Underwater robot with paint make-up mechanism

Abstract

The utility model relates to the technical field of hull paint painting, in particular to an underwater robot with a paint make-up mechanism, which comprises a rack, the paint make-up mechanism is arranged on the rack, the paint make-up mechanism comprises a brush component, a brush reciprocating driving component and a paint supply component, the brush component is arranged on the rack and connected with the rack through the brush reciprocating driving component, and the paint supply component is connected with the rack through the brush reciprocating driving component. The brush component is driven by the brush reciprocating driving component and connected with the paint supply component through an oil pipe, the brush seat is composed of a brush pipe, a brush disc and bristles, the brush pipe is driven by the brush reciprocating driving component, paint outlet holes are formed in the brush disc at intervals, and the brush reciprocating driving component is composed of a synchronous belt and a driving component. Or the brush reciprocating driving component is composed of a rack, a driving gear and a gear transmission motor, and a brush component retracting mechanism is arranged on the machine frame. The automatic brush brushing machine is simple in structure, few in component, easy to operate, capable of automatically driving the brush, rapid and even in brushing, low in use cost and convenient to install.

Description

Technical Field

[0001] The utility model relates to the technical field of hull painting, in particular to an underwater robot with a paint touch-up mechanism. Background Art

[0002] The underwater hull is often attached with marine organisms and corroded by seawater, which may cause the paint of the hull to fall off. The current method of repainting is to repaint in the dock or to manually dive underwater to repaint the hull. The former is expensive for small-area paint damage, and the latter has high requirements for underwater workers and is difficult to work underwater for a long time. The efficiency is not high and it is difficult to meet the growing demand for underwater operations. After searching, Chinese patent CN107899885A discloses a hull paint brushing device, including a locking plate, an outlet, a brush, a push plate, a second screw, a second nut, a storage bag, a support table, a slider, a slide rail, and a bearing. A frame, a first nut, a first lead screw, a casing, a winding drum, a silicon capsule, a cylinder, a limit block, a connecting pipe, a bottom plate, a baffle, a paint pump, a paint bucket and a liquid outlet, wherein the baffle is mounted on the bottom plate, four cylinders are mounted on the left side of the baffle, a second nut is mounted on the left side of the cylinder, a second lead screw is mounted in the second nut, the right end of the second lead screw extends into the cylinder, a limit block is mounted on the right side of the second lead screw, the limit block is located in the cylinder, a push plate is mounted on the left side of the second lead screw, a support platform is mounted on the bottom plate, a storage pocket is mounted on the left side of the support platform, a silicon capsule is mounted on the support platform, a plurality of liquid outlets are arranged on the left side of the silicon capsule, and a brush is mounted on the left side of the silicon capsule , the silicon capsule is located on the left side of the push plate, the silicon capsule and the upper end of the brush enter the casing from the outlet, the outlet is installed in the lower left corner of the casing, the silicon capsule and the upper end of the brush are wound on the winding drum, the winding drum is installed in the casing, the casing and the bottom plate are respectively installed with sliders, the sliders are installed on the slide rails, the slide rails are installed on the locking plate, the locking plate is provided with bolts, the casing and the bottom plate are respectively installed with the first nut, the first nut is installed on the first lead screw, the left and right ends of the first lead screw are respectively installed with bearing frames, the bearing frames are installed on the locking plate, the bottom of the silicon capsule is connected to the paint pump through a connecting pipe, the paint pump is connected to the paint bucket through a pipeline, the above patent has the following shortcomings: one First, the paint painting equipment of the above patent has many structural components, and the operation is complicated, time-consuming and labor-intensive; second, when the above patent is used, it is necessary to manually push the push plate, which is very inconvenient to operate underwater. The push plate pushes the silicone capsule, and the silicone capsule itself is very soft. After being subjected to force, some places may be straightened and some places may be stacked, resulting in more paint in some places of the brush and less paint in other places, and the paint is unevenly applied. Manual inspection and secondary painting are required, and the painting cost is high; third, when the above patent is used, the silicone capsule needs to be stretched, which makes the above patent have higher space requirements during installation, and at the same time, attention must be paid to whether the silicone capsule is evenly stretched, which makes installation inconvenient. Summary of the invention

[0003] The purpose of the present utility model is to solve the deficiencies of the prior art and provide an underwater robot with a paint repair mechanism, which has a simple structure, few components, simple operation, automatic driving of the brush, fast and uniform brushing, low use cost, and convenient installation.

