A ship ultra-high pressure water rust removal and wall cleaning equipment

Abstract

The invention relates to a ship ultra-high pressure water rust removal and wall-climbing cleaning equipment, comprising a cleaning disc, a first rotating wheel, a second rotating wheel and a third rotating wheel of a hub motor type arranged outside the cleaning disc, a magnetic adsorption component and a rotatable ultra-high pressure nozzle component are arranged on the cleaning disc, a first driving mechanism for driving the first rotating wheel and the second rotating wheel to synchronously change direction is arranged between the first rotating wheel, the second rotating wheel and the cleaning disc, a second driving mechanism for driving the third rotating wheel to change direction is arranged between the third rotating wheel and the cleaning disc, a shock absorbing mechanism is arranged between the first rotating wheel, the second rotating wheel and the first driving mechanism, and between the third rotating wheel and the second driving mechanism, a third driving mechanism for driving the second rotating wheel to change direction is arranged between the second rotating wheel and the shock absorbing mechanism, based on the ultra-high pressure water rust removal, a rotating wheel type is adopted to replace a crawler type structure, and a shock absorbing mechanism is carried to obtain better space utilization, which is beneficial to automation efficiency and stability, and meets the application requirements of green ship repair surface treatment.

Description

Technical Field

[0001] The invention belongs to the technical field of marine equipment, and in particular relates to a ship ultra-high pressure water rust removal and wall climbing cleaning equipment. Background Art

[0002] Green ship repair surface treatment equipment is a key marine equipment, which aims to replace sand blasting with ultra-high pressure water or mix abrasives into high-speed high-pressure water to accelerate the sand in the vacuum system, so that the sand hits the oxides on the metal surface and the oxides and rust on the metal surface are completely removed under the physical crushing and grinding action, achieving the green ship repair goal of zero dust emission and waste recycling. Rust removal and wall cleaning equipment is a complete set of equipment based on high-pressure water jet technology, which can replace the structure of scaffolding and robotic arms to improve the intelligence of operations.

[0003] At present, the equipment mainly adopts a crawler adsorption wall climbing structure, which uses a magnetic crawler. The permanent magnet blocks on the crawler constantly contact and separate with the wall alternately, so that the equipment can crawl on the wall by adsorption. There are the following problems: (1) The friction between the crawler and the wall is large, turning is difficult and it is easy to wear, resulting in poor operation flexibility and high maintenance cost; (2) The use of a tensioning sprocket chain group, a driving wheel group, a motor and a reduction mechanism to drive the left and right crawlers forward and backward leads to a complex driving mechanism, a large equipment size and weight, and a slow running speed, resulting in high energy consumption and difficulty in meeting the operation efficiency requirements; (3) The ultra-high pressure water jet is executed using a fixed or swinging single arm operation, and the nozzle on the single arm sprays rust removal on the surface of the ship. The rust removal area is small and it is not easy to recycle waste, which affects the operation efficiency and the force stability of the cleaning equipment, and there is an operation risk; (4) The lack of a shock-absorbing structure during rust removal and wall climbing affects the walking smoothness, causing the accessories to be easily damaged, making it difficult to meet the application requirements. Summary of the invention

[0004] The present invention aims to solve at least one of the above-mentioned technical problems to a certain extent. The present invention provides a ship ultra-high pressure water rust removal and wall climbing cleaning equipment. Based on ultra-high pressure water rust removal, a rotary wheel type is adopted to replace a crawler type structure, and a shock absorbing mechanism is equipped, which is beneficial to automation efficiency and stability, and meets the application requirements of green ship repair surface treatment.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A ship ultra-high pressure water rust removal and wall-climbing cleaning equipment comprises a cleaning disc, a first rotor, a second rotor and a third rotor arranged in a hub motor type outside the cleaning disc, the cleaning disc is provided with a magnetic adsorption component and a rotatable ultra-high pressure nozzle component, a first driving mechanism for driving the first rotor and the second rotor to synchronously switch directions is provided between the first rotor, the second rotor and the cleaning disc, a second driving mechanism for driving the third rotor to switch directions is provided between the third rotor and the cleaning disc, a shock absorbing mechanism is provided between the first rotor, the second rotor and the first driving mechanism, and between the third rotor and the second driving mechanism, and a third driving mechanism for driving the second rotor to switch directions is provided between the second rotor and the shock absorbing mechanism.

