A variable magnetic force adsorption type wall-climbing robot for ship rust removal

Abstract

The application provides a variable magnetic force adsorption type wall climbing robot for ship rust removal work, which comprises a pair of track movement mechanisms, each of which is provided with two sets of track assemblies arranged closely side by side and independently, each set of track assemblies is uniformly and densely provided with a plurality of magnetic adsorption modules along the whole length of the track, the magnetic adsorption modules keep rolling contact with the ship wall surface through the roller outer surface, the magnetic adsorption modules on the inner track assembly and the outer track assembly on the same side are arranged at an angle of 90° between the central axes of the rollers, and are arranged at an angle of 45° with the length direction of the track respectively, a rear driving mechanism is used for driving the inner track assembly to run, a front driving mechanism is used for driving the outer track assembly to run, a variable magnetic force adsorption mechanism relies on the magnetic force when the power is on to assist the adsorption of the robot to the ship wall surface, and a nozzle is used for forming a high-speed jet flow and spraying the ship wall surface at the position. The application can provide reliable guarantee for work safety, reliability and quality.

Description

TECHNICAL FIELD

[0001] The present application relates to a wall-climbing rust removal robot, more particularly to a variable magnetic force adsorption type wall-climbing robot for ship rust removal operation. BACKGROUND

[0002] The traditional rust removal operation methods such as manual rust removal, mechanical rust removal, chemical rust removal and wall-climbing robot rust removal used in the ship maintenance industry generally have problems of low operation efficiency, poor environmental protection and unsatisfactory process quality. Especially in the field of rust removal and maintenance of large ships, the automation level is low, and the rust removal and maintenance operation still mainly relies on manpower and small machinery for cooperative operation, which has very low operation efficiency, resulting in gradually increasing operation cost.

[0003] The problems of low rust removal operation efficiency, low operation reliability and low quality level are the current situation of the ship maintenance industry, and how to efficiently and reasonably improve this situation is of great significance to promote the upgrading of the ship industry. SUMMARY

[0004] To solve the above technical problems, the present application proposes a variable magnetic force adsorption type wall-climbing robot for ship rust removal operation, in order to provide reliable guarantee for operation safety, reliability and quality.

[0005] To achieve the above purpose, the present application adopts the following technical solutions:

[0006] A variable magnetic force adsorption type wall-climbing robot for ship rust removal operation comprises:

[0007] A pair of track movement mechanisms are symmetrically arranged on the left and right sides of the rack, and each side track movement mechanism is provided with two closely arranged inner and outer track assembly groups, a gap is left between the inner and outer track assembly groups, and they independently operate and are driven to operate by a corresponding track link through a pair of matched sprockets, the track link is uniformly and densely provided with a plurality of magnetic adsorption modules on the surface of the side in contact with the wall surface, the driven sprocket shaft of the inner track assembly group on each side is coaxially arranged with the driven sprocket shaft of the outer track assembly group on the same side and independently rotates, and the driven sprocket shaft of the outer track assembly group on each side is coaxially arranged with the driven sprocket shaft of the inner track assembly group on the same side and independently rotates;

[0008] The magnetic adsorption module is provided with a roller and a magnet, the magnet relies on magnetic force to assist the roller to keep rolling contact with the ship wall surface outside the roller surface and the running of the track assembly; the magnetic adsorption modules on the inner ring track assemblies on the two sides are arranged in the same distribution form, the magnetic adsorption modules on the outer ring track assemblies on the two sides are arranged in the same distribution form, the magnetic adsorption modules on the inner ring track assemblies on the same side and the magnetic adsorption modules on the outer ring track assemblies on the same side are arranged at an angle of 90 degrees between the central axes of the rollers and at an angle of 45 degrees with the length direction of the track, respectively.

[0009] The rear drive mechanism is provided with a pair of left and right symmetrical rear sides arranged on the top of the frame, and is used for driving the two inner ring track assemblies of the track movement mechanism to run, respectively.

[0010] The front drive mechanism is provided with a pair of left and right symmetrical front sides arranged on the top of the frame, and is used for driving the two outer ring track assemblies of the track movement mechanism to run, respectively.

[0011] The variable magnetic adsorption mechanism is provided with two groups of left and right symmetrical electromagnets arranged on the bottom of the frame, the electromagnets are powered by the power supply on the frame, and rely on the magnetic force when the electromagnets are powered on to assist the adsorption of the robot to the ship wall surface.