[0004] To achieve the above purpose, the technical solution adopted by the present utility model is:

[0005] An underwater robot with a paint repair mechanism, including a frame, characterized in that: a paint repair mechanism is provided on the frame, and the paint repair mechanism includes a brush component, a brush reciprocating driving component, and a paint supply component. A brush component is provided on the frame. The brush component is connected to the frame through the brush reciprocating driving component. The brush component is driven by the brush reciprocating driving component. The brush component is connected to the paint supply component through an oil pipe. The paint supply component is installed on the frame. By moving the underwater robot with the paint repair mechanism to the hull where paint repair is required, the paint supply component supplies paint to the brush component, and the brush reciprocating driving component drives the brush component to move to achieve the paint brushing operation.

[0006] The brush component of the present utility model can be composed of a brush seat and bristles. A paint accommodation space is provided in the brush seat. Paint outlet holes are provided at intervals on the lower end surface of the brush seat. Bristles are fixedly installed at the lower end of the brush seat. The brush seat is driven by the brush reciprocating driving component. One end of the oil pipe extends into the paint accommodation space and is fixedly connected to the brush seat. When in use, the paint in the paint bucket is driven by the paint extrusion component to flow into the paint accommodation space through the oil pipe, and then leaks out through the paint outlet holes and adheres to the bristles. As the brush reciprocating driving component drives the bristles to reciprocate, automatic and uniform paint brushing is achieved.

[0007] The brush component of the present utility model can also be composed of a brush tube, a brush disc, and bristles. The upper end of the brush tube is closed. The lower end surface of the brush tube extends downward and outward and is fixedly connected to the upper end surface of the brush disc. A paint accommodation space is provided between the brush tube and the brush disc. The brush tube is driven by the brush reciprocating driving component. Paint outlet holes are provided at intervals on the brush disc. The lower end of the brush disc is fixedly connected to the bristles, which is beneficial to increasing the brushing area through the brush disc.

[0008] The reciprocating driving component of the brush of the present utility model can be composed of a synchronous belt and a driving component. A synchronous belt is provided on the brush tube, and the synchronous belt is driven by the driving component. The upper end of the brush tube is fixedly connected to the synchronous belt, so as to facilitate driving the synchronous belt to move through the driving component, and then driving the brush tube to reciprocate. The driving component includes a driving wheel, a driven wheel, a driving shaft, a driven shaft, and a driving motor. The driving wheel and the driven wheel are provided on the frame. The driving wheel is fixed on the driving shaft, and the driven wheel is fixed on the driven shaft. The driving shaft and the driven shaft are respectively fixedly connected to the frame through bearings. The driving shaft is driven by the driving motor. The synchronous belt is sleeved on the driving wheel and the driven wheel. The driving motor is arranged on the frame, so as to facilitate driving the driving wheel to rotate through the driving motor, and then driving the synchronous belt to move. A brush guide rail is provided below the synchronous belt. The brush guide rail is fixedly connected to the frame. The brush tube is slidably connected to the brush guide rail through a brush slider, so as to guide the reciprocating movement of the brush tube through the brush guide rail.

[0009] The reciprocating driving component of the brush of the present utility model can also be composed of a rack, a driving gear, and a gear transmission motor. A rack is provided on one side of the brush tube. The rack is fixedly connected to the frame. The driving gear is in meshing transmission with the rack. The driving gear is driven by the gear transmission motor. The gear transmission motor is fixedly connected to the brush tube, so as to drive the driving gear to rotate through the gear transmission motor. The driving gear moves along the rack, driving the gear transmission motor and the brush tube to reciprocate. A brush guide plate is fixedly provided at the lower end of the rack. The first slider and the second slider are fixedly provided on both sides of the brush guide plate. A guide frame is provided on the gear transmission motor. The guide frame is fixedly connected to the gear transmission motor. The first slideway and the second slideway are fixedly provided on the guide frame. The guide frame covers the rack and the driving gear. One side of the guide frame is slidably connected to the first slider through the first slideway, and the other side is slidably connected to the second slider through the second slideway, so as to guide the movement of the brush tube through the first slideway, the first slider, the second slideway, and the second slider, making the movement of the brush tube smooth and stable.

