduces transmission losses, and improves the structural rigidity and reliability of the entire walking mechanism. The output end of the gearbox 11 transmits power to the hub 13 of the wheel 12 via a mechanical connection, driving the wheel 12 to rotate. This transmission method ensures efficient and reliable power transmission, enabling the wheel 12 to obtain sufficient driving force to overcome resistance and propel the robot. The arc-shaped bracket 14 is integrally set below the output shaft of the gearbox 11 and located inside the hub 13 of the wheel 12.The arc-shaped bracket 14 is designed to match the internal space of the wheel hub 13, providing a stable mounting platform for embedding the permanent magnet adsorption assembly 15. The permanent magnet adsorption assembly 15 is a device that uses permanent magnet materials to generate magnetic force to adsorb the robot onto the ferromagnetic surface of the ship. Its working principle is to use magnetic force to firmly fix the robot to the ship's surface, providing strong vertical adhesion to resist gravity, wind force, and reaction forces generated during operation, ensuring stable operation of the robot in various postures. The permanent magnet adsorption assembly 15 is cleverly embedded in the arc-shaped bracket 14 located inside the wheel hub 13. This integrated design allows the adsorption assembly to be tightly combined with the wheel 12, not only saving space and making the structure more compact, but also allowing the adsorption force to act directly on the vicinity of the contact area between the wheel 12 and the ship's surface, thereby more effectively and firmly adsorbing the robot onto the ship's surface, while avoiding interference or damage that might occur if the adsorption assembly protruded outside the wheel 12.

[0065] Through the above technical solution, the integrated ship maintenance robot of this application can effectively solve the technical problem of stable movement and attachment on complex ship surfaces. The design of two sets of wheel devices 8 combined with a gas spring suspension allows the robot to flexibly adapt to the unevenness and curvature changes of the ship surface, ensuring that the wheels 12 always maintain good contact with the surface, thereby providing stable driving force. Simultaneously, the permanent magnet adsorption component 15 is cleverly integrated into the arc-shaped bracket 14 inside the wheel hub 13 of the wheel 12, allowing the robot to firmly adhere to the ferromagnetic ship surface using strong magnetic force. Even in vertical, inclined, or inverted working environments, it can resist gravity and other external forces, preventing the robot from slipping or falling off. This walking mechanism not only provides reliable mobility, but more importantly, through the combination of active suspension and passive magnetic adsorption, it significantly enhances the robot's attachment stability and operational safety on various complex ship surfaces, providing a solid foundation for high-intensity operations such as cleaning, rust removal, and spraying, thereby improving the efficiency and quality of maintenance operations.

[0066] like Figure 3 and 4As shown, this application further proposes that each gas spring suspension includes two gas springs 16, with the cylinder end of the gas spring 16 hinged to the top center of the frame 1 and the piston rod end of the gas spring 16 hinged to the upper end of the wheel frame 9. Specifically, each gas spring suspension is configured with two gas springs 16 to enhance the overall load-bearing capacity and stability of the suspension system. These two gas springs 16 can be connected in parallel to distribute the load acting on the wheel frame 9 more evenly and provide stronger anti-torsional and anti-roll capabilities. This configuration enables the suspension to provide more stable and balanced support when dealing with irregularities on the ship's surface, thereby ensuring continuous and close contact between the robot and the ship's surface. The cylinder end of the gas spring 16 is designed to be hinged to the top center of the frame 1. This connection method places the fixed end of the gas spring 16 at a relatively central position on the frame 1, which helps to evenly transmit the force generated by the suspension to the main structure of the frame 1, avoids local stress concentration, and provides a stable point of application for the gas spring 16. The articulated structure allows the gas spring 16 to make necessary angular adjustments during compression and extension to accommodate the relative movement of the wheel frame 9. The piston rod end of the gas spring 16 is hinged to the upper end of the wheel frame 9. This connection point allows the gas spring 16 to act directly on the wheel frame 9, effectively controlling the vertical displacement of the wheel frame 9 relative to the chassis 1. Connecting the piston rod end to the upper end of the wheel frame 9 forms an effective lever arm, enabling the gas spring 16 to efficiently absorb shocks and vibrations and maintain a preset distance and pressure between the wheel frame 9 and the ship's surface. The articulated design also ensures the wheel frame 9's freedom of movement in complex terrain, allowing it to flexibly follow the undulations of the ship's surface.

[0067] Through the above technical solution, each gas spring suspension uses two gas springs 16, significantly enhancing the load-bearing capacity and anti-roll stability of the suspension system. The cylinder end of the gas spring 16 is hinged to the top center of the frame 1, and the piston rod end is hinged to the upper end of the wheel frame 9. This symmetrical and balanced connection allows the suspension to provide more uniform and stable support when bearing vertical loads and coping with the undulations of the ship's surface. This effectively avoids the problems of insufficient support or uneven stiffness that may occur with a single gas spring, ensuring that the robot's walking mechanism always maintains a close and stable contact with the ship's surface, thereby improving the robot's stability, adsorption reliability, and operational accuracy of functional modules when operating on complex surfaces.

[0068] Furthermore, the drive motors 10 of the two sets of wheel devices 8 are each independently controlled, and the robot's steering is achieved by adjusting the speed difference between the two sets of wheel devices 8. Specifically, the independent control of the drive motors 10 of the two sets of wheel devices 8 means that the drive motors 10 of the left and right sets of wheel devices 8 equipped with the robot can receive and execute independent control commands. The control unit can send different speed or torque commands to the drive motors 10 of the left and right sets of wheel devices 8 respectively. This independent control is usually achieved by configuring an independent motor driver for each drive motor 10, and each driver is then connected to the control unit for communication. In addition, the control unit can integrate independent control algorithms to calculate and output the target speeds of the two sets of drive motors 10 in real time according to preset motion trajectories or operation commands. Based on this, the robot's steering is achieved by adjusting the speed difference between the two sets of wheel devices 8. When the robot needs to turn, the control unit calculates the different speeds required by the drive motors 10 of the two sets of wheel devices 8 according to the required steering direction and angle. For example, when the robot needs to turn left, the drive motor 10 of the left wheel assembly 8 can be controlled to run at a lower speed, or even in the opposite direction, while the drive motor 10 of the right wheel assembly 8 runs at a higher speed. Conversely, when the robot needs to turn right, the drive motor 10 of the right wheel assembly 8 rotates at a lower speed than the drive motor 10 of the left wheel assembly 8. This method of steering by using the difference in speed between the left and right wheels 12 is commonly known as differential steering. It allows the robot to adjust its posture and direction of travel by rotating in place or making large-radius turns without changing its overall direction of travel.

[0069] Through the above technical solution, since the drive motors 10 of the two sets of wheel devices 8 can be controlled independently, the robot can achieve flexible steering operations without a complex mechanical steering mechanism. The control unit, by precisely adjusting the speed difference between the two sets of wheel devices 8, can achieve various steering modes such as in-situ turning, small-radius turning, and large-radius turning, greatly improving the robot's maneuverability and operational flexibility on the ship's surface, especially in narrow areas or when precise positioning is required. This differential steering method simplifies the mechanical structure of the walking mechanism, reduces manufacturing costs and maintenance difficulty, while improving the robot's adaptability and efficiency in complex operating environments, ensuring that the robot can more accurately reach and cover various maintenance areas on the ship's surface.

