A ship rust removal robot

Abstract

The application belongs to the field of ship rust removal and discloses a ship rust removal robot which can reduce rust adsorbed on the surface of an adsorbing magnet, keep the adsorbing magnet always having effective rust adsorption force and prevent the formation of polymer rust, and comprises a bearing base plate, a rust removal unit, an adsorbing magnet and a scraping assembly. The scraping assembly comprises a scraping driving part, a scraping fitting part and a scraping executing part. The scraping driving part is arranged on the rust removal unit and has an arc-shaped driving tooth segment. The scraping fitting part is rotatably arranged on the bearing base plate and has an arc-shaped fitting tooth segment which is engaged with the arc-shaped driving tooth segment. The scraping executing part is mechanically coupled with the scraping fitting part and has a scraping surface which is in surface fitting with the adsorbing magnet. The rust removal unit drives the scraping driving part to swing synchronously, so that the scraping fitting part swings synchronously, the scraping executing part is driven to swing reciprocally, and then the rust on the surface of the adsorbing magnet is scraped off.

Description

Technical Field

[0001] This invention belongs to the field of ship rust removal, and specifically relates to a ship rust removal robot. Background Technology

[0002] During long-term operation, ships are susceptible to extensive paint peeling and rust on their hull surfaces due to prolonged exposure to seawater and sea winds. In severe cases, this can even contaminate the cargo inside the hold. Furthermore, maintaining cleanliness of the hull is crucial when ships dock for cargo reloading. Therefore, regular rust removal operations on ship surfaces are essential.

[0003] Traditional rust removal operations involve setting up scaffolds near the ship's hull and manually removing rust from the ship's exterior. With technological advancements, and considering the safety of workers, wall-climbing robots have been developed to replace manual operations. These robots use their own wall-climbing magnets to adhere to the ship's exterior surface and perform grinding and rust removal. They also use their own rust-shaving magnets to attract and remove the rust shavings generated during grinding.

[0004] However, existing intelligent wall-climbing robots used for rust removal and painting of ships tend to accumulate more and more rust particles on the rust-adhesive magnets as the rust removal operation is carried out. This not only causes the rust-adhesive magnets to lose their effective adsorption force, but also makes it easy for large pieces of rust particles to fall from heights due to excessive accumulation, posing a safety risk. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a ship rust removal robot that can reduce the amount of rust adsorbed on the rust magnet, thereby ensuring that the rust magnet always maintains effective adsorption force. It also prevents the formation of aggregate rust and eliminates the safety hazard of large objects falling from heights.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A ship rust removal robot, capable of climbing on the outer surface of a ship, is characterized by comprising: a climbing mechanism including a support base plate and a climbing unit disposed on the support base plate, the climbing unit being used to adsorb the support base plate onto the outer surface of the ship and drive the support base plate to move on the outer surface of the ship; a rust removal mechanism including a driving component and a rust removal unit, the driving component being disposed on the support base plate and used to drive the rust removal unit to reciprocate within a predetermined amplitude angle, the rust removal unit including a grinding component in contact with the outer surface of the ship, the grinding component being used to grind and remove rust from the outer surface of the ship; and an adsorption magnet disposed on the support base plate, the adsorption magnet being oriented towards the outer surface of the ship and having a predetermined gap with the outer surface of the ship, the adsorption magnet... The ship rust removal robot is used to adsorb rust chips generated during grinding. It also includes a scraping component, which consists of a scraping drive, a scraping mating component, and a scraping actuator. The scraping drive is mounted on the rust removal unit and has an arc-shaped drive tooth segment. The scraping mating component is rotatably mounted on the support plate and has an arc-shaped mating tooth segment that meshes with the arc-shaped drive tooth segment. The scraping actuator is mechanically coupled to the scraping mating component and has a scraping surface that mates with the adsorption magnet. The rust removal unit drives the scraping drive to swing synchronously, causing the scraping mating component to swing synchronously, which in turn drives the scraping actuator to swing back and forth, thereby scraping away the rust chips on the surface of the adsorption magnet.

[0008] Preferably, the present invention further includes a rust-absorbing component, including a rust-absorbing channel, a rust-drossing container, and a directional airflow generator. The directional airflow generator is connected to the rust-drossing container and is used to direct external airflow through the rust-drossing container. The rust-absorbing channel penetrates the supporting substrate and is located near the adsorption magnet. The rust-absorbing channel is connected to the rust-drossing container through a pipe. The rust-drossing container absorbs rust-dross into the rust-drossing container through the directional airflow.