[0010] The frame of the utility model is provided with a brush component retracting mechanism. The brush component retracting mechanism includes an adjusting tube, an adjusting slider, and a lifting slideway. An adjusting tube is arranged between the brush tube and the brush disc. The upper end of the adjusting tube extends into the brush tube and is slidably connected with the brush tube. The lower end surface of the adjusting tube extends downward and outward and is fixedly connected with the upper end surface of the brush disc. An adjusting slider is fixedly arranged on the outer wall of the adjusting tube. A lifting slideway is arranged on the frame. The adjusting tube is slidably connected with the lifting slideway through the adjusting slider. The lifting slideway is fixedly connected with the frame. The lifting slideway includes a low section of the slideway, a transition section of the slideway, and a high section of the slideway. One end of the frame is provided with the high section of the slideway. The height of the high section of the slideway is higher than the height of the low section of the slideway. The width of the high section of the slideway is smaller than the width of the low section of the slideway. One end of the transition section of the slideway is fixedly connected with the high section of the slideway upward, and the other end is fixedly connected with the low section of the slideway downward. So that when the adjusting tube slides to the high section of the slideway through the adjusting slider, the adjusting tube rises, drives the brush disc to rise, retracts the brush disc, and the brush stops painting. When the adjusting tube slides to the low section of the slideway through the adjusting slider, the adjusting tube descends, drives the brush disc to descend, puts down the brush disc, and the brush contacts the hull surface to start painting.

[0011] The paint supply component of the utility model includes a paint bucket and a paint extrusion component. The brush component is connected with the paint bucket through an oil pipe. The paint bucket is installed on the frame. A paint extrusion component is arranged on the paint bucket. The paint in the paint bucket is driven by the paint extrusion component. So that when in use, the paint in the paint bucket is driven by the paint extrusion component and flows into the brush component through the oil pipe. The brush component reciprocates under the action of the brush reciprocating driving component to automatically complete the painting operation.

[0012] The paint extrusion component of the utility model includes an extrusion cover and a paint extrusion electric push rod. An extrusion cover is arranged on the paint bucket. The extrusion cover is slidably connected with the paint bucket. The extrusion cover is driven by the paint extrusion electric push rod. The paint extrusion electric push rod is fixedly arranged on the frame. So as to push the extrusion cover to extrude the paint in the paint bucket through the paint extrusion electric push rod, so that the paint enters the brush tube through the oil pipe.

[0013] The frame of the utility model is provided with a paint extrusion guiding mechanism. The paint extrusion electric push rod is connected with the extrusion cover through the paint extrusion guiding mechanism. So as to guide the movement of the paint extrusion electric push rod through the paint extrusion guiding mechanism to ensure uniform extrusion of the paint bucket.

[0014] The frame of the utility model is provided with a paint extrusion guiding mechanism. The paint extrusion guiding mechanism includes an extrusion guiding rod, a paint push rod, and a connecting plate.

[0015] A squeezing guide rod is fixedly arranged on the frame. A paint push rod is arranged on the squeezing cover. One end of the paint push rod is fixedly connected to the squeezing cover, and the other end is provided with a connecting plate. The paint push rod is fixedly connected to the connecting plate. The connecting plate is sleeved on the squeezing guide rod and is slidably connected to the squeezing guide rod. The connecting plate is driven by a paint squeezing electric push rod to enable the sliding of the squeezing cover to be guided through the connecting plate and the squeezing guide rod.

[0016] Above the paint bucket of the present utility model, there is a waterproof housing which covers the paint bucket, the paint squeezing electric push rod and the driving motor. The waterproof housing is fixedly connected to the frame to protect the paint bucket, the paint squeezing electric push rod and the driving motor through the waterproof housing, and prevent water from entering the equipment and affecting its performance.

[0017] Above the brush component of the present utility model, there is a protective cover which covers the synchronous belt and the brush component. The protective cover is fixedly connected to the frame to protect the synchronous belt and the brush component through the protective cover.

[0018] On the frame or the protective cover of the present utility model, there is a drag chain. One end of the drag chain is fixedly connected to the frame or the protective cover, and the other end is arranged towards the brush pipe. The oil pipe passes through the drag chain and is fixedly connected to the brush pipe. The oil pipe is fixedly connected to the drag chain to guide the movement of the oil pipe through the drag chain and protect the oil pipe.

[0019] On the frame of the present utility model, there is an installation bracket. The brush component, the brush reciprocating driving component and the paint supply component are all installed on the installation bracket. The installation bracket is provided with installation holes. The installation bracket is detachably connected to the frame to integrate the paint replenishing mechanism onto the installation bracket to form a module, which is convenient for disassembly, installation and maintenance.

[0020] Due to adopting the above structure, the present utility model has the advantages of simple structure, few components, simple operation, automatic driving of the brush, fast and uniform brushing, low use cost, convenient installation, etc. Description of the Drawings

[0021] Figure 1 It is a schematic structural diagram of one kind of the present utility model.

[0022] Figure 2 It is a schematic diagram of one angle of another structure of the present utility model.