[0007] Furthermore, the magnetic adsorption assembly includes a magnetic frame and a plurality of magnetic adsorption units which are arranged to give way to the first rotating wheel, the second rotating wheel and the third rotating wheel. The magnetic frame is in a fan-shaped structure, and the plurality of magnetic adsorption units are embedded in the magnetic frame.

[0008] Furthermore, the cleaning disc is provided with a rotary drive, the ultra-high pressure nozzle assembly includes a support seat and a rotary nozzle rotatably installed in the support seat, the top of the rotary nozzle extends outside the support seat and cooperates with the rotary drive, and a plurality of nozzles are provided at the bottom of the rotary nozzle.

[0009] Further, the first driving mechanism includes a first hydraulic cylinder, a first connecting rod, a second connecting rod and a third connecting rod, a first shaft is provided between the first hydraulic cylinder and the cleaning disc, the hydraulic cylinder rod of the first hydraulic cylinder is hinged to the first connecting rod, a second shaft is provided between the first connecting rod and the cleaning disc, the first connecting rod is connected to the shock absorbing mechanism of the first rotating wheel, the two ends of the second connecting rod are respectively hinged to the first connecting rod and the second connecting rod, a third shaft is provided between the third connecting rod and the cleaning disc, and the third connecting rod is connected to the shock absorbing mechanism of the second rotating wheel.

[0010] Furthermore, the second driving mechanism includes a support frame, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a second hydraulic cylinder. The fourth connecting rod is connected to a fourth axis that passes through the support frame and is connected to the shock absorbing mechanism. One end of the fifth connecting rod is hinged to the fourth connecting rod, and one end of the fifth connecting rod is hinged to the sixth connecting rod and the hydraulic rod of the second hydraulic cylinder. A fifth axis is provided between the sixth connecting rod and the support frame, and a sixth axis is provided between the second hydraulic cylinder and the cleaning disc.

[0011] Furthermore, the shock absorbing mechanism includes a first bracket, a seventh connecting rod, a second bracket and a support column, the first bracket is connected to the first rotating wheel, the second rotating wheel or the third rotating wheel, the two ends of the seventh connecting rod are respectively hinged to the first bracket and the second bracket, the second bracket is connected to the first driving mechanism or the second driving mechanism, the two ends of the support column pass through the first bracket and the second bracket respectively, a limiting structure is provided at the end of the support column, and a shock absorbing spring is provided on the outside of the support column between the first bracket and the second bracket.

[0012] Furthermore, a slide rail is provided on the cleaning disc, a first bracket connecting the first rotating wheel and the second rotating wheel is supported above the slide rail and slidably cooperates with the first rotating wheel, and the third rotating wheel has two shock absorbing mechanisms which are respectively located on both sides of the third rotating wheel.

[0013] Furthermore, the third driving mechanism includes an articulated seat and a third hydraulic cylinder, the articulated seat is connected to the second rotating wheel, the third hydraulic cylinder is articulated to the shock absorbing mechanism, and the hydraulic rod of the third hydraulic cylinder is articulated to the articulated seat.

[0014] Furthermore, the cleaning disc is provided with a recess which makes way for the first driving mechanism and the second driving mechanism.

[0015] Furthermore, the cleaning disc is provided with an adsorption port.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) A first rotating wheel, a second rotating wheel and a third rotating wheel structure are used to replace the crawler structure. The first driving mechanism drives the first rotating wheel and the second rotating wheel to change direction synchronously, the second driving mechanism drives the third rotating wheel to change direction, and the third driving mechanism drives the second rotating wheel to change direction to achieve flexible change direction, thereby solving the problem of difficult steering and easy wear of crawler cleaning equipment and reducing maintenance costs.

[0018] (2) The first, second and third wheel structures of the hub motor type are adopted to simplify the mechanical part and the equipment frame structure, reduce the overall weight of the equipment, enable the wall-climbing cleaning equipment to obtain better space utilization, and improve the overall operating speed and operating efficiency.

[0019] (3) A cleaning disk of an ultra-high pressure nozzle assembly with a central rotation surrounds the magnetic adsorption assembly, the first rotor, the second rotor and the third rotor, so that the overall force center of gravity is stable, the rust removal area is increased, and waste can be recovered through the adsorption port, solving the efficiency and stability problems of single-arm operation.