[0009] Furthermore, the rust-absorbing assembly also includes an air-dissipating container connected to the rust-dross container. The air-dissipating container has an air-dissipating port, and a dust filter screen is installed inside the rust-dross container along the airflow path. The dust filter screen is used to filter rust-dross into the rust-dross container.

[0010] Furthermore, the directional airflow generator is a negative pressure fan installed inside the gas dissipation container, which rotates to direct the external airflow through the rust chip containing container.

[0011] Furthermore, the present invention also includes a rinsing assembly, comprising an impeller pump, a rinsing pipe, and a spray pipe, wherein both the rinsing pipe and the spray pipe are connected to an external cleaning water source via the impeller pump; the grinding assembly includes a grinding disc that is in close contact with the outer surface of the vessel; the rinsing pipe has a rinsing port located near the grinding disc; the spray pipe extends into a rust-receiving container and has a spray nozzle facing the dust filter screen.

[0012] Furthermore, the shaft of the negative pressure fan is rotatably coupled with the shaft of the impeller pump.

[0013] Preferably, the climbing unit includes a driven component and an electromagnetic wheel. The carrier plate is attached to the outer surface of the ship by the electromagnetic wheel, and the driven component is used to drive the carrier plate to move.

[0014] Furthermore, the driven assembly includes a drive wheel pair, a coupling worm gear, a mating worm, a ratchet and pawl module, and a torque transmission gear. The drive wheel pair is mounted on the support plate and rolls in contact with the outer surface of the ship. The coupling worm gear is sleeved on the shaft of the drive wheel pair. The mating worm is rotatably mounted on the support plate and drives the coupling worm gear. The ratchet and pawl module and the torque transmission gear are independently and coaxially coupled to the mating worm. The ratchet and pawl module is used to transmit unidirectional torque, so that when the torque transmission gear rotates in a predetermined direction, the mating worm rotates. The drive assembly includes a drive servo mounted on the support plate. The output shaft of the drive servo is sleeved with a bidirectional drive component. The bidirectional drive component has a connecting part and a transmission gear segment. The rust removal unit is fixed on the connecting part, and the transmission gear segment meshes with the torque transmission gear.

[0015] Furthermore, the rust removal unit also includes a swing base, a swing linkage, a clamping spring, and a resonant spring. The swing base is mounted on the connecting part and is bent to form a mounting surface and a clamping surface. The swing linkage is inclined toward the outer surface of the ship, with one end of the swing linkage hinged to the mounting surface and the grinding assembly mounted at the other end. The scraping drive is hinged to the swing linkage. The two ends of the clamping spring abut against the clamping surface and the swing linkage, respectively. The clamping spring, through the swing linkage, makes the grinding assembly fit tightly against the outer surface of the ship. The two ends of the resonant spring abut against the scraping drive and the swing linkage, respectively, and the scraping drive is hinged to the swing linkage.

[0016] Furthermore, the supporting base plate is a multi-segment structure that is sequentially hinged along the movement direction, having a main segment and at least one sub-segment. The drive wheelset is located on the main segment, and there are multiple electromagnetic wheels, which are respectively set on different sub-segments. Thus, when the outer surface of the ship is curved, both the electromagnetic wheels and the drive wheelset are in contact with the outer surface of the ship. The climbing unit also includes a direction-changing servo motor. The axle of the electromagnetic wheel is perpendicularly connected to the output shaft of the direction-changing servo motor. The direction-changing servo motor is used to change the travel direction of the electromagnetic wheel on the outer surface of the ship.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. Because the ship rust removal robot of the present invention includes a climbing mechanism, a rust removal mechanism, an adsorption magnet, and a scraping assembly, the climbing mechanism includes a supporting base plate, the rust removal mechanism includes a rust removal unit, and the scraping assembly includes a scraping drive component, a scraping mating component, and a scraping actuator. The scraping drive component is disposed on the rust removal unit and has an arc-shaped drive tooth segment. The scraping mating component is rotatably disposed on the supporting base plate and has an arc-shaped mating tooth segment that meshes with the arc-shaped drive tooth segment. The scraping actuator is mechanically coupled to the scraping mating component, and the scraping actuator has a scraping surface that mates with the adsorption magnet. The rust removal unit drives the scraping drive component. Synchronous oscillation causes the scraping mating parts to oscillate synchronously, thereby driving the scraping actuator to oscillate back and forth, thus scraping away the rust on the surface of the adsorbent magnet. Therefore, this invention utilizes the reciprocating oscillation of the rust removal unit to form the driving torque of the scraping actuator to scrape away the rust on the surface of the adsorbent magnet through gear meshing. This reduces the amount of rust adsorbed on the surface of the adsorbent magnet, ensuring that the adsorbent magnet always maintains an effective rust adsorption force, and also prevents the formation of aggregate rust, eliminating the safety hazard of large objects falling from heights. Moreover, this invention is achieved only through a simple torque transmission component, with a simple structure and very low equipment and setup costs.

