Bulk cargo ship inner cabin rust removal four-wheel-drive robot

Abstract

The invention provides a bulk cargo ship inner cabin rust removal four-wheel-drive robot and relates to the field of ship robots, the bulk cargo ship inner cabin rust removal four-wheel-drive robot comprises a robot body, a mechanical arm mechanism, a tool mechanism and a lateral distance fixing mechanism, the free end of the mechanical arm mechanism is detachably connected with the tool mechanism, and the mechanical arm mechanism drives the tool mechanism to be adjusted in multiple directions; different types of tool mechanisms can be replaced according to different working conditions, and different processing scenes are met; one end of the lateral distance fixing mechanism is fixedly connected with the robot body, the other end of the lateral distance fixing mechanism extends out of the robot body and abuts against the inner wall of an inner cabin of the bulk cargo ship, and the lateral distance fixing mechanism is used for limiting the distance between the robot body and the inner cabin of the bulk cargo ship and can guarantee that the robot stably and linearly travels between the rib plates. And meanwhile, the mechanical positioning effect is achieved, the operation reference and guarantee are provided for semi-automatic operation of the robot, the efficiency is high, blind areas where rust cannot be removed manually can be removed, and the safety risk of falling of personnel is effectively avoided.

Description

Technical Field

[0001] The invention relates to the field of marine robots, and in particular to a four-wheel drive robot for rust removal in a bulk carrier cabin. Background Art

[0002] The rib plates of bulk carriers will have serious rust problems during long-term use, so the bulkheads of bulk carrier cargo holds need regular maintenance such as rust removal. The existing rust removal method is to build scaffolding in the cabin and let the construction workers carry out rust removal on the bulkheads with handheld rust removal equipment. This operation method is not only inefficient but also has blind spots where rust cannot be removed, and there is a certain degree of falling safety risk for personnel.

[0003] However, existing wall-climbing robots on the market have difficulty in passing through the transition conditions of concave corners that often appear in cargo holds, and their load capacity is not strong, making it difficult to ensure stable long-term straight-line travel. If this type of wall-climbing robot is used to carry a rust removal front end for operation, the operating efficiency will be relatively low and the operating quality cannot be guaranteed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a four-wheel drive robot for rust removal in the interior cabin of a bulk carrier, wherein a lateral spacing mechanism can ensure that the robot travels stably and in a straight line between the rib plates, and at the same time plays a role in mechanical positioning, providing an operating basis and guarantee for the semi-automatic operation of the robot; this patent is not only highly efficient but also can clear blind spots where rust cannot be removed manually, effectively avoiding the safety risk of personnel falling.

[0005] The present invention is achieved through the following technical solutions:

[0006] A four-wheel drive robot for rust removal in a bulk carrier cabin comprises a robot body, a mechanical arm mechanism, a tooling mechanism and a lateral distance mechanism, wherein a fixed portion of the mechanical arm mechanism is fixedly connected to an upper end of the robot body, a free end of the mechanical arm mechanism is detachably connected to the tooling mechanism, the mechanical arm mechanism drives the tooling mechanism to adjust in multiple directions, one end of the lateral distance mechanism is fixedly connected to the robot body, the other end of the lateral distance mechanism extends out of the robot body and abuts against an inner wall of the bulk carrier cabin, and the lateral distance mechanism is used to limit the distance between the robot body and the bulk carrier cabin.

[0007] It can be seen that in the above technical scheme, the free end of the robotic arm mechanism of this patent is detachably connected to the tooling mechanism, and the robotic arm mechanism drives the tooling mechanism to adjust in multiple directions, thereby realizing the replacement of different types of tooling mechanisms according to different working conditions to meet different processing scenarios; and one end of the lateral distance mechanism is fixedly connected to the robot body, and the other end of the lateral distance mechanism extends out of the robot body and rests against the inner wall of the bulk carrier's inner cabin. The lateral distance mechanism is used to limit the distance between the robot body and the bulk carrier's inner cabin. The lateral distance mechanism can ensure that the robot travels stably and straight between the rib plates, and at the same time plays a role of mechanical positioning, providing an operating reference and guarantee for the robot's semi-automatic operation.