[0023] Figure 3 It is a schematic diagram of another angle of another structure of the present utility model.

[0024] Figure 4 It is a schematic structural diagram of the paint replenishing mechanism of the present utility model.

[0025] Figure 5 It is the present utility model Figure 4Schematic structural diagram of removing the waterproof housing and the protective cover at one angle.

[0026] Figure 6 is the present utility model Figure 4 Schematic structural diagram of removing the waterproof housing and the protective cover at another angle.

[0027] Figure 7 is the present utility model Figure 4 Schematic structural diagram of removing the waterproof housing and the protective cover at yet another angle.

[0028] Figure 8 is the present utility model Figure 5 front view.

[0029] Figure 9 is another schematic structural diagram of the paint replenishing mechanism of the present utility model.

[0030] Figure 10 is the present utility model Figure 9 enlarged view of a partial structure in.

[0031] Figure 11 is the present utility model Figure 10 side view.

[0032] Reference numerals: mounting bracket 1, paint replenishing mechanism 2, brush component 3, brush reciprocating drive component 4, paint bucket 5, paint extrusion component 6, brush seat 7, paint outlet hole 8, brush tube 9, brush disc 10, synchronous belt 11, drive component 12, drive wheel 13, driven wheel 14, drive motor 15, brush guide rail 16, brush component retracting mechanism 17, adjusting tube 18, adjusting slider 19, lifting slideway 20, low section of the slideway 21, transition section of the slideway 22, high section of the slideway 23, extrusion cover 24, paint extrusion electric push rod 25, paint extrusion guiding mechanism 26, extrusion guiding rod 27, paint push rod 28, connecting plate 29, waterproof housing 30, protective cover 31, drag chain 32, mounting hole 33, frame 34, rack 36, drive gear 37, gear transmission motor 38, brush guide plate 39, guide frame 40, first slideway 41, second slideway 42. Detailed implementation manners

[0033] The following further describes in detail the specific implementation manners of the present utility model in conjunction with the accompanying drawings.

[0034] An underwater robot with a paint repair mechanism, including a frame 34, characterized in that: a paint repair mechanism 2 is provided on the frame 34, and the paint repair mechanism 2 includes a brush component 3, a brush reciprocating drive component 4, and a paint supply component. The brush component 3 is provided on the frame 34, and the brush component 3 is connected to the frame 34 through the brush reciprocating drive component 4. The brush component 3 is driven by the brush reciprocating drive component 4. The brush component 3 is connected to the paint supply component through an oil pipe. The paint supply component is installed on the frame 34 to move the underwater robot with the paint repair mechanism to the hull where paint repair is required. The paint supply component supplies paint to the brush component 3, and the brush reciprocating drive component drives the brush component to move to achieve the paint brushing operation.

[0035] In the present utility model, the brush component 3 may be composed of a brush seat 7 and bristles. A paint accommodation space is provided in the brush seat 7. Paint outlet holes 8 are provided at intervals on the lower end surface of the brush seat 7. The bristles are fixedly installed at the lower end of the brush seat 7. The brush seat 7 is driven by the brush reciprocating drive component 4. One end of the oil pipe extends into the paint accommodation space and is fixedly connected to the brush seat 7, so that when in use, the paint in the paint bucket is driven by the paint extrusion component to flow into the paint accommodation space through the oil pipe, and then exposed through the paint outlet holes and adhered to the bristles. As the brush reciprocating drive component drives the bristles to reciprocate, automatic and uniform painting is achieved.

[0036] In the present utility model, the brush component 3 may also be composed of a brush tube 9, a brush disc 10, and bristles. The upper end of the brush tube 9 is closed. The lower end surface of the brush tube 9 extends downward and outward and is fixedly connected to the upper end surface of the brush disc 10. A paint accommodation space is provided between the brush tube 9 and the brush disc 10. The brush tube 9 is driven by the brush reciprocating drive component 4. Paint outlet holes 8 are provided at intervals on the brush disc 10. The lower end of the brush disc 10 is fixedly connected to the bristles, so as to increase the painting area through the brush disc.

