船舶外板喷涂机器人研究现状
及关键技术进展
李传涛1a，姚玉南1a*，范世东1b，秦伟民2
（1．武汉理工大学，a. 船海与能源动力工程学院；b. 交通与物流工程学院，武汉 430063；2．南通象屿海装股份有限公司，南通 226361）
摘 要：[目的]为突破船舶外板人工喷涂效率低、质量差且污染重的瓶颈并为行业绿色转型提供参考。[方法]从驱动技术、三维重构、路径规划、质量控制及环保技术5个维度调研国内外成果，系统梳理喷涂机器人关键技术进展，对比分析爬壁式、轨道式和高架式3类驱动形式的性能差异与适用场景，归纳三维重建精度、工艺参数对涂层质量的影响规律及环保减排措施效果。[结果]结果表明：爬壁式灵活但承载有限且易损伤涂层，轨道式精度高但工程量大且缺自适应，高架式范围广效率高但移动受限，3类机器人均已得到较大发展，但在曲面自适应、多机协同、闭环检测及通用性方面仍存共性瓶颈。[结论]未来应发展柔性贴合机构、集群智能协同、环保集成、在线检测闭环调控及数字孪生虚拟平台，协同突破瓶颈，推动喷涂机器人从示范走向大规模应用，促进涂装智能化绿色化转型。
关键词：船舶喷涂机器人；驱动技术；路径规划；质量控制；环保技术
中图分类号：U672.7 文献标志码：A
Research Status and Key Technological Advancements
of Ship Hull Spray Painting Robots
LI Chuantao1a, YAO Yunan1a*, FAN Shidong1b, QIN Weimin2
(1. Wuhan University of Technology, a School of Naval Architecture, Ocean and Energy power Engineering, b. School of Transportation and Logistics Engineering, Wuhan 430063, Hubei, China; 2. Nantong Xiangyu Shipbuilding & Offshore Engineering Co., Ltd. Nantong 226361, Jiangsu, China)
Abstract: [Purpose] To break through the bottleneck of low efficiency, poor quality, and heavy pollution in manual spraying of ship hull outer plates, and to provide a reference for the industry's green transformation, this paper systematically reviews the progress of key technologies for spray painting robots and clarifies the characteristics and applicable scenarios of different technical routes.. [Method] From five dimensions—drive technology, 3D reconstruction, path planning, quality control, and environmental protection technology—this paper surveys domestic and international achievements, compares and analyzes the performance differences among three drive forms: wall climbing, track based, and elevated, and summarizes the accuracy of 3D reconstruction, the influence of process parameters on coating quality, and the effectiveness of environmental emission reduction measures. [Result] The results indicate that wall climbing type is flexible but has limited payload and tends to damage the coating; the track based type offers high precision but requires heavy preliminary work and lacks self adaptation to curvature changes; the elevated type covers a wide range with high efficiency but is restricted in mobility. All three types have achieved considerable development, yet they still share common bottlenecks in curved surface adaptability, multi robot collaboration, closed loop inspection, and versatility. [Conclusion] In the future, efforts should be directed toward developing flexible conformal mechanisms, swarm intelligence collaboration, integrated environmental protection, online inspection closed loop control, and digital twin virtual platforms. These synergistic developments will help break through the bottlenecks, promote spray painting robots from pilot demonstrations to large scale applications, and facilitate the intelligent and green transformation of coating operations.
Key words: ship painting robot; drive technology; path planning; quality control; Environmental technology