Shot blasting and rust removing robot for removing rust on surface of ship shell

Abstract

The invention relates to a robot, in particular to a shot blasting and rust removing robot for removing rust on the surface of a ship shell, and solves the problems of high labor intensity of personnel and low working efficiency caused by manual grinding and rust removal when rust removal is carried out on the side surface and the bottom surface of the existing ship shell. In order to adapt to the small-curvature ship shell surface, the center distance between the driving wheel and the driven wheel is A, and A is larger than or equal to 240 mm and smaller than or equal to 260 mm. In order to attract the robot on the surface of a ship shell, a main attraction magnet is arranged on the chassis. When the shot blasting machine works, steel shots enter from the feeding port, automatically enter the shot blasting wheel due to the gravity of the steel shots and a pipeline which is obliquely arranged downwards, are cast to a working surface from the shot blasting wheel after being accelerated by rotation of the shot blasting wheel, are subjected to steel shot bombardment to realize rust removal, and are rebounded to enter the stock bin after bombardment of the working surface. And the process is repeated until the rust removal is completed.

Description

Technical Field

[0001] The invention relates to a robot, in particular to a shot blasting and rust removal robot used for rust removal on the surface of a ship hull. Background Art

[0002] After a ship has sailed in the water for a period of time, the paint sprayed on its surface will peel off. After being in contact with water for a long time, the surface of the hull will be corroded and rust will be produced. If the rust is not removed in time, the rust will slowly spread to the entire hull surface, reducing the structural strength of the ship and endangering the safety of navigation. At present, manual grinding and rust removal are usually used. However, when manual rust removal equipment is used for rust removal, most of the labor is mechanical repetitive work, which will lead to high labor intensity and low work efficiency. In addition, the side of the hull is a vertical surface. When rust removal, the staff must also perform high-altitude operations, and the work danger is greatly increased. When rust removal is performed on the bottom of the hull, the staff needs to lift the rust removal equipment to the top of their heads for rust removal. This working posture cannot be maintained for too long, and they need to rest after a period of time, resulting in low work efficiency.

[0003] Because of the above-mentioned limitations of manual work, research is currently underway on how to use robots to replace manual labor in rust removal operations on the hull surface. Robots are suitable for mechanical repetitive operations and are suitable for various working conditions. They will not get tired like humans, and can also replace manual labor in high-altitude operations, reducing work risks for personnel. Therefore, it is necessary to develop a shot blasting and rust removal robot to achieve automatic rust removal on the sides and bottom of the hull. Summary of the invention

[0004] The purpose of the present invention is to solve the problem of high labor intensity and low work efficiency in the existing rust removal of the sides and bottom of the hull by manual grinding, and to provide a shot blasting rust removal robot for rust removal on the surface of the hull.

[0005] In order to achieve the above-mentioned invention object, the present invention provides the following technical solutions:

[0006] A shot blasting and rust removal robot for removing rust from the surface of a ship hull, which is special in that it comprises a shot blasting machine and a chassis;

[0007] The shot blasting machine is installed on a chassis;

[0008] Two driving motors are arranged opposite to each other on both sides of one end of the chassis, and an output end of each driving motor is connected to a driving wheel; two driven wheels are arranged opposite to each other on both sides of the other end of the chassis, and the driven wheels are rotatably connected to the chassis, and a gap is arranged between the two driven wheels;

[0009] A main adsorption magnet is arranged at the bottom of the chassis between the two driving wheels; the center distance between the driving wheel and the driven wheel is defined as A, then 240mm≤A≤260mm;

[0010] The shot blasting machine comprises a shot blasting motor, a shot blasting housing and a silo; the shot blasting motor is mounted on the side wall of the shot blasting housing, a shot blasting wheel is arranged in the shot blasting housing, and an output end of the shot blasting motor extends into the shot blasting housing and is fixedly connected to the shot blasting wheel;

[0011] A feed port is provided on the side wall of the shot blasting housing on the other side opposite to the shot blasting motor, and the feed port is connected to the silo through a downwardly inclined pipeline, the silo is connected to the shot blasting housing, and a feed port is provided on the silo; a projectile port is provided at the bottom of the shot blasting housing, and the bottom of the silo is provided corresponding to the position of the projectile port and is connected to the projectile port;

[0012] The shot blasting shell is connected to the chassis, the shot blasting motor is fixed on the chassis between the two driving wheels, and the shot blasting shell and the silo are located in the gap.

