Ship surface wall-climbing automatic rust removal device based on high-pressure water jet

Abstract

The invention discloses a ship surface wall-climbing automatic rust removal device based on high-pressure water jet, solves the problems of low automation degree, high labor intensity and serious environmental pollution of ship surface rust removal in the prior art, and specifically comprises a driving module, a climbing module, an adsorption module and a rust removal cleaning module; the driving module is connected with the crawling module and used for providing driving force for the crawling module; the crawling module is connected with the derusting and cleaning module and used for driving the derusting and cleaning module to crawl on the surface of the ship to be derusted; the adsorption module is mounted on the crawling module and is used for enabling the crawling module to be adsorbed on the surface of a ship to be derusted while crawling; the derusting cleaning module is used for derusting the surface of the ship to be derusted. The derusting cleaning module is driven by the crawling module to derust the surface of the ship to be derusted, the adsorption module is adsorbed on the surface of the ship to be derusted while crawling, the problem that an existing sand blasting treatment method is high in manual participation degree is solved, and good practical value is achieved.

Description

Technical Field

[0001] The invention relates to a wall rust removal device, in particular to a ship surface wall climbing automatic rust removal device based on high-pressure water jet. Background Art

[0002] Rust removal on the surface of ships is crucial in the entire shipbuilding industry. Due to the long-term corrosive environment of ships, the steel on their surface is easily corroded, which shortens the service life of ships. In order to extend the service life of ships, it is necessary to frequently remove rust from their surfaces. However, at present, rust removal on the surface of ships is mainly done by manual grinding and artificial sandblasting. These rust removal methods have high labor intensity, poor working conditions, incomplete rust removal, and unguaranteed quality, and will also seriously pollute the environment.

[0003] Therefore, there is an urgent need for a method for removing rust from the surface of ships that can improve efficiency and quality, reduce the labor intensity of workers, and cause less pollution, so as to contribute to the development of the entire shipbuilding industry. Summary of the invention

[0004] In order to solve the problems of low automation, high labor intensity and serious environmental pollution in ship surface rust removal in the prior art, the present invention provides a ship surface wall climbing automatic rust removal device based on high-pressure water jet.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A ship surface climbing automatic rust removal device based on high-pressure water jet, which is special in that it includes a driving module, a crawling module, an adsorption module and a rust removal and cleaning module;

[0007] The driving module is connected to the crawling module and is used to provide driving force to the crawling module;

[0008] The crawling module is connected to the rust removal and cleaning module, and is used to drive the rust removal and cleaning module to crawl on the surface of the ship to be derusted;

[0009] The adsorption module is installed on the crawling module, and is used to make the crawling module adsorb on the surface of the ship to be derusted while crawling;

[0010] The rust removal and cleaning module is used to remove rust from the surface of the ship to be rusted.

[0011] Furthermore, the rust removal and cleaning module includes a cleaning bracket, a cleaning shell, a five-way connection, a connecting sleeve and four high-pressure nozzles;

[0012] The cleaning bracket connects the cleaning housing and the crawling module;

[0013] The cleaning shell is circular, with a through hole on the top surface and an opening on the bottom surface, and the bottom of the side wall is densely covered with cleaning brushes with the bottom ends facing the surface of the ship to be derusted.

[0014] The five-way pipe comprises a five-way body, a vertical pipe arranged on the five-way body, and four horizontal pipes uniformly distributed on the five-way body around the vertical pipe; the five-way body, the four horizontal pipes and the lower part of the vertical pipe are located inside the cleaning shell, and the upper part of the vertical pipe passes through the through hole at the top of the cleaning shell and is in clearance with the through hole;

[0015] The connecting sleeve is sleeved on the outer side of the upper part of the vertical pipe and is rotatably connected to the vertical pipe, and the bottom of the connecting sleeve is fixedly connected to the cleaning shell;

[0016] The four high-pressure nozzles are respectively arranged on four horizontal pipes, and the nozzles thereof are directed toward the surface of the ship to be derusted;

[0017] The bottoms of the five-way nozzle and the high-pressure nozzle are both higher than the bottom end of the cleaning brush.

