A ship rust removal robot with walking balance circuit

Abstract

The invention discloses a ship rust removal robot with a walking balance circuit, comprising a robot body; the front end of the robot body is rotatably provided with two front wheels, and the rear end of the robot body is rotatably provided with rear wheels; the rear wheels are connected to a power motor; a walking adjustment mechanism is provided between the two front wheels; the front end of the robot body is connected to a rust removal device through a mechanical arm; the walking adjustment mechanism comprises an adjustment seat, a linkage rod hinged at the middle of the adjustment seat, and two groups of direction adjustment components arranged on the adjustment seat; each group of direction adjustment components comprises a first connecting shaft, a second connecting shaft, a connecting rod, a linkage frame, a direction adjustment cylinder and a buffer cylinder; thereby, the rust removal effect is better and the rust removal efficiency is higher.

Description

Technical Field

[0001] The invention relates to a ship rust removal robot with a walking balance circuit. Background Art

[0002] Ships are exposed to the marine environment for a long time, and their surfaces are easily corroded by salt and moisture, thus forming a stubborn rust layer, which affects their structural strength and service life. Traditional ship rust removal methods mainly rely on manual or single mechanical equipment. These methods are inefficient and costly, and manual operation is prone to errors, which cannot meet the requirements of high efficiency and environmental protection.

[0003] In addition, rust removal equipment with walking function is also provided. However, due to the undulations on the surface of the ship, when the existing rust removal equipment is used to remove rust on the undulating surface with a rust layer, its rust removal device cannot adapt to the undulating surface. Therefore, the position of the rust removal equipment needs to be adjusted multiple times, resulting in relatively poor rust removal effect and low rust removal efficiency. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned shortcomings and provide a ship rust removal robot with a walking balance circuit, which has better rust removal effect and higher rust removal efficiency.

[0005] To achieve the above object, the specific scheme of the present invention is as follows:

[0006] A ship rust removal robot with a walking balance circuit comprises a robot body; the front end of the robot body is rotatably provided with two front wheels, and the rear end of the robot body is rotatably provided with rear wheels; the rear wheels are connected to a power motor; a walking adjustment mechanism is provided between the two front wheels; the front end of the robot body is connected to a rust removal device through a mechanical arm;

[0007] The walking adjustment mechanism includes an adjustment seat, a linkage rod hinged at the middle of the adjustment seat, and two groups of adjustment components arranged on the adjustment seat; each group of adjustment components includes a first connecting shaft, a second connecting shaft, a connecting rod, a linkage frame, an adjustment cylinder and a buffer cylinder; the first connecting shaft is hinged on the adjustment seat; one end of the second connecting shaft is rotationally connected to the front wheel; the other end of the second connecting shaft is vertically slidingly connected to one end of the first connecting shaft; one end of the connecting rod is hinged at the other end of the first connecting shaft; the other end of the connecting rod is horizontally slidingly connected to the linkage rod; the adjustment cylinder is horizontally arranged on the adjustment seat, and the output end of the adjustment cylinder is slidingly hinged to the first connecting shaft; the buffer cylinder is vertically arranged on the adjustment seat; the linkage frame is movably sleeved on the outside of the second connecting shaft and connected to the output end of the buffer cylinder.

[0008] Optionally, the rust removal device includes a protective shell and a recovery roller rotatably arranged in the protective shell; a sandblasting roller, a permanent magnet roller shaft and a friction roller are arranged at the opening of the protective shell; the recovery roller is in a spiral line shape; the recovery roller is provided with a recovery cavity located in the center and a spiral channel connected to the recovery cavity at one end; the maximum diameter of the recovery roller is tangent to the permanent magnet roller shaft; the friction roller is arranged at the front end of the opening of the protective shell; the sandblasting roller is arranged between the friction roller and the permanent magnet roller shaft; the protective shell is also provided with a driving assembly; the driving assembly is transmission-connected to the recovery roller, the sandblasting roller, the permanent magnet roller shaft and the friction roller; the recovery roller and the permanent magnet roller shaft rotate in opposite directions;

[0009] The robot body is provided with a sandblasting box and an air pump; the air pump is connected with the sandblasting box and the sandblasting roller; ferromagnetic abrasive is stored in the sandblasting box; and the sandblasting box is also connected with the recovery chamber.