[0020] (4) The first rotating wheel, the second rotating wheel and the third rotating wheel are equipped with a shock absorbing mechanism. The two ends of the seventh connecting rod are relatively deflected around the hinge positions with the first bracket and the second bracket respectively. The shock absorbing spring is expanded and contracted to absorb vibration energy, thereby improving walking smoothness and solving the problem of easy damage of accessories caused by vibration.

[0021] In summary, the wall-climbing cleaning equipment based on ultra-high pressure water rust removal is conducive to automation efficiency and stability, and meets the application requirements of green ship repair surface treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0023] Figure 1 is a front perspective view of an embodiment of the present invention;

[0024] Figure 2 is a rear perspective view of an embodiment of the present invention;

[0025] Figure 3 is a top view of a structure of an embodiment of the present invention;

[0026] Figure 4 It is a bottom view structural diagram of one embodiment of the present invention;

[0027] Figure 5 is a three-dimensional diagram of the first rotating wheel connection according to one embodiment of the present invention;

[0028] Figure 6 is a three-dimensional diagram of the second rotating wheel connection according to one embodiment of the present invention;

[0029] Figure 7 is a three-dimensional diagram of the third rotating wheel connection according to one embodiment of the present invention;

[0030] Figure 8 is a top perspective view of a cleaning disc according to an embodiment of the present invention;

[0031] Fig. 9 It is a bottom perspective view of a cleaning disc according to one embodiment of the present invention.

[0032] In the figure: a cleaning plate 1, a slide rail 101, a notch 102, a suction port 103, a first rotating wheel 2, a second rotating wheel 3, and a third rotating wheel 4;

[0033] Magnetic adsorption component 5, magnetic frame 501, magnetic adsorption unit 502;

[0034] Ultra-high pressure nozzle assembly 6, support seat 601, rotating nozzle 602, nozzle 603, ultra-high pressure water inlet 604, abrasive inlet 605, water pipe 606, abrasive pipe 607;

[0035] A first driving mechanism 7, a first hydraulic cylinder 701, a first connecting rod 702, a second connecting rod 703, a third connecting rod 704, a first shaft 705, a second shaft 706, and a third shaft 707;

[0036] The second driving mechanism 8, the support frame 801, the fourth connecting rod 802, the fifth connecting rod 803, the sixth connecting rod 804, the second hydraulic cylinder 805, the fourth shaft 806, the fifth shaft 807, and the sixth shaft 808;

[0037] Shock absorbing mechanism 9, first bracket 901, seventh connecting rod 902, second bracket 903, Z-shaped column 9031, pressure plate 9032, support column 904, shock absorbing spring 906, column sleeve 907, nut 908, protrusion 909, connecting plate 910;

[0038] A third driving mechanism 11, an articulated seat 111, and a third hydraulic cylinder 112;

[0039] Rotation drive 12 , servo motor 121 , pulley 122 , synchronous belt 123 . DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0042] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] like Figure 1-9As shown, a preferred embodiment of the ship ultra-high pressure water rust removal and wall-climbing cleaning equipment of the present invention is provided, the equipment comprises a cleaning disc 1, a first rotor 2, a second rotor 3 and a third rotor 4 of a hub motor type arranged on the outside of the cleaning disc 1, the cleaning disc 1 is provided with a magnetic adsorption component 5 and a rotatable ultra-high pressure nozzle component 6, a first driving mechanism 7 for driving the first rotor 2 and the second rotor 3 to synchronously reverse is provided between the first rotor 2, the second rotor 3 and the cleaning disc 1, a second driving mechanism 8 for driving the third rotor 4 to reverse is provided between the third rotor 4 and the cleaning disc 1, a shock absorbing mechanism 9 is provided between the first rotor 2, the second rotor 3 and the first driving mechanism 7, and between the third rotor 4 and the second driving mechanism 8, and a third driving mechanism 11 for driving the second rotor 3 to reverse is provided between the second rotor 3 and the shock absorbing mechanism 9.