[0070] In a further embodiment, this application proposes that the hub 13 of the wheel 12 be made of a non-magnetic material, the permanent magnet adsorption component 15 be a sintered neodymium iron boron strong magnet, and the tire 17 of the wheel 12 be a thin-walled, non-pneumatic tire, to reduce the magnetic gap between the permanent magnet adsorption component 15 and the ship surface. Specifically, the hub 13 of the wheel 12 is the core supporting component of the wheel 12, and its material selection is crucial to the performance of the permanent magnet adsorption component 15. If the hub 13 is made of a magnetic material, the magnetic lines of force generated by the permanent magnet adsorption component 15 will partially pass through the hub 13, forming a magnetic short circuit, thereby weakening the effective adsorption force acting on the ship surface. By making the hub 13 of a non-magnetic material, such as aluminum alloy, austenitic stainless steel, engineering plastics, or composite materials, bypassing of the magnetic lines of force can be effectively avoided, ensuring that the magnetic field generated by the permanent magnet adsorption component 15 can penetrate the hub 13 to the maximum extent and act directly on the ship surface, thereby ensuring the effective transmission of the magnetic adsorption force.

[0071] The permanent magnet adsorption component 15 is the core component providing the adsorption force. Sintered NdFeB strong magnets are high-performance rare-earth permanent magnet materials with extremely high remanence, coercivity, and maximum magnetic energy product, making them one of the strongest permanent magnet materials currently available. Using sintered NdFeB strong magnets as the permanent magnet adsorption component 15 can generate a powerful magnetic field and adsorption force within a limited volume, providing the robot with stable and reliable adhesion to the ship's surface, overcoming the robot's own weight, operational reaction forces, and potential external interference.

[0072] The tire 17 of the wheel 12 is the component that directly contacts the ship's surface. Traditional pneumatic tires or thick-walled solid tires typically have a large thickness, which increases the physical distance, i.e., the magnetic gap, between the permanent magnet adsorption assembly 15 and the ship's surface. Using a thin-walled, non-pneumatic tire results in a compact structure, small wall thickness, and no need for inflation, avoiding magnetic gap fluctuations caused by pressure changes or leaks. This design minimizes the contribution of the tire 17 itself to the magnetic gap, allowing the permanent magnet adsorption assembly 15 to be closer to the ship's surface, thereby effectively enhancing the magnetic adsorption force. Furthermore, the non-pneumatic design also improves the reliability and maintenance-free nature of the tire 17.

[0073] Through the above technical solutions, the hub 13 of the wheel 12 is made of non-magnetic material, effectively avoiding the bypassing and short-circuiting of magnetic lines of force, ensuring that the magnetic field generated by the permanent magnet adsorption component 15 can act efficiently on the ship surface. Simultaneously, the use of sintered neodymium iron boron strong magnets as the permanent magnet adsorption component 15 greatly enhances the magnetic field strength and adsorption force per unit volume. Furthermore, the design of the thin-walled, non-pneumatic tire further reduces the physical distance, i.e., the magnetic gap, between the permanent magnet adsorption component 15 and the ship surface. These measures work synergistically to significantly reduce the magnetic gap between the permanent magnet adsorption component 15 and the ship surface, thereby greatly enhancing the robot's magnetic adsorption force on the ship surface. The strong adsorption force not only improves the robot's stability and safety when operating on vertical or inclined surfaces, effectively preventing accidental detachment, but also enhances its ability to pass through complex surfaces (such as welds and uneven areas) and its operational accuracy, ensuring that the integrated ship maintenance robot can efficiently and reliably complete various maintenance tasks such as cleaning, rust removal, and painting.

[0074] like Figure 1 and 2 As shown in Figure 4, the cleaning module includes a high-pressure cleaning pipeline. This high-pressure cleaning pipeline includes a first pipeline 18, a second pipeline 19, and an input pipeline located at the front end of the frame 1. The first pipeline 18 and the second pipeline 19 are respectively located on the left and right sides of the frame 1. A reversing valve 20 is installed at the junction of the first pipeline 18, the second pipeline 19, and the input pipeline. Fan-shaped nozzles 22 are installed at the ends of the first pipeline 18 and the second pipeline 19, respectively. This high-pressure cleaning pipeline is the core channel for delivering high-pressure water to the ship's surface for cleaning. Its design aims to ensure that the high-pressure water flow can be stably and efficiently transmitted from a high-pressure water source (e.g., a high-pressure pump) to the spraying device to effectively remove deposits from the ship's surface. This pipeline is typically made of high-pressure resistant and corrosion-resistant materials, such as stainless steel or high-strength composite materials, to withstand the harsh environment of ship maintenance operations.

[0075] The first pipeline 18 is the main part of the high-pressure cleaning pipeline. It is located at the front end of the frame 1 and is usually arranged laterally to cover a cleaning area of ​​a certain width in front of the robot. As a distribution bus for high-pressure water flow, this pipeline can evenly deliver high-pressure water flow to the fan-shaped nozzles 22 connected at both ends, thereby achieving preliminary cleaning or pre-cleaning of a large area of ​​the ship's surface.

[0076] The second pipe 19 is also located at the front end of the frame 1, and is located on the left and right sides of the frame 1, respectively, along with the first pipe 18. The input pipe serves as the inlet channel for high-pressure water flow, and merges with the first pipe 18 and the second pipe 19 at their intersection. A reversing valve 20 is located at the intersection of the first pipe 18, the second pipe 19, and the input pipe, and its function is to control the direction of the high-pressure water flow. By operating the reversing valve 20, the high-pressure water flow can be switched between the ends of the first pipe 18 and the second pipe 19, or the water flow can be concentrated and delivered to the fan-shaped nozzle 22 on one side. This allows the robot to flexibly adjust the cleaning mode according to the characteristics of the cleaning area or the operational requirements, such as performing single-sided or double-sided cleaning, thereby improving cleaning efficiency and targeting.

[0077] The fan-shaped nozzles 22 are respectively installed at the ends of the first pipe 18 and the second pipe 19, and are key components that directly convert high-pressure water flow into a fan-shaped water curtain. The fan-shaped nozzles 22 can spray high-pressure water flow in a fan-shaped pattern onto the ship's surface, forming a uniform water curtain with a certain impact force, thereby effectively peeling off and removing deposits. Compared to point spraying, the fan-shaped nozzles 22 can provide a wider cleaning coverage area and improve cleaning efficiency.

[0078] Through the above technical solution, the cleaning module of this application introduces a high-pressure cleaning pipeline, which includes a first pipeline 18, a second pipeline 19, and an input pipeline located at the front end of the frame 1. The first pipeline 18 and the second pipeline 19 are respectively located on the left and right sides of the frame 1. A reversing valve 20 is installed at the intersection of the first pipeline 18, the second pipeline 19, and the input pipeline, and fan-shaped nozzles 22 are respectively installed at the ends of the first pipeline 18 and the second pipeline 19. This structure makes the distribution and spraying of high-pressure water more flexible and efficient. Specifically, the introduction of the reversing valve 20 allows the operator or control unit to selectively direct the high-pressure water flow to the end of the first pipeline 18 or the end of the second pipeline 19 according to the actual cleaning needs, thereby realizing the switching between single-sided or double-sided cleaning modes. For example, when the robot moves along the surface of a ship, it can only open one side of the fan-shaped nozzle 22 for cleaning based on the presence of the ship's edge or obstacles, avoiding unnecessary waste of water resources or accidental spraying of sensitive areas. Meanwhile, the fan-shaped nozzles 22, located at the ends of the first pipe 18 and the second pipe 19, can form a wide and uniform high-pressure water curtain, effectively covering the cleaning area in front of the robot and significantly improving cleaning efficiency and quality. This design avoids the cleaning blind spots or inefficiencies that may result from a single fixed nozzle, enabling the integrated ship maintenance robot to better adapt to different working conditions and cleaning requirements during cleaning operations, thus improving operational flexibility and overall performance.