[0010] Optionally, the recovery roller is provided with a recovery port at a position close to the other end of the vortex channel; a recovery baffle is hinged in the recovery port; a tension spring is connected between the recovery baffle and the recovery roller; the recovery baffle is made of ferromagnetic material;

[0011] When the recovery roller drives the recovery baffle plate to approach the permanent magnetic roller shaft, the recovery baffle plate opens outwards under the magnetic effect of the permanent magnetic roller shaft to overcome the elastic force of the tension spring, so that the recovery port is opened.

[0012] Optionally, the air pump is connected to a first conduit; the first conduit is communicated with both the sandblasting box and the sandblasting roller.

[0013] Optionally, a second conduit is connected between the sandblasting box and the recovery chamber.

[0014] Optionally, a recovery filter tube coaxially arranged with the recovery roller is fixed at one end of the protective shell; the recovery roller is rotatably connected to the recovery filter tube; one end of the recovery filter tube extends into the recovery cavity; and the other end of the recovery filter tube is connected to the second conduit.

[0015] Optionally, a material baffle plate is hingedly connected at the connection between the vortex channel and the recovery chamber, and a return spring is connected between the material baffle plate and the recovery roller; the material baffle plate keeps the vortex channel and the recovery chamber connected under the elastic force of the return spring;

[0016] A squeezing part is provided at the bottom of the recovery filter tube; when the recovery roller drives the baffle plate to rotate until the baffle plate contacts the squeezing part, the squeezing part causes the baffle plate to swing against the elastic force of the return spring to disconnect the recovery chamber and the vortex channel.

[0017] Optionally, a filter screen is provided in the sandblasting box; the filter screen separates the sandblasting box into an upper chamber and a lower chamber, the lower chamber is connected to the air pump, and the upper chamber is connected to the recovery chamber.

[0018] Optionally, the side walls at both ends of the protective shell are connected to mounting arms; and the two ends of the friction roller are rotatably connected to the mounting arms respectively.

[0019] Optionally, the robotic arm includes a first fixed arm, a second fixed arm and a power cylinder; one end of the first fixed arm is fixed to the robot body; one end of the second fixed arm is hinged to the other end of the first fixed arm, and the other end of the second fixed arm is fixed to the rust removal device; the fixed end of the power cylinder is hinged to the other end of the first fixed arm, and the output end of the power cylinder is hinged to one end of the second fixed arm.

[0020] The beneficial effects of the present invention are as follows: the present invention sets a walking adjustment mechanism and utilizes the cooperation of the adjustment cylinder and the buffer cylinder, so that during the rust removal walking process of the ship rust removal robot, it can adapt to the ups and downs of the ship surface, thereby making the rust removal effect of the rust removal device better and the rust removal efficiency higher.

[0021] The present invention combines mechanical rust removal and sandblasting rust removal processes to first preliminarily remove surface rust, then use sandblasting for deep cleaning, and realize the recycling of abrasives through abrasive recovery, thereby helping to improve the rust removal efficiency and cleaning effect, and can also effectively reduce the pollution of dust to the environment during the rust removal process, thereby increasing the rust removal efficiency and reducing the rust removal cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 It is a cross-sectional schematic diagram of the present invention;

[0024] Figure 3 It is a partial structural schematic diagram of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the walking adjustment mechanism of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the walking adjustment mechanism of the present invention after the adjustment seat is hidden;

[0027] Figure 6 It is a structural schematic diagram of the rust removal device of the present invention;

[0028] Figure 7 It is a cross-sectional schematic diagram of the rust removal device of the present invention;

[0029] Figure 8 is a cross-sectional schematic diagram of the rust removal device of the present invention from another viewing angle;

[0030] Fig. 9 is a schematic cross-sectional view of a recovery roller of the present invention;

