Automatic rust removing and grinding equipment for ship surface

Abstract

The invention provides automatic ship surface rust removing and grinding equipment, and belongs to the technical field of grinding equipment. The top surface of the annular flexible steel plate is connected with the bottom of the supporting plate through a plurality of telescopic driving pieces; the two ends of the telescopic driving piece are matched with the supporting plate and the annular flexible steel plate ball joint. At least one group of movable polishing assemblies; the movable grinding assembly comprises a circumferential moving assembly which is erected on the annular outer edge of the supporting plate and moves in the circumferential direction of the supporting plate. One end of the telescopic rod is matched with a bottom ball joint of the circumferential moving assembly; a guide sliding block is fixed on one side of the mounting ring, and the guide sliding block is clamped on the outer edge of the annular flexible steel plate in a sliding manner; the dull polishing executing part is erected in the mounting ring through a linear driving assembly; and the top of the sanding and grinding execution piece is matched with a ball joint at the other end of the telescopic rod. The equipment can adapt to the variable-curvature surface of the ship, the posture of the grinding equipment is guided, and rust removal grinding with the uniform surface thickness is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of grinding equipment, and in particular to automatic rust removal and grinding equipment for ship surfaces. Background Art

[0002] The core purpose of ship surface rust removal is to maintain the structural integrity and long-term operational safety of the ship. By thoroughly removing the rust and old coating on the hull surface, it can effectively prevent the rust from further corroding the hull material, thereby extending the service life of the ship. At the same time, rust removal can also provide an ideal base for repainting, enhance the adhesion of the new coating to the hull surface, improve the anti-corrosion performance of the coating, and provide more lasting and effective protection for the ship.

[0003] The shape of a ship is a reflection of its hydrodynamic characteristics, which is one of its basic performances. It is directly related to the ship's speed, seakeeping, propulsion and maneuvering efficiency, and hydrodynamic noise. In order to meet these performance requirements, the ship's shape is designed into a complex variable curvature shape to ensure that it can maintain the best sailing state under various sailing conditions. In addition, the ship's outer plate is not only the realization of the ship's shape, but also the main load-bearing component of the ship. These outer plates are usually thicker and are designed to withstand various external loads, including wave impact, cargo weight, etc. In order to meet these load-bearing requirements, the outer plates are usually processed into a variable curvature shape to enhance its structural strength and stability. Therefore, the shape of the ship is a curved shape with variable curvature.

[0004] The existing rust removal method usually uses a traditional rust removal grinder to grind and remove rust by means of surface force bonding. Since the bonding force and the moving direction of the rust removal device are difficult to control, the rust removal angle and posture of the rust removal device cannot be adjusted according to the shape of the ship. Therefore, the rust removal on the surface of the ship is mostly uneven, which not only reduces the rust removal effect, but also greatly affects the surface structure of the ship. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an automatic rust removal and grinding equipment for ship surface, which can adapt to the variable curvature surface of the ship, guide the posture of the grinding equipment, and achieve rust removal and grinding with uniform surface thickness.

[0006] The present invention provides the following technical solutions.

[0007] An automatic rust removal and polishing device for a ship surface, comprising:

[0008] A support plate, the top of which is connected to the wall-climbing robot;

[0009] The top surface of the annular flexible steel plate is connected to the bottom of the support plate through a plurality of telescopic driving members; the two ends of the telescopic driving members cooperate with the support plate and the annular flexible steel plate in ball joints; the bottom surface of the annular flexible steel plate is driven by the plurality of telescopic driving members to fit the arc surface of the ship;

[0010] At least one set of mobile grinding components; the mobile grinding components include:

[0011] A circumferentially movable component is mounted on the annular outer edge of the support plate and moves circumferentially along the support plate;

[0012] A telescopic rod, one end of which cooperates with the bottom ball joint of the circumferentially movable assembly;

[0013] A mounting ring, one side of which is fixed with a guide slider, the guide slider being slidably clamped on the outer edge of the annular flexible steel plate;

[0014] The frosting and grinding actuator is mounted in the ring of the mounting ring through a linear drive assembly and is fed along the axis direction of the mounting ring through the linear drive assembly; the top of the frosting and grinding actuator cooperates with the ball joint at the other end of the telescopic rod.