[0079] In the above solution, the rust removal module includes a sealing cover 2, a rotating nozzle assembly 3, and a negative pressure recovery interface 4. The sealing cover 2 forms a sealed chamber with the ship's surface. The rotating nozzle assembly 3 is located in the sealed chamber and is used to spray high-pressure water jets onto the ship's surface to remove rust. The negative pressure recovery interface 4 is connected to a negative pressure recovery pipe 57, which is used to connect to a negative pressure source to extract wastewater from the sealed chamber. However, in actual operation, the ship's surface may have uneven or bumpy areas. If a rigid connection is used between the sealing cover 2 and the ship's surface, it is difficult to ensure an effective seal of the sealed chamber, which may lead to leakage of high-pressure water jets and wastewater, affecting the rust removal effect and environmental cleanliness. At the same time, the rigid connection may also cause damage to the sealing cover 2 or the ship's surface due to uneven surfaces.

[0080] like Figures 2-5 As shown, this application further proposes that the sealing cover 2 includes an upper cover 23 and a lower sealing cover 24. The frame 1 is mounted on the upper cover 23. The lower sealing cover 24 is sleeved on the lower end of the upper cover 23 and can buffer displacement relative to the upper cover 23 along the axial direction. A sealing brush 25 is provided on the lower edge of the lower sealing cover 24 for adhering to the surface of the ship to form the sealed chamber. A plurality of supporting guide wheel sets 26 are provided circumferentially on the side wall of the lower sealing cover 24. The upper cover 23 and the lower sealing cover 24... A buffer guide assembly is provided between the four parts. The buffer guide assembly includes a guide rod 27 fixedly connected to the lower sealing cover 24. The upper end of the guide rod 27 slides through the upper cover 23. A sliding seat 28 and a compression spring 29 are sleeved on the guide rod 27. The sliding seat 28 is slidably disposed on the guide rod 27. The compression spring 29 abuts between the upper cover 23 and the sliding seat 28. The lower end of the sliding seat 28 abuts at the position on the lower sealing cover 24 where the support guide wheel assembly 26 is installed.

[0081] Specifically, the upper cover 23, as the main structure of the sealing cover 2, supports the entire rust removal module and is connected to the robot frame 1, providing a foundation for the installation and support of the lower sealing cover 24. The lower sealing cover 24 is the part that directly contacts the ship's surface. It is designed to be able to undergo axial buffer displacement relative to the upper cover 23, meaning that the lower sealing cover 24 is not rigidly fixed but has a certain degree of floating capability to adapt to the undulations of the ship's surface. The sealing brush 25 is located on the lower edge of the lower sealing cover 24, and its function is to form a flexible contact with the ship's surface, thereby establishing and maintaining a sealed chamber. The flexible nature of the sealing brush 25 allows it to effectively fill tiny gaps and irregularities on the ship's surface, preventing the leakage of high-pressure water and rust, while reducing wear on the ship's surface. The support guide wheel assembly 26 is arranged circumferentially along the side wall of the lower sealing cover 24. These wheels provide stable support and guidance during robot movement, ensuring the lower sealing cover 24 slides smoothly on the ship's surface and maintains an appropriate distance and angle from the surface, further assisting the sealing brush 25 in achieving effective contact. The buffer guide assembly is a key structure for buffering the displacement of the lower sealing cover 24, and includes a guide rod 27, a sliding seat 28, and a compression spring 29. The guide rod 27 is fixedly connected to the lower sealing cover 24 and slides through the upper cover 23, providing a precise axial movement trajectory for the lower sealing cover 24. The sliding seat 28 is slidably mounted on the guide rod 27 and cooperates with the compression spring 29. The compression spring 29 abuts between the upper cover 23 and the sliding seat 28. When the ship's surface is uneven, the compression spring 29 absorbs the impact and provides a continuous downward pressure, ensuring that the sealing brush 25 always maintains a tight contact with the ship's surface with appropriate force, thereby achieving effective buffering and sealing. The lower end of the sliding seat 28 abuts against the position on the lower sealing cover 24 where the support guide wheel assembly 26 is installed, so that the buffering force can be evenly transmitted to the lower sealing cover 24, ensuring the stability of the overall structure.

[0082] Through the above technical solution, the sealing cover 2 is designed as a separate structure of upper cover 23 and lower sealing cover 24, and a buffer guide assembly is introduced, enabling the lower sealing cover 24 to perform buffered displacement along the axial direction, effectively solving the sealing failure problem caused by uneven ship surfaces. The sealing brush 25 further enhances the flexible fit with the ship surface, ensuring the integrity of the sealed chamber, thereby preventing the leakage of high-pressure water and rust, improving rust removal efficiency and the cleanliness of the working environment. At the same time, the introduction of the support guide wheel assembly 26 ensures the stability and guidance of the lower sealing cover 24 during movement, reducing friction and wear. The guide rod 27, sliding seat 28, and compression spring 29 in the buffer guide assembly work together to enable the lower sealing cover 24 to automatically adjust the distance and pressure to the surface according to the undulations of the ship surface, protecting the robot's own structure and avoiding damage to the ship surface, ensuring the continuity and reliability of rust removal operations. Overall, this design significantly improves the adaptability, sealing performance, and operational stability of the rust removal module in complex ship surface environments.

[0083] Further as Figure 2 As shown, this application further proposes a specific structure for the rotating nozzle assembly 3 of the rust removal module. The rotating nozzle assembly 3 includes a cross-shaped nozzle support 30. The cross-shaped nozzle support 30 is a structure with four symmetrical extending arms, designed to provide a stable platform for mounting multiple high-pressure nozzles 32. This geometry helps achieve uniform coverage of the work area by the high-pressure nozzles 32 during rotation, ensuring that the high-pressure water jet can act on the ship surface without dead angles, thereby improving rust removal efficiency and quality. This can be achieved by integrally molding or welding a metal material (such as stainless steel) to withstand the reaction force of the high-pressure water flow.

[0084] The center of the cross-shaped nozzle bracket 30 is rotatably located at the top center of the upper cover 23. Positioning the center of the cross-shaped nozzle bracket 30 at the top center of the upper cover 23 and allowing it to rotate ensures that the rotation center of the rotating nozzle assembly 3 within the sealed chamber is aligned with the geometric center of the rust removal area, thereby achieving circumferential scanning rust removal around the center axis. This rotational arrangement is typically achieved through bearings, seals, and a drive mechanism (such as a motor and reducer), ensuring stable and reliable operation even under high-speed rotation and high-pressure water conditions, and preventing moisture from entering the drive mechanism.

[0085] A high-pressure water inlet 31 is also provided at the top center of the upper cover 23. The high-pressure water inlet 31 is the connection point between the external high-pressure water source and the rotary nozzle assembly 3. By placing it at the top center of the upper cover 23 and aligning it with the rotation center of the rotary nozzle assembly 3, high-pressure water can be easily introduced into the rotary nozzle assembly 3 and sprayed out through the high-pressure nozzle 32. This inlet requires a high-pressure sealing connector to withstand the high-pressure water flow and ensure that no leakage occurs when the rotary nozzle assembly 3 rotates.

[0086] Each arm of the cross-shaped nozzle support 30 is equipped with multiple high-pressure nozzles 32. The placement of multiple high-pressure nozzles 32 on each arm of the cross-shaped nozzle support 30 increases the coverage density and impact force of the high-pressure water jet. These high-pressure nozzles 32 can be configured with different spray angles (e.g., fan-shaped, straight-line) and flow rates according to rust removal requirements to optimize the rust removal effect. The synergistic effect of multiple high-pressure nozzles 32 ensures thorough rust removal of the ship's surface in a single rotary scan, preventing any omissions.