[0031] Description of the accompanying drawings: 1. robot body; 11. front wheel; 12. rear wheel; 13. power motor; 141. adjustment seat; 142. linkage rod; 143. first connecting shaft; 144. second connecting shaft; 145. connecting rod; 146. linkage frame; 147. adjustment cylinder; 148. buffer cylinder; 15. sandblasting box; 16. air pump; 17. first conduit; 18. second conduit; 19. filter screen; 21. protective shell ; 22. Recovery roller; 221. Recovery chamber; 222. Vortex channel; 223. Recovery port; 224. Recovery baffle; 225. Tension spring; 226. Material baffle plate; 227. Reset spring; 23. Sandblasting roller; 24. Permanent magnet roller; 25. Friction roller; 261. Drive motor; 27. Recovery filter tube; 271. Extrusion part; 28. Mounting arm; 31. First fixed arm; 32. Second fixed arm; 33. Power cylinder. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, but the implementation scope of the present invention is not limited thereto.

[0033] like Figures 1 to 9 As shown, a ship rust removal robot with a walking balance circuit described in this embodiment includes a robot body 1; the front end of the robot body 1 is rotatably provided with two front wheels 11, and the rear end of the robot body 1 is rotatably provided with a rear wheel 12; the rear wheel 12 is connected to a power motor 13; the rear wheel 12 is driven to rotate by the power motor 13, thereby driving the robot body 1 forward or backward, thereby realizing the walking of the robot body 1;

[0034] The front end of the robot body 1 is rotatably provided with two front wheels 11, and the rear end of the robot body 1 is rotatably provided with rear wheels 12; the rear wheels 12 are connected to a power motor 13; a walking adjustment mechanism is provided between the two front wheels 11; the front end of the robot body 1 is connected to a rust removal device through a mechanical arm, and the height of the rust removal device from the ground can be adjusted through the mechanical arm.

[0035] like Figures 3 to 5As shown, the walking adjustment mechanism includes an adjustment seat 141, a linkage rod 142 hinged at the middle of the adjustment seat 141, and two groups of adjustment components arranged on the adjustment seat 141; each group of adjustment components includes a first connecting shaft 143, a second connecting shaft 144, a connecting rod 145, a linkage frame 146, an adjustment cylinder 147 and a buffer cylinder 148; the first connecting shaft 143 is hinged on the adjustment seat 141; one end of the second connecting shaft 144 is rotatably connected to the front wheel 11; the other end of the second connecting shaft 144 It is vertically slidably connected to one end of the first connecting shaft 143; one end of the connecting rod 145 is hinged to the other end of the first connecting shaft 143; the other end of the connecting rod 145 is horizontally slidably connected to the linkage rod 142; the adjustment cylinder 147 is horizontally arranged on the adjustment seat 141, and the output end of the adjustment cylinder 147 is slidably hinged to the first connecting shaft 143; the buffer cylinder 148 is vertically arranged on the adjustment seat 141; the linkage frame 146 is movably sleeved on the outside of the second connecting shaft 144 and connected to the output end of the buffer cylinder 148.

[0036] When the robot body 1 is walking, the first connecting shaft 143 is driven to swing by the steering cylinder 147, thereby driving the front wheel 11 to deflect, thereby changing the walking direction of the robot body 1 and achieving a steering effect.

[0037] When the front wheel 11 travels on the undulating support surface, the front wheel 11 drives the second connecting shaft 144 to produce relative movement in the vertical direction relative to the first connecting shaft 143. The second connecting shaft 144 drives the buffer cylinder 148 to work through the linkage frame 146, thereby providing balance adjustment for the robot body 1, thereby playing the role of a walking balance circuit; the linkage frame 146 is used to satisfy the swing of the second connecting shaft 144 and realize the linkage between the buffer cylinder 148 and the second connecting shaft 144, so that the rust removal device can more fully perform rust removal operations on the rust removal area.

[0038] This embodiment provides a walking adjustment mechanism and utilizes the cooperation of the adjustment cylinder 147 and the buffer cylinder 148 so that the ship rust removal robot can adapt to the ups and downs of the ship surface during the rust removal walking process, thereby making the rust removal effect of the rust removal device better and the rust removal efficiency higher.

