Robot and system with automatic ship spraying and VOC (volatile organic compound) recycling functions

Abstract

The utility model relates to a robot and system with automatic ship spraying and VOC recycling functions. The robot and system comprises a control module, two first moving assemblies, two second moving assemblies, a third moving assembly, a first rotating mechanism, a second rotating mechanism, a base, a spraying head and a cover body. When the system with the automatic spraying and VOC recycling functions is actually used, the two first moving assemblies and the two second moving assemblies moving along with the first moving assemblies form a moving frame; after the first moving assemblies are stabilized, the moving tracks of the cover body and the third moving assemblies move within the range defined by the two first moving assemblies and the two second moving assemblies, so that the cover body moves more stably, and the moving assemblies do not interfere with the fixed surfaces of the first moving assemblies in the moving process; and therefore, the cover body can stably move, and high-quality paint spraying is conducted through the spray head.

Description

Technical Field

[0001] The present application relates to the field of spraying equipment and environmentally friendly spraying technology, and in particular to a robot and system with ship automated spraying and VOC recovery functions. Background Art

[0002] At present, when the commonly used paint spraying equipment is used to spray the surface of the workpiece, the sprayed paint is in a mist-like, diffusive and volatile state, and the paint particles and harmful gases are diffused in the entire working area.

[0003] The existing small-scale painting robots mainly cover the spray head with a spray cover to prevent the spray from escaping, and connect the spray head to a support through multiple rotating links, and place the spray head at a specific position through the rotation cooperation of the multiple rotating links.

[0004] However, when the above-mentioned painting robot is painting a large area of ​​the ship surface in the dock, it is often difficult to control the direction and distance of the nozzle movement during real-time rotation and movement due to the complex environment and complex surface, and a single rod is often used for support in the vertical direction. Therefore, the spraying process cannot be stably positioned in time. When there is no support frame to provide a moving contour, it is easy to move excessively or interfere with other surrounding devices, resulting in the distance between the nozzle and the surface to be painted cannot be kept stable during the painting process, thereby making the paint thickness on the ship surface uneven, affecting the spraying quality. Utility Model Content

[0005] Based on this, it is necessary to provide a robot and system with ship automated spraying and VOC recovery functions in order to address the problem that when existing painting robots perform large-area painting on ship surfaces in docks, the direction and distance of the nozzle movement are often inconvenient to control during real-time rotation and movement due to complex environments and complex surfaces, and a single rod is often used for support in the vertical direction. Therefore, the spraying process cannot be stably positioned in time. When there is no support frame to provide a moving contour, it is easy to move excessively and interfere with other surrounding devices, resulting in the inability to maintain a stable distance between the nozzle and the surface to be painted during the painting process, thereby causing uneven paint thickness on the ship surface.

[0006] A robot with ship automatic spraying and VOC recovery functions, the robot with ship automatic spraying and VOC recovery functions comprising: two first moving components, two second moving components, a third moving component, a first rotating mechanism, a second rotating mechanism, a base, a spray head and a cover;

[0007] The two second moving assemblies are respectively arranged on the two first moving assemblies, and the two first moving assemblies can drive the two second moving assemblies to move synchronously along the first direction; the two ends of the third moving assembly are respectively arranged on the two second moving assemblies, and the second moving assembly can drive the third moving assembly to move along the second direction; the base is arranged on the third moving assembly, and the third moving assembly can drive the base to move along the third direction; one end of the first rotating mechanism is connected to the base;

[0008] One end of the second rotating mechanism is connected to an end of the first rotating mechanism away from the base, and the first rotating mechanism can drive the second rotating mechanism to rotate relative to the base around an axis in the third direction; the other end of the second rotating mechanism is connected to the cover body and can drive the cover body to rotate around the axis in the second direction;

[0009] The spray head is disposed on the top of the cover body, and the outlet end of the spray head extends into the cover body. The spray head is used to spray paint toward the opening side of the cover body. The first direction, the second direction, and the third direction are perpendicular to each other.

[0010] When the above-mentioned robot with ship automated spraying and VOC recovery functions is actually used, the robot with ship automated spraying and VOC recovery functions is placed in front of the surface to be sprayed and the opening of the cover body is facing the surface to be sprayed. After the first moving component is stabilized, the base (i.e., the cover body) is driven to move along the first direction, the second direction, and the third direction by two first moving components, two second moving components, and the third moving component. Then the first rotating mechanism and the second rotating mechanism drive the cover body to rotate around the axis of the third direction and the axis of the second direction respectively, so that the opening side of the cover body is parallel to the tangent of the surface to be sprayed of the ship. Then the spray head sprays paint to the opening side of the cover body, so that the two first moving components and the two second moving components that move with the first moving component form a moving frame. After the first moving component is stabilized, the moving trajectory of the cover body including the third moving component moves within the range surrounded by the two first moving components and the two second moving components, so that the movement of the cover body is more stable, and the moving component will not interfere with the fixed surface of the first moving component during the movement, so that the cover body can move stably and be painted with high quality through the spray head.