[0008] According to the above technical solution, preferably, the robot body includes four independent wheel units, a robot frame, a front magnet unit and a rear magnet unit. The four wheel units independently drive the robot frame to move and turn, and the front magnet unit and the rear magnet unit are respectively arranged at the front lower part and the rear lower part of the robot frame.

[0009] It can be seen that in the above technical solution, the four sets of wheel units of this patent independently drive the movement and steering of the robot frame, and the front magnet unit and the rear magnet unit are respectively arranged at the front lower part and the rear lower part of the robot frame. Therefore, the four-wheel drive robot of this patent can achieve high load capacity and strong passing ability, and can move flexibly between the rib plates. It is not only efficient but also can clear blind spots that cannot be rusted manually, effectively avoiding the safety risk of people falling.

[0010] According to the above technical solution, preferably, the wheel assembly unit includes an integrated joint motor, a motor flange and a driving wheel, the fixed end face of the integrated joint motor is fixedly connected to one end of the motor flange, the other end of the motor flange is fixedly connected to the robot frame, and the output end face of the integrated joint motor is coaxially fixedly connected to the driving wheel.

[0011] It can be seen that in the above technical solution, since the output end face of the integrated joint motor is coaxially fixedly connected to the driving wheel, the integrated joint motors of the four wheel units can independently drive the corresponding driving wheels, realize flexible and convenient steering and other operations, and effectively adapt to limited working environments.

[0012] According to the above technical solution, preferably, the lateral spacing mechanism includes a support wheel assembly, a magnet connecting plate and a lateral magnet, the support wheel assembly includes a connecting rod unit and a support wheel, one end of the connecting rod unit is fixedly connected to the robot frame, the support wheel is rotatably connected to the other end of the connecting rod unit, the support wheel is against the inner wall of the inner cabin of the bulk carrier, the two ends of the magnet connecting plate are respectively fixedly connected to the two groups of connecting rod units, the lateral magnets are arranged on the outside of the magnet connecting plate, and the lateral magnets adsorb the inner wall of the inner cabin of the bulk carrier.

[0013] It can be seen that in the above technical solution, when the robot is initially in operation, the side magnets adsorb the inner wall of the bulk carrier's inner cabin, while the support wheels press against the inner wall of the bulk carrier's inner cabin, thereby effectively controlling and limiting the distance between the robot body and the bulk carrier's inner cabin, playing a role of efficient mechanical positioning, and providing an operating benchmark and guarantee for the robot's semi-automatic operation.

[0014] According to the above technical solution, preferably, the length of the connecting rod unit is adjustable, and the connecting rod unit includes a sleeve, a sliding rod and an electric telescopic rod. The electric telescopic rod is arranged in the sleeve, one end of the sleeve is fixedly connected to the robot frame, one end of the sliding rod is inserted into the other end of the sleeve, the end of the sliding rod is fixedly connected to the free end of the electric telescopic rod, and the other end of the sliding rod is rotatably connected to the support wheel.

[0015] It can be seen that in the above technical solution, the length of the connecting rod unit of this patent is adjustable, which is convenient for the robot to adjust the length of the connecting rod unit in time according to the operation requirements, thereby effectively controlling and limiting the different distances between the robot body and the inner cabin of the bulk carrier, so that the distance between the robot and the rib plate can be adjusted, so that it can achieve stable straight-line driving within a certain operating range, and has a wide range of applications.

[0016] According to the above technical solution, preferably, the robot arm mechanism includes a horizontal plane drive motor, a vertical plane drive motor and a tooling connection plate, the fixed part of the horizontal plane drive motor is fixedly connected to the robot frame through the body connection plate, the fixed part of the vertical plane drive motor is fixedly connected to the output shaft of the horizontal plane drive motor through a motor connector, the tooling connector is coaxially fixedly connected to the output shaft of the vertical plane drive motor, the mounting end of the tooling mechanism is detachably connected to the tooling connector, and the rotation directions of the output shafts of the horizontal plane drive motor and the vertical plane drive motor are perpendicular to each other.

[0017] It can be seen that in the above technical solution, the horizontal plane drive motor drives the vertical plane drive motor and the tooling mechanism to move synchronously in the horizontal direction, while the vertical plane drive motor drives the tooling mechanism to move in the vertical direction, thereby realizing multi-dimensional adjustment.