[0018] Furthermore, the high-pressure nozzle includes a connecting pipe, a tapered pipe and a nozzle;

[0019] The connecting pipe is sleeved outside the corresponding transverse pipe;

[0020] The large end of the tapered tube is coaxially connected to the connecting tube, and the small end thereof is connected to the nozzle;

[0021] A plurality of conical spray holes connecting the inside and outside of the nozzle are arranged in parallel on the side wall of the nozzle; the small ends of the conical spray holes face outward and toward the surface of the ship to be derusted.

[0022] Furthermore, the diameter of the small end of the conical injection hole is 1 mm.

[0023] Furthermore, at least three universal wheels are evenly arranged around the periphery of the cleaning housing;

[0024] The side wall of the cleaning shell is also provided with a vacuum negative pressure quick connector connecting the inside and the outside.

[0025] Furthermore, the upper end of the vertical pipe is also provided with a high-speed hydraulic quick male plug and a high-speed hydraulic quick female plug;

[0026] The connecting sleeve and the vertical pipe are rotatably connected via a connecting bearing;

[0027] Each nozzle is provided with three conical spray holes.

[0028] Further, the crawling module includes crawling components arranged in parallel on both sides of the cleaning shell;

[0029] Each of the crawling assemblies comprises a first crawling bracket, a crawler track, a driving wheel, a first driven wheel and a second driven wheel;

[0030] The first crawling support is connected to the cleaning support;

[0031] The driving wheel, the second driven wheel and the first driven wheel are arranged in parallel in sequence from front to back along the radial direction; the driving wheel is connected to the action end of the driving module; the second driven wheel is rotatably connected to the first crawling bracket;

[0032] The rotating shafts of the driving wheel and the first driven wheel are connected via a second crawling bracket;

[0033] The crawler belt is mounted on the driving wheel, the second driven wheel and the first driven wheel;

[0034] The rotating shafts of the second driven wheels in the two crawling assemblies are connected through a third crawling bracket whose middle part is overlapped on the cleaning shell.

[0035] Further, the adsorption module includes a plurality of adsorption components evenly arranged around the outer wall of the crawler track;

[0036] The adsorption assembly includes a yoke iron plate, a permanent magnet arranged on the yoke iron plate, a rubber protective cover wrapped around the permanent magnet, an aluminum frame surrounding the permanent magnet and the rubber protective cover and detachably connected to the yoke iron plate, and two connecting bent plates;

[0037] The edges of the rubber protective sleeve are pressed between the aluminum frame and the yoke iron plate; the rubber protective sleeve surrounded by the middle of the aluminum frame protrudes from the surface of the aluminum frame away from the yoke iron plate;

[0038] Two connecting bent plates are distributed at the bottom of the yoke iron plate and at both sides of the crawler track. One end of the connecting bent plate is detachably connected to the yoke iron plate, and the other end is detachably connected to a corresponding side wall of a chain link on the crawler track.

[0039] Furthermore, the driving module includes a driving bracket, two driving motors symmetrically arranged on the driving bracket, and two reducers;

[0040] The driving bracket is connected between the two first crawling brackets;

[0041] The bodies of the two driving motors are arranged close to each other so that their output shafts are directed away from each other;

[0042] The two reducers are respectively arranged corresponding to the two driving motors; the input shaft of each reducer is respectively connected to the output shaft of the corresponding driving motor, and the output shafts of the two reducers are respectively connected to the two driving wheels.

[0043] Furthermore, the second driven wheels are provided with three and are arranged in parallel in sequence along the radial direction between the driving wheel and the first driven wheel; the crawler belt is sleeved on the driving wheel, the three second driven wheels and the first driven wheel;

[0044] The driving motor is a servo motor;

[0045] The reducer is a harmonic reducer.

[0046] Beneficial effects of the present invention:

[0047] 1. The automatic rust removal device for climbing the wall on the surface of a ship based on high-pressure water jet provided by the present invention drives the rust removal and cleaning module to remove rust on the surface of the ship to be removed by the crawling module, and adsorbs on the surface of the ship to be removed while crawling by the adsorption module, thereby overcoming the problem of high manual participation in the existing sandblasting treatment method and having good practical value.