[0019] 2. Because the present invention also includes a rust-absorbing component, which includes a rust-absorbing channel, a rust-drossing container, and a directional airflow generator, the directional airflow generator is connected to the rust-drossing container, the rust-absorbing channel is connected to the rust-drossing container through a pipeline, and the rust-drossing container absorbs the rust-dross into the rust-drossing container through the directional airflow, the present invention can also absorb the generated rust-dross in a timely manner, thereby greatly reducing the retention of iron filings on the outer surface of the ship.

[0020] 3. Because the rust-absorbing assembly of the present invention also includes a gas-dispersing container connected to the rust-dross container, the gas-dispersing container has a gas-dispersing port, and a dust filter screen is provided inside the rust-dross container along the airflow path, the present invention can filter and collect rust-dross in the rust-dross container and discharge excess gas to the outside through the gas-dispersing port.

[0021] 4. Because the present invention also includes a rinsing assembly, which includes an impeller pump, a rinsing pipe, and a spray pipe, both of which are connected to an external cleaning water source via the impeller pump, and a grinding assembly including a grinding disc that is closely attached to the outer surface of the ship, the rinsing pipe having a rinsing port located near the grinding disc, and the spray pipe extending into a rust-collecting container and having a spray nozzle facing the dust filter screen, the present invention not only further improves the rust removal effect by rinsing the ground area, but also makes it easier for rust to be adsorbed by the dust filter screen.

[0022] 5. Because the shaft of the negative pressure fan of the present invention is rotatably coupled with the shaft of the impeller pump, the present invention does not require an additional torque drive device for the negative pressure fan.

[0023] 6. Because the driven component of the present invention includes a drive wheel set, a coupling worm gear, a mating worm, a ratchet and pawl module, and a torque transmission gear, the drive wheel set rolls in contact with the outer surface of the ship, the coupling worm gear is sleeved on the shaft of the drive wheel set, the mating worm gear and the coupling worm gear are in transmission engagement, the ratchet and pawl module and the torque transmission gear are independently and coaxially coupled on the mating worm, the ratchet and pawl module is used to transmit unidirectional torque, the drive component includes a drive servo motor mounted on the bearing base plate, the output shaft of the drive servo motor is sleeved with a bidirectional drive component, the bidirectional drive component has a connecting part and a transmission gear segment, the rust removal unit is fixed on the connecting part, and the transmission gear segment meshes with the torque transmission gear, therefore, the present invention realizes the rotational coupling of the drive wheel set and the drive servo motor through the bidirectional drive component, that is, the motion coupling with the rust removal unit, and because the ratchet and pawl module only transmits unidirectional torque, the drive wheel set only rotates for half of the corresponding time when the rust removal unit oscillates once.

[0024] 7. Because the rust removal unit of the present invention also includes a swing base, a swing linkage, a clamping spring, and a resonant spring, the swing base is bent to form a mounting surface and a clamping surface, the swing linkage is inclined toward the outer surface of the ship, the scraping drive is hinged on the swing linkage, the two ends of the clamping spring abut against the clamping surface and the swing linkage respectively, the two ends of the resonant spring abut against the scraping drive and the swing linkage respectively, and the scraping drive is hinged on the swing linkage, therefore, the present invention can make the grinding component always close to the outer surface of the ship through the clamping spring, and buffer the vibration generated during the swing rust removal process through the resonant spring, thereby reducing the impact on the scraping drive.

[0025] 7. Because the supporting substrate of the present invention is a multi-segment structure that is hinged sequentially, when the outer surface of the ship is curved, both the electromagnetic wheel and the drive wheel pair are in contact with the outer surface of the ship. The climbing unit also includes a directional servo motor. The axle of the electromagnetic wheel is perpendicularly connected to the output shaft of the directional servo motor. The directional servo motor is used to change the direction of travel of the electromagnetic wheel on the outer surface of the ship. Therefore, the present invention enables the supporting substrate to adapt to the configuration of the curved outer surface of the ship through a multi-segment structure, and the direction of travel of the electromagnetic wheel can be changed through the directional servo motor, making it very easy to change the relative direction of different segments. Attached Figure Description

[0026] Figure 1 This is a cross-sectional schematic diagram of a ship rust removal robot according to an embodiment of the present invention;