[0012] The nozzle is provided with at least one, installed on the frame, receives the external liquid flow pumped by the high-pressure pump through the pipeline, forms a high-speed jet through the nozzle, and sprays the ship wall surface at the position.

[0013] The structure of the application also has the following characteristics:

[0014] The structure between the rear drive mechanism on each side and the inner ring track assembly on the side is arranged as follows:

[0015] The rear drive mechanism is driven by the rear step motor, the motor output shaft is coaxially connected with the rear reducer through the rear shaft coupling, the output shaft of the rear reducer is coaxially connected with the driving sprocket shaft of the inner ring track assembly, and the track link around the driving sprocket and the driven sprocket is driven to run.

[0016] The structure between the front drive mechanism on each side and the outer ring track assembly on the side is arranged as follows:

[0017] The front drive mechanism is driven by the front step motor, the motor output shaft is coaxially connected with the front reducer through the front shaft coupling, the output shaft of the front reducer is coaxially connected with the driving sprocket shaft of the outer ring track assembly, and the track link around the driving sprocket and the driven sprocket is driven to run.

[0018] The driven sprocket wheel axle of the inner ring track assembly is a hollow sleeve structure, the shaft end of the driven sprocket wheel axle of the same side outer ring track assembly extends coaxially along the axial direction to form a driving connection shaft, the driving connection shaft is coaxially penetrated through the driven sprocket wheel axle of the inner ring track assembly through deep groove ball bearings, and the end of the driving connection shaft is coaxially connected with the output shaft of the corresponding front side reducer; the driven sprocket wheel axle of the inner ring track assembly and the driving connection shaft can rotate independently through the deep groove ball bearings.

[0019] The driving sprocket wheel axle of the inner ring track assembly is a hollow sleeve structure with one side opening, the opening side faces the outer ring track assembly, the shaft end of the driven sprocket wheel axle of the same side outer ring track assembly extends coaxially along the axial direction to form a driven connection shaft, the driven connection shaft is coaxially penetrated through the driving sprocket wheel axle of the inner ring track assembly through deep groove ball bearings, and the closed end of the driving sprocket wheel axle of the inner ring track assembly is coaxially connected with the output shaft of the corresponding rear side reducer; the driven connection shaft of the outer ring track assembly and the driving sprocket wheel axle of the inner ring track assembly can rotate independently through the deep groove ball bearings.

[0020] The magnetic adsorption module comprises a mounting block, a magnet and a roller, is mounted on the track link through the mounting block, the mounting block is provided with a groove for accommodating the magnet, the magnet is embedded in the groove, and the roller is rotatably mounted on the mounting block around the roller body axis.

[0021] Each track plate of the track link is connected in sequence through a track pin, and a magnetic adsorption module is mounted on each track plate through a bolt.

[0022] The high-pressure pump is independent of the robot, is supplied with water by an external water source, pumps water to the nozzle through a pipeline after being pressurized, forms a high-speed water jet through the nozzle, the nozzle is provided with a pair of water outlets, and the water outlets face the ship wall surface where the robot is located and are spaced apart.

[0023] The electromagnet is powered by a power supply on the rack through a power supply circuit, and the power supply circuit is provided with a switch for controlling the on-off of the circuit.

[0024] Compared with the prior art, the present application has the following advantages:

[0025] First, the hardware structure design has obvious advantages and can reduce the complexity of software programming.

[0026] The present application drives two inner ring track assemblies of a pair of track movement mechanisms to operate through a pair of rear driving mechanisms, and drives two outer ring track assemblies of the pair of track movement mechanisms to operate through a pair of front driving mechanisms; the rear driving mechanisms are similar in structure to the front driving mechanisms; each track transmission sprocket at the front side is coaxial with the shaft system of the pair of front driving mechanisms, and each track transmission sprocket at the rear side is coaxial with the shaft system of the pair of rear driving mechanisms; meanwhile, the coaxial sprocket shafts between the inner and outer ring track assemblies are designed in a similar form of size shafts, and are controlled in layers on the same axis, so as to improve the movement flexibility; for example, controlling the four tracks to rotate at the same speed in the positive direction can realize straight movement, controlling the inner ring track to rotate in the reverse direction and the outer ring track to rotate at the same speed in the positive direction can realize right movement, controlling the inner ring track to rotate in the positive direction and the outer ring track to rotate at the same speed in the reverse direction can realize left movement, and controlling all the tracks to rotate in the reverse direction can realize backward movement; such simple and clear structure design also reduces the manufacturing and installation difficulty of shaft parts, so that the disassembly and assembly are convenient, and batch production is facilitated.