[0048] 2. The ship surface automatic rust removal device based on high-pressure water jet provided by the present invention removes rust on the surface of the ship to be rusted by high-pressure water jet. The raw materials are easily available and there is no pollution to the environment.

[0049] 3. The ship surface climbing automatic rust removal device based on high-pressure water jet provided by the present invention has a simple structure, a high degree of automation, is easy to operate and has a high rust removal efficiency. The forward speed during rust removal can reach 0.2m / s and the efficiency can reach 2400m 3 / s.

[0050] 4. The ship surface wall climbing automatic rust removal device based on high-pressure water jet provided by the present invention has a strong carrying capacity and a large transmission ratio. It uses a harmonic reducer with high transmission efficiency under heavy load, simplifies the entire mechanical structure, has a light weight, a small size, and is more convenient to install and adjust, thereby achieving the purpose of lightweight. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a three-dimensional diagram of an embodiment of the ship surface climbing automatic rust removal device based on high-pressure water jet of the present invention;

[0052] Figure 2 It is a side view of an embodiment of the ship surface climbing automatic rust removal device based on high-pressure water jet of the present invention;

[0053] Figure 3 is a top view of an embodiment of a ship surface climbing automatic rust removal device based on high-pressure water jets of the present invention;

[0054] Figure 4 It is a side partial cross-sectional view of an embodiment of the ship surface climbing automatic rust removal device based on high-pressure water jet according to the present invention;

[0055] Figure 5It is a partial cross-sectional view of an embodiment of the ship surface climbing automatic rust removal device based on high-pressure water jet of the present invention;

[0056] Figure 6 Schematic diagram of the connection structure of the five-way nozzle and the high-pressure nozzle in the embodiment of the present invention;

[0057] Figure 7 is a cross-sectional view of a five-way nozzle and a high-pressure nozzle in an embodiment of the present invention;

[0058] Figure 8 is a schematic diagram of the packaging structure of the adsorption component in an embodiment of the present invention;

[0059] Fig. 9 4 is a cross-sectional view of an adsorption component in an embodiment of the present invention.

[0060] Figure Number:

[0061] 1-driving module, 11-driving bracket, 12-driving motor, 13-reducer, 2-crawling module, 21-first crawling bracket, 22-track, 221-chain link, 23-driving wheel, 24-first driven wheel, 25-second driven wheel, 26-second crawling bracket, 27-third crawling bracket, 3-adsorption module, 31-yoke iron plate, 32-permanent magnet, 33-rubber protective cover, 34-aluminum frame, 35-connecting bent plate, 4-rust removal and cleaning module , 41-cleaning bracket, 42-cleaning shell, 43-five-way, 431-five-way body, 432-vertical pipe, 433-horizontal pipe, 434-high-speed hydraulic quick male plug, 435-high-speed hydraulic quick female plug, 44-connecting sleeve, 45-high-pressure nozzle, 451-connecting pipe, 452-conical pipe, 453-nozzle, 454-conical spray hole, 46-cleaning brush, 47-universal wheel, 48-vacuum negative pressure quick connector, 49-connecting bearing. DETAILED DESCRIPTION

[0062] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] Embodiment 1:

[0064] Combination Figure 1-Figure 5 As shown, the ship surface climbing automatic rust removal device based on high-pressure water jet provided in this embodiment includes a driving module 1, a crawling module 2, an adsorption module 3 and a rust removal and cleaning module 4;

[0065] The driving module 1 is used to provide driving force to the crawling module 2; the driving module 1 includes a driving bracket 11, two driving motors 12 symmetrically arranged on the driving bracket 11, and two reducers 13; the driving bracket 11 is connected between the two first crawling brackets 21 in the crawling module 2; the bodies of the two driving motors 12 are arranged close to each other, so that the output shafts of the two are respectively oriented in the directions away from each other; the two reducers 13 are respectively arranged corresponding to the two driving motors 12; the input shaft of each reducer 13 is respectively connected to the output shaft of the corresponding driving motor 12, and the output shafts of the two reducers 13 are respectively connected to the two driving wheels 23 in the crawling module 2. The driving motor 12 is a servo motor; the reducer 13 is a harmonic reducer, which has the characteristics of high precision, large torque, strong bearing capacity, low noise, compact structure, and can reduce rust removal noise, and has a relatively simple structure, small mass, light volume, and is relatively convenient to install and adjust, which is very suitable for the lightweight requirements of the automatic rust removal mechanism of the ship surface climbing wall.