[0087] In addition, a negative pressure recovery interface 4 is provided at the upper end of the upper cover 23. The negative pressure recovery interface 4 is used to connect to an external negative pressure source, and the wastewater and rust-removed impurities in the sealed chamber are sucked out through the negative pressure recovery pipe 57 connected to it. By placing it at the upper end of the upper cover 23, gravity can be used to assist the downward flow of wastewater, and it can be efficiently extracted by negative pressure. This setting helps to maintain a negative pressure environment in the sealed chamber, prevents wastewater from overflowing, and ensures the cleanliness of the rust removal operation.

[0088] Through the above technical solution, the rotating nozzle assembly 3 of the rust removal module adopts a cross-shaped nozzle bracket 30, with multiple high-pressure nozzles 32 installed on each of its arms. Combined with its central rotation, this ensures that the high-pressure water jet uniformly and efficiently covers the ship's surface within the sealed chamber, thus thoroughly removing rust and avoiding incomplete rust removal or the presence of dead zones. Simultaneously, the high-pressure water interface 31 is located at the top center of the upper cover 23, ensuring a stable supply of high-pressure water. The negative pressure recovery interface 4 is also located at the upper end of the upper cover 23, working in conjunction with the sealed chamber to efficiently extract wastewater and impurities generated during rust removal, effectively maintaining a negative pressure environment within the chamber, preventing wastewater overflow, and significantly improving the cleanliness and environmental friendliness of the rust removal operation.

[0089] like Figure 8 and 9As shown, this application further proposes that the painting module also includes a mounting bracket 33 fixed on the vehicle frame 1. The multi-degree-of-freedom robotic arm 5 includes a turntable base, a first robotic arm 36, a second robotic arm 37, and a third robotic arm 38. The turntable base includes a fixed disk body 34 and a movable disk body 35. The fixed disk body 34 is fixed on the mounting bracket 33. The movable disk body 35 is rotatably mounted on the fixed disk body 34 and driven to rotate by the turntable motor 39. The first robotic arm 36 is hinged to the movable disk body 35, the second robotic arm 37 is hinged to the first robotic arm 36, the third robotic arm 38 is hinged to the second robotic arm 37, and the spray gun device 6 is hinged to the end of the third robotic arm 38. A first motor 40 for driving the second robotic arm 37 to rotate is provided on the first robotic arm 36 or the movable disk body 35. A second motor 41 for driving the third robotic arm 38 to rotate and a third motor 42 for driving the spray gun device 6 to rotate are provided on the second robotic arm 37.

[0090] Specifically, the mounting bracket 33 is fixed to the frame 1, serving as a stable support structure for the multi-degree-of-freedom robotic arm 5. Its design should ensure sufficient rigidity and strength to withstand the forces and torques generated by the multi-degree-of-freedom robotic arm 5 during movement and spraying operations, thereby guaranteeing the positioning accuracy and operational stability of the multi-degree-of-freedom robotic arm 5. The mounting bracket 33 can be fixed using bolted connections, welding, or other reliable mechanical connection methods. Through the combined movement of multiple joints, the multi-degree-of-freedom robotic arm 5 can achieve flexible positioning and attitude adjustment of the spray gun device 6 in three-dimensional space. Its structure includes a turntable base, a first robotic arm 36, a second robotic arm 37, and a third robotic arm 38, forming a series of joints. Each joint provides one or more rotational degrees of freedom, thus giving the multi-degree-of-freedom robotic arm 5 high flexibility and a wide working space. The turntable base is the bottom rotating unit of the multi-degree-of-freedom robotic arm 5, consisting of a fixed disc 34 and a movable disc 35. The fixed disc 34 is firmly fixed to the mounting bracket 33, providing stable support. The movable disk 35 is rotatably mounted on the fixed disk 34 via bearings and other structures, and is driven to rotate around the vertical axis by the turntable motor 39. This design allows the entire multi-degree-of-freedom robotic arm 5 to perform a wide range of horizontal rotation, thereby expanding the robot's operational coverage. The first robotic arm 36, the second robotic arm 37, and the third robotic arm 38 are connected sequentially by hinges to form the main structure of the multi-degree-of-freedom robotic arm 5. The first robotic arm 36 is hinged to the movable disk 35, the second robotic arm 37 is hinged to the first robotic arm 36, and the third robotic arm 38 is hinged to the second robotic arm 37. Each hinge point allows relative rotation between adjacent robotic arms, thereby jointly realizing the multi-dimensional movement of the spray gun device 6 in space. This segmented design helps the multi-degree-of-freedom robotic arm 5 avoid obstacles and reach hard-to-reach areas. The spray gun device 6, as an actuator, is directly mounted at the end of the third robotic arm 38. Through a hinged connection, the spray gun device 6 can be tilted or yawed relative to the third robotic arm 38 to ensure that the nozzle maintains the optimal spraying angle and distance to the ship's surface during spraying, thereby improving the spraying quality. A first motor 40 is mounted on the first robotic arm 36 or the movable disc 35 and is specifically used to drive the second robotic arm 37 to rotate relative to the first robotic arm 36. By precisely controlling the rotation of the first motor 40, the attitude of the second robotic arm 37 can be adjusted, thus affecting the position of the spray gun device 6 in space. A second motor 41 is mounted on the second robotic arm 37 and is used to drive the third robotic arm 38 to rotate relative to the second robotic arm 37. The movement of the second motor 41 works in conjunction with the first motor 40, further increasing the degrees of freedom of the multi-degree-of-freedom robotic arm 5, allowing the spray gun device 6 to adjust its position and orientation more precisely. A third motor 42 is also mounted on the second robotic arm 37, but its function is to drive the spray gun device 6 to rotate relative to the third robotic arm 38.This motor provides the spray gun device 6 with an independent degree of rotational freedom, allowing the spray gun to adjust its spraying direction without changing the overall posture of the multi-degree-of-freedom robotic arm 5. For example, it enables the nozzle to rotate adaptively to adapt to different spraying trajectories.

[0091] Through the above technical solution, the spraying module, fixed to the mounting bracket 33 on the frame 1, provides a stable mounting foundation for the multi-degree-of-freedom robotic arm 5. This multi-degree-of-freedom robotic arm 5 adopts a series hinged structure of a turntable base, a first robotic arm 36, a second robotic arm 37, and a third robotic arm 38, supplemented by a turntable motor 39, a first motor 40, a second motor 41, and a third motor 42 for distributed drive, greatly enhancing the movement flexibility and workspace of the multi-degree-of-freedom robotic arm 5. The rotational capability of the turntable base allows the multi-degree-of-freedom robotic arm 5 to cover a large horizontal area, while the hinged structure of the multi-segment robotic arm allows for fine adjustment of the spray gun device 6 in the vertical and depth directions, effectively avoiding complex structures and obstacles on the ship's surface. Furthermore, the spray gun device 6 is hinged to the end of the third robotic arm 38 and driven to rotate by an independent third motor 42, ensuring that the spray gun can always spray the ship's surface at the optimal angle and distance, achieving uniform and efficient paint coverage even on curved, recessed, or raised areas. This sophisticated robotic arm structure and drive mechanism significantly improves the adaptability, accuracy, and work quality of the integrated ship maintenance robot in painting operations. It effectively solves the problem that traditional painting methods are unable to meet the complex surface painting needs of ships, ensuring coating quality and work efficiency.