[0027] Secondly, the wall climbing adsorption is more reliable, and the safety is effectively guaranteed.

[0028] On the one hand, the magnetic adsorption modules in a specific arrangement form are arranged on the four track assemblies; the magnetic adsorption modules on the inner ring track assemblies and the magnetic adsorption modules on the outer ring track assemblies are arranged at a 90° angle between the central axes of the rollers, and are arranged at a 45° angle with the length direction of the tracks, so that the forces in different directions of the tracks are enhanced or offset due to the different arrangement forms of the rollers on the tracks and the different rotation modes of the tracks, and the robot can stably and excellently move on the wall.

[0029] On the other hand, the robot is provided with a variable magnetic force adsorption mechanism; the magnetic force of the electromagnet when electrified is used to improve the adsorption capacity of the robot to the wall; further, the magnetic adsorption modules provide the magnetic force through the magnets to reliably ensure the contact between the rollers and the wall; when the variable magnetic force adsorption mechanism encounters a power failure or other faults, the robot still has the ability of magnetic adsorption, and the wall climbing safety is improved. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a perspective structural schematic diagram of the present application;

[0031] Figure 2 is a top view structural schematic diagram of the present application;

[0032] Figure 3 is a side view structural schematic diagram of the present application;

[0033] Figure 4 is a structural schematic diagram of a rack;

[0034] Figure 5 is a structural schematic diagram of the rack from another perspective;

[0035] Figure 6is a structural schematic diagram of a single track assembly;

[0036] Figure 7 is a structural schematic diagram of a variable magnetic force adsorption mechanism;

[0037] Figure 8 is a structural schematic diagram of a magnetic adsorption module;

[0038] Figure 9 is a structural schematic diagram of a rear driving mechanism and a driving sprocket of an inner track assembly;

[0039] Figure 10 is a structural schematic diagram of an A-A section based on Figure 9 ;

[0040] Figure 11 is a structural schematic diagram of a front driving mechanism and a driving sprocket of an outer track assembly;

[0041] Figure 12 is a structural schematic diagram of a B-B section based on Figure 11 .

[0042] In the drawings:

[0043] 1 inner track assembly; 11 driven sprocket shaft of the inner track assembly; 12 driving sprocket shaft of the inner track assembly;

[0044] 2 outer track assembly; 21 driving sprocket shaft of the outer track assembly; 22 driving connection shaft; 23 driven sprocket shaft of the outer track assembly; 24 driven connection shaft;

[0045] 31 track plate; 32 track pin;

[0046] 4 magnetic adsorption module; 41 roller; 42 magnet; 43 mounting block;

[0047] 5 rear driving mechanism; 51 rear step motor; 52 rear shaft coupling; 53 rear speed reducer;

[0048] 6 front driving mechanism; 61 front step motor; 62 front shaft coupling; 63 front speed reducer;

[0049] 7 variable magnetic force adsorption mechanism; 71 electromagnet; 72 electromagnet fixing frame;

[0050] 8 nozzle;

[0051] 9 rack. DETAILED DESCRIPTION

[0052] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0053] Please refer to Figures 1 to 12 The variable magnetic force adsorption type wall-climbing robot for ship rust removal operation in the embodiment comprises:

[0054] A pair of track movement mechanisms are symmetrically arranged on the left and right sides of the frame 9, and each side of the track movement mechanism is provided with two closely arranged inner and outer track assemblies. A gap is left between the inner track assembly 1 and the outer track assembly 2, and they operate independently and are driven to operate by a corresponding track link through a pair of matched chain wheels. The track link is uniformly and densely provided with a plurality of magnetic adsorption modules 4 on the side surface in contact with the wall surface. The driven chain wheel shaft 11 of the inner track assembly on each side is coaxially arranged with the driving chain wheel shaft 21 of the outer track assembly on the same side, and rotates independently. The driving chain wheel shaft 12 of the inner track assembly on each side is coaxially arranged with the driven chain wheel shaft 23 of the outer track assembly on the same side, and rotates independently.