[0011] In one embodiment, the robot with ship automated spraying and VOC recovery functions further includes a vacuum part, the cover body includes an inner cover and an outer cover arranged outside the inner cover, the outer cover is provided with at least one vacuum through hole, and the vacuum through hole is located radially outside the inner cover;

[0012] The vacuum part is communicated with the vacuum through hole to extract the gas between the inner cover and the outer cover;

[0013] The spray head is arranged through the cover top of the inner cover and the cover top of the outer cover, and sprays paint toward the opening side of the inner cover.

[0014] In one embodiment, the two first moving components are two first linear modules that are parallel along the first direction and spaced apart along the third direction;

[0015] The two second moving components are two second linear modules that are parallel along the third direction and spaced apart along the second direction and correspond one-to-one to the two first linear modules;

[0016] One end of the second linear module is connected to the moving part of the first linear module, and the moving parts of the two first linear modules drive the two second linear modules to move synchronously along the first direction;

[0017] Two ends of the third moving component are respectively connected to the moving parts of the two second linear modules, and the moving parts of the two second linear modules drive the two ends of the third moving component to move synchronously along the second direction.

[0018] In one embodiment, the first linear module includes a first transmission rod and a first slider, and the second linear module includes a second transmission rod and a second slider;

[0019] One end of the second linear module is connected to the first slider, and the two first sliders drive the two second linear modules to move synchronously along the first direction;

[0020] Two ends of the third moving component are respectively connected to two second sliding blocks, and the two second sliding blocks drive the two ends of the third moving component to move synchronously along the second direction;

[0021] The first transmission rod rotates to drive the first slider to move along the first direction, and the second transmission rod rotates to drive the second slider to move along the first direction.

[0022] In one embodiment, the robot with ship automated spraying and VOC recovery functions further includes a first motor and a first transmission mechanism, and the first transmission mechanism is simultaneously connected to the two first transmission rods;

[0023] The first motor is used to drive the first transmission mechanism to move, so that the first transmission mechanism drives the two first transmission rods to rotate synchronously, and the two first transmission rods respectively drive the two first sliders to move synchronously; or

[0024] The first motor is used to drive one of the first transmission rods to move, so that one of the first transmission rods drives the first transmission mechanism to rotate, and the first transmission mechanism drives another first transmission rod to rotate, so that the first transmission mechanism drives the two first transmission rods to rotate synchronously, and the two first transmission rods respectively drive the two first sliders to move synchronously.

[0025] In one embodiment, the first moving assembly further includes a first bevel gear; the first transmission mechanism includes a first rotating shaft and two first spur gears respectively arranged at both ends of the rotating shaft, the first bevel gear is arranged on the first transmission rod and rotates synchronously with the first transmission rod around the axis of the first transmission rod; the two first spur gears are respectively meshed with the two first bevel gears;

[0026] The first motor is used to drive the first rotating shaft to rotate around the axis direction of the first rotating shaft, so that the first spur gear drives the first bevel gear to rotate, thereby driving the two first transmission rods to rotate synchronously, so that the two first sliding blocks move synchronously, and further drive the two second moving assemblies to move synchronously along the first direction; or

[0027] The first motor is used to drive one of the first transmission rods to move, so that one of the first bevel gears rotates and drives the first spur gear to rotate, and the first spur gear drives the rotating shaft and another first spur gear to rotate synchronously, so that the other first spur gear drives another first bevel gear to rotate, so that the two first transmission rods rotate synchronously, thereby the two first sliders move synchronously, and then drive the two second moving components to move synchronously along the first direction.

[0028] In one embodiment, the robot with ship automated spraying and VOC recovery functions further includes a second motor and a second transmission mechanism, and the second transmission mechanism is simultaneously connected to the two second transmission rods;

[0029] The second motor is used to drive the second transmission mechanism to move, so that the second transmission mechanism drives the two second transmission rods to rotate synchronously, so that the two second sliders move synchronously, and further drive the two ends of the third moving assembly to move synchronously along the second direction; or

[0030] The second motor is used to drive one of the second transmission rods to move, so that one of the second transmission rods drives the second transmission mechanism to rotate, and the second transmission mechanism drives the other second transmission rod to rotate, so that the second transmission mechanism drives the two second transmission rods to rotate synchronously, so that the two second sliders move synchronously, and then drive the two ends of the third moving component to move synchronously along the second direction.