[0015] Preferably, an outer tooth ring is fixedly provided on the outer edge of the support plate; a first guide groove is provided on the top and bottom of the support plate; and the circumferential moving assembly comprises:

[0016] The bottom of one end of the two movable plates is slidably matched with the first guide grooves at the top and bottom of the support plate through a sliding block; one end of the telescopic rod is matched with the bottom ball joint of the movable plate below;

[0017] A gear, rotatably connected to the top and bottom of the other ends of the two moving plates through a rotating shaft; the gear is meshed with the outer gear ring;

[0018] The first motor is fixedly arranged on the top of the movable plate and is fixedly connected thereto; the output shaft of the first motor is drivingly connected to the rotating shaft.

[0019] Preferably, the telescopic drive member is a master cylinder;

[0020] The annular flexible steel plate includes a plurality of flexible arc-shaped steel plates; adjacent flexible arc-shaped steel plates are connected by a plurality of connecting springs; the other end of the master cylinder is connected to the top ball joint of the flexible arc-shaped steel plate;

[0021] One end of the plurality of master cylinders is connected to the support plate ball joint via a linear motion component; the linear motion component drives the master cylinder to move, and the plurality of flexible arc-shaped steel plates expand outwards to increase the annular radius.

[0022] Preferably, the top and bottom of the outer edge of the flexible arc-shaped steel plate are provided with step surfaces; and the step surfaces are provided with arc-shaped second guide grooves;

[0023] A notch is provided on one side of the guide sliding block that cooperates with the flexible arc-shaped steel plate; at least two balls are embedded in the top and bottom of the notch; the balls at the top and bottom are respectively embedded in the two second guide grooves and slidably cooperate with the two second guide grooves.

[0024] Preferably, the linear motion assembly comprises:

[0025] Moving block; a square through slot is provided on the top of the support plate; the moving block is slidably arranged in the square through slot; the moving block is connected to a ball joint at one end of the master cylinder;

[0026] A second motor is fixedly disposed at one end of the square through slot;

[0027] A lead screw passes through the moving block and is threadedly engaged with the moving block; one end of the lead screw is drivingly connected to the output shaft of the second motor, and the other end is rotationally engaged with the other end of the square through slot;

[0028] The polished rod passes through the moving block and is slidably matched with the moving block; the two ends of the polished rod are respectively rotatably matched with the two ends of the square through groove.

[0029] Preferably, the sanding and grinding actuator comprises:

[0030] A frosted base, the bottom surface of which is provided with a limited position slot; the frosted base is provided with a third motor;

[0031] One end of the sanding disc is embedded in the limiting groove body and is drivingly connected to the output shaft of the third motor.

[0032] Preferably, the linear drive assembly comprises:

[0033] A movable ring, fixedly connected to the top surface of the frosted base via a plurality of connecting rods;

[0034] At least two adjusting cylinders; two ends of each adjusting cylinder are respectively connected to the opposite end surfaces of the mounting ring and the moving ring.

[0035] Preferably, the telescopic rod comprises a rod and a sleeve with an open end; the rod is slidably disposed in the sleeve, and an end of the rod is connected to the other end inside the sleeve via a supporting spring.

[0036] Preferably, the flexible arc-shaped steel plate is fixedly embedded with a plurality of rubber balls along the length direction of the arc.