[0044] The first wheel 2, the second wheel 3 and the third wheel 4 of the hub motor type use the technology of internal motor in the wheel to integrate the power, transmission and braking devices in the wheel hub, simplifying the mechanical part and the equipment chassis structure, reducing the overall weight of the equipment, and making extremely low noise, so that the wall-climbing cleaning equipment can obtain better space utilization, and the wheel layout is more flexible, so that the ultra-high pressure nozzle assembly 6 is located in the center for operation. The first wheel 2, the second wheel 3 and the third wheel 4 distributed around the outside of the cleaning disc 1 make the supporting force balanced and stable, thereby improving the operation stability and walking smoothness.

[0045] Furthermore, the magnetic adsorption component 5 includes a magnetic frame 501 and a plurality of magnetic adsorption units 502 which are arranged in place of the first rotor 2, the second rotor 3 and the third rotor 4. The magnetic frame 501 is in a fan-shaped structure, which makes the overall layout compact and avoids affecting the activity of the rotors. The plurality of magnetic adsorption units 502 are embedded in the magnetic frame 501. The magnetic adsorption units can be permanent magnets, which are fixed with screws after being embedded in the magnetic frame 501. When repairing a ship, the magnetic frame 501 adsorbs the surface of the ship so as to achieve walking and operation relying on the hull.

[0046] Furthermore, the cleaning disc 1 is provided with a rotary drive 12, the ultra-high pressure nozzle assembly 6 includes a support seat 601 and a rotary nozzle 602 rotatably installed in the support seat 601, the top of the rotary nozzle 602 extends outside the support seat 601 and cooperates with the rotary drive 12, and a plurality of nozzles 603 are provided at the bottom of the rotary nozzle 602.

[0047] Preferably, the rotary drive 12 mechanism adopts a pulley 122 driven by a servo motor 121, and a rotary nozzle 602 extending out of the support seat 601 is equipped with a pulley 122. The rotary nozzle 602 rotates in the support seat 601 through a synchronous belt 123 outside the pulley 122, so that a plurality of nozzles 603 rotate synchronously with the rotary nozzle 602 in the cleaning disc 1, thereby increasing the rust removal and cleaning area.

[0048] Preferably, an ultra-high pressure water inlet 604 is provided on the support seat 601, an abrasive inlet 605 connected through a rotary joint is provided on the top of the rotary nozzle 602, and a plurality of water pipes 606 connected to the ultra-high pressure water inlet and an abrasive tube 607 connected to the abrasive inlet 605 are provided on the rotary nozzle 602. Ultra-high pressure water enters from the support seat 601 between the outside of the rotary nozzle 602 and the inside of the support seat 601 and flows toward the water pipe 606. The abrasive enters the abrasive tube 607 from the abrasive port, so that the abrasive and the ultra-high pressure water are refluxed and ejected at the nozzle 603, and the erosion effect of the abrasive on the surface of the ship is utilized to improve the rust removal and cleaning effect.

[0049] Further, the first driving mechanism 7 includes a first hydraulic cylinder 701, a first connecting rod 702, a second connecting rod 703 and a third connecting rod 704, a first shaft 705 is provided between the first hydraulic cylinder 701 and the cleaning disc 1, the hydraulic cylinder rod of the first hydraulic cylinder 701 is hinged to the first connecting rod 702, a second shaft 706 is provided between the first connecting rod 702 and the cleaning disc 1, the first connecting rod 702 is connected to the shock absorbing mechanism 9 of the first rotating wheel 2, the two ends of the second connecting rod 703 are respectively hinged to the first connecting rod 702 and the second connecting rod 703, a third shaft 707 is provided between the third connecting rod 704 and the cleaning disc 1, and the third connecting rod 704 is connected to the shock absorbing mechanism 9 of the second rotating wheel 3.

[0050] Preferably, the first connecting rod 702 is in a Z-shaped structure, the second connecting rod 703 is in a bow-shaped structure, the third connecting rod 704 is in a Z-shaped structure, and the first shaft 705, the second shaft 706 and the third shaft 707 are arranged in parallel, so that the movement of the first driving mechanism 7 is more compact, which is beneficial to increase the steering amplitude of the first rotating wheel 2 and the second rotating wheel 3.