[0031] In one embodiment, the first linear module further includes a first slide rail, and the second linear module further includes a second slide rail;

[0032] The first transmission rod and the second transmission rod are both screw rods, and the first sliding block is threadedly matched with the first transmission rod and slidingly matched with the first slide rail, so that the first transmission rod rotates to drive the first sliding block to slide on the first slide rail along the first direction;

[0033] The second sliding block is threadedly matched with the second transmission rod and slidingly matched with the second slide rail, so that the second transmission rod rotates to drive the second sliding block to slide on the second slide rail along the first direction.

[0034] In one embodiment, the robot with ship automated spraying and VOC recovery functions further includes two first fixed parts and two second fixed parts; the third moving assembly further includes a third slider and a third transmission rod;

[0035] The second moving assembly is fixedly connected to the first slider via a first fixing portion, and the first transmission rod drives the first slider to move along the first direction, so that the two first sliders respectively drive the two second moving assemblies to move along the first direction;

[0036] Two ends of the third moving assembly are respectively fixedly connected to the two second sliding blocks through the two second fixing parts, and the second transmission rod drives the second sliding block to move along the second direction, so that the second sliding block drives the third moving assembly to move along the second direction;

[0037] The base is fixedly connected to the third slider, and the third transmission rod drives the third slider to move along the third direction, so that the third slider drives the base to move along the third direction.

[0038] An embodiment of the present application further provides a system with ship automatic spraying and VOC recovery functions, which is installed on a carrier vehicle, and is characterized in that the system with ship automatic spraying and VOC recovery functions comprises: a control module and the robot with ship automatic spraying and VOC recovery functions;

[0039] The first moving assembly, the second moving assembly, the third moving assembly, the first rotating mechanism, the second rotating mechanism, and the nozzle are electrically connected to the control module at the same time;

[0040] The control module is used to control the transmission of the first moving component, the second moving component and the third moving component;

[0041] The control module is used to control the rotation of the first rotating mechanism and the second rotating mechanism;

[0042] The control module is used to control the spray head to spray paint.

[0043] When the above-mentioned system with ship automated spraying and VOC recovery functions is actually used, the robot with ship automated spraying and VOC recovery functions is placed in front of the surface to be sprayed through a carrying cart and the opening of the cover body is directed toward the surface to be sprayed. The control module controls the two first moving components, the two second moving components, and the third moving component to drive the base (i.e., the cover body) to move along the first direction, the second direction, and the third direction. Then the control module controls the first rotating mechanism and the second rotating mechanism to drive the cover body to rotate around the axis of the third direction and the axis of the second direction respectively, so that the opening side of the cover body is parallel to the tangent of the surface to be sprayed of the ship. Then the control module controls the spray head to spray paint on the opening side of the cover body, so that the two first moving components and the two second moving components that move with the first moving components form a moving frame. After the first moving component is stabilized, the moving trajectory of the cover body including the third moving component moves within the range surrounded by the two first moving components and the two second moving components, so that the movement of the cover body is more stable, and the moving component will not interfere with the fixed surface of the first moving component during the movement, so that the cover body can move stably and be painted with high quality through the spray head. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 The diagram is a schematic diagram of the system structure with ship automated spraying and VOC recovery functions according to one embodiment.

[0045] Figure 2 for Figure 1 Schematic diagram of the structure at the center base.

[0046] Figure Number:

[0047] 100-Robot with ship automation spraying and VOC recovery functions;

[0048] 110-first moving assembly; 111-first linear module; 112-first motor; 113-first transmission mechanism;

[0049] 120 - second moving assembly; 121 - second linear module; 122 - second motor; 123 - second transmission mechanism;

[0050] 130 - a third moving component; 131 - a third motor;

[0051] 140-first rotating mechanism;

[0052] 150 - second rotating mechanism;

[0053] 160-base;

[0054] 170-hood; 171-nozzle; 172-inner hood; 173-outer hood; 174-vacuum through hole;

[0055] 180- first fixing portion;

[0056] 190- second fixing portion;

[0057] 200-carrying trolley;

[0058] OX-first direction; OY-second direction; OZ-third direction. DETAILED DESCRIPTION

[0059] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0060] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0061] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0062] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0063] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0064] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0065] See also Figure 1 , Figure 1 A structural schematic diagram of a robot 100 with ship automated spraying and VOC recovery functions in an embodiment of the present application is shown. The robot 100 with ship automated spraying and VOC recovery functions provided in an embodiment of the present application includes: two first moving components 110, two second moving components 120, a third moving component 130, a first rotating mechanism 140, a second rotating mechanism 150, a base 160, a spray head 171 and a cover body 170.