[0013] Furthermore, the driven wheel includes a center wheel and a plurality of rollers, the center wheel includes a first center wheel and a second center wheel of the same structural size, the two are coaxially arranged and fixedly connected together, the edges of the first center wheel and the second center wheel are both evenly arranged with a plurality of mounting grooves along the circumferential direction, the mounting grooves of the two are staggered, and a mounting column is arranged in each mounting groove along the circumferential direction, and the plurality of rollers are respectively located in the mounting grooves and are rotatably connected to the mounting columns.

[0014] Furthermore, the driven wheel is rotatably connected to the chassis via a support connected to the bottom of the chassis, and an auxiliary adsorption magnet is connected to the bottom of the support;

[0015] The center distance between the two driven wheels is greater than the center distance between the two driving wheels, and the center distance A between the driving wheel and the driven wheel is 250 mm.

[0016] Furthermore, the shot blasting machine also includes a floating sealing structure;

[0017] The floating sealing structure is correspondingly arranged at the ejection port, and includes a bracket, a guide rod, a spring, a U-shaped pressure plate, a sealing strip and a rectangular frame;

[0018] There are two brackets, which are respectively mounted on both sides of the shot blasting shell. Two mounting holes are provided on each bracket in the vertical direction. A guide rod is provided in each mounting hole. After each guide rod passes through the mounting hole, its bottom end is connected to the corner position of the top surface of the rectangular frame, and a retaining spring is sleeved on the guide rod, which abuts against the upper surface of the bracket.

[0019] The ejection opening is in a rectangular shape, and the rectangular frame is sleeved on the ejection opening, and its shape is adapted to the ejection opening; the sealing strip is sleeved on the rectangular frame; two U-shaped pressing plates form a rectangular structure, and are sleeved on the sealing strip, and the U-shaped pressing plates and the sealing strip are connected to the outer wall of the rectangular frame by screws;

[0020] The spring is sleeved on the guide rod, and two ends of the spring are respectively in contact with the rectangular frame and the bracket.

[0021] Furthermore, a dust removal port is provided on the silo, which is used to be connected to an external dust removal device.

[0022] Furthermore, an air inlet is also provided on the side wall of the shot blasting shell provided with the discharge port.

[0023] Furthermore, a discharge port control motor is arranged on the outer wall of the pipeline connecting the discharge port and the silo, and its output end extends into the pipeline, and a gate plate is arranged in the pipeline, and the gate plate is connected to the output end of the discharge port control motor. The discharge port control motor drives the gate plate to rotate to control the opening and closing of the discharge port.

[0024] Furthermore, the silo includes a silo body and a top plate, the silo body is connected to the shot blasting shell, the top plate is located on the top of the silo body and is connected to the silo body by bolts, the dust removal port and the feed port are both located on the silo body, and the bottom of the silo body is arranged corresponding to the ejection port position and is connected to the ejection port.

[0025] Furthermore, there are two feed ports; there are two air inlets, and the air inlets are connected with curved pipes, one end of the curved pipes is connected to the air inlet, and the other end faces the ejection port.

[0026] Furthermore, a lifting ring is provided on the chassis.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] (1) The present invention provides a shot blasting robot for rust removal on the surface of a ship hull, comprising a chassis and a shot blasting machine mounted on the chassis. Two driving motors are arranged opposite to each other on both sides of the chassis. The output end of each driving motor is connected to a driving wheel. The driving motor provides power to the driving wheel so that the entire robot can move. Two driven wheels are arranged opposite to each other on both sides of the chassis. The driven wheels are rotatably connected to the chassis. In order to adapt to the surface of the ship hull with a small curvature, the center distance between the driving wheel and the driven wheel is A, and then 240mm≤A≤260mm When removing rust from the sides and bottom of the hull, after the steel shot enters from the feed port, it will enter the shot blasting wheel by itself due to its own gravity and the downwardly inclined pipeline. After the rotation of the shot blasting wheel is accelerated, the steel shot is shot from the ejection port to the working surface, and rust removal is achieved through the bombardment of the steel shot. After bombarding the working surface, the steel shot rebounds into the silo, and then enters the shot blasting wheel through the pipeline, and the cycle is repeated until the rust removal operation is completed. During the rust removal process of the shot blasting machine, the chassis firmly adsorbs the robot to the surface of the hull through the main adsorption magnet, and drives the shot blasting machine to move on the surface of the hull.