[0037] The brush reciprocating drive component 4 of the present utility model can be composed of a synchronous belt 11 and a drive component 12. The synchronous belt 11 is provided on the brush tube 9 and is driven by the drive component 12. The upper end of the brush tube 9 is fixedly connected to the synchronous belt 11, so as to facilitate driving the synchronous belt to move through the drive component, and then driving the brush tube to reciprocate. The drive component 12 includes a drive wheel 13, a driven wheel 14, a drive shaft, a driven shaft, and a drive motor 15. The drive wheel 13 and the driven wheel 14 are provided on the frame 34. The drive wheel 13 is fixed on the drive shaft, and the driven wheel 14 is fixed on the driven shaft. The drive shaft and the driven shaft are respectively fixedly connected to the frame 34 through bearings. The drive shaft is driven by the drive motor 15. The synchronous belt 11 is sleeved on the drive wheel 13 and the driven wheel 14. The drive motor 15 is arranged on the frame 34, so as to facilitate driving the drive wheel to rotate through the drive motor, and then driving the synchronous belt to move. A brush guide rail 16 is provided below the synchronous belt 11. The brush guide rail 16 is fixedly connected to the frame 34. The brush tube 9 is slidably connected to the brush guide rail 16 through a brush slider, so as to guide the reciprocating movement of the brush tube through the brush guide rail.

[0038] The brush reciprocating drive component 4 of the present utility model can also be composed of a rack 36, a drive gear 37, and a gear drive motor 38. A rack 36 is provided on one side of the brush tube 9. The rack 36 is fixedly connected to the frame 34. The drive gear 37 is in meshing transmission with the rack 36. The drive gear 37 is driven by the gear drive motor 38. The gear drive motor 38 is fixedly connected to the brush tube 9, so as to drive the drive gear 37 to rotate through the gear drive motor 38, and the drive gear 37 moves along the rack 36, driving the gear drive motor 38 and the brush tube 9 to reciprocate. A brush guide plate 39 is fixedly provided at the lower end of the rack 36. A first slider and a second slider are fixedly provided on both sides of the brush guide plate 39. A guide frame 40 is provided on the gear drive motor 38. The guide frame 40 is fixedly connected to the gear drive motor 38. A first slideway 41 and a second slideway 42 are fixedly provided on the guide frame 40. The guide frame 40 covers the rack 36 and the drive gear 37. One side of the guide frame 40 is slidably connected to the first slider through the first slideway 41, and the other side is slidably connected to the second slider through the second slideway 42, so as to guide the movement of the brush tube 9 through the first slideway 41, the first slider, the second slideway 42, and the second slider, making the movement of the brush tube 9 smooth and stable.

[0039] On the frame 34 of the present utility model, there is provided a brush component retracting mechanism 17. The brush component retracting mechanism 17 includes an adjusting tube 18, an adjusting slider 19, and a lifting slideway 20. An adjusting tube 18 is provided between the brush tube 9 and the brush disc 10. The upper end of the adjusting tube 18 extends into the brush tube 9 and is slidably connected to the brush tube 9. The lower end surface of the adjusting tube 18 extends downward and outward and is fixedly connected to the upper end surface of the brush disc 10. An adjusting slider 19 is fixedly provided on the outer wall of the adjusting tube 18. A lifting slideway 20 is provided on the frame 34. The adjusting tube 18 is slidably connected to the lifting slideway 20 through the adjusting slider 19. The lifting slideway 20 is fixedly connected to the frame 34. The lifting slideway 20 includes a low section 21 of the slideway, a transition section 22 of the slideway, and a high section 23 of the slideway. One end of the frame 34 is provided with the high section 23 of the slideway. The height of the high section 23 of the slideway is higher than the height of the low section 21 of the slideway. The width of the high section 23 of the slideway is smaller than the width of the low section 21 of the slideway. One end of the transition section 22 of the slideway is fixedly connected upward to the high section 23 of the slideway, and the other end is fixedly connected downward to the low section 21 of the slideway, so that when the adjusting tube slides to the high section of the slideway through the adjusting slider, the adjusting tube rises, driving the brush disc to rise and retracting the brush disc, and the brush stops painting. When the adjusting tube slides to the low section of the slideway through the adjusting slider, the adjusting tube descends, driving the brush disc to descend and lowering the brush disc, and the brush contacts the hull surface to start painting.

[0040] The paint supply component of the present utility model includes a paint bucket 5 and a paint extrusion component 6. The brush component 3 is connected to the paint bucket 5 through an oil pipe. The paint bucket 5 is installed on the frame 34. A paint extrusion component 6 is provided on the paint bucket 5. The paint in the paint bucket 5 is driven by the paint extrusion component 6, so that during use, the paint in the paint bucket flows into the brush component through the oil pipe driven by the paint extrusion component, and the brush component reciprocates under the action of the brush reciprocating driving component to automatically complete the painting operation.