[0039] like Figure 1 , Figure 2 , Figures 6 to 9As shown, the rust removal device includes a protective shell 21 and a recovery roller 22 rotatably arranged in the protective shell 21; a sandblasting roller 23, a permanent magnet roller shaft 24 and a friction roller 25 are arranged at the opening of the protective shell 21; the recovery roller 22 is in a spiral line shape; the recovery roller 22 is provided with a recovery cavity 221 located in the center and a vortex channel 222 connected to the recovery cavity 221 at one end; the maximum diameter of the recovery roller 22 is tangent to the permanent magnet roller shaft 24; the friction roller 25 is arranged at the front end of the opening of the protective shell 21; the sandblasting roller 23 is arranged between the friction roller 25 and the permanent magnet roller shaft 24; the protective shell 21 is also provided with a driving assembly; the driving assembly is transmission-connected to the recovery roller 22, the sandblasting roller 23, the permanent magnet roller shaft 24 and the friction roller 25; the recovery roller 22 rotates in opposite directions to the permanent magnet roller shaft 24;

[0040] The robot body 1 is provided with a sandblasting box 15 and an air pump 16 ; the air pump 16 is connected to both the sandblasting box 15 and the sandblasting roller 23 ; ferromagnetic abrasives (iron sand, steel sand or iron oxide abrasives) are stored in the sandblasting box 15 ; the sandblasting box 15 is also connected to the recovery chamber 221 .

[0041] Specifically, when the ship rust removal robot of this embodiment is actually used, the mechanical arm lifts the rust removal device, the power motor 13 works, drives the robot body 1 to drive the rust removal device to move to the area to be rusted, and then the mechanical arm puts down the rust removal device, and the driving assembly drives the recovery roller 22, the sandblasting roller 23, the permanent magnetic roller shaft 24 and the friction roller 25 to rotate, and the air pump 16 pumps the abrasive in the sandblasting box 15 to the sandblasting roller 23, and sprays it toward the area to be rusted through the sandblasting roller 23. At the same time, because the recovery chamber 221 is connected to the sandblasting box 15, the abrasive in the sandblasting box 15 is pumped to the sandblasting roller 23. Under the action of air pressure, a dust suction effect is formed in the recovery chamber 221 and the vortex channel 222; in this process, the friction roller 25 grinds the area to be rust-removed and removes most of the rust impurities on the outer surface, so as to reduce the loss of abrasives during the sandblasting and rust removal process and increase the effect of sandblasting and rust removal. The friction roller 25 is set at the front end of the opening of the protective shell 21 to effectively prevent most of the materials from overflowing from the opening of the protective shell 21 during the sandblasting and rust removal process, so that most of the abrasives and rust impurities are blocked by the friction roller 25. The rust impurities and abrasives adsorbed on the surface of the permanent magnetic roller 24 are scraped into the vortex channel 222 by the recycling roller 22 at its maximum diameter, and the rust impurities and abrasives adsorbed on the surface of the permanent magnetic roller 24 are scraped into the vortex channel 222 by the recycling roller 22 at its maximum diameter, and the rust impurities and abrasives adsorbed on the surface of the permanent magnetic roller 24 are scraped into the vortex channel 222 by the recycling roller 22 at its maximum diameter. The vortex channel 222 enters the recovery chamber 221. Since the surface of the abrasive is relatively smooth, the friction force on the inner wall of the recovery roller 22 is small, so that the abrasive is gradually located in front of the rust impurities in the moving direction. After entering the recovery chamber 221, the abrasive is sucked back into the sandblasting box 15, so that the abrasive can be used again. This reciprocating process is repeated. The sandblasting roller 23 continuously sandblasts and removes rust on the area to be removed from the rust. The permanent magnetic roller 24 continuously absorbs the abrasive and rust impurities after sandblasting, and the recovery roller 22 continuously recovers the abrasive after sandblasting into the sandblasting box 15.

[0042] This embodiment combines mechanical rust removal and sandblasting rust removal processes to first perform a preliminary removal of surface rust, then use sandblasting for deep cleaning, and achieve abrasive recycling through abrasive recovery, thereby helping to improve rust removal efficiency and cleaning effects, and can also effectively reduce environmental pollution caused by dust during the rust removal process, thereby achieving higher rust removal efficiency and lower rust removal costs.