[0029] (2) The shot blasting and rust removal robot for rust removal on the surface of a ship hull provided by the present invention is also provided with an auxiliary adsorption magnet, which improves the adsorption capacity on the surface of the ship hull and enhances the movement stability of the robot.

[0030] (3) The shot blasting robot for rust removal on the surface of a ship hull provided by the present invention is provided with a dust removal port on the silo, the dust removal port is connected to an external dust removal device, and an air inlet is also provided on the side wall of the shot blasting shell provided with a discharge port, so that the dust generated during the shot blasting process can be effectively adsorbed to achieve dust-ball separation and prevent the dust from clogging the discharge port.

[0031] (4) The driven wheel of a shot blasting and rust removal robot for rust removal on a ship hull surface provided by the present invention comprises a center wheel and a roller. The center wheel comprises a first center wheel and a second center wheel of the same structure and size. The two center wheels are coaxially arranged and fixedly connected together. A plurality of mounting grooves are evenly distributed along the circumferential direction on the edges of the two center wheels. The mounting grooves of the two center wheels are staggered. A mounting column is arranged in the circumferential direction in each mounting groove. The roller is located in the mounting groove and is rotatably connected to the mounting column. In this way, the rotation of the roller can be used to reduce friction when turning, thereby facilitating turning.

[0032] (5) The shot blasting robot for rust removal on the surface of a ship hull provided by the present invention is provided with a floating sealing structure at the ejection port. The spring in the floating sealing structure continuously provides elastic force to the floating sealing structure, so that the sealing strip can be tightly attached to the surface of the ship hull with a small curvature, thereby preventing smoke and steel shots from leaking out during the shot blasting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of a shot blasting and rust removal robot for rust removal on a hull surface of the present invention;

[0034] Figure 2 for Figure 1 Bottom view of

[0035] Figure 3 for Figure 1 Side view of

[0036] Figure 4 Schematic diagram of the three-dimensional structure of the shot blasting machine in the embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the motion trajectory of the steel shot when the embodiment of the present invention is in a vertical working state (the chassis is not shown);

[0038] Figure 6 It is a schematic diagram of the motion trajectory of the steel shot when the embodiment of the present invention is in the bottom working state (the chassis is not shown).

[0039] The following are the descriptions of the reference numerals:

[0040] 1- shot blasting motor, 2- shot blasting housing, 21- feed port, 22- air inlet, 23- shot blasting wheel; 3- silo,

[0041] 31-feeding port, 32-dust removal port, 33-silo body, 34-top plate; 4-discharge port control motor, 5-floating sealing structure, 51-bracket, 52-guide rod, 53-spring, 54-U-shaped connecting plate, 55-sealing strip, 56-rectangular frame; 6-chassis, 61-driving wheel, 62-driven wheel, 621-center wheel, 622-roller; 63-main adsorption magnet, 64-auxiliary adsorption magnet; 7-driving motor, 8-hanging ring. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings and exemplary embodiments.

[0043] Reference Figure 1-Figure 6 The present invention provides a shot blasting and rust removal robot for rust removal on the surface of a ship hull, comprising a chassis 6 and a shot blasting machine mounted on the chassis 6. The chassis 6 in this embodiment is a wheeled chassis, and its structure is as follows: Figure 1 As shown, two drive motors 7 are arranged oppositely on both sides of one end of the chassis 6, and the output end of each drive motor 7 is connected to a driving wheel 61, and the drive motor 7 provides power for the driving wheel 61. Two driven wheels 62 are also arranged oppositely on both sides of the other end of the chassis 6. In order to rotatably connect the chassis 6 and the driven wheels 62 together, a support is installed at the bottom of the chassis 6, and the chassis 6 and the driven wheels 62 are rotatably connected through the support. A lifting ring 8 is also arranged on the chassis 6 to facilitate the transportation of the robot, and when the robot is working, a safety rope can be installed through the lifting ring 8 to prevent the robot from falling due to unexpected situations.