[0041] The paint extrusion component 6 of the present utility model includes an extrusion cover 24 and a paint extrusion electric push rod 25. An extrusion cover 24 is provided on the paint bucket 5. The extrusion cover 24 is slidably connected to the paint bucket 5. The extrusion cover 24 is driven by the paint extrusion electric push rod 25. The paint extrusion electric push rod 25 is fixedly arranged on the frame 34 to push the extrusion cover through the paint extrusion electric push rod to extrude the paint in the paint bucket, so that the paint enters the brush tube through the oil pipe.

[0042] A paint extrusion guiding mechanism 26 is provided on the frame 34 of the present utility model. The paint extrusion electric push rod 25 is connected to the extrusion cover 24 through the paint extrusion guiding mechanism 26 to guide the movement of the paint extrusion electric push rod through the paint extrusion guiding mechanism and ensure uniform extrusion of the paint bucket.

[0043] On the frame 34 of the present utility model, there is provided a paint extrusion guiding mechanism 26, and the paint extrusion guiding mechanism 26 includes an extrusion guiding rod 27, a paint pushing rod 28, and a connecting plate 29.

[0044] The extrusion guiding rod 27 is fixedly provided on the frame 34, the paint pushing rod 28 is provided on the extrusion cover 24, one end of the paint pushing rod 28 is fixedly connected to the extrusion cover 24, the other end is provided with the connecting plate 29, the paint pushing rod 28 is fixedly connected to the connecting plate 29, the connecting plate 29 is sleeved on the extrusion guiding rod 27 and is slidably connected to the extrusion guiding rod 27, and the connecting plate 29 is driven by a paint extrusion electric push rod 25 to guide the sliding of the extrusion cover through the connecting plate and the extrusion guiding rod.

[0045] Above the paint bucket 5 of the present utility model, there is provided a waterproof housing 30, the waterproof housing 30 covers above the paint bucket 5, the paint extrusion electric push rod 25, and the drive motor 15, and the waterproof housing 30 is fixedly connected to the frame 34 to protect the paint bucket, the paint extrusion electric push rod, and the drive motor through the waterproof housing, and prevent water from entering the equipment and affecting its performance.

[0046] Above the brush component 3 of the present utility model, there is provided a protective cover 31, the protective cover 31 covers above the synchronous belt 11 and the brush component 3, and the protective cover 31 is fixedly connected to the frame 34 to protect the synchronous belt and the brush component through the protective cover.

[0047] On the frame 34 or the protective cover 31 of the present utility model, there is provided a drag chain 32, one end of the drag chain 32 is fixedly connected to the frame 34 or the protective cover 31, the other end is fixedly connected to the brush tube 9, and the oil pipe passes through the drag chain 32 and is fixedly connected to the brush tube 9 to guide the movement of the oil pipe through the drag chain and protect the oil pipe.

[0048] On the frame 34 of the present utility model, there is provided a mounting bracket 1, the brush component 3, the brush reciprocating drive component 4, and the paint supply component are all mounted on the mounting bracket 1, the mounting bracket 1 is provided with mounting holes 33, and the mounting bracket 1 is detachably connected to the frame 34 to integrate the paint replenishing mechanism onto the mounting bracket to form a module, which is convenient for disassembly, installation, and maintenance.

[0049] Appendix Figure 1 Among them, the paint replenishing mechanism 2 is installed outside the frame 34, Appendix Figure 2 and Appendix Figure 3 Among them, the paint replenishing mechanism 2 is installed inside the frame 34, and the installation position of the paint replenishing mechanism 2 on the frame 34 can be installed according to requirements. In the present utility model, the brush reciprocating drive component 4 has two structures. One structure is as shown in Appendix Figure 5 -Appendix Figure 8 , the drive motor 15 drives the synchronous belt 11 to reciprocate, and the synchronous belt 11 drives the brush tube 9, the adjusting tube 18, and the bristles to reciprocate to achieve paint brushing. The other is as shown in Appendix Figures 9 - 11, the gear drive motor 38 drives the drive gear 37 to rotate, prompting the drive gear 37 and the gear drive motor 38 to drive the brush tube 9 to reciprocate along the rack 36 to achieve paint brushing. The two methods can be selected according to requirements.

[0050] All components of the paint repair mechanism 2 of the present utility model can be installed on the mounting bracket 1 to form a module, and then installed on the machine frame 34. As shown in the appendix Figure 4 , mounting seats are fixedly arranged on both sides and the bottom of the mounting bracket 1. Mounting holes 33 are provided on the mounting seats. The paint repair mechanism 2 can be quickly installed on the machine frame 34 through the mounting holes 33 and screws. The underwater robot in the present utility model is an underwater robot in the prior art. A control system is provided on the machine frame of the underwater robot. The control system is such as a PLC control system. The drive motor 15, the paint extrusion electric push rod 25, and the gear drive motor 38 can be connected to the control system on the machine frame 34, and the reciprocating movement of the brush component 3 is controlled by the underwater robot.