[0066] The crawling module 2 is used to drive the rust removal and cleaning module 4 to crawl on the surface of the ship to be rusted. The crawling mode is crawler-type, and the driving mode is driven by a servo motor and a harmonic reducer. The crawling module 2 includes crawling components arranged in parallel on both sides of the cleaning shell 42; each crawling component includes a first crawling bracket 21, a crawler 22, a driving wheel 23, a first driven wheel 24 and a second driven wheel 25; the first crawling bracket 21 is connected to the cleaning bracket 41 in the rust removal and cleaning module 4; the driving wheel 23, the second driven wheel 25 and the first driven wheel 24 are arranged radially from the front to the rear. The first crawling bracket 21 is rotatably connected to the driving wheel 23 and the first driven wheel 24 through the second crawling bracket 26; the crawler 22 is sleeved outside the driving wheel 23, the second driven wheel 25 and the first driven wheel 24; the second driven wheel 25 in the two crawling assemblies is connected through the third crawling bracket 27 whose middle part is overlapped on the cleaning housing 24; wherein, the second driven wheel 25 is mainly used to support the crawler 22. In other embodiments, the number of the second driven wheels 25 can be more or less, and three are preferred in this embodiment.

[0067] The adsorption module 3 is used to make the crawler 22 adsorb on the surface of the ship to be derusted while crawling.

[0068] The rust removal and cleaning module 4 is used to remove rust from the surface of the ship to be rusted. Specifically, the rust removal and cleaning module 4 includes a cleaning bracket 41, a cleaning shell 42, a five-way 43, a connecting sleeve 44 and four high-pressure nozzles 45; the cleaning bracket 41 is used to connect the cleaning shell 42 and the two first crawling brackets 21 in the crawling module 2; the cleaning shell 42 is circular, with a through hole on the top surface and an opening on the bottom surface, and the bottom of the side wall is densely covered with cleaning brushes 46 with the bottom end facing the surface of the ship to be rusted around its circumference, and the cleaning brushes 46 can clean the surface of the ship to be rusted during the crawling movement; because the cleaning brushes 46 are densely distributed enough, the automatic rust removal device can ensure that the inside of the cleaning shell 42 is a negative pressure environment as much as possible during operation.

[0069] like Figure 6 and Figure 7 As shown, the five-way valve 43 includes a five-way valve body 431, a vertical tube 432 arranged on the five-way valve body 431, and four horizontal tubes 433 uniformly distributed on the five-way valve body 431 around the vertical tube 432. It goes without saying that the five-way valve body 431, the vertical tube 432 and the four horizontal tubes 433 are interconnected; the five-way valve body 431, the four horizontal tubes 433 and the lower part of the vertical tube 432 are located inside the cleaning shell 42, and the upper part of the vertical tube 432 passes through the through hole at the top of the cleaning shell 42 and cooperates with the inner wall clearance of the through hole, so as to ensure that the cleaning shell 42 can rotate relative to the vertical tube 432, and at the same time, make the automatic rust removal device as much as possible to clean the inside of the cleaning shell 42 in the process of working. environment; the connecting sleeve 44 is sleeved on the outside of the upper part of the vertical pipe 432, and is rotatably connected to the vertical pipe 432 through the connecting bearing 49. The bottom of the connecting sleeve 44 is fixedly connected to the cleaning shell 42, and the connecting bearing 49 uses a double-row tapered roller bearing; the upper end of the vertical pipe 432 is also provided with a high-speed hydraulic quick male plug 434 and a high-speed hydraulic quick female plug 435 for connecting a high-pressure water pipe; four high-pressure nozzles 45 are respectively arranged on four horizontal pipes 433, and their nozzles are facing the surface direction of the ship to be derusted; the bottom of the five-way 43 and the high-pressure nozzle 45 are higher than the bottom end of the cleaning brush 46 to avoid scratches on the surface of the ship caused by the bottom of the five-way 43 and the high-pressure nozzle 45 during crawling.