[0027] Figure 2 This is a cross-sectional schematic diagram of the sub-segment portion according to an embodiment of the present invention;

[0028] Figure 3 This is a cross-sectional schematic diagram of a portion of the main segment of an embodiment of the present invention;

[0029] Figure 4 This is a perspective view of the driven component, driving component, and device frame according to an embodiment of the present invention. Figure 1 ;

[0030] Figure 5 This is a perspective view of the driven component, driving component, and device frame according to an embodiment of the present invention. Figure 2 ;

[0031] Figure 6 This is a schematic diagram of the ratchet and pawl module and the first linkage shaft in an embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of the structure of the electromagnetic wheel according to an embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram illustrating the cooperation between the directional servo motor and the electromagnetic wheel in an embodiment of the present invention;

[0034] Figure 9 This is a partial enlarged view of the joint portion between the scraping assembly and the rust removal unit in an embodiment of the present invention;

[0035] Figure 10 This is a schematic diagram of a rust-absorbing component located in the main section of an embodiment of the present invention.

[0036] In the diagram: 1000, Ship rust removal robot; 100, Climbing mechanism; 110, Support base plate; 111, Main section; 112, Sub-section; 120, Device enclosure; 121, Top plate; 121a, 1211, Auxiliary support through holes; 130, Climbing unit; 131, Driven assembly; 1311, Drive wheel pair; 1312, Coupling worm gear; 1313, Matching worm; 1314, First linkage shaft; 1315, Ratchet. Pawl module, 13151, module housing, 13152, pawl, 13153, ratchet, 1316, torque transmission gear, 132, directional servo motor, 133, electromagnetic wheel, 1331, spokes, 1332, excitation coil, 200, rust removal mechanism, 210, drive assembly, 211, drive servo motor, 212, second linkage shaft, 213, bidirectional drive component, 2131, connecting part, 2132, transmission part, 2 20. Rust removal unit; 221. Swing base; 2211. Mounting plate segment; 2212. Clamping plate segment; 222. Auxiliary support rod; 2221. Clamping flange; 223. Swing connecting rod; 2231. First protrusion; 2232. Second protrusion; 224. Clamping spring; 225. Vibration spring; 226. Grinding assembly; 2261. Grinding motor; 2262. Grinding disc; 3. Adsorption magnet; 40. Scraping assembly; 41. Scraping... 42. Drive component, 43. Scraping mating component, 44. Connecting rod, 50. Scraping actuator, 51. Rust suction assembly, 52. Rust suction channel, 53. Dust suction hood, 53. Rust chip container, 531. Dust filter screen, 54. Air diffuser, 54a. Air diffuser, 541. Directional airflow generator, 60. Flushing assembly, 61. Impeller pump, 62. Flushing pipe, 621. Flushing port, 63. Sprinkler pipe, 64. Shower head, 7. Wheel scraper. Detailed Implementation

[0037] To make the technical means, creative features, objectives and effects of the present invention easier to understand, the following embodiments, in conjunction with the accompanying drawings, specifically illustrate a ship rust removal robot of the present invention. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0038] like Figure 1 As shown, a ship rust removal robot 1000 in this embodiment climbs and moves on the outer surface of a ship (not shown in the figure), and the outer surface of the ship is curved. It includes a climbing mechanism 100, a rust removal mechanism 200, an adsorption magnet 3, a scraping component 40, a rust suction component 50, a rinsing component 60, and a wheel scraper 7.

[0039] The climbing mechanism 100 includes a support base plate 110, a device enclosure 120, and a climbing unit 130.

[0040] The support base plate 110 is a multi-segment structure that is sequentially hinged along the moving direction of the ship rust removal robot 1000. It has a main segment 111 and at least one secondary segment 112. Specifically, there are two secondary segments 112, which are respectively hinged to both ends of the main segment 111 along the moving direction of the ship rust removal robot 1000. Thus, the support base plate 110 can form a curved surface through the deformation at the hinge. In this embodiment, the area of ​​the main segment 111 is larger than that of the secondary segment 112.

[0041] Specifically, the device enclosure 120 is disposed on the main section 111 and is open on the front side along the moving direction of the ship rust removal robot 1000. The device enclosure 120 has a top plate 121 located at the top, and the top plate 121 has an auxiliary support through hole 1211 located near the open side, and the auxiliary support through hole 1211 is an arc-shaped waist hole.

[0042] The attachment unit 130 is disposed on the support substrate 110. The attachment unit 130 is used to attach the support substrate 110 to the outer surface of the ship and drive the support substrate 110 to move on the outer surface of the ship. The attachment unit 130 includes a driven component 131, a directional servo motor 132 and an electromagnetic wheel 133.