[0066] The two second moving assemblies 120 are respectively arranged on the two first moving assemblies 110, and the two first moving assemblies 110 can drive the two second moving assemblies 120 to move synchronously along the first direction OX. The two ends of the third moving assembly 130 are respectively arranged on the two second moving assemblies 120, and the second moving assembly 120 can drive the third moving assembly 130 to move along the second direction OY. The base 160 is arranged on the third moving assembly 130, and the third moving assembly 130 can drive the base 160 to move along the third direction OZ. One end of the first rotating mechanism 140 is connected to the base 160. One end of the second rotating mechanism 150 is connected to one end of the first rotating mechanism 140 away from the base 160, and the first rotating mechanism 140 can drive the second rotating mechanism 150 to rotate relative to the base 160 around the axis of the third direction OZ. The other end of the second rotating mechanism 150 is connected to the cover body 170, and can drive the cover body 170 to rotate around the axis of the second direction OY. The spray head 171 is disposed on the top of the cover body 170 , and the outlet end of the spray head 171 extends into the cover body 170 . The spray head 171 is used to spray paint to the opening side of the cover body 170 . The first direction OX, the second direction OY, and the third direction OZ are perpendicular to each other.

[0067] When the robot 100 with the function of automatic ship spraying and VOC recovery is actually used, the robot 100 with the function of automatic ship spraying and VOC recovery is placed in front of the surface to be sprayed and the opening of the cover 170 is facing the surface to be sprayed. After the first moving component 110 is stabilized, the base 160 (i.e., the cover 170) is driven to move along the first direction OX, the second direction OY, and the third direction OZ by the two first moving components 110, the two second moving components 120, and the third moving component 130. Then, the first rotating mechanism 140 and the second rotating mechanism 150 drive the cover 170 to rotate around the axis of the third direction OZ and the axis of the second direction OY, respectively, so that the cover The open side of 170 is parallel to the tangent of the surface to be sprayed on the ship, and then the nozzle 171 sprays paint on the open side of the cover body 170, so that the two first movable components 110 and the two second movable components 120 that move with the first movable component 110 form a movable frame. After the first movable component 110 is stabilized, the moving trajectory of the cover body 170 including the third movable component 130 moves within the range surrounded by the two first movable components 110 and the two second movable components 120, so that the movement of the cover body 170 is more stable, and the movable component will not interfere with the fixed surface of the first movable component 110 during the movement, so that the cover body 170 can move stably and be painted with high quality through the nozzle 171.

[0068] In one embodiment, the robot 100 with the function of automated ship spraying and VOC recovery further includes a vacuum part, and the cover body 170 includes an inner cover 172 and an outer cover 173 disposed outside the inner cover 172, and the outer cover 173 is provided with at least one vacuum through hole 174, and the vacuum through hole 174 is located radially outside the inner cover 172. The vacuum part is connected to the vacuum through hole 174 to extract the gas between the inner cover 172 and the outer cover 173. The nozzle 171 is disposed at the top of the inner cover 172 and the top of the outer cover 173, and sprays paint to the opening side of the inner cover 172, so that during the painting process, when the nozzle 171 sprays the paint mist and the paint liquid to the surface to be sprayed in the space of the inner cover 172, the vacuum part extracts the gas between the inner cover 172 and the outer cover 173, so that the paint liquid and the paint mist that are not sprayed to the surface to be sprayed will be extracted by the vacuum part due to the negative pressure, and thus cannot be dissipated into the environment, thereby achieving environmentally friendly spraying.

[0069] In one embodiment, the two first moving components 110 are two first linear modules 111 that are parallel along the first direction OX and spaced apart along the third direction OZ. The two second moving components 120 are two second linear modules 121 that are parallel along the third direction OZ and spaced apart along the second direction OY and correspond one to one with the two first linear modules 111. One end of the second linear module 121 is connected to the moving part of the first linear module 111, and the moving parts of the two first linear modules 111 drive the two second linear modules 121 to move synchronously along the first direction OX. The two ends of the third moving component 130 are respectively connected to the moving parts of the two second linear modules 121, and the moving parts of the two second linear modules 121 drive the two ends of the third moving component 130 to move synchronously along the second direction OY. Thus, the first linear module 111 drives the second linear module 121 to move, the second linear module 121 drives the third moving component 130 to move, and the third moving component 130 drives the cover body 170 to move, so that the cover body 170 can move freely in the first direction OX, the second direction OY, and the third direction OZ, thereby ensuring that the real-time distance between the cover body 170 and the surface to be sprayed of the ship is within a certain range, so as to achieve higher quality painting of the complex curved surface of the ship.