[0018] According to the above technical solution, preferably, the tooling mechanism includes a nozzle connector, a rust removal nozzle and a limit sensor, one end of the nozzle connector is detachably connected to the tooling connector, the other end of the nozzle connector is fixedly connected to the rust removal nozzle, and the limit sensor is arranged at the end of the nozzle connector.

[0019] According to the above technical solution, preferably, it also includes a control mechanism with a built-in controller, the control mechanism is fixedly connected to the upper end of the robot skeleton, and the controller is electrically connected to the integrated joint motor, the horizontal plane drive motor, the vertical plane drive motor and the limit sensor.

[0020] According to the above technical solution, preferably, it also includes an anti-fall connecting rod, and the anti-fall connecting rod is fixedly connected to the robot frame.

[0021] According to the above technical solution, preferably, it also includes a clamp rotating part, which includes a fixed part and a rotating part. The fixed part is fixedly clamped and connected to the anti-fall connecting rod, and the rotating part is rotatably connected to the fixed part. The rotating part is used to accommodate and lock the high-pressure pipeline used to connect the rust removal nozzle.

[0022] The beneficial effects of the present invention are:

[0023] (1) The free end of the robot arm mechanism of the present invention is detachably connected to the tooling mechanism, and the robot arm mechanism drives the tooling mechanism to adjust in multiple directions, thereby realizing the replacement of different types of tooling mechanisms according to different working conditions to meet different processing scenarios;

[0024] (2) One end of the lateral distance mechanism of the present invention is fixedly connected to the robot body, and the other end of the lateral distance mechanism extends out of the robot body and abuts against the inner wall of the bulk carrier's inner cabin. The lateral distance mechanism is used to limit the distance between the robot body and the bulk carrier's inner cabin. The lateral distance mechanism can ensure that the robot can stably travel in a straight line between the rib plates, and at the same time play a role in mechanical positioning, providing an operating benchmark and guarantee for the robot's semi-automatic operation;

[0025] (3) The four sets of wheel units of this patent independently drive the robot frame to move and turn, and the front magnet unit and the rear magnet unit are respectively arranged at the front lower part and the rear lower part of the robot frame. Therefore, the four-wheel drive robot of this patent can achieve high load capacity and strong passing ability, and can move flexibly between the rib plates. It is not only highly efficient but also can remove blind spots that cannot be manually rusted, effectively avoiding the safety risk of people falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It shows an isometric structural schematic diagram according to an embodiment of the present invention;

[0027] Figure 2 A bottom-up structural schematic diagram according to an embodiment of the present invention is shown;

[0028] Figure 3 It shows an isometric structural diagram of a robot body according to an embodiment of the present invention;

[0029] Figure 4 A schematic diagram of the bottom view of the robot body according to an embodiment of the present invention is shown;

[0030] Figure 5 It shows an isometric structural schematic diagram of a lateral spacing mechanism according to an embodiment of the present invention;

[0031] Figure 6 It shows an isometric structural schematic diagram of a mechanical arm mechanism according to an embodiment of the present invention;

[0032] Figure 7 It shows an isometric structural schematic diagram of a tooling mechanism according to an embodiment of the present invention;

[0033] Figure 8 It shows an isometric structural schematic diagram of a wheel set unit according to an embodiment of the present invention;

[0034] Fig. 9 It shows an isometric structural schematic diagram of a fixture rotating member according to an embodiment of the present invention;

[0035] Description of reference numerals:

[0036] 1. Robot body; 2. Robot arm mechanism; 3. Tooling mechanism; 4. Lateral spacing mechanism; 5. Control mechanism; 6. Wheel unit; 7. Robot skeleton; 8. Front magnet unit; 9. Rear magnet unit; 10. Integrated joint motor; 11. Motor flange; 12. Driving wheel; 13. Support wheel assembly; 14. Magnet connecting plate; 15. Lateral magnet; 16. Connecting rod unit; 17. Support wheel; 18. Horizontal plane driving motor; 19. Vertical plane driving motor; 20. Tooling connecting plate; 21. Car body connecting plate; 22. Motor connecting piece; 23. Sleeve; 24. Slide rod; 25. Nozzle connecting piece; 26. Rust removal nozzle; 27. Limit sensor; 28. Anti-fall connecting rod; 29. ​​Fixture rotating piece; 30. Fixed part; 31. Rotating part. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and the best embodiment. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the invention.