[0037] Beneficial effects of the present invention:

[0038] The present invention proposes an automatic rust removal and grinding equipment for the surface of a ship. The equipment adopts a plurality of telescopic points to adjust the overall shape of an annular flexible steel plate so that it fits with the variable curvature surface of the ship, determine the rust removal and grinding motion trajectory, and then change the angle when the end face of the frosting and grinding actuator fits with the ship surface, thereby achieving a high degree of coordination with the variable curvature surface of the ship during the grinding process; the equipment uses an annular flexible steel plate with a preset posture as a guide, and cooperates with a circumferential moving component to make the rust removal and grinding trajectory perform rust removal and grinding along the variable curvature surface of the ship, thereby making the rust removal and grinding more uniform, and then by controlling the feed amount of the frosting and grinding actuator, the rust removal and grinding amount for the ship surface is further achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is an overall assembly structure diagram of the automatic rust removal and polishing equipment for ship surfaces according to an embodiment of the present invention;

[0040] Figure 2 This is a partial A structural diagram of the automatic rust removal and polishing equipment for ship surfaces according to an embodiment of the present invention;

[0041] Figure 3 This is a partial structural diagram of the internal structure of a cooling module of an automatic rust removal and polishing device for ship surfaces according to an embodiment of the present invention;

[0042] Figure 4 This is a partial B structural diagram of the automatic rust removal and polishing equipment for ship surfaces according to an embodiment of the present invention;

[0043] Figure 5 It is a bottom view of the automatic rust removal and polishing equipment for ship surface according to an embodiment of the present invention.

[0044] Among them, 1. connecting frame; 2. supporting plate; 3. moving block; 4. bare rod; 5. moving ring; 6. moving plate; 7. gear; 8. telescopic rod; 9. frosted base; 10. connecting rod; 11. adjusting cylinder; 12. mounting ring; 13. guide slider; 14. flexible arc steel plate; 15. main cylinder; 16. connecting spring; 17. lead screw; 18. external gear ring; 19. frosted disc; 20. rubber ball; 21. first guide groove; 22. second guide groove; 23. ball. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0046] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. The terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0048] Example

[0049] The existing rust removal method usually uses a traditional rust removal grinder to grind and remove rust by applying force to the surface. Since the bonding force and the direction of travel of the rust removal device are difficult to control, the rust removal angle and posture of the rust removal device cannot be adjusted according to the shape of the ship, especially the variable curvature of the ship surface. Therefore, the rust removal on the ship surface is mostly uneven, which greatly affects the surface structure of the ship. To this end, this embodiment proposes an automatic rust removal and grinding device for the ship surface, the specific structure of which is as follows: Figure 1 As shown, it includes a support plate 2, an annular flexible steel plate and at least one set of mobile grinding components.

[0050] like Figure 1 and Figure 3 As shown, Figure 1 and Figure 3 They are three-dimensional views from two different angles, wherein, in this embodiment, the top of the support plate 2 is connected to the wall-climbing robot by a connecting frame 1. The entire device is driven to move on the surface of the ship by the wall-climbing robot. Of course, the connecting frame 1 can also be installed on the ship with a handheld component or other frame structure. The present invention mainly relates to the improvement of the rust removal and polishing equipment. Furthermore, the top surface of the annular flexible steel plate is connected to the bottom of the support plate 2 through a plurality of telescopic driving members; the two ends of the telescopic driving member cooperate with the support plate 2 and the annular flexible steel plate ball joint; the bottom surface of the annular flexible steel plate is driven by a plurality of telescopic driving members to fit the arc surface of the ship.

[0051] In order to increase adjustability and adaptability, the annular flexible steel plate includes a plurality of flexible arc-shaped steel plates 14, specifically as follows Figure 3 and Figure 5 As shown, Figure 5 It is a bottom view. The telescopic driving part is the main cylinder 15; adjacent flexible arc-shaped steel plates 14 are connected by a plurality of connecting springs 16; the other end of the main cylinder 15 is connected to the top ball joint of the flexible arc-shaped steel plate 14. One end of the multiple main cylinders 15 is connected to the support plate 2 ball joint through a linear motion component; the linear motion component drives the main cylinder 15 to move, and the multiple flexible arc-shaped steel plates 14 expand outward, increasing the annular radius, that is, the radius of the circumferential guide trajectory. For ship surfaces with large arc surface changes, a smaller circumferential guide trajectory is used to slow down the rust removal and polishing process, making the polishing more meticulous. For ship surfaces with small arc surface changes, a larger circumferential guide trajectory is used to improve efficiency. Furthermore, the flexible arc-shaped steel plate 14 is fixedly embedded with a plurality of rubber balls 20 along the length direction of the arc, which are used to better contact with the ship surface and obtain an accurate circumferential guide trajectory.