[0044] Because the robot needs to perform shot blasting and rust removal on the sides and bottom of the hull, the chassis 6 not only needs to have a walking function, but also needs to have an adsorption function so that the entire robot can attach to the surface of the hull for shot blasting and rust removal. Therefore, a main adsorption magnet 63 is arranged at the bottom of the chassis 6 between the two driving wheels 61. In order to enhance the adsorption capacity, an auxiliary adsorption magnet 64 is connected to the bottom of each support. The main adsorption magnet 63 and the auxiliary adsorption magnet 64 can be used to firmly adsorb the entire robot on the surface of the hull to prevent the chassis 6 from overturning. Then, the driving motor 7 drives the driving wheel 61, so that the entire robot can move on the surface of the hull.

[0045] Because the surface of the hull is not all flat, some positions are curved surfaces with small curvature. In order to adapt to the use scenarios of curved surfaces with small curvature and improve the passability and compactness of the robot, the center distance between the driving wheel 61 and the driven wheel 62 is defined as A, then 240mm≤A≤260mm. In this embodiment, the center distance A is 250mm, and in order to improve walking stability, the center distance between the two driven wheels 62 is also greater than the center distance between the two driving wheels 61.

[0046] In order to facilitate steering, the driven wheel 62 in this embodiment has a structure as follows: Figure 1-Figure 3 As shown, it includes a center wheel 621 and a plurality of rollers 622. The center wheel 621 is rotatably connected to the support, and the center wheel 621 includes a first center wheel and a second center wheel of the same structure and size. The two are coaxially arranged and fixed together. A plurality of mounting grooves are evenly distributed along the circumference on the edges of the two. The mounting grooves of the two are staggered. A mounting column is circumferentially arranged in each mounting groove. The plurality of rollers 622 are respectively located in the mounting grooves and are rotatably connected to the mounting column. In this way, when turning, the friction can be reduced by means of the rotation of the rollers 622 around the mounting column.

[0047] The shot blasting machine in this embodiment includes a shot blasting motor 1, a shot blasting housing 2, a silo 3 and a floating seal structure 5. The shot blasting housing 2 is connected to the chassis 6 by bolts, and the shot blasting motor 1 is installed on the side wall of the shot blasting housing 2. Because the shot blasting motor 1 is very heavy, in order to improve the installation stability of the shot blasting motor 1, a motor seat is provided on the chassis 6 between the two driving wheels 61, and the shot blasting motor 1 is fixed on the motor seat. A shot blasting wheel 23 is provided inside the shot blasting housing 2, and the output end of the shot blasting motor 1 extends into the shot blasting housing 2 and is fixedly connected to the shot blasting wheel 23.

[0048] A feed port 21 is provided on the side wall of the shot blasting housing 2 on the other side opposite to the shot blasting motor 1. The feed port 21 is connected to the silo 3 through a downwardly inclined pipe. In order to fix the silo 3, the silo 3 is connected to the shot blasting housing 2. The silo 3 is used for steel shots to enter, so a feed port 31 is provided on it. To improve the feeding efficiency, two feed ports 31 are provided. A projectile port is provided at the bottom of the shot blasting housing 2. The bottom of the silo 3 is provided for the position of the projectile port and is connected to the projectile port. A notch is provided on the chassis 6 between the two driven wheels 62, and the shot blasting housing 2 and the silo 3 are located in the notch.