[0043] like Figure 1 and Figure 6As shown, in the ship rust removal robot described in this embodiment, in some embodiments, the driving component includes a driving motor 261 and multiple pulley groups; the driving motor 261 is installed on the top of the protective shell 21; the driving motor 261 is transmitted to the recovery roller 22, the sandblasting roller 23, the permanent magnet roller 24 and the friction roller 25 through the multiple pulley groups, so that the recovery roller 22, the sandblasting roller 23, the permanent magnet roller 24 and the friction roller 25 are driven to rotate at the same time through one driving motor 261.

[0044] like Figure 7 and Fig. 9 As shown, in the ship rust removal robot described in this embodiment, in some embodiments, the recovery roller 22 is provided with a recovery port 223 at a position close to the other end of the vortex channel 222; a recovery baffle 224 is hinged in the recovery port 223; a tension spring 225 is connected between the recovery baffle 224 and the recovery roller 22; the recovery baffle 224 is made of ferromagnetic material;

[0045] When the recovery roller 22 drives the recovery baffle 224 to approach the permanent magnet roller shaft 24 , the recovery baffle 224 opens outwards under the magnetic effect of the permanent magnet roller shaft 24 to overcome the elastic force of the tension spring 225 , so that the recovery port 223 is opened.

[0046] Specifically, after the abrasive and rust impurities on the permanent magnet roller shaft 24 are scraped into the vortex channel 222 at the maximum diameter of the recovery roller 22, as the recovery roller 22 rotates, the recovery baffle 224 gradually approaches the permanent magnet roller shaft 24, so that the recovery baffle 224 overcomes the elastic force of the tension spring 225 and opens outward under the action of the magnetic adsorption force of the permanent magnet roller shaft 24, thereby opening the recovery port 223, and the recovery baffle 224 scrapes the surface of the permanent magnet roller shaft 24 for the second time, and the abrasive and rust impurities scraped off enter the vortex channel 222 through the recovery baffle 224 and the recovery port 223, thereby improving the recovery rate of rust impurities and abrasives on the surface of the permanent magnet roller shaft 24.

[0047] like Figure 1 and Figure 2 As shown, in the ship rust removal robot described in this embodiment, in some embodiments, the air pump 16 is connected to the first conduit 17; the first conduit 17 is connected to both the sandblasting box 15 and the sandblasting roller 23. Specifically, during the sandblasting process, under the action of the Bernoulli principle, the pressure in the first conduit 17 is lower than the pressure in the sandblasting box 15, so the abrasive enters the first conduit 17 from the sandblasting box 15, and then is sprayed out from the sandblasting roller 23 after being guided by the first conduit 17.

[0048] like Figure 1 and Figure 2As shown, in the ship rust removal robot described in this embodiment, in some embodiments, a second conduit 18 is connected between the sandblasting box 15 and the recovery chamber 221. Specifically, during the sandblasting process, in order to ensure the stability of the pressure in the sandblasting box 15, the second conduit 18 generates suction in the recovery chamber 221, so that the abrasive in the recovery chamber 221 can be recovered into the sandblasting box 15, reducing the operating cost, and at the same time, generates suction in the vortex channel 222 to suck the scraped abrasive and rust impurities into the recovery chamber 221 for the recovery of the abrasive.

[0049] like Figure 8 As shown, in the ship rust removal robot described in this embodiment, in some embodiments, one end of the protective shell 21 is fixedly provided with a recovery filter tube 27 coaxially arranged with the recovery roller 22; the recovery roller 22 is rotatably connected to the recovery filter tube 27; one end of the recovery filter tube 27 extends into the recovery chamber 221; the other end of the recovery filter tube 27 is connected to the second conduit 18. In this embodiment, by providing the recovery filter tube 27, when the abrasive is recovered, the recovery filter tube 27 is used to remove larger rust impurities so as to fully recover the abrasive.

[0050] like Figures 7 to 9 As shown, in some embodiments of the ship rust removal robot described in this embodiment, a material baffle plate 226 is hingedly connected at the connection between the vortex channel 222 and the recovery chamber 221, and a return spring 227 is connected between the material baffle plate 226 and the recovery roller 22; the material baffle plate 226 keeps the vortex channel 222 and the recovery chamber 221 connected under the elastic force of the return spring 227;

[0051] A squeezing portion 271 is provided at the bottom of the recovery filter tube 27; when the recovery roller 22 drives the baffle plate 226 to rotate until the baffle plate 226 contacts the squeezing portion 271, the squeezing portion 271 causes the baffle plate 226 to swing against the elastic force of the return spring 227 to disconnect the recovery chamber 221 and the vortex channel 222.