[0043] like Figures 2 to 10 As shown, the driven component 131 is used to drive the carrier base plate 110 to move, and includes a drive wheel pair 1311, a coupling worm gear 1312, a cooperating worm 1313, a first linkage shaft 1314, a ratchet and pawl module 1315, and a torque transmission gear 1316.

[0044] The drive wheelset 1311 is mounted on the main section 111 and rolls in contact with the outer surface of the ship. The coupling worm gear 1312 is coaxially sleeved on the shaft of the drive wheelset 1311. The cooperating worm 1313 is rotatably mounted on the main section 111 and is perpendicular to the shaft of the drive wheelset 1311. The cooperating worm 1313 and the coupling worm gear 1312 are in transmission engagement. The first linkage shaft 1314 is coaxial with the output end of the cooperating worm 1313 but not connected. The top end of the first linkage shaft 1314 is rotatably mounted on the top plate 121 via a bearing. The ratchet and pawl module 1315 and the torque transmission gear 1316 are both... The first linkage shaft 1314 is independently and coaxially coupled to the mating worm gear 1313. The ratchet and pawl module 1315 is used to transmit unidirectional torque, so that when the torque transmission gear 1316 rotates in a predetermined direction, the mating worm gear 1313 rotates, and when the torque transmission gear 1316 rotates in the opposite direction of the predetermined direction, the mating worm gear 1313 does not rotate. In this embodiment, in order to make the first linkage shaft 1314 more stable, the top plate 121 has a drooping fixed support plate (not shown in the figure) extending toward the main section 111. The first linkage shaft 1314 passes through the drooping fixed support plate through a bearing.

[0045] Specifically, the ratchet and pawl module 1315 includes a module housing 13151, a pawl 13152, and a ratchet 13153. The module housing 13151 is sleeved on the first linkage shaft 1314 via a bearing, and is fixed to the main section 111 via a connecting plate. The pawl 13152 is disposed on the inner wall of the module housing 13151, and a torsion spring (not shown in the attached figure) is clamped between the pawl 13152 and the inner wall of the module housing 13151, so that the pawl... 13152 is flexibly configured, and ratchet 13153 is fixedly sleeved on the ends of the first linkage shaft 1314 and the cooperating worm 1313. That is, module housing 13151 and ratchet 13153 are respectively fixedly sleeved on the ends of the first linkage shaft 1314 and the cooperating worm 1313. Thus, when the first linkage shaft 1314 rotates in the opposite direction of the predetermined rotation direction, ratchet 13153 is locked by pawl 13152, so that the first linkage shaft 1314 cannot transmit torque to the cooperating worm 1313.

[0046] There are multiple electromagnetic wheels 133, and the electromagnetic wheels 133 are respectively arranged on different sub-sections 112. So when the outer surface of the ship is curved, the electromagnetic wheels 133 and the drive wheel pair 1311 are in contact with the outer surface of the ship, and the bearing plate 110 is adsorbed on the outer surface of the ship through the electromagnetic wheels 122. Specifically, the electromagnetic wheels 133 generate magnetic force for adsorbing the outer surface of the ship through the excitation coil 1332 wound on the spokes 1331.

[0047] Specifically, the climbing unit 130 also includes a direction-changing servo motor 132, and electromagnetic wheels 133 are correspondingly arranged on two sub-sections 112. The electromagnetic wheels 133 are arranged on the sub-sections 112 in the form of wheelsets, and their axles are perpendicularly connected to the output shaft of the direction-changing servo motor 132. The direction-changing servo motor 132 is used to change the direction of travel of the electromagnetic wheels 133 on the outer surface of the ship, that is, to change the direction of travel of the bearing base plate 110 relative to the outer surface of the ship. In this embodiment, the direction-changing servo motor 132 is covered with a protective shell (the protective shell with the direction-changing servo motor 132 inside is shown in the figure).

[0048] The rust removal mechanism 200 includes a drive assembly 210 and a rust removal unit 220.

[0049] The drive assembly 210 is used to drive the rust removal unit 220 to oscillate back and forth within a predetermined amplitude angle. The drive assembly 210 is mounted on the main section 111.

[0050] The drive assembly 210 includes a drive servo motor 211, a second linkage shaft 212, and a bidirectional drive component 213.

[0051] The drive servo 211 is mounted on the main section 111 and is located near the first linkage shaft 1314. The second linkage shaft 212 is coaxially mounted on the output shaft of the drive servo 211 and is parallel to the first linkage shaft 1314. The output shaft of the drive servo 211 is fitted with a bidirectional drive component 213 through the second linkage shaft 212.