[0051] Furthermore, the second driving mechanism 8 includes a support frame 801, a fourth connecting rod 802, a fifth connecting rod 803, a sixth connecting rod 804 and a second hydraulic cylinder 805, the fourth connecting rod 802 is connected to a fourth shaft 806 that passes through the support frame 801 and is connected to the shock absorbing mechanism 9, one end of the fifth connecting rod 803 is hinged to the fourth connecting rod 802, one end of the fifth connecting rod 803 is hinged to the sixth connecting rod 804 and the hydraulic rod of the second hydraulic cylinder 805, a fifth shaft 807 is provided between the sixth connecting rod 804 and the support frame 801, and a sixth shaft 808 is provided between the second hydraulic cylinder 805 and the cleaning disc 1.

[0052] Preferably, the fifth connecting rod 803 is in an H-shaped structure, the sixth connecting rod 804 is in a Z-shaped structure, and the fourth axis 806, the fifth axis 807 and the sixth axis 808 are arranged in parallel, so that the overall structure of the second driving mechanism 8 after installation is compact, and the movement center of the third wheel 4 is located in an appropriate position to ensure the balanced operation of the cleaning equipment.

[0053] Furthermore, the shock absorbing mechanism 9 includes a first bracket 901, a seventh connecting rod 902, a second bracket 903 and a support column 904, the first bracket 901 is connected to the first rotating wheel 2, the second rotating wheel 3 or the third rotating wheel 4, the two ends of the seventh connecting rod 902 are respectively hinged to the first bracket 901 and the second bracket 903, the second bracket 903 is connected to the first driving mechanism 7 or the second driving mechanism 8, the two ends of the support column 904 pass through the first bracket 901 and the second bracket 903 respectively, a limiting structure is provided at the end of the support column 904, and a shock absorbing spring 906 is provided on the outside of the support column 904 and is located between the first bracket 901 and the second bracket 903.

[0054] Preferably, the first bracket 901 is arranged horizontally, the seventh connecting rod 902, the second bracket 903 and the support column 904 are arranged vertically, the seventh connecting rod 902 is an arc structure, the second bracket 903 includes a Z-shaped column 9031 and a pressure plate 9032, the arc-shaped seventh connecting rod 902 and the Z-shaped column 9031 make the support center stable during the shock-absorbing movement, the limiting structure includes a column sleeve 907 and a nut 908, the bottom end of the support column 904 is connected and limited by the nut 908 through the column sleeve 907 and the first bracket 901, after the shock-absorbing spring 906 is put on the outside of the support column 904, the pressure plate 9032 is put on the Z-shaped column 9031 and the support column 904, and the top of the support column 904 is connected and limited by the nut 908 to realize the installation of the shock-absorbing structure.

[0055] Furthermore, a slide rail 101 is provided on the cleaning disc 1, and a first bracket 901 connecting the first rotating wheel 2 and the second rotating wheel 3 is supported above the slide rail 101 and slides with it, and there are two shock absorbing mechanisms 9 of the third rotating wheel 4 and are respectively located on both sides of the third rotating wheel 4, and a connecting plate 910 connected to the fourth shaft 806 is provided on the top of the Z-shaped column 9031 of the two shock absorbing mechanisms 9 of the third rotating wheel 4, and the support frame 801 is perpendicular to the connecting plate 910.

[0056] Preferably, the first bracket 901 of the first rotating wheel 2 and the second rotating wheel 3 are connected to the stator cover of the hub motor, the first bracket 901 is L-shaped and supported and limited by the protrusion 909 and the upper part of the slide rail 101, the first bracket 901 at the bottom of the protrusion 909 is slidingly matched with the slide rail 101, the slide rail 101 matched with the first bracket 901 of the first rotating wheel 2 is concentrically arranged with the second shaft 706, and the slide rail 101 matched with the first bracket 901 of the second rotating wheel 3 is concentrically arranged with the third shaft 707, so that the sliding match between the first bracket 901 and the slide rail 101 is guided, thereby improving the support stability of the first rotating wheel 2 and the second rotating wheel 3, and shock absorbing mechanisms 9 are arranged on both sides of the third rotating wheel 4 to ensure the stability of the support of the third rotating wheel 4, and the center of gravity of the third rotating wheel 4 is stable when the second drive drives the third rotating wheel 4 to run.