[0092] In a specific implementation, this application further proposes that the second motor 41 drives the third robotic arm 38 to rotate relative to the second robotic arm 37 through the first belt drive mechanism. The first belt drive mechanism includes a first driving pulley 43 disposed at the output end of the second motor 41, a first driven pulley 44 rotatably disposed at the hinge of the second robotic arm 37 and the third robotic arm 38, and a first transmission belt 45 connecting the two. The first driven pulley 44 is fixedly connected to the third robotic arm 38. The third motor 42 drives the spray gun device 6 to rotate relative to the third robotic arm 38 through the second belt drive mechanism. The second belt drive mechanism includes a second driving pulley 46 disposed at the output end of the third motor 42, a pulley shaft 47 rotatably passing through the hinge center of the second robotic arm 37 and the third robotic arm 38, a second driven pulley 48 and a third driven pulley respectively disposed at both ends of the pulley shaft 47, a fourth driven pulley 50 disposed on the spray gun device 6, and a corresponding transmission belt.

[0093] Specifically, the second motor 41 drives the third robotic arm 38 to rotate relative to the second robotic arm 37 via a first belt drive mechanism. This technical feature describes a transmission method that transmits the rotational power generated by the second motor 41 to the third robotic arm 38. The second motor 41 is typically installed inside the second robotic arm 37 or near its hinge point, and the rotation of its output shaft needs to be effectively converted into the rotational motion of the third robotic arm 38 relative to the second robotic arm 37. The belt drive mechanism here serves to achieve long-distance, flexible power transmission and can reduce or increase speed according to the diameter ratio of the pulleys, thereby meeting the torque and speed requirements of the third robotic arm 38. Compared to gear transmission, this transmission method has advantages such as low noise, no need for lubrication, and relatively low requirements for installation precision, and can absorb shock and vibration to a certain extent. The first driving pulley 43 is fixed on the output shaft of the second motor 41 and rotates synchronously with the motor, serving as the power input end of the entire transmission chain. The first driven pulley 44 is located on the hinge axis between the second robotic arm 37 and the third robotic arm 38 and can rotate freely. The first drive belt 45 connects the first driving pulley 43 and the first driven pulley 44. When the first driving pulley 43 rotates, the first driven pulley 44 is driven to rotate through the friction or meshing of the belt (such as a synchronous belt). This arrangement allows the second motor 41 to be installed in a suitable position on the second robotic arm 37 without directly aligning with the rotation axis of the third robotic arm 38, thereby optimizing the structural design and space utilization of the multi-degree-of-freedom robotic arm 5. After receiving the power transmitted by the first drive belt 45, the first driven pulley 44 directly transmits its rotational motion to the third robotic arm 38. By fixing the first driven pulley 44 to the third robotic arm 38, the rotation angle of the first driven pulley 44 is ensured to be consistent with the rotation angle of the third robotic arm 38 relative to the second robotic arm 37, thereby achieving precise driving and positioning of the third robotic arm 38. This fixed connection method can be a key connection, expansion sleeve connection, or bolt connection, etc., to ensure sufficient torque transmission capacity and connection reliability.

[0094] Simultaneously, the third motor 42 drives the spray gun assembly 6 to rotate relative to the third robotic arm 38 via the second belt drive mechanism. This technical feature describes the transmission method for transmitting the rotational power generated by the third motor 42 to the spray gun assembly 6. The third motor 42 is typically mounted inside or near the end of the second robotic arm 37, and the rotation of its output shaft needs to be effectively converted into rotational motion of the spray gun assembly 6 relative to the third robotic arm 38. Similar to driving the third robotic arm 38, the belt drive mechanism here is also used to achieve flexible power transmission and can adjust the speed ratio according to the rotational requirements of the spray gun assembly 6. This design helps to place the drive motor in a more stable position, reduce the inertia at the end of the spray gun assembly 6, and improve the accuracy and stability of spraying. The second drive pulley 46 is fixed on the output shaft of the third motor 42 as a power source. The pulley shaft 47 is a key intermediate transmission component. It rotatably passes through the hinge center between the second robotic arm 37 and the third robotic arm 38. This means that regardless of how the third robotic arm 38 rotates relative to the second robotic arm 37, the axis of the pulley shaft 47 always remains at the hinge center, thus ensuring the stability of the transmission path and the constant belt tension. The second driven pulley 48 and the third driven pulley are respectively located at both ends of the pulley shaft 47. They are fixedly connected to the pulley shaft 47 and rotate together with it. The fourth driven pulley 50 is located on the spray gun device 6 and is fixedly connected to it. Corresponding drive belts connect these pulleys to form a multi-stage or multi-path transmission system. For example, the second drive belt 51 connects the second driving pulley 46 and the second driven pulley 48, and the third drive belt 52 connects the third driven pulley and the fourth driven pulley 50. This design can efficiently transmit driving force from inside the multi-degree-of-freedom robotic arm 5 to the end-effector spray gun device 6, while allowing the spray gun device 6 to rotate in multiple degrees of freedom.

[0095] By employing the above technical solution, using a belt drive mechanism to drive the rotation of the third robotic arm 38 and the spray gun device 6, this application effectively solves the challenge of limited internal space and the need for precise and flexible power transmission in a multi-degree-of-freedom robotic arm 5. Specifically, the second motor 41 drives the third robotic arm 38 through the first belt drive mechanism, and the third motor 42 drives the spray gun device 6 through the second belt drive mechanism. This allows the motors to be positioned in a more reasonable and stable location within the multi-degree-of-freedom robotic arm 5 structure, avoiding the structural complexity and instability issues that might result from directly mounting the motors on the rotation axis. Belt drives offer advantages such as smooth transmission, low noise, and relatively low requirements for installation precision, contributing to improved smoothness of movement and stability of the spraying operation in the multi-degree-of-freedom robotic arm 5. In particular, the design of the pulley shaft 47 in the second belt drive mechanism, which rotates through the hinge center between the second robotic arm 37 and the third robotic arm 38, ensures that the geometric relationship of the transmission path remains unchanged when the third robotic arm 38 rotates relative to the second robotic arm 37. This avoids the risk of tension fluctuations or belt slippage caused by changes in the posture of the multi-degree-of-freedom robotic arm 5, thus guaranteeing the reliability and accuracy of the rotation drive of the spray gun device 6. This design enables the spray gun device 6 to achieve more flexible and precise posture adjustments, thereby adapting to the complex curved surface structure of the ship, improving the uniformity and coverage of the coating, and ultimately enhancing the overall quality and efficiency of ship maintenance operations.

[0096] During actual spraying operations, the spray gun device 6 inevitably generates a large amount of paint mist when spraying paint. This paint mist may not only pollute the working environment and cause corrosion or blockage to the robot's precision components, but also lead to paint waste, affecting spraying efficiency and quality.