[0049] Because the silo 3 and the shot blasting shell 2 are connected by a pipeline, if the smoke and dust generated during the rust removal process blocks the pipeline, it is inconvenient to repair. In order to quickly eliminate the blockage, the silo 3 includes a silo body 33 and a top plate 34. The bottom of the silo body 33 is set corresponding to the ejection port and is connected to the ejection port, while the silo body 33 is connected to the shot blasting shell 2, and the top plate 34 is located at the top of the silo body 33 and is connected to the silo body 33 by bolts. In this way, when blockage occurs, the top plate 34 can be removed to enter the silo 3 for maintenance, which is simple and quick. The feed port 31 is also located on the silo body 33. In order to ensure the feeding efficiency of the steel shot, two feed ports 31 are provided. At the same time, in order to achieve dust and pill separation during the rust removal process, a dust removal port 32 is provided on the silo body 33, which is connected to the external dust removal equipment. In order to enhance the dust and pill separation effect, an air inlet 22 is also provided on the side wall of the shot blasting shell 2 where the feed port 21 is provided. There are two air inlets 22 to ensure the air intake efficiency. Each air inlet 22 is connected to a bend pipe, one end of which is connected to the air inlet 22 and the other end faces the ejection port. This is to prevent the robot from being in a state such as Figure 5 and Figure 6 In the vertical working state and the bottom working state shown, the steel shot entering the shot blasting wheel 23 leaks out from the air inlet 22.

[0050] In order to control the opening and closing of the discharge port 21, a discharge port control motor 4 is arranged on the outer wall of the pipeline connecting the discharge port 21 and the silo 3, and its output end extends into the pipeline. A gate plate is arranged in the pipeline, and the gate plate is connected to the output end of the discharge port control motor 4. The discharge port control motor 4 drives the gate plate to rotate to control the opening and closing of the discharge port 21.

[0051] Because the robot needs to face the hull surface with a small curvature when working, in order to improve the adaptability to the small curvature surface, a floating sealing structure 5 is arranged at the ejection port, which includes a bracket 51, a guide rod 52, a spring 53, a U-shaped pressure plate 54, a sealing strip 55 and a rectangular frame 56. There are two brackets 51, and the two brackets 51 are respectively installed on both sides of the shot blasting shell 2. Two mounting holes are opened in the vertical direction on each bracket 51, and a guide rod 52 is respectively arranged in each mounting hole. After each guide rod 52 passes through the mounting hole, the bottom end of each guide rod 52 is threadedly connected with the corner position of the top end surface of the rectangular frame 56.

[0052] The ejection port is in the shape of a rectangle, a rectangular frame 56 is sleeved on the ejection port and its shape is adapted to the shape of the ejection port, and a sealing strip 55 is sleeved on the rectangular frame 56. In order to fix the sealing strip 55, two U-shaped pressure plates 54 are provided, which form a rectangular structure and are sleeved on the sealing strip 55, and the U-shaped pressure plates 54 and the sealing strip 55 are connected to the outer wall of the rectangular frame 56 by screws.

[0053] The spring 53 is sleeved on the guide rod 52, and the two ends of the spring 53 are respectively in contact with the rectangular frame 56 and the bracket 51. A retaining spring is sleeved on the guide rod 52, and the retaining spring is in contact with the upper surface of the bracket 51 to prevent the guide rod 52 from falling out.

[0054] With the elastic force of the spring 53, the sealing strip 55 can be closely attached to the hull surface with a small curvature. The sealing strip 55 is installed and fixed by the U-shaped pressing plate 54 instead of directly connecting the sealing strip 55 with the bottom end of the guide rod 52. In this way, when the sealing strip 55 is worn and needs to be replaced, it is only necessary to loosen the screws connecting the sealing strip 55 and the U-shaped pressing plate 54. If the sealing strip 55 is directly connected to the guide rod 52, the spring 53 will also fall out during replacement. When replacing a new sealing strip 55, the spring 53 needs to be installed in place before the sealing strip 55 can be installed. The connection method in this embodiment can save maintenance time.