[0055] The magnetic adsorption module 4 is provided with a roller 41 and a magnet 42. The magnet 42 is in rolling contact with the ship wall surface by magnetic force to assist the roller 41 to operate with the track assembly. The magnetic adsorption modules 4 on the inner track assemblies 1 on both sides are arranged in the same distribution form, and the magnetic adsorption modules 4 on the outer track assemblies 2 on both sides are arranged in the same distribution form. The magnetic adsorption modules 4 on the inner track assemblies 1 on the same side and the magnetic adsorption modules 4 on the outer track assemblies 2 on the same side are arranged at an angle of 90° between the central axes of the rollers 41, and are arranged at an angle of 45° with the length direction of the track, and are inclined to the left or to the right. The magnetic adsorption modules 4 on the four rows of tracks are arranged in the above-mentioned form, and the purpose is to provide two same forces in the forward-backward direction and the left-right direction after orthogonal decomposition. The forces in different directions of each track are increased or offset due to the different arrangement modes of the rollers 41 on the track and the different rotation modes of the track, and finally the movement of the whole robot is realized.

[0056] The rear driving mechanism 5 is provided with a pair of symmetrically arranged driving mechanisms on the top rear side of the frame 9, and is used to drive the two inner track assemblies 1 of the pair of track movement mechanisms to operate.

[0057] The front driving mechanism 6 is provided with a pair of symmetrically arranged driving mechanisms on the top front side of the frame 9, and is used to drive the two outer track assemblies 2 of the pair of track movement mechanisms to operate.

[0058] Variable magnetic force adsorption mechanism 7, provided with two groups, symmetrically arranged at the bottom front and rear ends of the frame 9, each group of variable magnetic force adsorption mechanism 7 is provided with a pair of left and right symmetrically arranged electromagnets 71, which are powered by the power supply on the frame 9, and rely on the magnetic force when powered on to assist the robot to adsorb the ship wall surface;

[0059] Nozzle 8, provided with at least one, mounted on the frame 9, receiving the external liquid flow pumped after being pressurized by the high-pressure pump through the pipeline, forming a high-speed jet through the nozzle 8, spraying the ship wall surface at the location, using high-speed jet to remove rust on the ship wall surface.

[0060] In the specific implementation, the corresponding structural arrangement of the variable magnetic force adsorption type wall climbing robot also includes:

[0061] The structure between each side rear drive mechanism 5 and the inner ring track assembly 1 on the same side is arranged as:

[0062] The rear drive mechanism 5 is driven by the rear step motor 51, the motor output shaft is coaxially connected with the rear reducer 53 through the rear shaft coupling 52, the output shaft of the rear reducer 53 is coaxially connected with the driving sprocket shaft 12 of the inner ring track assembly, driving the track link running around the driving sprocket and the driven sprocket.

[0063] The structure between each side front drive mechanism 6 and the outer ring track assembly 2 on the same side is arranged as:

[0064] The front drive mechanism 6 is driven by the front step motor 61, the motor output shaft is coaxially connected with the front reducer 63 through the front shaft coupling 62, the output shaft of the front reducer 63 is coaxially connected with the driving sprocket shaft 21 of the outer ring track assembly, driving the track link running around the driving sprocket and the driven sprocket.

[0065] The track movement mechanism is arranged in the form of a Mecanum track, which has good flexibility, stability and obstacle avoidance ability.

[0066] The driven sprocket shaft 11 of the inner ring track assembly is a hollow sleeve structure, the shaft end of the driving sprocket shaft 21 of the outer ring track assembly on the same side towards the inner side is coaxially extended along the axial direction to form a driving connection shaft 22, the driving connection shaft 22 is coaxially penetrated through the driven sprocket shaft 11 of the inner ring track assembly through the deep groove ball bearing around the central axis, the end of the driving connection shaft 22 is coaxially connected with the output shaft of the corresponding front reducer 63, and the driven sprocket shaft 11 of the inner ring track assembly can independently rotate with the driving connection shaft 22 through the deep groove ball bearing therebetween;

[0067] The driving sprocket wheel axle 12 of the inner ring track assembly is a single-side open hollow sleeve structure, the open side faces the outer ring track assembly 2, the shaft end of the driven sprocket wheel axle 23 of the outer ring track assembly on the same side extends along the axial direction to form a driven connecting shaft 24, the driven connecting shaft 24 is coaxially and rotatably arranged in the driving sprocket wheel axle of the inner ring track assembly through a deep groove ball bearing, the closed end of the driving sprocket wheel axle 12 of the inner ring track assembly is coaxially connected with the output shaft of the corresponding rear reducer 53, and the driven connecting shaft 24 of the outer ring track assembly 2 and the driving sprocket wheel axle 12 of the inner ring track assembly can be independently rotated through the deep groove ball bearing.