[0097] like Figure 10As shown, this application further proposes that the spraying module also includes a shield 53 and a negative pressure air box recovery device 54. The shield 53 is disposed around the spray gun device 6, and the negative pressure air box recovery device 54 is connected to the shield 53 for recovering paint mist generated during the spraying process. Specifically, the shield 53 is typically made of lightweight, corrosion-resistant materials, such as aluminum alloy, carbon fiber composites, or engineering plastics. Its shape can be designed according to the spraying range and working space of the spray gun device 6, such as a bowl shape, box shape, or a telescopic structure. The main function of the shield 53 is to confine the paint sprayed from the spray gun device 6 and the generated paint mist within a relatively enclosed space during spraying operations, preventing the paint mist from diffusing into the external environment. Its outer dimensions should be slightly larger than the spraying fan or spraying area of ​​the spray gun device 6 to ensure effective coverage. The negative pressure air box recovery device 54 is a device used to generate negative pressure airflow and collect particulate matter in the air. It typically includes a fan, such as a centrifugal fan or an axial fan; a filtration system, such as a multi-stage filter, including pre-filters, medium-efficiency filters, and high-efficiency filters; and a paint mist collection box. The fan generates negative pressure, drawing in air along with paint mist from within the shield 53; the filtration system separates paint mist particles from the air, expelling clean air and collecting the paint mist in the collection box for subsequent processing or recycling. The shield 53 is positioned in the external area of ​​the spray gun assembly 6, meaning it completely or partially encloses the spray gun assembly 6. This arrangement ensures that the spray area and the generated paint mist from the spray gun assembly 6 are effectively captured by the shield 53 during operation, creating a partially enclosed working space. A negative pressure air box recovery device 54 is airtightly connected to the shield 53 via a pipe or direct interface. This connection allows the negative pressure air box recovery device 54 to effectively draw air from inside the shield 53, thereby creating a negative pressure environment inside the shield 53. The formation of negative pressure guides the paint mist towards the recovery device, preventing its escape. The masking hood 53 and the negative pressure air box recovery device 54 work together to efficiently capture and collect the tiny paint particles, i.e., paint mist, generated during the spraying operation. Through negative pressure suction, the paint mist is drawn into the recovery device and filtered and separated, thereby realizing the recovery of paint mist, reducing environmental pollution, and potentially enabling the reuse of paint.

[0098] Through the above technical solution, during the spraying operation in the spraying module, the shield 53 effectively confines the paint mist generated by the spray gun device 6 within its internal space. Simultaneously, the negative pressure air box recovery device 54 is connected to the shield 53, continuously drawing in air and paint mist from within the shield 53 by generating negative pressure. Guided by the negative pressure airflow, the paint mist is drawn into the recovery device for filtration and collection, significantly reducing its diffusion into the external environment. This not only effectively prevents paint mist from polluting areas outside the ship's surface, protecting the working environment, but also prevents paint mist from corroding and clogging the robot's precision components, extending the robot's service life. Furthermore, the recovered paint mist can be reused in certain situations after treatment, thereby reducing paint consumption, improving resource utilization, and enhancing the overall cleanliness and safety of the spraying operation.

[0099] Finally, this application further proposes that the control unit includes a wireless communication module for data interaction with a remote terminal, and the control unit is also equipped with a real-time monitoring module for monitoring and feedback of the robot's working status parameters. Specifically, the wireless communication module is a key component for enabling data exchange between the robot and external systems. It can employ various wireless communication technologies, such as Wi-Fi, Bluetooth, 4G / 5G cellular networks, LoRa, or satellite communication, with the specific choice depending on communication distance, data transmission rate, environmental complexity, and power consumption requirements. This module is responsible for sending data generated internally by the control unit (such as sensor data, work progress, fault information, etc.) to the remote terminal and receiving instructions and configuration information from the remote terminal. The remote terminal is a device used by operators or automated systems to interact with the robot. It can be a handheld device, a portable computer, or a fixed workstation, typically equipped with a user interface that can intuitively display the working status parameters fed back by the robot and allow operators to input control commands, adjust work parameters, or perform fault diagnosis. Data interaction refers to the two-way information transmission process between the robot and the remote terminal by the wireless communication module. This includes the robot sending its internal status data, sensor readings, task execution progress, and abnormal alarms to the remote terminal, as well as the remote terminal sending control commands such as start / stop instructions, path planning, parameter settings, and mode switching to the robot.

[0100] Meanwhile, the real-time monitoring module, a functional component within the control unit, is primarily responsible for continuously collecting, processing, and analyzing operational data from various internal robot components (such as the locomotive, cleaning module, rust removal module, spraying module, power system, and sensors). This module acquires raw data by integrating various sensors and performs necessary filtering, calibration, and calculations to generate meaningful operational status parameters. These parameters are quantitative data describing the robot's current operating status and performance indicators, and may include, but are not limited to: the speed, position, and suction force of the locomotive; the spraying pressure and water flow rate of the cleaning module; the spraying pressure, recovery negative pressure, and chamber sealing status of the rust removal module; the spraying pressure, flow rate, 5-position of the multi-DOF robotic arm, and spray gun status of the spraying module; battery level, motor current, system temperature, fault codes, task progress, and remaining work time. Monitoring and feedback refer to the real-time monitoring module continuously acquiring the robot's operational status parameters and transmitting these parameters to a remote terminal in a timely manner via a wireless communication module. The monitoring process is continuous and periodic, ensuring that operators or automated systems can always understand the robot's latest status. The feedback process emphasizes the timeliness and accuracy of information, enabling remote terminals to analyze and judge the received data and issue corresponding control commands or alarms in a timely manner, thereby achieving effective management and intervention of the robot's operation process.

[0101] Through the aforementioned technical solution, the control unit, equipped with a wireless communication module and a real-time monitoring module, enables the integrated ship maintenance robot to efficiently interact with remote terminals. The real-time monitoring module continuously collects and processes various operational status parameters of the robot and promptly feeds this crucial data back to the remote terminal via the wireless communication module. This allows operators or automated systems to remotely and in real-time monitor the robot's operating status, work progress, and potential anomalies. When the robot performs complex tasks such as cleaning, rust removal, or spraying, operators can remotely adjust operational strategies, optimize parameter settings, or quickly locate and intervene in case of malfunctions based on the real-time feedback data, thereby significantly improving the robot's operational efficiency, reliability, and safety. For example, in rust removal operations, the negative pressure and water jet pressure within the sealed enclosure 2 can be monitored in real-time to ensure the effectiveness of the sealed chamber and the rust removal effect; in spraying operations, the spraying pressure of the spray gun device 6 and the posture of the robotic arm can be monitored in real-time to ensure coating quality. This remote monitoring and interaction capability greatly enhances the robot's autonomous operation capabilities and management level in complex, hazardous, or inaccessible environments.

[0102] The following example illustrates the above technical solution in more detail: In a dry dock at location A, a vessel requires comprehensive maintenance, including removing marine debris from the hull, removing rust, and reapplying anti-corrosion paint. Traditional manual maintenance methods suffer from low efficiency, high safety risks, severe environmental pollution, and inconsistent work quality. To address these issues, user A decides to deploy an integrated ship maintenance robot.

[0103] The robot is first placed on the side of the ship. Its frame 1 serves as the platform supporting the entire robot, and all functional components are mounted on it. The walking mechanism is mounted on the frame 1 to move the robot along the ship's surface. This walking mechanism includes two sets of wheel assemblies 8, each set of wheel assemblies 8 connected to the frame 1 via gas spring suspension. Each set of wheel assemblies 8 includes a wheel frame 9, a drive motor 10, a gearbox 11, and a wheel 12. The wheel frame 9 is hinged to the side of the frame 1, and the drive motor 10 and gearbox 11 are fixed to the wheel frame 9. The output end of the gearbox 11 is connected to the wheel hub 13 of the wheel 12. An arc-shaped bracket 14 is integrally provided below the output shaft of the gearbox 11. The arc-shaped bracket 14 is located inside the wheel hub 13 and is fitted with a permanent magnet adsorption component 15. This permanent magnet adsorption component 15 is a sintered neodymium iron boron strong magnet, which can firmly adsorb the robot onto the steel surface of the ship, ensuring safety during high-altitude operations and avoiding the risk of falls during manual high-altitude operations. The hub 13 of wheel 12 is made of non-magnetic material, and the tire 17 of wheel 12 is a thin-walled, non-pneumatic tire. These designs effectively reduce the magnetic gap between the permanent magnet adsorption component 15 and the ship surface, thereby enhancing the adsorption force and enabling the robot to move stably on the ship surface, including surfaces with a certain curvature. The drive motors 10 of the two sets of wheel devices 8 are independently controlled. By adjusting the speed difference between the two sets of wheel devices 8, the robot can achieve precise steering, flexibly adapt to the complex geometry of the ship surface, and expand the operating coverage area. Each air spring suspension includes two air springs 16. The cylinder end of the air spring 16 is hinged to the top of the middle of the frame 1, and the piston rod end is hinged to the upper end of the wheel frame 9. This suspension structure allows the wheel device 8 to better adapt to the unevenness of the ship surface and maintain stable adsorption and movement.