[0052] Specifically, when the baffle plate 226 is in contact with the extrusion portion 271, the vortex channel 222 remains connected to the recovery chamber 221 so that the scraped abrasive and rust impurities enter the recovery chamber 221 along the vortex channel 222. When the recovery roller 22 rotates to make the baffle plate 226 contact with the extrusion portion 271, the extrusion portion 271 applies pressure to the baffle plate 226, so that the baffle plate 226 overcomes the elastic force of the return spring 227 and swings until the recovery chamber 221 and the vortex channel 222 are disconnected, thereby effectively preventing the abrasive and rust impurities in the recovery chamber 221 from overflowing from the recovery chamber 221 through the vortex channel 222, thereby helping to improve the recovery rate of the abrasive.

[0053] like Figure 2As shown, in the ship rust removal robot described in this embodiment, in some embodiments, a filter screen 19 is provided in the sandblasting box 15; the filter screen 19 separates the sandblasting box 15 into an upper chamber and a lower chamber, the lower chamber is connected to the air pump 16, and the upper chamber is connected to the recovery chamber 221. In this embodiment, by providing the filter screen 19 in the sandblasting box 15, during the grinding wheel recovery process, the abrasive recovered from the recovery chamber 221 is filtered twice by the filter screen 19, thereby effectively reducing the rust impurities from being ejected again with the abrasive.

[0054] like Figure 6 As shown, in the ship rust removal robot described in this embodiment, in some embodiments, the side walls at both ends of the protective shell 21 are connected with mounting arms 28; the two ends of the friction roller 25 are respectively rotatably connected to the mounting arms 28. In this embodiment, the mounting arms 28 are provided to facilitate the installation of the friction roller 25.

[0055] like Figure 1 and Figure 2 As shown, the ship rust removal robot described in this embodiment, in some embodiments, the robot arm includes a first fixed arm 31, a second fixed arm 32 and a power cylinder 33; one end of the first fixed arm 31 is fixed to the robot body 1; one end of the second fixed arm 32 is hinged to the other end of the first fixed arm 31, and the other end of the second fixed arm 32 is fixed to the protective shell 21; the fixed end of the power cylinder 33 is hinged to the other end of the first fixed arm 31, and the output end of the power cylinder 33 is hinged to one end of the second fixed arm 32. In this embodiment, the connection between the robot body 1 and the protective shell 21 is realized by setting the first fixed arm 31 and the second fixed arm 32, and the height of the rust removal device from the ground is adjusted by working through the power cylinder 33.

[0056] Preferably, if Figure 1 As shown, there are two robotic arms, which are spaced apart from each other, thereby enhancing the connection stability between the robot body 1 and the rust removal device.

[0057] The above description is only a preferred embodiment of the present invention. Therefore, any equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the protection scope of the patent application of the present invention.