[0051] During operation, the underwater robot with the paint repair mechanism moves the paint repair mechanism 2 to one side of the hull that needs to be repainted. The underwater robot with the paint repair mechanism adjusts its own position through its own thrusters, so that the bristles of the brush component 3 are exactly on the surface of the hull to be repainted. The bristles contact the hull surface. The control system on the machine frame 34 drives the paint extrusion electric push rod 25 to extend, driving the paint cover 24 to squeeze the paint in the paint bucket 5. The paint enters the brush tube 9 through the oil pipe, and then leaks out from the paint outlet holes 8 of the brush plate 10 and drips onto the bristles. The control system simultaneously drives the gear drive motor 38 or the drive motor 15 to drive the brush tube 9, the adjustment tube 18, and the bristles to reciprocate to achieve paint brushing. When the brushing is completed, the drive system controls the gear drive motor 38 or the drive motor 15, and the adjustment tube 18 moves to the high section 23 of the slide through the adjustment slider 19, and the height of the bristles rises to retract the bristles. The underwater robot with the paint repair mechanism moves the paint repair mechanism 2 to the next place that needs to be repainted and continues the paint repair operation.

[0052] Compared with the prior art, first, the structure of the utility model is simple, the paint extrusion is convenient and fast, the brush reciprocates and drives automatically to apply paint, and the paint repair efficiency is high; second, in the utility model, paint outlet holes 8 are arranged at intervals on the brush disc 10. After the paint is extruded, it drips onto the bristles through the paint outlet holes 8, and then through the reciprocating movement of the brush, it ensures that the paint leaking onto the bristles can be quickly and evenly coated on the hull by the bristles; third, mounting holes 33 are arranged on both sides and the bottom of the mounting bracket 1 of the utility model, which is convenient for disassembly and assembly; fourth, the utility model is provided with a brush component retracting mechanism, and the bristles can be quickly retracted after use; fifth, when the hull is used underwater, due to the frequent attachment of marine organisms and seawater corrosion, the paint on the hull surface will fall off. Usually, there may be many places where the paint on a hull falls off. The paint repair mechanism of the utility model has a high paint application efficiency and is especially suitable for this kind of small-area underwater paint repair, greatly reducing the underwater hull paint repair cost; sixth, the utility model is provided with a waterproof housing 30 and a protective cover 31, which can protect components such as the drive motor 15 and the paint extrusion electric push rod 25 underwater and extend the service life of the components.

[0053] Due to the adoption of the above structure, the utility model has the advantages of simple structure, few components, simple operation, automatic brush drive, fast and uniform brushing, low use cost, and convenient installation.

Claims

1. An underwater robot with a paint repair mechanism, including a frame (34), characterized in that: A paint replenishing mechanism (2) is provided on the frame (34). The paint replenishing mechanism (2) includes a brush component (3), a brush reciprocating driving component (4), and a paint supply component. The brush component (3) is provided on the frame (34). The brush component (3) is connected to the frame (34) via the brush reciprocating driving component (4). The brush component (3) is driven by the brush reciprocating driving component (4). The brush component (3) is connected to the paint supply component via an oil pipe. The paint supply component is installed on the frame (34).

2. The underwater robot with a paint replenishing mechanism according to claim 1, characterized in that: The brush component (3) consists of a brush base (7) and bristles. A paint accommodation space is provided inside the brush base (7). Paint outlet holes (8) are provided at intervals on the lower end surface of the brush base (7). Bristles are fixedly installed at the lower end of the brush base (7). The brush base (7) is driven by the brush reciprocating driving component (4). One end of the oil pipe extends into the paint accommodation space and is fixedly connected to the brush base (7).

3. The underwater robot with a paint repair mechanism according to claim 1, wherein: The brush component (3) consists of a brush tube (9), a brush disc (10), and bristles. The upper end of the brush tube (9) is closed. The lower end surface of the brush tube (9) extends downward and outward and is fixedly connected to the upper end surface of the brush disc (10). A paint accommodation space is provided between the brush tube (9) and the brush disc (10). The brush tube (9) is driven by the brush reciprocating driving component (4). Paint outlet holes (8) are provided at intervals on the brush disc (10). The lower end of the brush disc (10) is fixedly connected to the bristles.