[0055] The robot of the present invention has two working states, one of which is as follows: Figure 5 The vertical surface working state for rust removal on the side of the hull shown in the figure, when in this working state, steel shots are put in from the feed port 31, because of the gravity of the steel shots themselves and the pipeline connecting the discharge port 21 and the silo 3 is set to be tilted downward, at this time, the gate is driven by the discharge port control motor 4 to rotate and open the discharge port 21, and the steel shots will enter the shot blasting wheel 23 by themselves through the pipeline, and the shot blasting motor 1 rotates, so that the shot blasting wheel 23 accelerates the rotation of the steel shots and then projects them toward the working surface, and the rust attached to the working surface is removed by the steel shot bombardment, and the steel shots rebound into the silo body 33 after bombarding the working surface, and then enter the shot blasting wheel 23 through the pipeline, and repeat until the vertical working surface rust removal operation is completed. During the rust removal operation, the external dust removal equipment connected to the dust removal port 32 is turned on, and the dust generated during the shot blasting and rust removal can be adsorbed. When the shot blasting machine is working, the drive motor 7 rotates, driving the driving wheel 61 to rotate, so as to realize the walking of the entire chassis 6. When the robot is walking, the entire robot is firmly adsorbed on the surface of the hull through the main adsorption magnet 63 and the auxiliary adsorption magnet 64.

[0056] The second is as Figure 6The bottom working state for rust removal on the bottom of the hull is shown. When in this working state, steel shots are put in from the feed port 31. Because of the gravity of the steel shots themselves and the pipeline connecting the discharge port 21 and the silo 3 is set to be tilted downward, the discharge port 21 is opened by the discharge port control motor 4 to drive the gate to rotate, and the steel shots will enter the shot blasting wheel 23 through the pipeline. The shot blasting motor 1 rotates to make the shot blasting wheel 23 rotate and accelerate the steel shots and then project them to the working surface. The rust attached to the working surface is removed by the steel shot bombardment. The steel shot bombardment process After being worked on the surface, it rebounds into the silo body 33, and then enters the shot blasting wheel 23 through the pipeline, and repeats this process over and over again until the rust removal operation on the vertical working surface is completed. During the rust removal operation, the external dust removal equipment connected to the dust removal port 32 is turned on to adsorb the dust generated during shot blasting and rust removal. When the shot blasting machine is working, the driving motor 7 rotates, driving the driving wheel 61 to rotate, thereby realizing the movement of the entire chassis 6. When the robot is walking, the entire robot is firmly adsorbed on the surface of the hull through the main adsorption magnet 63 and the auxiliary adsorption magnet 64.

[0057] The embodiments described above are merely descriptions of specific implementation methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A shot blasting and rust removal robot for rust removal on the surface of a ship hull, characterized in that: It includes a shot blasting machine and a chassis (6); The shot blasting machine is mounted on a chassis (6); Two driving motors (7) are arranged opposite to each other on both sides of one end of the chassis (6), and the output end of each driving motor (7) is connected to a driving wheel (61); two driven wheels (62) are arranged opposite to each other on both sides of the other end of the chassis (6), and the driven wheels (62) are rotatably connected to the chassis (6), and the chassis (6) is provided with a gap between the two driven wheels (62); A main adsorption magnet (63) is arranged at the bottom of the chassis (6) between the two driving wheels (61); the center distance between the driving wheel (61) and the driven wheel (62) is defined as A, then 240mm≤A≤260mm; The shot blasting machine comprises a shot blasting motor (1), a shot blasting housing (2) and a silo (3); the shot blasting motor (1) is mounted on a side wall of the shot blasting housing (2), a shot blasting wheel (23) is arranged in the shot blasting housing (2), and an output end of the shot blasting motor (1) extends into the shot blasting housing (2) and is fixedly connected to the shot blasting wheel (23); A feed opening (21) is provided on the side wall of the shot blasting housing (2) on the other side opposite to the shot blasting motor (1), the feed opening (21) being connected to a silo (3) via a downwardly inclined pipeline, the silo (3) being connected to the shot blasting housing (2), and a feed opening (31) being provided on the silo (3); a projectile opening is provided at the bottom of the shot blasting housing (2), the bottom of the silo (3) being provided at a position corresponding to the projectile opening and being connected to the projectile opening; The shot blasting shell (2) is connected to the chassis (6), the shot blasting motor (1) is fixed on the chassis (6) between the two driving wheels (61), and the shot blasting shell (2) and the silo (3) are located in the gap.