[0104] The robot's control unit is equipped with a wireless communication module and a real-time monitoring module. Before the operation begins, the control unit establishes a connection with the remote terminal through the wireless communication module, receives the operation instructions issued by user A, and monitors and provides feedback on the robot's working status parameters in real time to ensure the controllability and safety of the operation process.

[0105] The cleaning operation begins first. The control unit instructs the robot to move to the area covered with barnacles and algae and activates the cleaning module. The cleaning module includes a high-pressure spray assembly for spraying high-pressure water jets onto the ship's surface to remove the deposits. Specifically, the cleaning module includes a high-pressure cleaning pipeline consisting of a first pipeline 18, a second pipeline 19, and an input pipeline located at the front end of the chassis 1. The first pipeline 18 and the second pipeline 19 are respectively located on the left and right sides of the chassis 1. A reversing valve 20 is installed at the junction of the first pipeline 18, the second pipeline 19, and the input pipeline. Fan-shaped nozzles 22 are installed at the ends of the first pipeline 18 and the second pipeline 19, respectively. High-pressure water is delivered through the pipelines to the fan-shaped nozzles 22, forming a fan-shaped high-pressure water jet that efficiently and evenly washes the ship's surface, quickly removing marine organism deposits and significantly improving operational efficiency compared to manual cleaning.

[0106] After cleaning, the robot moves to the area with rust, and the control unit activates the rust removal module. The rust removal module includes a sealing cover 2, a rotating nozzle assembly 3, and a negative pressure recovery interface 4. The sealing cover 2 includes an upper cover 23 and a lower sealing cover 24. The frame 1 is mounted on the upper cover 23, and the lower sealing cover 24 is fitted onto the lower end of the upper cover 23 and can be axially buffered relative to the upper cover 23. A sealing brush 25 is provided on the lower edge of the lower sealing cover 24. When the robot performs rust removal, the sealing brush 25 fits tightly against the ship's surface, forming a sealed chamber, effectively preventing high-pressure water jets and rust from leaking out. Multiple support guide wheel sets 26 are arranged circumferentially on the side wall of the lower sealing cover 24 to assist its smooth movement on the ship's surface. A buffer guide assembly is provided between the upper cover 23 and the lower sealing cover 24. This assembly includes a guide rod 27 fixedly connected to the lower sealing cover 24. The upper end of the guide rod 27 slides through the upper cover 23. A sliding seat 28 and a compression spring 29 are sleeved on the guide rod 27. The sliding seat 28 is slidably disposed on the guide rod 27. The compression spring 29 abuts against the upper cover 23 and the sliding seat 28. The lower end of the sliding seat 28 abuts against the position on the lower sealing cover 24 where the support guide wheel assembly 26 is installed. This buffer guide assembly allows the lower sealing cover 24 to buffer and adjust according to the slight undulations of the ship's surface, always maintaining a tight fit with the ship's surface and ensuring the airtightness of the sealed chamber. A rotating nozzle assembly 3 is disposed in the sealed chamber and is used to spray high-pressure water jets onto the ship's surface to remove rust. The rotating nozzle assembly 3 includes a cross-shaped nozzle bracket 30, whose center is rotatably positioned at the top center of the upper cover 23. A high-pressure water interface 31 is also located at the top center of the upper cover 23. Multiple high-pressure nozzles 32 are mounted on each arm of the cross-shaped nozzle bracket 30. High-pressure water enters through the high-pressure water interface 31 and is ejected by the rotating nozzle assembly 3, efficiently removing the rust layer. Simultaneously, a negative pressure recovery pipe 57 is connected to the negative pressure recovery interface 4, which is connected to a negative pressure source for pumping out wastewater and rust from the sealed chamber. The upper end of the upper cover 23 also features a negative pressure recovery interface 4. This closed-loop recovery system effectively avoids marine pollution caused by direct discharge of wastewater into the sea, solves the problem of low wastewater recovery rate in traditional high-pressure water jet rust removal, and demonstrates environmental advantages.

[0107] After the rust removal operation is completed, the robot moves to the area requiring spraying, and the control unit activates the spraying module. The spraying module includes a multi-degree-of-freedom robotic arm 5 and a spray gun device 6 mounted at the end of the multi-degree-of-freedom robotic arm 5, used to spray paint onto the ship's surface. The spraying module also includes a mounting bracket 33 fixed to the chassis 1. The multi-degree-of-freedom robotic arm 5 includes a turntable base, a first robotic arm 36, a second robotic arm 37, and a third robotic arm 38. The turntable base includes a fixed plate 34 and a movable plate 35. The fixed plate 34 is fixed to the mounting bracket 33, and the movable plate 35 is rotatably mounted on the fixed plate 34 and driven to rotate by a turntable motor 39. The first robotic arm 36 is hinged to the movable plate 35, the second robotic arm 37 is hinged to the first robotic arm 36, the third robotic arm 38 is hinged to the second robotic arm 37, and the spray gun device 6 is hinged to the end of the third robotic arm 38. A first motor 40 for driving the rotation of the second robotic arm 37 is provided on the first robotic arm 36 or the movable disc 35. A second motor 41 for driving the rotation of the third robotic arm 38 and a third motor 42 for driving the rotation of the spray gun device 6 are provided on the second robotic arm 37. The second motor 41 drives the third robotic arm 38 to rotate relative to the second robotic arm 37 through a first belt drive mechanism. The first belt drive mechanism includes a first driving pulley 43 provided at the output end of the second motor 41, a first driven pulley 44 rotatably provided at the hinge point between the second robotic arm 37 and the third robotic arm 38, and a first transmission belt 45 connecting the two. The first driven pulley 44 is fixedly connected to the third robotic arm 38. The third motor 42 drives the spray gun device 6 to rotate relative to the third robotic arm 38 via the second belt drive mechanism. The second belt drive mechanism includes a second driving pulley 46 located at the output end of the third motor 42, a pulley shaft 47 rotatably passing through the hinge center between the second robotic arm 37 and the third robotic arm 38, a second driven pulley 48 and a third driven pulley respectively located at both ends of the pulley shaft 47, a fourth driven pulley 50 located on the spray gun device 6, a second transmission belt 51 connecting the second driving pulley 46 and the second driven pulley 48, and a third transmission belt 52 connecting the third driven pulley and the fourth driven pulley 50. This multi-degree-of-freedom robotic arm 5 structure and precise transmission mechanism enable the spray gun device 6 to flexibly adjust its attitude and position, accurately perform spraying operations on the curved surface of the ship, ensure uniform coating, and solve the problems of unstable quality in manual spraying and the difficulty of existing robots in maintaining high-quality coating on curved surfaces. The spraying module also includes a shielding cover 53 and a negative pressure air box recovery device 54. A shield 53 is installed around the spray gun assembly 6, and a negative pressure air box recovery device 54 is connected to the shield 53 to recover the paint mist generated during the spraying process. This effectively reduces the pollution of the atmosphere by paint mist and volatile organic compounds (VOCs) and improves the environmental friendliness of the operation.