4. An underwater robot with a paint repair mechanism according to claim 1 or 2 or 3, characterized in that: The brush reciprocating driving component (4) consists of a synchronous belt (11) and a driving component (12). The synchronous belt (11) is provided on the brush component (3). The synchronous belt (11) is driven by the driving component (12). The brush component (3) is connected to the synchronous belt (11).

5. The underwater robot with a paint repair mechanism according to claim 4, characterized in that: The driving component (12) includes a driving wheel (13), a driven wheel (14), a driving shaft, a driven shaft, and a driving motor (15). The driving wheel (13) and the driven wheel (14) are provided on the frame (34). The driving wheel (13) is fixed on the driving shaft, and the driven wheel (14) is fixed on the driven shaft. The driving shaft and the driven shaft are respectively fixedly connected to the frame (34) via bearings. The driving shaft is driven by the driving motor (15). The synchronous belt (11) is sleeved on the driving wheel (13) and the driven wheel (14). The driving motor (15) is arranged on the frame (34).

6. The underwater robot with a paint replenishment mechanism according to claim 4, characterized in that: A brush guide rail (16) is provided below the synchronous belt (11). The brush guide rail (16) is fixedly connected to the frame (34). The brush component (3) is slidably connected to the brush guide rail (16) via a brush slider.

7. An underwater robot with a paint repair mechanism according to claim 3, characterized in that: A brush component retracting mechanism (17) is provided on the frame (34). The brush component retracting mechanism (17) includes an adjusting tube (18), an adjusting slider (19), and a lifting slideway (20). An adjusting tube (18) is provided between the brush tube (9) and the brush disc (10). The upper end of the adjusting tube (18) extends into the brush tube (9) and is slidably connected to the brush tube (9). The lower end surface of the adjusting tube (18) extends downward and outward and is fixedly connected to the upper end surface of the brush disc (10). An adjusting slider (19) is fixedly provided on the outer wall of the adjusting tube (18). A lifting slideway (20) is provided on the frame (34). The adjusting tube (18) is slidably connected to the lifting slideway (20) through the adjusting slider (19). The lifting slideway (20) is fixedly connected to the frame (34). The lifting slideway (20) includes a low section (21), a transition section (22), and a high section (23). A high section (23) of the slideway is provided at one end of the frame (34). The height of the high section (23) of the slideway is higher than the height of the low section (21). The width of the high section (23) of the slideway is smaller than the width of the low section (21). One end of the transition section (22) is fixedly connected upward to the high section (23), and the other end is fixedly connected downward to the low section (21).

8. An underwater robot with a paint repair mechanism according to claim 1 or 2 or 3 or 5 or 6 or 7, characterized in that: The paint supply component includes a paint bucket (5) and a paint extrusion component (6). The brush component (3) is connected to the paint bucket (5) through an oil pipe. The paint bucket (5) is installed on the frame (34). A paint extrusion component (6) is provided on the paint bucket (5). The paint in the paint bucket (5) is driven by the paint extrusion component (6).

9. The underwater robot with a paint replenishment mechanism according to claim 8, wherein: The paint extrusion component (6) includes an extrusion cover (24) and a paint extrusion electric push rod (25). An extrusion cover (24) is provided on the paint bucket (5). The extrusion cover (24) is slidably connected to the paint bucket (5). The extrusion cover (24) is driven by the paint extrusion electric push rod (25). The paint extrusion electric push rod (25) is fixedly arranged on the frame (34). A paint extrusion guiding mechanism (26) is provided on the frame (34). The paint extrusion electric push rod (25) is connected to the extrusion cover (24) through the paint extrusion guiding mechanism (26). The paint extrusion guiding mechanism (26) includes an extrusion guiding rod (27), a paint push rod (28), and a connecting plate (29). The extrusion guiding rod (27) is fixedly provided on the frame (34). The paint push rod (28) is provided on the extrusion cover (24). One end of the paint push rod (28) is fixedly connected to the extrusion cover (24), and the other end is provided with a connecting plate (29). The paint push rod (28) is fixedly connected to the connecting plate (29). The connecting plate (29) is sleeved on the extrusion guiding rod (27) and is slidably connected to the extrusion guiding rod (27). The connecting plate (29) is driven by the paint extrusion electric push rod (25).

10. An underwater robot with a paint repair mechanism according to claim 1 or 2 or 3 or 5 or 6 or 7 or 9, characterized in that: An installation bracket (1) is provided on the frame (34). The brush component (3), the brush reciprocating drive component (4), and the paint supply component are all installed on the installation bracket (1). An installation hole (33) is provided on the installation bracket (1), and the installation bracket (1) is detachably connected to the frame (34).

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