[0038] In the description of the invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the invention.

[0039] like Figure 1-9As shown, the present invention provides a four-wheel drive robot for rust removal in the inner cabin of a bulk carrier, comprising a robot body 1, a mechanical arm mechanism 2, a tooling mechanism 3, a lateral distance mechanism 4 and a control mechanism 5 with a built-in controller, wherein a fixing portion 30 of the mechanical arm mechanism 2 is fixedly connected to the upper end of the robot body 1, a free end of the mechanical arm mechanism 2 is detachably connected to the tooling mechanism 3, the mechanical arm mechanism 2 drives the tooling mechanism 3 to adjust in multiple directions, one end of the lateral distance mechanism 4 is fixedly connected to the robot body 1, the other end of the lateral distance mechanism 4 extends out of the robot body 1 and abuts against the inner wall of the inner cabin of the bulk carrier, the lateral distance mechanism 4 is used to limit the distance between the robot body 1 and the inner cabin of the bulk carrier, wherein the robot body 1 comprises four independent wheel unit groups 6, a robot skeleton 7, a front magnet unit 8 and a rear magnet unit 9, and the four wheel unit groups 6 independently drive the robot skeleton 7 to move The front magnet unit 8 and the rear magnet unit 9 are arranged at the front lower part and the rear lower part of the robot frame 7 respectively, so that the four-wheel drive robot of this patent can achieve high load capacity and strong passing ability, and can move flexibly between the rib plates, which is not only efficient but also can remove the blind spots that cannot be rusted manually, and effectively avoid the safety risk of falling of personnel; and the wheel unit 6 includes an integrated joint motor 10, a motor flange 11 and a driving wheel 12, the fixed end face of the integrated joint motor 10 is fixedly connected to one end of the motor flange 11, and the other end of the motor flange 11 is fixedly connected to the robot frame 7, and the output end face of the integrated joint motor 10 is coaxially fixedly connected to the driving wheel 12, and the integrated joint motors 10 of the four wheel units 6 can independently drive the corresponding driving wheels 12, so as to realize flexible and convenient steering and other operations, and effectively adapt to limited working environments;In addition, the lateral spacing mechanism 4 includes a support wheel assembly 13, a magnet connecting plate 14 and a lateral magnet 15. The support wheel assembly 13 includes a connecting rod unit 16 and a support wheel 17. One end of the connecting rod unit 16 is fixedly connected to the robot skeleton 7, and the support wheel 17 is rotatably connected to the other end of the connecting rod unit 16. The support wheel 17 is against the inner wall of the bulk carrier's inner cabin. The two ends of the magnet connecting plate 14 are respectively fixedly connected to the two groups of connecting rod units 16. The lateral magnet 15 is arranged on the outside of the magnet connecting plate 14. The lateral magnet 15 adsorbs the inner wall of the bulk carrier's inner cabin. When the robot is initially, the lateral magnet 15 adsorbs the inner wall of the bulk carrier's inner cabin, and the support wheel 17 is against the inner wall of the bulk carrier's inner cabin, thereby effectively controlling and limiting the distance between the robot body 1 and the bulk carrier's inner cabin, playing a role in efficient mechanical positioning, and providing an operating benchmark and guarantee for the robot's semi-automatic operation. The robot arm mechanism 2 includes a horizontal plane drive motor 18, a vertical plane drive motor 19 and The tooling connection plate 20, the fixing part 30 of the horizontal plane drive motor 18 is fixedly connected to the robot frame 7 through the vehicle body connection plate 21, the fixing part 30 of the vertical plane drive motor 19 is fixedly connected to the output shaft of the horizontal plane drive motor 18 through the motor connection piece 22, the tooling connection piece is coaxially fixedly connected to the output shaft of the vertical plane drive motor 19, the mounting end of the tooling mechanism 3 is detachably connected to the tooling connection piece, the output shaft rotation directions of the horizontal plane drive motor 18 and the vertical plane drive motor 19 are perpendicular, the horizontal plane drive motor 18 drives the vertical plane drive motor 19 and the tooling mechanism 3 to move synchronously in the horizontal direction, and the vertical plane drive motor 19 drives the tooling mechanism 3 to move in the vertical direction, thereby realizing multi-dimensional direction adjustment, in addition, the control mechanism 5 is fixedly connected to the upper end of the robot frame 7, and the controller is electrically connected to the integrated joint motor 10, the horizontal plane drive motor 18, the vertical plane drive motor 19 and the limit sensor 27. ;