[0052] like Figure 2 and Figure 4 The following are detailed structural diagrams, which are partial A structural diagram and partial B structural diagram. The device includes at least one set of mobile grinding components. The embodiment of the present invention is provided with three sets of structures, and the three sets of mobile grinding components are driven independently.

[0053] The mobile grinding assembly includes a circumferential moving assembly, a telescopic rod 8, a mounting ring 12 and a frosting and grinding actuator. The circumferential moving assembly is mounted on the annular outer edge of the support plate 2 and moves circumferentially along the support plate 2; one end of the telescopic rod 8 cooperates with the bottom ball joint of the circumferential moving assembly; a guide slider 13 is fixed to one side of the mounting ring 12, and the guide slider 13 is slidably clamped on the outer edge of the annular flexible steel plate; the frosting and grinding actuator is mounted in the ring of the mounting ring 12 through a linear drive assembly, and is fed along the axial direction of the mounting ring 12 through the linear drive assembly; the top of the frosting and grinding actuator cooperates with the ball joint at the other end of the telescopic rod 8.

[0054] This embodiment uses a gear ring transmission method to perform circumferential movement drive, and uses a telescopic rod 8 to avoid the influence of the posture change of the mobile grinding component on the driving of the entire mobile component. Figure 2As shown, specifically, an outer gear ring 18 is fixedly provided on the outer edge of the support plate 2; a first guide groove 21 is provided at the top and bottom of the support plate 2. The circumferential moving assembly includes a gear 7, a first motor and two moving plates 6. The bottom of one end of the two moving plates 6 is slidably matched with the first guide grooves 21 at the top and bottom of the support plate 2 through a sliding block; one end of the telescopic rod 8 is matched with the bottom ball joint of the moving plate 6 below; the gear 7 is rotatably connected with the top and bottom of the other end of the two moving plates 6 through a rotating shaft; the gear 7 is meshed with the outer gear ring 18; the first motor is fixedly provided on the top of the upper moving plate 6 and is fixedly connected; and the output shaft of the first motor is drivingly connected with the rotating shaft.

[0055] In order to make the grinding and polishing actuator stably move along the preset circumferential moving track under the action of the circumferential moving component, the top and bottom of the outer edge of the flexible arc-shaped steel plate 14 are provided with step surfaces, as shown in FIG. Figure 2 and Figure 4 As shown; the step surface is provided with an arc-shaped second guide groove 22; a notch is provided on one side of the guide slider 13 that cooperates with the flexible arc-shaped steel plate 14; at least two balls 23 are embedded at the top and bottom of the notch; the balls 23 at the top and bottom are respectively embedded in the two second guide grooves 22, and slide in cooperation with the two second guide grooves 22. When located at the connection seam of two flexible arc-shaped steel plates 14, the upper and lower first group of balls 23 enter the connection seam, and the other group still maintains cooperation with the two second guide grooves 22 until the first group of balls 23 re-enters the two second guide grooves 22 of the next flexible arc-shaped steel plate 14, and then enters the connection seam. Alternatively, a mobile grinding component is provided on each flexible arc-shaped steel plate 14 to perform rust removal and grinding.

[0056] Furthermore, the linear motion assembly includes a moving block 3, a second motor, a lead screw 17 and a polished rod 4. A square through slot is provided on the top of the support plate 2; the moving block 3 is slidably arranged in the square through slot; the moving block 3 is connected to a ball joint at one end of the main cylinder 15; the second motor is fixedly arranged at one end of the square through slot; the lead screw 17 passes through the moving block 3 and is threadedly engaged with the moving block 3; one end of the lead screw 17 is drivingly connected to the output shaft of the second motor, and the other end is rotationally engaged with the other end of the square through slot; the polished rod 4 passes through the moving block 3 and is slidably engaged with the moving block 3; and the two ends of the polished rod 4 are rotationally engaged with the two ends of the square through slot respectively.