[0070] In one embodiment, the first linear module 111 includes a first transmission rod and a first slider, and the second linear module 121 includes a second transmission rod and a second slider.

[0071] One end of the second linear module 121 is connected to the first slider, and the two first sliders drive the two second linear modules 121 to move synchronously along the first direction OX. The two ends of the third moving assembly 130 are respectively connected to the two second sliders, and the two second sliders drive the two ends of the third moving assembly 130 to move synchronously along the second direction OY. The first transmission rod rotates to drive the first slider to move along the first direction OX, and the second transmission rod rotates to drive the second slider to move along the first direction OX.

[0072] Since the second linear module 121 drives the first slider to move through the first transmission rod, and the two ends of the third moving assembly 130 are respectively connected to the two second sliders of the spacer along the third direction OZ, the two ends of the third moving assembly 130 are respectively slidably matched with the first linear module through the second linear module 121, so that the movement of the third moving assembly 130 relative to the first moving assembly 110 can be more stable.

[0073] In one embodiment, the robot 100 with the function of automated ship spraying and VOC recovery further includes a first motor 112 and a first transmission mechanism 113, and the first transmission mechanism 113 is connected to two first transmission rods at the same time. The first motor 112 is used to drive the first transmission mechanism 113 to move, so that the first transmission mechanism 113 drives the two first transmission rods to rotate synchronously, and the two first transmission rods respectively drive the two first sliders to move synchronously, so that by adding the first transmission mechanism 113, the two first moving components 110 can respectively drive the two second moving components 120 to move synchronously along the first direction OX, and the first motor 112 drives the first transmission mechanism 113 to move, so that in the process of step-by-step transmission, only the first transmission mechanism 113 transmits the two first transmission rods at the same time, so the transmission efficiency is higher.

[0074] In another embodiment, the first motor 112 is used to drive one of the first transmission rods to move, so that one of the first transmission rods drives the first transmission mechanism 113 to rotate, and the first transmission mechanism 113 drives the other first transmission rod to rotate, so that the first transmission mechanism 113 drives the two first transmission rods to rotate synchronously, and the two first transmission rods respectively drive the two first sliders to move synchronously, thereby achieving the synchronous movement of the two first sliders and driving the two second moving components 120 to move synchronously along the first direction OX by adding the first transmission mechanism 113.

[0075] In one embodiment, the first moving assembly 110 also includes a first bevel gear. The first transmission mechanism 113 includes a first rotating shaft and two first spur gears respectively arranged at both ends of the rotating shaft, the first bevel gear is arranged on the first transmission rod, and rotates synchronously with the first transmission rod around the axis of the first transmission rod. The two first spur gears are respectively meshed with the two first bevel gears. The first motor 112 is used to drive the first rotating shaft to rotate around the axis direction of the first rotating shaft, so that the first spur gear drives the first bevel gear to rotate, thereby driving the two first transmission rods to rotate synchronously, so that the two first sliders move synchronously, and then drive the two second moving assemblies 120 to move synchronously along the first direction OX. Thus, the two second moving assemblies 120 can move synchronously along the first direction OX through the structure of the meshing rotation of the bevel gear and the spur gear, and the first motor 112 drives the first rotating shaft to move, so that in the process of step-by-step transmission, only the first rotating shaft transmits the two first transmission rods at the same time, so the transmission efficiency is higher.

[0076] In another embodiment, the first motor 112 is used to drive one of the first transmission rods to move, so that one of the first bevel gears rotates and drives the first spur gear to rotate, and the first spur gear drives the rotating shaft and the other first spur gear to rotate synchronously, so that the other first spur gear drives the other first bevel gear to rotate, so that the two first transmission rods rotate synchronously, so that the two first sliders move synchronously, and then drive the two second moving components 120 to move synchronously along the first direction OX, so that the two second moving components 120 can move synchronously along the first direction OX through the structure of the meshing rotation of the bevel gear and the spur gear.

[0077] In one embodiment, the robot 100 with the function of automated ship spraying and VOC recovery further includes a second motor 122 and a second transmission mechanism 123, and the second transmission mechanism 123 is connected to two second transmission rods at the same time. The second motor 122 is used to drive the second transmission mechanism 123 to move, so that the second transmission mechanism 123 drives the two second transmission rods to rotate synchronously, so that the two second sliders move synchronously, and then drive the two ends of the third moving assembly 130 to move synchronously along the second direction OY, so that in the process of step-by-step transmission, only the second transmission mechanism 123 transmits the two second transmission rods at the same time, so the transmission efficiency is higher.