[0052] The bidirectional drive component 213 has a connecting part 2131 and a transmission part 2132. The surface of the transmission part 2132 has a transmission tooth segment. The rust removal unit 220 is fixed on the connecting part 2131. The transmission tooth segment meshes with the torque transmission gear 1316. Specifically, the connecting part 2131 is square rod-shaped, the transmission part 2132 is fan-shaped, and the transmission tooth segment is located on the arc circumference of the transmission part 2132.

[0053] The rust removal unit 220 includes a swing base 221, an auxiliary support rod 222, a swing connecting rod 223, a compression spring 224, a vibration spring 225, and a grinding assembly 226.

[0054] The swing base 221 is disposed on the free end of the connecting part 2131. The swing base 221 is bent to form a mounting plate segment 2131 and a pressing plate segment 2132. The surface of the mounting plate segment 2131 is the mounting surface, and the surface of the pressing plate segment 2132 is the pressing surface. In this embodiment, the swing base 221 is bent in an "L" shape.

[0055] Specifically, the auxiliary support rod 222 is formed on the pressing plate section 2132 and passes through the auxiliary support through hole on the top plate 121. The end of the auxiliary support rod 222 has a locking flange 2221. By locking the flange 2221, the swing base 221 can be swingably suspended on the top plate 121.

[0056] The swing link 223 is inclined toward the outer surface of the ship. One end of the swing link 223 is hinged to the mounting surface, and the grinding assembly 226 is disposed at the other end. Specifically, the swing link 223 has a first protrusion 2231 parallel to the pressing surface and a second protrusion 2232 parallel to the mounting surface.

[0057] The two ends of the compression spring 224 abut against the compression surface and the first protrusion 2231 respectively. The compression spring 224 makes the grinding assembly 226 fit tightly against the outer surface of the ship through the swing link 223; one end of the resonant spring 225 abuts against the second protrusion 2232.

[0058] The grinding assembly 226 is in contact with the outer surface of the ship and is used to grind and remove rust from the outer surface of the ship. The grinding assembly 226 includes a grinding disc 2262 and a grinding motor 2261 for driving the grinding disc 2261 to rotate.

[0059] The adsorption magnet 3 is disposed on the sub-section 112. The adsorption magnet 3 is disposed facing the outer surface of the ship and has a predetermined gap with the outer surface of the ship. The adsorption magnet 3 is used to adsorb rust chips generated by grinding. Specifically, the adsorption magnet 3 is disposed near the electromagnetic wheel 133. In addition to adsorbing rust chips, the adsorption magnet also has a certain magnetic force on the outer surface of the ship.

[0060] The scraping assembly 40 includes a scraping drive 41, a scraping mating part 42, a connecting rod 43, and a scraping actuator 44.

[0061] The scraping drive 41 is hinged to the swing link 223 by a torsion spring. The other end of the resonant spring 225 abuts against the scraping drive 41. Specifically, when the torsion spring is balanced, the scraping drive 41 is parallel to the second protrusion 2232. The scraping drive 41 is an arc panel, and an arc-shaped drive tooth segment is provided on one side along the arc.

[0062] The scraping fitting 42 is sleeved on one end of the connecting rod 43, and the connecting rod 43 is rotatably mounted on the sub-section 112. The other end of the connecting rod 43 is located near the adsorption magnet 3. The scraping fitting 42 is a gear with an arc-shaped meshing tooth segment that meshes with the arc-shaped drive tooth segment. The scraping actuator 44 is mechanically coupled to the scraping fitting 42 through the connecting rod 43. The scraping actuator 44 is rod-shaped and has a scraping surface that fits against the adsorption magnet 3. In this embodiment, in order to make the connecting rod 43 more stable, the main section 111 has a rising fixed support plate (not shown in the figure) extending toward the top plate 121. The connecting rod 43 passes through the rising fixed support plate through a bearing.

[0063] Specifically, when the drive servo motor 211 is controlled to reciprocate within a predetermined amplitude angle, the swing linkage 223 drives the scraping drive component 41 to swing synchronously, and the scraping mating component 42 swings synchronously through meshing, thereby driving the scraping actuator 44 to swing back and forth, thereby scraping off the rust on the surface of the adsorbed magnet 3; at the same time, through the meshing of the transmission part 2132 and the torque transmission gear 1316, the drive servo motor 211 also transmits torque to the first linkage shaft 1314. Since the ratchet and pawl module 1315 only transmits unidirectional torque, when the drive servo motor 211 rotates back and forth once, the mating worm gear 1313 only transmits torque to the drive wheelset 1311 through the coupling worm gear 1312 for half the time. That is, if the reciprocating swing of the swing linkage 223 is taken as a rust removal cycle, the drive wheelset 1311 only drives the bearing plate 110 to move within half a rust removal cycle.