[0057] The sanding and grinding actuator of this embodiment adopts the structure of a conventional motor-driven sanding disc, such as Figure 4As shown, it includes a frosting base 9 and a frosting disc 19. A limiting groove is provided on the bottom surface of the frosting base 9; a third motor is built into the frosting base 9; one end of the frosting disc 19 is embedded in the limiting groove and is connected to the output shaft of the third motor. The linear drive assembly for driving the frosting and grinding actuator to feed includes a moving ring 5 and at least two adjusting cylinders 11. The moving ring 5 is fixedly connected to the top surface of the frosting base 9 through a plurality of connecting rods 10; the two ends of each adjusting cylinder 11 are respectively connected to the mounting ring 12 and the opposite end faces of the moving ring 5.

[0058] In order to increase the circumferential transmission stability, additional force is added when the telescopic rod 8 is extended. Specifically, the telescopic rod 8 includes a rod and a sleeve with an open end; the rod is slidably arranged in the sleeve, and its end is connected to the other end of the sleeve through a support spring.

[0059] In this embodiment, the equipment uses multiple telescopic points to adjust the overall shape of the annular flexible steel plate so that it fits the variable curvature surface of the ship, determines the rust removal and grinding motion trajectory, and then changes the angle when the end face of the frosting and grinding actuator fits with the surface of the ship, thereby achieving a high degree of coordination with the variable curvature surface of the ship during the grinding process.

[0060] Traditional ship surface rust removal and grinding equipment needs to actively control the grinding equipment for multi-angle adjustment according to the surface state. Both the requirements for the accuracy of the angle control equipment and the control operation of the operator are very high. The present invention uses multiple main cylinders 15 to extend and retract to make the annular flexible steel plate fit the ship surface. The main cylinder 15 can be connected to a pressure relief valve and extend and retract until the annular flexible steel plate completely abuts the ship surface. In this way, the annular flexible steel plate naturally forms a variable curvature guide track, and there is no need to actively adjust the angle of the moving grinding component. By using the annular flexible steel plate with a preset posture as a guide and cooperating with the circumferential moving component, the rust removal and grinding track can be made to perform rust removal and grinding along the variable curvature surface of the ship, thereby making the rust removal and grinding more uniform. By controlling the feed amount of the frosting and grinding actuator, the rust removal and grinding amount on the ship surface is further achieved.

[0061] Furthermore, in this embodiment, multiple flexible arc steel plates 14 are used to form an annular flexible steel plate, and the linear moving assembly is combined to drive the multiple flexible arc steel plates 14 to expand or reduce the circumferential guide track to increase adaptability. Among them, a smaller circumferential guide track is used for the ship surface with a large arc surface change, which slows down the rust removal and grinding process and makes the grinding more delicate. For the ship surface with a small arc surface change, a larger circumferential guide track is used to improve efficiency.

[0062] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic rust removal and polishing equipment for ship surface, characterized in that: include: A support plate (2), the top of which is connected to the wall-climbing robot; The top surface of the annular flexible steel plate is connected to the bottom of the support plate (2) via a plurality of telescopic drive members; the two ends of the telescopic drive members cooperate with the support plate (2) and the annular flexible steel plate in a ball joint; The bottom surface of the annular flexible steel plate is driven by a plurality of the telescopic driving members to fit the curved surface of the ship; At least one set of mobile grinding components; the mobile grinding components include: A circumferentially movable component, mounted on the annular outer edge of the support plate (2) and movable circumferentially along the support plate (2); A telescopic rod (8), one end of which cooperates with the bottom ball joint of the circumferentially movable assembly; A mounting ring (12) having a guide slider (13) fixed on one side thereof, wherein the guide slider (13) is slidably clamped on the outer edge of the annular flexible steel plate; The sanding and grinding actuator is mounted inside the mounting ring (12) via a linear drive assembly and is fed along the axis direction of the mounting ring (12) via the linear drive assembly; the top of the sanding and grinding actuator cooperates with the ball joint at the other end of the telescopic rod (8).