[0078] In another embodiment, the second motor 122 is used to drive one of the second transmission rods to move, so that one of the second transmission rods drives the second transmission mechanism 123 to rotate, and the second transmission mechanism 123 drives the other second transmission rod to rotate, so that the second transmission mechanism 123 drives the two second transmission rods to rotate synchronously, so that the two second sliders move synchronously, and then drive the two ends of the third moving assembly 130 to move synchronously along the second direction OY, so that by adding the second transmission mechanism 123, the two second sliders can move synchronously and drive the two ends of the third moving assembly 130 to move synchronously along the second direction OY.

[0079] In one embodiment, the second moving assembly 120 further includes a second bevel gear. The second transmission mechanism 123 includes a second rotating shaft and two second spur gears respectively arranged at both ends of the rotating shaft, the second bevel gear is arranged on the second transmission rod, and rotates synchronously with the second transmission rod around the axis of the second transmission rod. The two second spur gears are respectively meshed with the two second bevel gears. The second motor 122 is used to drive the second rotating shaft to rotate around the axis direction of the second rotating shaft, so that the second spur gear drives the second bevel gear to rotate, thereby driving the two second transmission rods to rotate synchronously, so that the two second sliders move synchronously, and then drive the two ends of the third moving assembly 130 to move synchronously along the second direction OY. Thus, the two ends of the third moving assembly 130 can move synchronously along the second direction OY through the structure of the meshing rotation of the bevel gear and the spur gear, and the second motor 122 drives the second rotating shaft to move, so that in the process of step-by-step transmission, only the second rotating shaft transmits the two second transmission rods at the same time, so the transmission efficiency is higher.

[0080] In another embodiment, the second motor 122 is used to drive one of the second transmission rods to move, so that one of the second bevel gears rotates and drives the second spur gear to rotate, and the second spur gear drives the rotating shaft and the other second spur gear to rotate synchronously, so that the other second spur gear drives the other second bevel gear to rotate, so that the two second transmission rods rotate synchronously, so that the two second sliders move synchronously, and then drive the two ends of the third moving component 130 to move synchronously along the first direction OX, so that the two ends of the fourth moving component can move synchronously along the second direction OY through the structure of the meshing rotation of the bevel gear and the spur gear.

[0081] In one embodiment, the first linear module 111 further includes a first slide rail, and the second linear module 121 further includes a second slide rail. The first transmission rod and the second transmission rod are both screw rods, and the first slider is threadedly engaged with the first transmission rod and slidably engaged with the first slide rail, so that the first transmission rod rotates to drive the first slider to slide on the first slide rail along the first direction OX. The second slider is threadedly engaged with the second transmission rod and slidably engaged with the second slide rail, so that the second transmission rod rotates to drive the second slider to slide on the second slide rail along the first direction OX. The screw rod is a ball screw, and the details can be referred to the prior art.

[0082] In one embodiment, the robot 100 with the function of automated ship spraying and VOC recovery further includes two first fixed parts 180 and two second fixed parts 190. The third moving assembly 130 further includes a third slider and a third transmission rod. The second moving assembly 120 is fixedly connected to the first slider through the first fixed part 180, and the first transmission rod drives the first slider to move along the first direction OX, so that the two first sliders respectively drive the two second moving assemblies to move along the first direction OX. The two ends of the third moving assembly 130 are respectively fixedly connected to the two second sliders through the two second fixed parts 190, and the second transmission rod drives the second slider to move along the second direction OY, so that the second slider drives the third moving assembly to move along the second direction OY. The base 160 is fixedly connected to the third slider, and the third transmission rod drives the third slider to move along the third direction OZ, so that the third slider drives the base 160 to move along the third direction OZ. Thus, the first fixed portion 180 is connected to the first slider to leave a gap between the second movable component 120 and the first movable component 110, and the second fixed portion 190 is connected to the second slider to leave a gap between the second movable component 120 and the third movable component 130. The base 160 is connected to the third slider to leave a gap between the first rotating mechanism 140 and the third movable component 130, thereby preventing collision and facilitating the movement and rotation of the cover body 170.

[0083] An embodiment of the present application also provides a system with ship automated spraying and VOC recovery functions, which is installed on a carrier vehicle 200 and is characterized in that the system with ship automated spraying and VOC recovery functions includes: a control module and a robot 100 with ship automated spraying and VOC recovery functions.

[0084] The first moving assembly 110 is connected to the transport vehicle 200, and the first moving assembly 110, the second moving assembly 120, the third moving assembly 130, the first rotating mechanism 140, the second rotating mechanism 150, and the spray head 171 are electrically connected to the control module at the same time. The control module is used to control the transmission of the first moving assembly 110, the second moving assembly 120, and the third moving assembly 130. The control module is used to control the rotation of the first rotating mechanism 140 and the second rotating mechanism 150. The control module is used to control the spray head 171 to spray paint.