[0057] Furthermore, the third driving mechanism 11 includes an articulated seat 111 and a third hydraulic cylinder 112, the articulated seat 111 is connected to the second rotating wheel 3, the third hydraulic cylinder 112 is hinged to the shock absorbing mechanism 9, and the hydraulic rod of the third hydraulic cylinder 112 is hinged to the articulated seat 111. By connecting the articulated seat 111 to the stator cover of the second rotating wheel 3, the first bracket 901 is hinged to the articulated seat 111, so as to realize the connection between the shock absorbing mechanism 9 and the second rotating wheel 3, and connect and install the third hydraulic cylinder 112.

[0058] Furthermore, the cleaning disc 1 is provided with a notch 102 which makes way for the first driving mechanism 7 and the second driving mechanism 8, so as to fully utilize the equipment space, make the structure compact and improve the stability.

[0059] Furthermore, the cleaning disc 1 is provided with a suction port 103, and the suction port 103 is connected to a vacuum system to recover the waste after jet rust removal through the suction port 103 for further recycling and treatment, thereby avoiding dust and pollution risks.

[0060] Furthermore, the first hydraulic cylinder 701, the second hydraulic cylinder 805 and the third hydraulic cylinder 112 control the steering through the hydraulic pipeline system, and the ultra-high pressure nozzle assembly 6 is connected to the ultra-high pressure pump group pipeline for ultra-high pressure water rust removal of ships.

[0061] The working principle of the above equipment is:

[0062] The hull is adsorbed by the magnetic adsorption component 5, and the first, second and third hub motor-type wheels 2, 3 and 4 drive the device as a whole to move along the ship's deck. The rotary drive 12 drives the rotating nozzle 602 and the nozzle 603 of the ultra-high pressure nozzle assembly 6 to rotate on the support seat 601, and the ship's deck below the nozzle 603 is cleaned and rust-removed by ultra-high pressure water jets. The rust-removing wastewater and waste are recovered by vacuum adsorption through the adsorption port 103, and continuous rust-removing and cleaning operations are realized as the device continues to move.

[0063] When the equipment is reversed, the hydraulic rod of the first hydraulic cylinder 701 of the first driving mechanism 7 is extended or contracted, pushing or pulling the hinged first connecting rod 702, the first hydraulic cylinder 701 is deflected relative to the first shaft 705 between the cleaning disk 1, the first connecting rod 702 is deflected relative to the second shaft 706 between the cleaning disk 1, and one end of the first connecting rod 702 drives the connected first rotating wheel 2 to deflect around the second shaft 706 through the shock absorbing mechanism 9, and the first bracket 901 of the shock absorbing mechanism 9 connected to the first rotating wheel 2 is relatively slidably supported and stable with the slide rail 101;

[0064] The other end of the first connecting rod 702 pushes or pulls the third connecting rod 704 through the second connecting rod 703, and the second connecting rod 703 deflects relatively around the hinge position with the first connecting rod 702 and the hinge position with the second connecting rod 703. The third connecting rod 704 deflects relatively around the third axis 707 with the cleaning disc 1, driving the second rotating wheel 3 to deflect around the third axis 707. The first bracket 901 of the shock absorbing mechanism 9 connected to the second rotating wheel 3 is relatively slidably supported and stabilized with the slide rail 101, thereby realizing synchronous leftward reversal or synchronous rightward reversal of the first rotating wheel 2 and the second rotating wheel 3.

[0065] At the same time, the third driving mechanism 11 is extended or contracted through the hydraulic rod of the third hydraulic cylinder 112, and the third hydraulic cylinder 112 is deflected relative to the hinged position with the shock absorbing mechanism 9. The hydraulic rod pushes or pulls the articulated seat 111 and deflects relative to the articulated position with the articulated seat 111, so that the articulated seat 111 is deflected relative to the articulated position with the shock absorbing mechanism 9, driving the second rotating wheel 3 to deflect relative to the articulated position of the articulated seat 111 and the shock absorbing mechanism 9, and fine-tuning the angle of the second rotating wheel 3.

[0066] The hydraulic rod of the second driving mechanism 8, i.e., the second hydraulic cylinder 805, extends or contracts, and the second hydraulic cylinder 805 deflects around the sixth axis 808 with the cleaning disc 1, and the hydraulic rod pushes or pulls the hinged sixth connecting rod 804 and the fifth connecting rod 803, and the sixth connecting rod 804 deflects relatively around the fifth axis 807 with the support frame 801, and the fifth connecting rod 803 pushes or pulls the hinged fourth connecting rod 802, and the fourth connecting rod 802 drives the connecting plate 910 to deflect relative to the axis of the fourth axis 806 under the support of the support frame 801 through the fourth axis 806, and the connecting plate 910 drives the shock absorbing mechanism 9 on both sides of the third rotating wheel 4 to deflect synchronously with the third rotating wheel 4, thereby realizing flexible switching, so that the first rotating wheel 2, the second rotating wheel 3 and the third rotating wheel 4 move in the same direction.