[0040] The free end of the robot arm mechanism 2 of the present patent is detachably connected to the tooling mechanism 3, and the robot arm mechanism 2 drives the tooling mechanism 3 to adjust in multiple directions, so that different types of tooling mechanisms 3 can be replaced according to different working conditions to meet different processing scenarios; and one end of the lateral distance mechanism 4 is fixedly connected to the robot body 1, and the other end of the lateral distance mechanism 4 extends out of the robot body 1 and rests against the inner wall of the bulk carrier's inner cabin. The lateral distance mechanism 4 is used to limit the distance between the robot body 1 and the bulk carrier's inner cabin. The lateral distance mechanism 4 can ensure that the robot travels stably and straight between the rib plates, and at the same time plays a role of mechanical positioning, providing an operating benchmark and guarantee for the robot's semi-automatic operation.

[0041] Optionally, in a possible embodiment, the length of the connecting rod unit 16 is adjustable. The connecting rod unit 16 includes a sleeve 23, a sliding rod 24 and an electric telescopic rod. The electric telescopic rod is arranged in the sleeve 23, one end of the sleeve 23 is fixedly connected to the robot skeleton 7, one end of the sliding rod 24 is inserted into the other end of the sleeve 23, the end of the sliding rod 24 is fixedly connected to the free end of the electric telescopic rod, and the other end of the sliding rod 24 is rotatably connected to the support wheel 17. The length of the connecting rod unit 16 of the present patent is adjustable, which is convenient for the robot to adjust the length of the connecting rod unit 16 in time according to the operation requirements, thereby effectively controlling and limiting the different distances between the robot body 1 and the inner cabin of the bulk carrier, so that the distance between the robot and the rib plate can be adjusted, so that it can achieve stable straight-line driving within a certain operating range, and has a wide range of applications.

[0042] Optionally, in a possible embodiment, a pressure sensor is provided in the sleeve 23 between the slide rod 24 and the electric telescopic rod, and the pressure sensor is electrically connected to the control mechanism 5. When the robot has not yet moved into position, the sensing value of the pressure sensor is basically constant. When the lateral magnet 15 of the lateral spacing mechanism 4 approaches the inner wall of the inner cabin of the bulk carrier, the sensing value of the pressure sensor suddenly changes, thereby facilitating the staff in a dark environment to quickly understand whether the robot has moved into position, thereby facilitating subsequent operations.

[0043] Optionally, in a possible embodiment, the tooling mechanism 3 includes a nozzle connector 25, a rust removal nozzle 26 and a limit sensor 27, one end of the nozzle connector 25 is detachably connected to the tooling connector, the other end of the nozzle connector 25 is fixedly connected to the rust removal nozzle 26, and the limit sensor 27 is arranged at the end of the nozzle connector 25.

[0044] Optionally, in a possible implementation manner, it further includes an anti-fall connecting rod 28 , and the anti-fall connecting rod 28 is fixedly connected to the robot frame 7 .

[0045] Optionally, in a possible embodiment, it also includes a clamp rotating part 29, the clamp rotating part 29 includes a fixed part 30 and a rotating part 31, the fixed part 30 is fixedly connected to the anti-fall connecting rod 28, and the rotating part 31 is rotatably connected to the fixed part 30, and the rotating part 31 is used to accommodate and lock the high-pressure pipeline used to connect the rust removal nozzle 26.

[0046] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A four-wheel drive robot for rust removal in the interior of a bulk carrier, characterized in that: The invention comprises a robot body, a mechanical arm mechanism, a tooling mechanism and a lateral distance mechanism, wherein the fixed part of the mechanical arm mechanism is fixedly connected to the upper end of the robot body, the free end of the mechanical arm mechanism is detachably connected to the tooling mechanism, the mechanical arm mechanism drives the tooling mechanism to adjust in multiple directions, one end of the lateral distance mechanism is fixedly connected to the robot body, the other end of the lateral distance mechanism extends out of the robot body and abuts against the inner wall of the inner cabin of the bulk carrier, and the lateral distance mechanism is used to limit the distance between the robot body and the inner cabin of the bulk carrier.