[0085] When the above-mentioned system with ship automated spraying and VOC recovery functions is actually used, the robot 100 with ship automated spraying and VOC recovery functions is placed in front of the surface to be sprayed through the carrier 200 and the opening of the cover 170 is directed toward the surface to be sprayed. The control module controls the two first moving components 110, the two second moving components 120, and the third moving component 130 to drive the base 160 (i.e., the cover 170) to move along the first direction OX, the second direction OY, and the third direction OZ. Then, the control module controls the first rotating mechanism 140 and the second rotating mechanism 150 to drive the cover 170 to rotate around the axis of the third direction OZ and the axis of the second direction OY, respectively, so that the cover 1 The open side of 70 is parallel to the tangent of the surface to be sprayed on the ship, and then the control module controls the nozzle 171 to spray paint on the open side of the cover body 170, so that the two first movable components 110 and the two second movable components 120 that move with the first movable component 110 form a movable frame. After the first movable component 110 is stabilized, the moving trajectory of the cover body 170 including the third movable component 130 moves within the range surrounded by the two first movable components 110 and the two second movable components 120, so that the movement of the cover body 170 is more stable, and the movable component will not interfere with the fixed surface of the first movable component 110 during the movement, so that the cover body 170 can move stably and be painted with high quality through the nozzle 171.

[0086] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A robot with ship automatic spraying and VOC recovery functions, characterized in that: The robot with ship automated spraying and VOC recovery functions comprises: two first moving components, two second moving components, a third moving component, a first rotating mechanism, a second rotating mechanism, a base, a spray head and a cover; The two second moving assemblies are respectively arranged on the two first moving assemblies, and the two first moving assemblies can drive the two second moving assemblies to move synchronously along the first direction; the two ends of the third moving assembly are respectively arranged on the two second moving assemblies, and the second moving assembly can drive the third moving assembly to move along the second direction; the base is arranged on the third moving assembly, and the third moving assembly can drive the base to move along the third direction; one end of the first rotating mechanism is connected to the base; One end of the second rotating mechanism is connected to an end of the first rotating mechanism away from the base, and the first rotating mechanism can drive the second rotating mechanism to rotate relative to the base around an axis in the third direction; the other end of the second rotating mechanism is connected to the cover body and can drive the cover body to rotate around the axis in the second direction; The spray head is disposed on the top of the cover body, and the outlet end of the spray head extends into the cover body. The spray head is used to spray paint toward the opening side of the cover body. The first direction, the second direction, and the third direction are perpendicular to each other.

2. The robot with ship automatic spraying and VOC recovery functions according to claim 1 is characterized in that: The robot with ship automated spraying and VOC recovery functions also includes a vacuum part, the cover body includes an inner cover and an outer cover arranged outside the inner cover, the outer cover is provided with at least one vacuum through hole, and the vacuum through hole is located radially outside the inner cover; The vacuum part is communicated with the vacuum through hole to extract the gas between the inner cover and the outer cover; The spray head is arranged through the cover top of the inner cover and the cover top of the outer cover, and sprays paint toward the opening side of the inner cover.

3. The robot with ship automatic spraying and VOC recovery functions according to claim 1 is characterized in that: The two first moving components are two first linear modules that are parallel along the first direction and spaced apart along the third direction; The two second moving components are two second linear modules that are parallel along the third direction and spaced apart along the second direction and correspond one-to-one to the two first linear modules; One end of the second linear module is connected to the moving part of the first linear module, and the moving parts of the two first linear modules drive the two second linear modules to move synchronously along the first direction; Two ends of the third moving component are respectively connected to the moving parts of the two second linear modules, and the moving parts of the two second linear modules drive the two ends of the third moving component to move synchronously along the second direction.

4. The robot with ship automatic spraying and VOC recovery functions according to claim 3 is characterized in that: The first linear module includes a first transmission rod and a first slider, and the second linear module includes a second transmission rod and a second slider; One end of the second linear module is connected to the first slider, and the two first sliders drive the two second linear modules to move synchronously along the first direction; Two ends of the third moving component are respectively connected to two second sliding blocks, and the two second sliding blocks drive the two ends of the third moving component to move synchronously along the second direction; The first transmission rod rotates to drive the first slider to move along the first direction, and the second transmission rod rotates to drive the second slider to move along the first direction.