Claims

1. A ship rust removal robot with a walking balance circuit, characterized in that: The robot comprises a robot body; the front end of the robot body is provided with two front wheels for rotation, and the rear end of the robot body is provided with rear wheels for rotation; the rear wheels are connected to a power motor; a walking adjustment mechanism is provided between the two front wheels; the front end of the robot body is connected to a rust removal device through a mechanical arm; The walking adjustment mechanism includes an adjustment seat, a linkage rod hinged at the middle of the adjustment seat, and two groups of adjustment components arranged on the adjustment seat; each group of adjustment components includes a first connecting shaft, a second connecting shaft, a connecting rod, a linkage frame, an adjustment cylinder and a buffer cylinder; the first connecting shaft is hinged on the adjustment seat; one end of the second connecting shaft is rotationally connected to the front wheel; the other end of the second connecting shaft is vertically slidably connected to one end of the first connecting shaft; one end of the connecting rod is hinged at the other end of the first connecting shaft; the other end of the connecting rod is horizontally slidably connected to the linkage rod; the adjustment cylinder is horizontally arranged on the adjustment seat, and the output end of the adjustment cylinder is slidably hinged to the first connecting shaft; the buffer cylinder is vertically arranged on the adjustment seat; the linkage frame is movably sleeved on the outside of the second connecting shaft and connected to the output end of the buffer cylinder; The rust removal device comprises a protective shell and a recovery roller rotatably arranged in the protective shell; a sandblasting roller, a permanent magnet roller shaft and a friction roller are arranged at the opening of the protective shell; the recovery roller is in a spiral line shape; the recovery roller is provided with a recovery cavity located in the center and a spiral channel connected to the recovery cavity at one end; the maximum diameter of the recovery roller is tangent to the permanent magnet roller shaft; the friction roller is arranged at the front end of the opening of the protective shell; the sandblasting roller is arranged between the friction roller and the permanent magnet roller shaft; the protective shell is also provided with a driving assembly; the driving assembly is connected to the recovery roller, the sandblasting roller, the permanent magnet roller shaft and the friction roller; the recovery roller rotates in opposite directions to the permanent magnet roller shaft; The robot body is provided with a sandblasting box and an air pump; the air pump is connected with the sandblasting box and the sandblasting roller; ferromagnetic abrasive is stored in the sandblasting box; and the sandblasting box is also connected with the recovery chamber.

2. A ship rust removal robot with a walking balance circuit according to claim 1, characterized in that: The recovery roller is provided with a recovery port at a position close to the other end of the vortex channel; a recovery baffle is hinged in the recovery port; a tension spring is connected between the recovery baffle and the recovery roller; the recovery baffle is made of ferromagnetic material; When the recovery roller drives the recovery baffle plate to approach the permanent magnetic roller shaft, the recovery baffle plate opens outwards under the magnetic effect of the permanent magnetic roller shaft to overcome the elastic force of the tension spring, so that the recovery port is opened.

3. A ship rust removal robot with a walking balance circuit according to claim 1, characterized in that: The air pump is connected with a first conduit; the first conduit is communicated with the sandblasting box and the sandblasting roller.

4. A ship rust removal robot with a walking balance circuit according to claim 1, characterized in that: A second conduit is connected between the sandblasting box and the recovery chamber.

5. A ship rust removal robot with a walking balance circuit according to claim 4, characterized in that: One end of the protective shell is fixed with a recovery filter tube coaxially arranged with the recovery roller; the recovery roller is rotatably connected with the recovery filter tube; one end of the recovery filter tube extends into the recovery cavity; the other end of the recovery filter tube is connected with the second conduit.

6. A ship rust removal robot with a walking balance circuit according to claim 5, characterized in that: A material baffle plate is hingedly connected at the connection between the vortex channel and the recovery chamber, and a return spring is connected between the material baffle plate and the recovery roller; the material baffle plate keeps the vortex channel and the recovery chamber connected under the elastic force of the return spring; A squeezing part is provided at the bottom of the recovery filter tube; when the recovery roller drives the baffle plate to rotate until the baffle plate contacts the squeezing part, the squeezing part causes the baffle plate to swing against the elastic force of the return spring to disconnect the recovery chamber and the vortex channel.

7. The ship rust removal robot with a walking balance circuit according to claim 1, characterized in that: A filter screen is arranged in the sandblasting box; the filter screen separates the sandblasting box into an upper chamber and a lower chamber, the lower chamber is connected with the air pump, and the upper chamber is connected with the recovery chamber.

8. The ship rust removal robot with a walking balance circuit according to claim 1, characterized in that: The side walls at both ends of the protective shell are connected with mounting arms; and the two ends of the friction roller are rotatably connected to the mounting arms respectively.

9. The ship rust removal robot with a walking balance circuit according to claim 1, characterized in that: The robot arm includes a first fixed arm, a second fixed arm and a power cylinder; one end of the first fixed arm is fixed to the robot body; one end of the second fixed arm is hinged to the other end of the first fixed arm, and the other end of the second fixed arm is fixed to the rust removal device; the fixed end of the power cylinder is hinged to the other end of the first fixed arm, and the output end of the power cylinder is hinged to one end of the second fixed arm.

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