[0064] In this embodiment, since the sub-section 112 on one side is farther from the grinding component 226, the scraping component 40 can be provided only on the sub-section 112 near the grinding component 226 to meet the requirement of removing rust chips, instead of providing scraping components 40 on both sub-sections 112 at the same time.

[0065] The rust suction assembly 50 includes a rust suction channel 51, a dust suction hood 52, a rust chip collection container 53, and a gas dispersion container 54.

[0066] Specifically, the dust hood 52 is mounted on the sub-section 112 and is in the shape of a trumpet surrounding the adsorption magnet 3, with its larger end facing outwards towards the outer surface of the ship.

[0067] The rust suction channel 51 runs through the sub-section 112, and there are multiple rust suction channels 51, all of which are located inside the dust suction hood 52 and near the adsorption magnet 3.

[0068] Both the rust chip container 53 and the gas dispersing container 54 are installed on the main section 111 and located inside the device enclosure 120. The rust chip container 53 is connected to the rust suction channel 51 through a pipeline, and a dust filter screen 531 is installed inside the rust chip container 53.

[0069] The gas dispersing container 54 is connected to the rust chip receiving container 53. The gas dispersing container 54 has a gas dispersing port 54a. A directional airflow generating element 541 is provided inside the gas dispersing container 54. The airflow generating element 541 is used to direct the external airflow entering from the self-suction rust channel 51 through the rust chip receiving container 53, that is, to suck the rust chips into the rust chip receiving container 53. The dust filter plate 531 is arranged along the airflow path to filter the rust chips into the rust chip receiving container 53. Specifically, the directional airflow generating element 541 is a negative pressure fan that operates by rotation.

[0070] The flushing assembly 60 includes an impeller pump 61, a flushing pipe 62, and a sprinkler pipe 63.

[0071] Both the flushing pipe 62 and the spray pipe 63 are connected to an external cleaning water source via an impeller pump 61, and the shaft of the impeller pump 61 is rotatably coupled to the shaft of the directional airflow generator 541. The flushing pipe 62 runs along the surface of the swing connection 223. The flushing pipe 62 has a flushing port 621 located near the grinding disc 2262, so that while the grinding disc 2262 is grinding and removing rust from the outer surface of the ship, the flushing port 621 sprays water to rinse the area.

[0072] The free end of the water spray pipe 63 extends into the rust chip container 53, and the free end of the water spray pipe has a water spray nozzle (not shown in the figure) facing the dust filter plate 531. In this embodiment, the rinsing assembly 60 also includes a shower head 64 communicating with the water spray nozzle, which is used to spray water toward the dust filter plate 531.

[0073] Specifically, the sub-section 112 is also hinged with a wheel scraper 7 by a torsion spring. The free end of the wheel scraper 7 is blade-shaped, and its cutting edge is set along the width direction of the wheel surface of the electromagnetic wheel 133. The wheel scraper 7 is used to scrape off the rust particles attracted on the wheel surface of the electromagnetic wheel 133.

[0074] The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Various modifications or variations that can be made by those skilled in the art without creative effort within the scope of the appended claims are still within the scope of protection of this patent.