2. A four-wheel drive robot for rust removal in the interior of a bulk carrier according to claim 1, characterized in that: The robot body includes four independent wheel units, a robot frame, a front magnet unit and a rear magnet unit. The four wheel units independently drive the robot frame to move and turn. The front magnet unit and the rear magnet unit are respectively arranged at the front lower part and the rear lower part of the robot frame.

3. A four-wheel drive robot for rust removal in the interior of a bulk carrier according to claim 2, characterized in that: The wheel unit includes an integrated joint motor, a motor flange and a driving wheel. The fixed end face of the integrated joint motor is fixedly connected to one end of the motor flange, the other end of the motor flange is fixedly connected to the robot frame, and the output end face of the integrated joint motor is coaxially fixedly connected to the driving wheel.

4. A four-wheel drive robot for rust removal in the interior of a bulk carrier according to claim 1, characterized in that: The lateral spacing mechanism includes a support wheel assembly, a magnet connecting plate and a lateral magnet. The support wheel assembly includes a connecting rod unit and a support wheel. One end of the connecting rod unit is fixedly connected to the robot frame, and the support wheel is rotatably connected to the other end of the connecting rod unit. The support wheel is against the inner wall of the inner cabin of the bulk carrier. The two ends of the magnet connecting plate are respectively fixedly connected to two groups of connecting rod units. The lateral magnet is arranged on the outside of the magnet connecting plate, and the lateral magnet adsorbs the inner wall of the inner cabin of the bulk carrier.

5. A four-wheel drive robot for rust removal in the interior of a bulk carrier according to claim 4, characterized in that: The length of the connecting rod unit is adjustable, and the connecting rod unit includes a sleeve, a sliding rod and an electric telescopic rod. The electric telescopic rod is arranged in the sleeve, one end of the sleeve is fixedly connected to the robot frame, one end of the sliding rod is inserted into the other end of the sleeve, the end of the sliding rod is fixedly connected to the free end of the electric telescopic rod, and the other end of the sliding rod is rotatably connected to the support wheel.

6. A four-wheel drive robot for rust removal in the interior of a bulk carrier according to claim 3, characterized in that: The robot arm mechanism includes a horizontal plane drive motor, a vertical plane drive motor and a tooling connection plate. The fixing part of the horizontal plane drive motor is fixedly connected to the robot frame through the body connection plate, and the fixing part of the vertical plane drive motor is fixedly connected to the output shaft of the horizontal plane drive motor through a motor connector. The tooling connection part is coaxially fixedly connected to the output shaft of the vertical plane drive motor. The mounting end of the tooling mechanism is detachably connected to the tooling connection part. The rotation directions of the output shafts of the horizontal plane drive motor and the vertical plane drive motor are perpendicular.

7. A four-wheel drive robot for rust removal in the interior of a bulk carrier according to claim 6, characterized in that: The tooling mechanism includes a nozzle connector, a rust removal nozzle and a limit sensor. One end of the nozzle connector is detachably connected to the tooling connector, and the other end of the nozzle connector is fixedly connected to the rust removal nozzle. The limit sensor is arranged at the end of the nozzle connector.

8. A four-wheel drive robot for rust removal in the interior of a bulk carrier according to claim 7, characterized in that: It also includes a control mechanism with a built-in controller, which is fixedly connected to the upper end of the robot skeleton, and the controller is electrically connected to the integrated joint motor, the horizontal plane drive motor, the vertical plane drive motor and the limit sensor.

9. A four-wheel drive robot for rust removal in the interior of a bulk carrier according to claim 2, characterized in that: It also includes an anti-falling connecting rod, which is fixedly connected to the robot frame.

10. A four-wheel drive robot for rust removal in the interior of a bulk carrier according to claim 9, characterized in that: It also includes a clamp rotating part, which includes a fixed part and a rotating part. The fixed part is fixedly clamped and connected to the anti-fall connecting rod, and the rotating part is rotatably connected to the fixed part. The rotating part is used to accommodate and lock the high-pressure pipeline used to connect the rust removal nozzle.

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