[0070] The automatic rust removal device provided in this embodiment can realize fully automatic water jet rust removal on the surface of the ship. The rust removal method selected is high-pressure water jet rust removal. Not only the raw materials are easily available, but also there is no dust pollution, and the rust removal working environment is healthier. In addition, the high-pressure nozzle 45 can automatically rotate the cleaning shell 42 around the vertical pipe 432 under the impact of the high-pressure water jet, so that the energy of the jet can be more evenly distributed on the surface of the ship, effectively improving the rust removal efficiency of the high-pressure water jet and reducing energy waste.

[0071] Embodiment 2:

[0072] The structure of the automatic rust removal device for ship surface climbing based on high-pressure water jet provided in this embodiment is basically the same as that of the automatic rust removal device in the first embodiment, except that:

[0073] Combination Figure 5-Figure 7 As shown, the high-pressure nozzle 45 used in this embodiment includes a connecting pipe 451, a tapered tube 452 and a nozzle 453; the connecting pipe 451 is mounted outside the corresponding cross pipe 433; the large end of the tapered tube 452 is coaxially connected to the connecting pipe 451, and the small end thereof is connected to the nozzle 453; three tapered spray holes 454 connecting the inside and outside of the nozzle 453 are arranged in parallel on the side wall of the nozzle 453. Of course, four, five or even more tapered spray holes 454 can be arranged in other embodiments. In this embodiment, there are a total of 12 tapered spray holes 454; the small end of the tapered spray hole 454 is outward and toward the surface of the ship to be derusted, the small end aperture of the tapered spray hole 454 is 1 mm, and the pressure at the nozzle can reach 140 MPa.

[0074] Four universal wheels 47 are evenly arranged around the periphery of the cleaning shell 42; the universal wheels 47 are made of permanent magnetic material, which increases the stability while also increasing the flexibility of the automatic rust removal mechanism for climbing the wall on the surface of the ship.

[0075] A vacuum negative pressure quick connector 48 is also provided on the side wall of the cleaning shell 42 to connect the inside and the outside thereof, and is used to connect a vacuum tube, so that a vacuum environment can be maintained in the cleaning shell 42, and at the same time, it plays a role in assisting adsorption.

[0076] In this embodiment, the automatic rust removal device moves forward at a speed of 0.2 m / s during rust removal and cleaning, and the effective rust removal area is 25 m 2 , the efficiency formula is The calculated value is 2400m 3 / s; where: η is the rust removal efficiency, unit is m 3 / s; A is the area cut by the water jet per rotation of the high-pressure nozzle 45, in m 2 ; v is the speed of the ship surface climbing automatic rust removal device, in m / s; n a The speed of the high-pressure nozzle is 45, in r / min; n l The number of high pressure nozzles is 45.

[0077] Embodiment three:

[0078] The structure of the automatic rust removal device for ship surface climbing based on high-pressure water jet provided in this embodiment is basically the same as that of the automatic rust removal device in the second embodiment, except that:

[0079] like Figure 8 and Fig. 9As shown, the adsorption module 3 includes a plurality of adsorption components evenly arranged around the outer wall of the track 22; the adsorption components include a yoke plate 31, a permanent magnet 32 ​​arranged on the yoke plate 31, a rubber protective cover 33 wrapped around the permanent magnet 32, an aluminum frame 34 surrounding the permanent magnet 32 ​​and the rubber protective cover 33 and detachably connected to the yoke plate 31, and two connecting bent plates 35; the edges of the rubber protective cover 33 are pressed between the aluminum frame 34 and the yoke plate 31; the rubber protective cover 33 surrounded by the middle of the aluminum frame 34 protrudes from the surface of the aluminum frame 34 away from the yoke plate 31, so as to avoid the aluminum frame 34 from causing damage to the surface of the ship; the two connecting bent plates 35 are distributed at the bottom of the yoke plate 31 and on both sides of the track 22, one end of the connecting bent plate 35 is detachably connected to the yoke plate 31, and the other end is detachably connected to the corresponding side wall of a chain link 221 on the track 22.