[0108] Through the integrated cleaning, rust removal, and spraying process described above, this integrated ship maintenance robot efficiently, safely, and environmentally friendly completes ship maintenance tasks. The control unit coordinates the collaborative work of the walking mechanism and various functional modules, realizing full automation from the removal of deposits to the spraying of anti-corrosion coatings. This significantly improves operational efficiency, reduces the safety risks of manual operation, minimizes environmental pollution, and ensures the stability of operational quality, overcoming the shortcomings of existing technologies such as limited functionality, low recycling efficiency, and poor adaptability to curved surfaces.

[0109] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A ship integrated maintenance robot, characterized in that, include: Frame (1); A walking mechanism, mounted on the frame (1), is used to drive the frame (1) to move along the surface of the ship; A functional module is detachably mounted on the vehicle frame (1), the functional module including at least one of a cleaning module, a rust removal module and a painting module; The cleaning module includes a high-pressure spray assembly for spraying high-pressure water jets onto the surface of the ship to remove deposits. The rust removal module includes a sealing cover (2), a rotating nozzle assembly (3), and a negative pressure recovery interface (4). The sealing cover (2) forms a sealed chamber with the ship surface. The rotating nozzle assembly (3) is installed in the sealed chamber to spray high-pressure water jets onto the ship surface to remove rust. The negative pressure recovery interface (4) is connected to a negative pressure recovery pipe (57) for connecting to a negative pressure source to draw out wastewater from the sealed chamber. The spraying module includes a multi-degree-of-freedom robotic arm (5) and a spray gun device (6) installed at the end of the multi-degree-of-freedom robotic arm (5) for spraying paint onto the surface of the ship. The control unit is communicatively connected to the walking mechanism, the cleaning module, the rust removal module, and the spraying module, respectively, and is used to control the robot to perform operations.

2. The integrated ship maintenance robot according to claim 1, characterized in that, The walking mechanism includes two sets of wheel devices (8), each set of wheel devices (8) is connected to the frame (1) by a gas spring suspension; each set of wheel devices (8) includes a wheel frame (9), a drive motor (10), a gearbox (11) and a wheel (12). The wheel frame (9) is hinged to the side of the frame (1), the drive motor (10) and the gearbox (11) are fixed on the wheel frame (9), and the output end of the gearbox (11) is connected to the hub (13) of the wheel (12) for transmission; an arc-shaped bracket (14) is integrally provided below the output shaft of the gearbox (11), the arc-shaped bracket (14) is located inside the hub (13) and is fitted with a permanent magnet adsorption component (15) for adsorbing the robot onto the surface of the ship.

3. The integrated ship maintenance robot according to claim 2, characterized in that, Each air spring suspension includes two air springs (16), with the cylinder end of the air spring (16) hinged to the top of the middle part of the frame (1) and the piston rod end of the air spring (16) hinged to the upper end of the wheel frame (9).

4. The integrated ship maintenance robot according to claim 2, characterized in that, The drive motors (10) of the two sets of wheel devices (8) are controlled independently, and the robot can be turned by adjusting the speed difference between the two sets of wheel devices (8).

5. The integrated ship maintenance robot according to claim 2, characterized in that, The hub (13) of the wheel (12) is made of non-magnetic material, the permanent magnet adsorption component (15) is a sintered neodymium iron boron strong magnet, and the tire (17) of the wheel (12) is a thin-walled non-pneumatic tire to reduce the magnetic gap between the permanent magnet adsorption component (15) and the surface of the ship.

6. The integrated ship maintenance robot according to claim 1, characterized in that, The cleaning module includes a high-pressure cleaning pipeline, which includes a first pipeline (18), a second pipeline (19), and an input pipeline located at the front end of the frame (1). The first pipeline (18) and the second pipeline (19) are respectively located on the left and right sides of the frame (1). A reversing valve (20) is provided at the junction of the first pipeline (18), the second pipeline (19), and the input pipeline. A fan-shaped nozzle (22) is installed at the end of the first pipeline (18) and the end of the second pipeline (19).

7. The integrated ship maintenance robot according to claim 1, characterized in that, The sealing cover (2) includes an upper cover (23) and a lower sealing cover (24). The frame (1) is mounted on the upper cover (23). The lower sealing cover (24) is fitted onto the lower end of the upper cover (23) and can buffer displacement relative to the upper cover (23) along the axial direction. The lower edge of the lower sealing cover (24) is provided with a sealing brush (25) for adhering to the surface of the ship to form the sealed chamber. Multiple support guide wheel sets (26) are arranged circumferentially on the side wall of the lower sealing cover (24). A buffer guide assembly is provided between the upper cover (23) and the lower sealing cover (24). The buffer guide assembly includes a guide rod (27) fixedly connected to the lower sealing cover (24). The upper end of the guide rod (27) slides through the upper cover (23). A sliding seat (28) and a compression spring (29) are sleeved on the guide rod (27). The sliding seat (28) is slidably disposed on the guide rod (27). The compression spring (29) abuts against the upper cover (23) and the sliding seat (28). The lower end of the sliding seat (28) abuts against the position on the lower sealing cover (24) where the support guide wheel assembly (26) is installed.

8. The integrated ship maintenance robot according to claim 7, characterized in that, The rotating nozzle assembly (3) includes a cross-shaped nozzle bracket (30), the center of which is rotatably located at the top center of the upper cover (23). A high-pressure water interface (31) is also provided at the top center of the upper cover (23). Multiple high-pressure nozzles (32) are provided on each arm of the cross-shaped nozzle bracket (30). The upper end of the upper cover (23) is also provided with the negative pressure recovery interface (4), and the negative pressure recovery interface (4) is connected to the negative pressure recovery pipe (57).

9. The integrated ship maintenance robot according to claim 1, characterized in that, The painting module also includes a mounting bracket (33) fixed to the vehicle frame (1). The multi-degree-of-freedom robotic arm (5) includes a turntable base, a first robotic arm (36), a second robotic arm (37), and a third robotic arm (38). The turntable base includes a fixed disk body (34) and a movable disk body (35). The fixed disk body (34) is fixed to the mounting bracket (33). The movable disk body (35) is rotatably mounted on the fixed disk body (34) and driven to rotate by a turntable motor (39). The first robotic arm (36) is hinged to the movable disk body (35). Two robotic arms (37) are hinged to the first robotic arm (36), the third robotic arm (38) is hinged to the second robotic arm (37), and the spray gun device (6) is hinged to the end of the third robotic arm (38); the first robotic arm (36) or the movable disc (35) is provided with a first motor (40) for driving the second robotic arm (37) to rotate, the second robotic arm (37) is provided with a second motor (41) for driving the third robotic arm (38) to rotate and a third motor (42) for driving the spray gun device (6) to rotate.

10. The integrated ship maintenance robot according to claim 9, characterized in that, The second motor (41) drives the third robotic arm (38) to rotate relative to the second robotic arm (37) via a first belt drive mechanism. The first belt drive mechanism includes a first driving pulley (43) disposed at the output end of the second motor (41), a first driven pulley (44) rotatably disposed at the hinge point between the second robotic arm (37) and the third robotic arm (38), and a first transmission belt (45) connecting the two. The first driven pulley (44) is fixedly connected to the third robotic arm (38). The third motor (42) drives the spray gun device (6) relative to the third robotic arm (38) via the second belt drive mechanism. The second belt drive mechanism includes a second driving pulley (46) located at the output end of the third motor (42), a pulley shaft (47) rotatably passing through the hinge center of the second mechanical arm (37) and the third mechanical arm (38), a second driven pulley (48) and a third driven pulley respectively located at both ends of the pulley shaft (47), a fourth driven pulley (50) located on the spray gun device (6), a second transmission belt (51) connecting the second driving pulley (46) and the second driven pulley (48), and a third transmission belt (52) connecting the third driven pulley and the fourth driven pulley (50).

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