5. The robot with ship automatic spraying and VOC recovery functions according to claim 4 is characterized in that: The robot with ship automated spraying and VOC recovery functions also includes a first motor and a first transmission mechanism, and the first transmission mechanism is simultaneously connected to the two first transmission rods; The first motor is used to drive the first transmission mechanism to move, so that the first transmission mechanism drives the two first transmission rods to rotate synchronously, and the two first transmission rods respectively drive the two first sliders to move synchronously; or The first motor is used to drive one of the first transmission rods to move, so that one of the first transmission rods drives the first transmission mechanism to rotate, and the first transmission mechanism drives another first transmission rod to rotate, so that the first transmission mechanism drives the two first transmission rods to rotate synchronously, and the two first transmission rods respectively drive the two first sliders to move synchronously.

6. The robot with ship automatic spraying and VOC recovery functions according to claim 5 is characterized in that: The first moving assembly further includes a first bevel gear; the first transmission mechanism includes a first rotating shaft and two first spur gears respectively arranged at both ends of the rotating shaft, the first bevel gear is arranged on the first transmission rod and rotates synchronously with the first transmission rod around the axis of the first transmission rod; the two first spur gears are respectively meshed with the two first bevel gears; The first motor is used to drive the first rotating shaft to rotate around the axis direction of the first rotating shaft, so that the first spur gear drives the first bevel gear to rotate, thereby driving the two first transmission rods to rotate synchronously, so that the two first sliding blocks move synchronously, and further drive the two second moving assemblies to move synchronously along the first direction; or The first motor is used to drive one of the first transmission rods to move, so that one of the first bevel gears rotates and drives the first spur gear to rotate, and the first spur gear drives the rotating shaft and another first spur gear to rotate synchronously, so that the other first spur gear drives another first bevel gear to rotate, so that the two first transmission rods rotate synchronously, thereby the two first sliders move synchronously, and then drive the two second moving components to move synchronously along the first direction.

7. The robot with ship automatic spraying and VOC recovery functions according to claim 4 is characterized in that: The robot with ship automated spraying and VOC recovery functions also includes a second motor and a second transmission mechanism, and the second transmission mechanism is simultaneously connected to the two second transmission rods; The second motor is used to drive the second transmission mechanism to move, so that the second transmission mechanism drives the two second transmission rods to rotate synchronously, so that the two second sliders move synchronously, and further drive the two ends of the third moving assembly to move synchronously along the second direction; or The second motor is used to drive one of the second transmission rods to move, so that one of the second transmission rods drives the second transmission mechanism to rotate, and the second transmission mechanism drives the other second transmission rod to rotate, so that the second transmission mechanism drives the two second transmission rods to rotate synchronously, so that the two second sliders move synchronously, and then drive the two ends of the third moving component to move synchronously along the second direction.

8. The robot with ship automatic spraying and VOC recovery functions according to claim 4 is characterized in that: The first linear module further includes a first slide rail, and the second linear module further includes a second slide rail; The first transmission rod and the second transmission rod are both screw rods, and the first sliding block is threadedly matched with the first transmission rod and slidingly matched with the first slide rail, so that the first transmission rod rotates to drive the first sliding block to slide on the first slide rail along the first direction; The second sliding block is threadedly matched with the second transmission rod and slidingly matched with the second slide rail, so that the second transmission rod rotates to drive the second sliding block to slide on the second slide rail along the first direction.

9. The robot with ship automatic spraying and VOC recovery functions according to claim 4 is characterized in that: The robot with ship automated spraying and VOC recovery functions also includes two first fixed parts and two second fixed parts; the third moving assembly also includes a third slider and a third transmission rod; The second moving assembly is fixedly connected to the first slider via a first fixing portion, and the first transmission rod drives the first slider to move along the first direction, so that the two first sliders respectively drive the two second moving assemblies to move along the first direction; Two ends of the third moving assembly are respectively fixedly connected to the two second sliding blocks through the two second fixing parts, and the second transmission rod drives the second sliding block to move along the second direction, so that the second sliding block drives the third moving assembly to move along the second direction; The base is fixedly connected to the third slider, and the third transmission rod drives the third slider to move along the third direction, so that the third slider drives the base to move along the third direction.

10. A system with ship automatic spraying and VOC recovery functions, installed on a carrier vehicle, characterized in that: The system with ship automatic spraying and VOC recovery functions comprises: a control module and a robot with ship automatic spraying and VOC recovery functions according to any one of claims 1 to 9; The first moving assembly, the second moving assembly, the third moving assembly, the first rotating mechanism, the second rotating mechanism, and the nozzle are electrically connected to the control module at the same time; The control module is used to control the transmission of the first moving component, the second moving component and the third moving component; The control module is used to control the rotation of the first rotating mechanism and the second rotating mechanism; The control module is used to control the spray head to spray paint.

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