2. The shot blasting and rust removal robot for rust removal on the hull surface according to claim 1, characterized in that: The driven wheel (62) comprises a center wheel (621) and a plurality of rollers (622), wherein the center wheel (621) comprises a first center wheel and a second center wheel of the same structure and size, the two being coaxially arranged and fixedly connected together, the edges of the first center wheel and the second center wheel are both provided with a plurality of mounting grooves evenly distributed along the circumferential direction, the mounting grooves of the two are arranged in an alternating manner, and a mounting column is arranged in each mounting groove along the circumferential direction, and the plurality of rollers (622) are respectively located in the mounting grooves and are rotatably connected to the mounting columns.

3. The shot blasting and rust removal robot for rust removal on the hull surface according to claim 2, characterized in that: The driven wheel (62) is rotatably connected to the chassis (6) via a support connected to the bottom of the chassis (6), and an auxiliary adsorption magnet (64) is connected to the bottom of the support; The center distance between the two driven wheels (62) is greater than the center distance between the two driving wheels (61), and the center distance A between the driving wheel (61) and the driven wheel (62) is 250 mm.

4. The shot blasting and rust removal robot for rust removal on the hull surface according to any one of claims 1 to 3, characterized in that: The shot blasting machine also includes a floating sealing structure (5); The floating sealing structure (5) is arranged correspondingly at the ejection port, and comprises a bracket (51), a guide rod (52), a spring (53), a U-shaped pressure plate (54), a sealing strip (55) and a rectangular frame (56); There are two brackets (51), which are respectively mounted on two sides of the shot blasting shell (2), and each bracket (51) is provided with two mounting holes in the vertical direction, and each mounting hole is provided with a guide rod (52), and after each guide rod (52) passes through the mounting hole, its bottom end is connected to the corner position of the top end surface of the rectangular frame (56), and a retaining spring is sleeved on the guide rod (52), and the retaining spring is in contact with the upper surface of the bracket (51); The ejection opening is in a rectangular shape, and the rectangular frame (56) is sleeved on the ejection opening and has a shape that matches the ejection opening; the sealing strip (55) is sleeved on the rectangular frame (56); two U-shaped pressing plates (54) form a rectangular structure and are sleeved on the sealing strip (55), and the U-shaped pressing plates (54) and the sealing strip (55) are connected to the outer wall of the rectangular frame (56) by screws; The spring (53) is sleeved on the guide rod (52), and two ends of the spring (53) are respectively in contact with the rectangular frame (56) and the bracket (51).

5. The shot blasting and rust removal robot for rust removal on the hull surface according to claim 4, characterized in that: The silo (3) is also provided with a dust removal port (32) for connecting to an external dust removal device.

6. The shot blasting and rust removal robot for rust removal on the hull surface according to claim 5, characterized in that: An air inlet (22) is also provided on the side wall of the shot blasting shell (2) provided with a material discharge port (21).

7. The shot blasting and rust removal robot for rust removal on the hull surface according to claim 6, characterized in that: A feed port control motor (4) is arranged on the outer wall of a pipeline connecting the feed port (21) and the silo (3), the output end of which extends into the pipeline, and a gate is arranged in the pipeline, the gate is connected to the output end of the feed port control motor (4), and the feed port control motor (4) drives the gate to rotate to control the opening and closing of the feed port (21).

8. The shot blasting and rust removal robot for rust removal on the surface of a ship hull according to claim 7, characterized in that: The silo (3) comprises a silo body (33) and a top plate (34); the silo body (33) is connected to the shot blasting shell (2); the top plate (34) is located at the top of the silo body (33) and is connected to the silo body (33) by bolts; the dust removal port (32) and the feed port (31) are both located on the silo body (33); and the bottom of the silo body (33) is arranged corresponding to the ejection port and is connected to the ejection port.

9. The shot blasting and rust removal robot for rust removal on the hull surface according to claim 8, characterized in that: Two feed ports (31) are provided; two air inlets (22) are provided, and the air inlets (22) are connected with a curved pipe, one end of the curved pipe is connected to the air inlet (22), and the other end faces the ejection port.

10. The shot blasting and rust removal robot for rust removal on the surface of a ship hull according to claim 1, characterized in that: The chassis (6) is provided with a lifting ring (8).

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