[0068] The driving modes of the front driving mechanism 6 to the two outer ring track assemblies 2 and the driving modes of the rear driving mechanism 5 to the two inner ring track assemblies 1 can be as follows:

[0069] The four tracks are controlled to rotate at the same speed in the forward direction to make the robot move straight, the two inner ring track assemblies 1 are controlled to rotate in the reverse direction, and the two outer ring track assemblies 2 are controlled to rotate at the same speed in the forward direction to make the robot move to the right, the two inner ring track assemblies 1 are controlled to rotate in the forward direction, and the two outer ring track assemblies 2 are controlled to rotate at the same speed in the reverse direction to make the robot move to the left, and the four tracks are controlled to rotate in the reverse direction to make the robot move backward.

[0070] The magnetic adsorption module 4 comprises a mounting block 43, a magnet 42 and a roller 41, is mounted on the track link through the mounting block 43, the mounting block 43 is provided with a groove for accommodating the magnet 42, the magnet 42 is embedded in the groove, and the roller 41 is rotatably mounted on the mounting block 43 about the roller body central axis.

[0071] The track plates 31 of the track link are connected in sequence through the track pins 32, the track plates 31 are provided with double holes on both sides, each track plate 31 is provided with a magnetic adsorption module 4 mounted through a bolt.

[0072] The high-pressure pump is independent of the robot, is supplied with water by an external water source, pumps water to the nozzles 8 through a pipeline after being pressurized, forms high-speed water jets through the nozzles 8, the nozzles 8 are provided in pairs, the water outlets of the nozzles 8 face the wall surface of the ship where the robot is located, and a spacing is left between the water outlets and the wall surface.

[0073] The electromagnet 71 is hung at the bottom of the rack 9 through the electromagnet 71 fixing frame, is supplied with power through the power supply circuit of the power supply on the rack 9, the power supply circuit is provided with a switch for controlling the on-off of the circuit, the magnetic force strength of the electromagnet 71 can be adjusted by adjusting the power supply current of the electromagnet 71.

[0074] The rack 9 is provided with fixed metal plates or mounting seats for various motors, reducers, bearings and the like, which are arranged and set flexibly as required, and details are not described herein, mounting holes are reserved for the nozzles 8, and accommodation spaces are configured for the power supply, and waterproofness is ensured.

[0075] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely divergences of the principles and application of the present application. Numerous modifications, changes, variations, substitutions, and equivalents will occur to those skilled in the art without departing from the spirit and scope of the present application as defined by the following claims and their equivalents.

Claims

1. A variable magnetic force adsorption type wall-climbing robot for ship rust removal operation, characterized in that, include: A pair of tracked motion mechanisms are symmetrically arranged on the left and right sides of the frame. Each tracked motion mechanism has two closely arranged inner and outer ring track assemblies. There is a gap between the inner and outer track assemblies, and they operate independently. Each track assembly drives the corresponding track chain link through its own pair of matching sprockets. The track chain link has multiple magnetic adsorption modules evenly distributed along the entire length of the track on the surface of the side that contacts the wall. The driving sprocket shaft of the inner track assembly on each side and the driven sprocket shaft of the outer track assembly on the same side are arranged coaxially and rotate independently. The driven sprocket shaft of the inner track assembly on each side and the driving sprocket shaft of the outer track assembly on the same side are arranged coaxially and rotate independently. The magnetic adsorption module is equipped with rollers and magnets. The magnets use magnetic force to assist the rollers in maintaining rolling contact between the roller surface and the ship's wall as the track assembly moves. The magnetic adsorption modules on the inner track assemblies on both sides are arranged in the same distribution pattern, and the magnetic adsorption modules on the outer track assemblies on both sides are arranged in the same distribution pattern. The rollers of the magnetic adsorption modules on the inner track assemblies and the magnetic adsorption modules on the outer track assemblies on the same side form a 90° angle with each other and a 45° angle with the length of the track. The rear drive mechanism is provided in pairs, symmetrically arranged on the top rear side of the frame, and is used to drive the two inner track assemblies of the pair of track motion mechanisms respectively; The front drive mechanism is provided in pairs, symmetrically arranged on the top front side of the frame, and is used to drive the two outer ring track assemblies of the pair of track motion mechanisms respectively; The variable magnetic force adsorption mechanism has two sets, which are symmetrically arranged at the front and rear ends of the bottom of the frame. Each set of variable magnetic force adsorption mechanism has a pair of electromagnets arranged symmetrically on the left and right. The electromagnets are powered by the power supply on the frame and rely on the magnetic force when energized to assist the robot in adsorbing the ship's wall. At least one nozzle is provided and mounted on the frame. It receives external liquid flow that has been pressurized by a high-pressure pump through a pipeline, and forms a high-speed jet through the nozzle, which is sprayed directly onto the ship's wall at the location.