[0067] The vibration energy generated during rust removal, cleaning or obstacle crossing is absorbed and damped by the shock absorbing mechanism 9. When the vertical distance between the first bracket 901 and the second bracket 903 is reduced after being subjected to force, the two ends of the seventh connecting rod 902 are relatively deflected around the hinge positions with the first bracket 901 and the second bracket 903 respectively. Under the action of the limiting structure, the shock absorbing spring 906 outside the support column 904 is compressed; when the shock absorbing spring 906 elastically recovers and stretches, it pushes the limiting structures at both ends, so that the vertical distance between the first bracket 901 and the second bracket 903 increases, and the seventh connecting rod 902 deflects and recovers in the opposite direction, thereby realizing the shock absorption of the first rotor 2, the second rotor 3 and the third rotor 4, so that the equipment runs smoothly and smoothly, and reduces the damage to the ultra-high pressure nozzle assembly 6 caused by vibration.

[0068] The above-mentioned equipment adopts the structure of the first rotating wheel 2, the second rotating wheel 3 and the third rotating wheel 4 to replace the crawler structure, and the first driving mechanism 7 drives the first rotating wheel 2 and the second rotating wheel 3 to change direction synchronously, the second driving mechanism 8 drives the third rotating wheel 4 to change direction, and the third driving mechanism 11 drives the second rotating wheel 3 to change direction to achieve flexible change direction, thereby solving the problems of difficult steering and easy wear of crawler cleaning equipment and reducing maintenance costs; the first rotating wheel 2, the second rotating wheel 3 and the third rotating wheel 4 structure of the hub motor type are adopted to simplify the mechanical part and the equipment chassis structure, reduce the overall weight of the equipment, enable the wall-climbing cleaning equipment to obtain better space utilization, and improve the overall operation speed and operating efficiency.

[0069] The above-mentioned equipment adopts a cleaning disk 1 of an ultra-high pressure nozzle assembly 6 whose center can rotate to surround the magnetic adsorption assembly 5, the first rotor 2, the second rotor 3 and the third rotor 4, so that the overall force center of gravity is stable, the rust removal area is increased, and waste can be recovered through the adsorption port 103, thereby solving the efficiency and stability problems of single-arm operation; the first rotor 2, the second rotor 3 and the third rotor 4 are equipped with a shock absorbing mechanism 9 to improve walking smoothness and solve the problem of easy damage of accessories caused by vibration. In summary, the wall-climbing cleaning equipment based on ultra-high pressure water rust removal is conducive to automation efficiency and stability, and meets the application requirements of green ship repair surface treatment.