2. The automatic rust removal and polishing equipment for ship surface according to claim 1 is characterized in that: An outer toothed ring (18) is fixedly provided on the outer edge of the support plate (2); a first guide groove (21) is provided on the top and bottom of the support plate (2); and the circumferential moving component comprises: The bottom of one end of the two movable plates (6) is slidably matched with the first guide grooves (21) at the top and bottom of the support plate (2) through a sliding block; one end of the telescopic rod (8) is matched with the bottom ball joint of the movable plate (6) below; A gear (7) is rotatably connected to the top and bottom of the other ends of the two moving plates (6) via a rotating shaft; the gear (7) is meshed with the outer gear ring (18); The first motor is fixedly arranged on the top of the movable plate (6) and is fixedly connected thereto; the output shaft of the first motor is drivingly connected to the rotating shaft.

3. The automatic rust removal and polishing equipment for ship surface according to claim 1 is characterized in that: The telescopic driving member is a main cylinder (15); The annular flexible steel plate comprises a plurality of flexible arc-shaped steel plates (14); adjacent flexible arc-shaped steel plates (14) are connected via a plurality of connecting springs (16); the other end of the master cylinder (15) is connected to the top ball joint of the flexible arc-shaped steel plate (14); One end of the plurality of master cylinders (15) is connected to the support plate (2) via a ball joint via a linear motion component; the linear motion component drives the master cylinder (15) to move, and the plurality of flexible arc-shaped steel plates (14) expand outwards to increase the annular radius.

4. The automatic rust removal and polishing equipment for ship surface according to claim 3 is characterized in that: The top and bottom of the outer edge of the flexible arc-shaped steel plate (14) are both provided with step surfaces; and the step surfaces are both provided with arc-shaped second guide grooves (22); A notch is provided on one side of the guide slider (13) that cooperates with the flexible arc-shaped steel plate (14); at least two balls (23) are embedded in the top and bottom of the notch; the balls (23) at the top and bottom are respectively embedded in the two second guide grooves (22) and slidably cooperate with the two second guide grooves (22).

5. The automatic rust removal and polishing equipment for ship surface according to claim 3 is characterized in that: The linear motion component comprises: Moving block (3); a square through slot is formed on the top of the support plate (2); the moving block (3) is slidably arranged in the square through slot; the moving block (3) is connected to a ball joint at one end of the main cylinder (15); A second motor is fixedly disposed at one end of the square through slot; A lead screw (17) passes through the moving block (3) and is threadedly engaged with the moving block (3); one end of the lead screw (17) is drivingly connected to the output shaft of the second motor, and the other end is rotationally engaged with the other end of the square through slot; A polished rod (4) passes through the moving block (3) and is slidably matched with the moving block (3); two ends of the polished rod (4) are respectively rotatably matched with two ends of the square through groove.

6. The automatic rust removal and polishing equipment for ship surface according to claim 1 is characterized in that: The grinding and polishing actuator comprises: A frosted base (9) having a limited position groove on its bottom surface; the frosted base (9) has a third motor built therein; One end of the sanding disc (19) is embedded in the limiting groove body and is drivingly connected to the output shaft of the third motor.

7. The automatic rust removal and polishing equipment for ship surface according to claim 6 is characterized in that: The linear drive assembly comprises: A movable ring (5) is fixedly connected to the top surface of the frosting base (9) via a plurality of connecting rods (10); At least two regulating cylinders (11); two ends of each regulating cylinder (11) are respectively connected to the opposite end surfaces of the mounting ring (12) and the movable ring (5).

8. The automatic rust removal and polishing equipment for ship surface according to claim 1 is characterized in that: The telescopic rod (8) comprises a rod and a sleeve with an open end; the rod is slidably arranged in the sleeve, and the end of the rod is connected to the other end inside the sleeve via a supporting spring.

9. The automatic rust removal and polishing equipment for ship surface according to claim 3, characterized in that: The flexible arc-shaped steel plate (14) is fixedly embedded with a plurality of rubber balls (20) along the length direction of the arc.

Images