Claims

1. A ship rust removal robot, capable of climbing walls on the outer surface of a ship, characterized in that, include: The attachment mechanism includes a support base plate and an attachment unit disposed on the support base plate. The attachment unit is used to attach the support base plate to the outer surface of the ship and drive the support base plate to move on the outer surface of the ship. A rust removal mechanism includes a drive assembly and a rust removal unit. The drive assembly is disposed on the support base plate and is used to drive the rust removal unit to reciprocate within a predetermined amplitude angle. The rust removal unit includes a grinding assembly that contacts the outer surface of the ship and is used to grind and remove rust from the outer surface of the ship. An adsorption magnet is disposed on the supporting substrate, facing the outer surface of the ship and having a predetermined gap with the outer surface of the ship. The adsorption magnet is used to adsorb rust chips generated during grinding. The attachment unit includes a driven component and an electromagnetic wheel. The support plate is attached to the outer surface of the ship via the electromagnetic wheel, and the driven component is used to move the support plate. The driven component includes a drive wheelset, a coupling worm gear, a mating worm, a ratchet and pawl module, and a torque transmission gear. The drive wheelset is mounted on the bearing base plate and rolls in contact with the outer surface of the ship. The coupling worm gear is sleeved on the shaft of the drive wheelset. The mating worm is rotatably mounted on the bearing base plate and drives the coupling worm gear. The ratchet and pawl module and the torque transmission gear are independently and coaxially coupled to the mating worm. The ratchet and pawl module is used to transmit unidirectional torque, so that when the torque transmission gear rotates in a predetermined direction, the mating worm rotates. The drive assembly includes a drive servo motor mounted on the support base plate. The output shaft of the drive servo motor is fitted with a bidirectional drive component, which has a connecting portion and a transmission gear segment. The rust removal unit is fixed to the connecting portion, and the transmission gear segment meshes with the torque transmission gear. The ship rust removal robot also includes a scraping assembly, which comprises a scraping drive, a scraping mating component, a connecting rod, and a scraping actuator. The scraping drive is mounted on the rust removal unit and has arc-shaped drive teeth. The scraping mating component is rotatably mounted on the support base plate and has arc-shaped mating teeth that mesh with the arc-shaped drive teeth. The scraping actuator is mechanically coupled to the scraping mating component via the connecting rod, and the scraping actuator has a scraping surface that mates with the adsorption magnet. The rust removal unit drives the scraping drive component to swing synchronously, causing the scraping mating component to swing synchronously, thereby driving the scraping actuator component to swing back and forth, and thus scraping away the rust from the surface of the adsorption magnet.

2. The ship rust removal robot according to claim 1, characterized in that, Also includes: The rust-absorbing assembly includes a rust-absorbing channel, a rust-drossing container, and a directional airflow generator. The directional airflow generator is connected to the rust-drossing container and is used to direct external airflow through the rust-drossing container. The rust-absorbing channel penetrates the supporting substrate and is located near the adsorption magnet. The rust-absorbing channel is connected to the rust-collecting container through a pipe. The rust-collecting cylinder absorbs rust into the rust-collecting container through directional airflow.

3. The ship rust removal robot according to claim 2, characterized in that: in, The rust-absorbing assembly also includes a venting container connected to the rust-collecting container, the venting container having a vent. The rust chip container is equipped with a dust filter plate along the airflow path inside the rust chip container, which is used to filter rust chips inside the rust chip container.

4. The ship rust removal robot according to claim 3, characterized in that: in, The directional airflow generator is a negative pressure fan installed inside the gas dispersing container, which rotates to direct external airflow through the rust chip containing container.

5. The ship rust removal robot according to claim 4, characterized in that, Also includes: The flushing assembly includes an impeller pump, a flushing pipe, and a spray pipe. Both the flushing pipe and the spray pipe are connected to an external cleaning water source via the impeller pump. The polishing assembly includes a polishing disc that is in close contact with the outer surface of the vessel, and the flushing pipe has a flushing port located near the polishing disc. The water spray pipe extends into the rust-collecting container, and the water spray pipe has a spray nozzle facing the dust filter plate.

6. The ship rust removal robot according to claim 5, characterized in that: in, The shaft of the negative pressure fan is rotatably coupled to the shaft of the impeller pump.

7. The ship rust removal robot according to claim 1, characterized in that: in, The rust removal unit also includes a swing base, a swing linkage, a compression spring, and a vibration-compressing spring. The swing base is disposed on the connecting part, and the swing base is formed by bending to form a mounting surface and a pressing surface. The swing link is inclined toward the outer surface of the ship, one end of the swing link is hinged to the mounting surface, and the grinding assembly is located at the other end. The scraping drive component is hinged to the swing linkage. The two ends of the compression spring abut against the compression surface and the swing linkage, respectively. The compression spring, through the swing linkage, ensures that the grinding assembly is tightly attached to the outer surface of the ship. The two ends of the resonant spring abut against the scraping drive and the swing link, respectively, and the scraping drive is hinged to the swing link.

8. The ship rust removal robot according to claim 1, characterized in that: in, The supporting base plate is a multi-segment structure hinged sequentially along the direction of movement, having a main segment and at least one secondary segment. The drive wheelset is located on the main segment, and there are multiple electromagnetic wheels, each disposed on a different secondary segment. Therefore, when the outer surface of the ship is curved, both the electromagnetic wheels and the drive wheelset are in contact with the outer surface of the ship. The climbing unit also includes a directional servo motor, and the axle of the electromagnetic wheel is perpendicularly connected to the output shaft of the directional servo motor. The directional servo motor is used to change the direction of travel of the electromagnetic wheel on the outer surface of the ship.

Images