[0080] In this embodiment, two permanent magnets 32 are provided. The two permanent magnets 32 are arranged in parallel along the width direction of the track 22, and the packaging method adopts a type B magnetic circuit.

[0081] The working process is as follows:

[0082] The automatic rust removal mechanism is placed on the surface of the ship to be rusted, and the high-speed hydraulic quick male plug 434 and the high-speed hydraulic quick female plug 435 in the rust removal and cleaning module 4 are connected to the high-pressure water pipe, and the vacuum negative pressure quick connector 48 in the rust removal and cleaning module 4 is connected to the vacuum tube, so that a vacuum negative pressure environment is maintained in the cleaning shell 42, which can play a role in auxiliary adsorption and enhance the stability of the rust removal mechanism; the harmonic reducer and the servo motor in the control drive module are controlled to realize the movement of the ship surface climbing automatic rust removal mechanism on the ship surface, and the nozzle 453 on the high-pressure nozzle 45 in the rust removal and cleaning module 4 removes rust on the ship surface under the impact of the high-pressure water jet, and at the same time promotes the cleaning shell 42 and the cleaning brush 46 at the bottom of the cleaning shell to rotate, and washes the ship surface, saving the energy of the high-pressure water jet.

[0083] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A ship surface climbing automatic rust removal device based on high-pressure water jet, characterized in that: It comprises a driving module (1), a crawling module (2), an adsorption module (3) and a rust removal and cleaning module (4); The driving module (1) is connected to the crawling module (2) and is used to provide driving force to the crawling module (2); The crawling module (2) is connected to the rust removal and cleaning module (4) and is used to drive the rust removal and cleaning module (4) to crawl on the surface of the ship to be rust removed; The adsorption module (3) is installed on the crawling module (2) and is used to enable the crawling module (2) to be adsorbed on the surface of the ship to be derusted while crawling; The rust removal and cleaning module (4) is used to remove rust from the surface of the ship to be rusted.

2. The ship surface climbing automatic rust removal device based on high-pressure water jet according to claim 1 is characterized by: The rust removal and cleaning module (4) comprises a cleaning bracket (41), a cleaning shell (42), a five-way connection (43), a connecting sleeve (44) and four high-pressure nozzles (45); The cleaning bracket (41) is connected to the cleaning housing (42) and the crawling module (2); The cleaning shell (42) is circular, with a through hole on the top surface and an opening on the bottom surface. The bottom of the side wall is densely covered with cleaning brushes (46) with the bottom ends facing the surface of the ship to be derusted. The five-way pipe (43) comprises a five-way body (431), a vertical pipe (432) arranged on the five-way body (431), and four horizontal pipes (433) uniformly distributed on the five-way body (431) around the vertical pipe (432) in the circumferential direction; the five-way body (431), the four horizontal pipes (433) and the lower part of the vertical pipe (432) are located inside the cleaning shell (42), and the upper part of the vertical pipe (432) passes through the through hole at the top of the cleaning shell (42) and is gap-matched with the through hole; The connecting sleeve (44) is sleeved on the outer side of the upper part of the vertical pipe (432) and is rotatably connected to the vertical pipe (432). The bottom of the connecting sleeve (44) is fixedly connected to the cleaning shell (42). The four high-pressure nozzles (45) are respectively arranged on four transverse pipes (433), and the nozzles thereof are directed toward the surface of the ship to be derusted; The bottoms of the five-way valve (43) and the high-pressure nozzle (45) are both higher than the bottom end of the cleaning brush (46).

3. The ship surface climbing automatic rust removal device based on high-pressure water jet according to claim 2 is characterized by: The high-pressure nozzle (45) comprises a connecting pipe (451), a tapered pipe (452) and a nozzle (453); The connecting pipe (451) is sleeved outside the corresponding transverse pipe (433); The large end of the conical tube (452) is coaxially connected to the connecting tube (451), and the small end thereof is connected to the nozzle (453); A plurality of conical spray holes (454) connecting the inside and outside of the nozzle (453) are arranged in parallel on the side wall of the nozzle (453); the small ends of the conical spray holes (454) face outward and toward the surface of the ship to be derusted.