[0070] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A ship ultra-high pressure water rust removal and wall cleaning equipment, characterized in that: The invention comprises a cleaning disc (1), a first rotating wheel (2), a second rotating wheel (3) and a third rotating wheel (4) of a hub motor type arranged outside the cleaning disc (1); the cleaning disc (1) is provided with a magnetic adsorption component (5) and a rotatable ultra-high pressure nozzle component (6); a first driving mechanism (7) for driving the first rotating wheel (2) and the second rotating wheel (3) to synchronously reverse direction is provided between the first rotating wheel (2), the second rotating wheel (3) and the cleaning disc (1); a second driving mechanism (8) for driving the third rotating wheel (4) to reverse direction is provided between the third rotating wheel (4) and the cleaning disc (1); a damping mechanism (9) is provided between the first rotating wheel (2), the second rotating wheel (3) and the first driving mechanism (7), and between the third rotating wheel (4) and the second driving mechanism (8); and a third driving mechanism (11) for driving the second rotating wheel (3) to reverse direction is provided between the second rotating wheel (3) and the damping mechanism (9); The first driving mechanism (7) comprises a first hydraulic cylinder (701), a first connecting rod (702), a second connecting rod (703) and a third connecting rod (704); a first shaft (705) is provided between the first hydraulic cylinder (701) and the cleaning disc (1); the hydraulic cylinder rod of the first hydraulic cylinder (701) is hinged to the first connecting rod (702); a second shaft (706) is provided between the first connecting rod (702) and the cleaning disc (1); the first connecting rod (702) is connected to the shock absorbing mechanism (9) of the first rotating wheel (2); two ends of the second connecting rod (703) are respectively hinged to the first connecting rod (702) and the second connecting rod (703); a third shaft (707) is provided between the third connecting rod (704) and the cleaning disc (1); and the third connecting rod (704) is connected to the shock absorbing mechanism (9) of the second rotating wheel (3); The second driving mechanism (8) comprises a support frame (801), a fourth connecting rod (802), a fifth connecting rod (803), a sixth connecting rod (804) and a second hydraulic cylinder (805); the fourth connecting rod (802) is connected to a fourth shaft (806) passing through the support frame (801) and connected to the shock absorbing mechanism (9); one end of the fifth connecting rod (803) is hinged to the fourth connecting rod (802); one end of the fifth connecting rod (803) is hinged to the sixth connecting rod (804) and the hydraulic rod of the second hydraulic cylinder (805); a fifth shaft (807) is provided between the sixth connecting rod (804) and the support frame (801); and a sixth shaft (808) is provided between the second hydraulic cylinder (805) and the cleaning disc (1); The shock absorbing mechanism (9) comprises a first bracket (901), a seventh connecting rod (902), a second bracket (903) and a support column (904); the first bracket (901) is connected to the first rotating wheel (2), the second rotating wheel (3) or the third rotating wheel (4); the second ends of the seventh connecting rod (902) are respectively hinged to the first bracket (901) and the second bracket (903); the second bracket (903) is connected to the first driving mechanism (7) or the second driving mechanism (8); the second ends of the support column (904) respectively pass through the first bracket (901) and the second bracket (903); a limiting structure is provided at the end of the support column (904); and a shock absorbing spring (906) is provided outside the support column (904) and is located between the first bracket (901) and the second bracket (903).

2. The ship ultra-high pressure water rust removal and wall cleaning equipment according to claim 1 is characterized in that: The magnetic attraction component (5) comprises a magnetic frame (501) and a plurality of magnetic attraction units (502) arranged to give way to the first rotating wheel (2), the second rotating wheel (3) and the third rotating wheel (4); the magnetic frame (501) is in a fan-shaped structure, and the plurality of magnetic attraction units (502) are embedded in the magnetic frame (501).

3. The ship ultra-high pressure water rust removal and wall cleaning equipment according to claim 1 is characterized in that: The cleaning disc (1) is provided with a rotary drive (12), and the ultra-high pressure nozzle assembly (6) comprises a support seat (601) and a rotary nozzle (602) rotatably mounted inside the support seat (601), the top of the rotary nozzle (602) extending outside the support seat (601) and cooperating with the rotary drive (12), and a plurality of nozzles (603) are provided at the bottom of the rotary nozzle (602).

4. The ship ultra-high pressure water rust removal and wall cleaning equipment according to claim 1, characterized in that: The cleaning disc (1) is provided with a slide rail (101), a first bracket (901) connecting the first rotating wheel (2) and the second rotating wheel (3) is supported above the slide rail (101) and slidably cooperates with the first rotating wheel (2) and the second rotating wheel (3), and the third rotating wheel (4) has two shock absorbing mechanisms (9) which are respectively located on both sides of the third rotating wheel (4).

5. The ship ultra-high pressure water rust removal and wall cleaning equipment according to claim 1, characterized in that: The third driving mechanism (11) comprises an articulated seat (111) and a third hydraulic cylinder (112); the articulated seat (111) is connected to the second rotating wheel (3); the third hydraulic cylinder (112) is articulated to the shock absorbing mechanism (9); and the hydraulic rod of the third hydraulic cylinder (112) is articulated to the articulated seat (111).

6. The ship ultra-high pressure water rust removal and wall cleaning equipment according to claim 1, characterized in that: The cleaning disc (1) is provided with a recess (102) which is arranged to give way to the first driving mechanism (7) and the second driving mechanism (8).

7. A ship ultra-high pressure water rust removal and wall cleaning equipment according to any one of claims 1 to 6, characterized in that: The cleaning plate (1) is provided with a suction port (103).

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