2. The variable magnetic force wall-climbing robot for ship rust removal according to claim 1, characterized in that, The structure between the rear drive mechanism on each side and the inner track assembly on that side is configured as follows: The rear drive mechanism is driven by a rear stepper motor. The motor output shaft is coaxially connected to the rear reducer via a rear coupling. The output shaft of the rear reducer is coaxially connected to the drive sprocket shaft of the inner track assembly, driving the track chain links wound around the drive sprocket and driven sprocket.

3. The variable magnetic force wall-climbing robot for ship rust removal according to claim 1, characterized in that, The structure between each side's front drive mechanism and its corresponding outer track assembly is configured as follows: The front drive mechanism is driven by a front stepper motor. The motor output shaft is coaxially connected to the front reducer via a front coupling. The output shaft of the front reducer is coaxially connected to the drive sprocket shaft of the outer track assembly, driving the track chain links wound around the drive sprocket and driven sprocket.

4. The variable magnetic adsorption wall-climbing robot for ship rust removal operations according to claim 1, 2, or 3, characterized in that: The driven sprocket wheel axle of the inner ring track assembly is a hollow sleeve structure, the shaft end of the driving sprocket wheel axle of the same side outer ring track assembly extends coaxially along the axial direction to form a driving connection shaft, the driving connection shaft is coaxially penetrated through the driven sprocket wheel axle of the inner ring track assembly through the deep groove ball bearing, the end of the driving connection shaft is coaxially connected with the output shaft of the corresponding front side reducer, and the driven sprocket wheel axle of the inner ring track assembly can be independently rotated relative to the driving connection shaft through the deep groove ball bearing; The driving sprocket wheel axle of the inner ring track assembly is a hollow sleeve structure with a single opening, the opening side faces the outer ring track assembly, the shaft end of the driven sprocket wheel axle of the same side outer ring track assembly extends coaxially along the axial direction to form a driven connection shaft, the driven connection shaft is coaxially penetrated in the driving sprocket wheel axle of the inner ring track assembly through the deep groove ball bearing, the closed end of the driving sprocket wheel axle of the inner ring track assembly is coaxially connected with the output shaft of the corresponding rear side reducer, and the driven connection shaft of the outer ring track assembly can be independently rotated relative to the driving sprocket wheel axle of the inner ring track assembly through the deep groove ball bearing.

5. The variable magnetic force wall-climbing robot for ship rust removal according to claim 1, characterized in that: The magnetic adsorption module comprises a mounting block, a magnet and a roller, and is mounted on the track link through the mounting block. The mounting block is provided with a groove for accommodating the magnet, and the magnet is embedded in the groove. The roller is rotatably mounted on the mounting block about the roller body axis.

6. The variable magnetic force wall-climbing robot for ship rust removal according to claim 1 or 5, characterized in that: Each track plate of the track link is connected in sequence through a track pin. A magnetic adsorption module is mounted on each track plate through a bolt.

7. The variable magnetic force wall-climbing robot for ship rust removal according to claim 1, characterized in that: The high-pressure pump is independent of the robot, is supplied with water by an external water source, and pumps water to the nozzle through a pipeline after pressurization to form a high-speed water jet through the nozzle. The nozzle is provided with a pair of nozzles, and the water outlets face the ship wall surface where the robot is located and are spaced apart.

8. The variable magnetic force wall-climbing robot for ship rust removal according to claim 1, characterized in that: The electromagnet is powered by a power supply on the rack through a power supply circuit, and the power supply circuit is provided with a switch for controlling the on-off of the circuit. The electromagnet is powered by a power supply on the rack through a power supply circuit, and the power supply circuit is provided with a switch for controlling the on-off of the circuit.

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