4. The ship surface climbing automatic rust removal device based on high-pressure water jet according to claim 3 is characterized by: The small end diameter of the conical injection hole (454) is 1 mm.

5. The ship surface climbing automatic rust removal device based on high-pressure water jet according to claim 2 is characterized by: At least three universal wheels (47) are evenly arranged around the periphery of the cleaning housing (42); The side wall of the cleaning shell (42) is also provided with a vacuum negative pressure quick connector (48) connecting the inside and the outside.

6. The ship surface climbing automatic rust removal device based on high-pressure water jet according to claim 2 is characterized by: The upper end of the vertical pipe (432) is also provided with a high-speed hydraulic quick male plug (434) and a high-speed hydraulic quick female plug (435); The connecting sleeve (44) and the vertical pipe (432) are rotatably connected via a connecting bearing (49); Each nozzle (453) is provided with three conical spray holes (454).

7. The automatic rust removal device for ship surface climbing based on high-pressure water jet according to any one of claims 1 to 6, characterized in that: The crawling module (2) comprises crawling components arranged in parallel on both sides of the cleaning shell (42); Each of the crawling assemblies comprises a first crawling bracket (21), a crawler belt (22), a driving wheel (23), a first driven wheel (24) and a second driven wheel (25); The first crawling support (21) is connected to the cleaning support (41); The driving wheel (23), the second driven wheel (25) and the first driven wheel (24) are arranged in parallel in sequence from front to back along their radial direction; the driving wheel (23) is connected to the action end of the driving module (1); the second driven wheel (25) is rotatably connected to the first crawling bracket (21); The rotating shafts of the driving wheel (23) and the first driven wheel (24) are connected via a second crawling bracket (26); The crawler belt (22) is sleeved outside the driving wheel (23), the second driven wheel (25) and the first driven wheel (24); The rotating shafts of the second driven wheels (25) in the two crawling assemblies are connected via a third crawling bracket (27) whose middle part is overlapped on the cleaning housing (24).

8. The ship surface climbing automatic rust removal device based on high-pressure water jet according to claim 7 is characterized by: The adsorption module (3) comprises a plurality of adsorption components evenly arranged around the outer wall of the crawler (22); The adsorption assembly comprises a yoke iron plate (31), a permanent magnet (32) arranged on the yoke iron plate (31), a rubber protective cover (33) wrapped around the permanent magnet (32), an aluminum frame (34) surrounding the permanent magnet (32) and the rubber protective cover (33) and detachably connected to the yoke iron plate (31), and two connecting bent plates (35); The edges of the rubber protective sleeve (33) are pressed between the aluminum frame (34) and the yoke iron plate (31); the rubber protective sleeve (33) surrounded by the middle of the aluminum frame (34) protrudes from the surface of the aluminum frame (34) away from the yoke iron plate (31); Two connecting bent plates (35) are distributed at the bottom of the yoke iron plate (31) and at both sides of the crawler track (22); one end of the connecting bent plate (35) is detachably connected to the yoke iron plate (31), and the other end is detachably connected to the corresponding side wall of a chain link (221) on the crawler track (22).

9. The ship surface climbing automatic rust removal device based on high-pressure water jet according to claim 8 is characterized by: The driving module (1) comprises a driving bracket (11), two driving motors (12) symmetrically arranged on the driving bracket (11), and two reducers (13); The driving bracket (11) is connected between the two first crawling brackets (21); The bodies of the two driving motors (12) are arranged close to each other so that their output shafts are oriented in directions away from each other; The two reducers (13) are respectively arranged corresponding to the two drive motors (12); the input shaft of each reducer (13) is respectively connected to the output shaft of the corresponding drive motor (12), and the output shafts of the two reducers (13) are respectively connected to the two driving wheels (23).

10. The ship surface climbing automatic rust removal device based on high-pressure water jet according to claim 9 is characterized in that: The second driven wheels (25) are provided with three and are arranged in parallel in sequence along the radial direction between the driving wheel (23) and the first driven wheel (24); the crawler belt (22) is sleeved outside the driving wheel (23), the three second driven wheels (25) and the first driven wheel (24); The driving motor (12) is a servo motor; The reducer (13) is a harmonic reducer.

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