Flat-bottom rust removal operation vehicle for ship and operation method of flat-bottom rust removal operation vehicle

Abstract

The invention discloses a flat bottom rust removal operation vehicle for a ship. The flat bottom rust removal operation vehicle comprises a vehicle body, a power module, a rotating motor, a telescopic electric cylinder, a straight arm assembly, a cleaning disc assembly and a wireless remote controller. The power module, the rotating motor and the telescopic electric cylinder are arranged on the vehicle body, and the power module provides kinetic energy for the operation vehicle and is electrically connected with the rotating motor, the telescopic electric cylinder and the cleaning disc assembly; one end of the straight arm assembly is connected with the telescopic electric cylinder, and the other end of the straight arm assembly is connected with the cleaning disc assembly; the middle part of the straight arm assembly is connected with the rotating motor; the telescopic electric cylinder is used for driving the straight arm assembly to move back and forth; the rotating motor is used for driving the straight arm assembly to axially rotate; the wireless remote controller is in communication connection with the power module and used for controlling the vehicle body, the efficiency of ship flat bottom rust removal operation can be improved, meanwhile, the operation risk is reduced, and the manpower requirement is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of ship rust removal, and in particular to a flat-bottom rust removal operation vehicle for ships and an operation method thereof. Background Art

[0002] In recent years, the global shipbuilding industry has continued to prosper, and countries have increased their investment in the marine economy. The vigorous development of shipbuilding and repair has led to higher and higher requirements for dock efficiency in the dock period, and the efficiency requirements for ultra-high pressure water operations in the dock are increasing.

[0003] Usually, after the ship enters the dock, the rust removal of the flat bottom of the ship relies on manual control of a small rust removal spray disc, which is inefficient and poses a safety hazard. The main equipment for ultra-high pressure water operations on the flat bottom of the hull is a semi-automatic high-pressure water spray disc with a flat-bottom trolley. The trolley relies on pure human drive and has the following problems and shortcomings: When performing ultra-high pressure water operations in the flat bottom area of ​​the ship, due to the small space, limited vision, and large water mist, traditional trolley operations pose a great safety hazard. Low operating efficiency: manual drive results in slow operating speed and low efficiency (less than 20 square meters / hour). High labor intensity: The operator needs to continuously push the equipment, which is labor-intensive. High manpower demand: More manpower is required to complete the operation (the number of people is configured as 2 people / unit). Summary of the invention

[0004] The present invention aims to overcome at least one defect of the above-mentioned prior art and provide a flat-bottom rust removal operation vehicle for ships to improve the efficiency of flat-bottom rust removal operations on ships, while reducing operation risks and manpower requirements.

[0005] The present invention provides a flat-bottom rust removal operation vehicle for ships, comprising a vehicle body, a power module, a rotating motor, a telescopic electric cylinder, a straight arm assembly, a cleaning disc assembly and a wireless remote controller; the power module, the rotating motor and the telescopic electric cylinder are arranged on the vehicle body, the power module provides kinetic energy for the operation vehicle, and is electrically connected to the rotating motor, the telescopic electric cylinder and the cleaning disc assembly; one end of the straight arm assembly is connected to the telescopic electric cylinder, and the other end is connected to the cleaning disc assembly; the middle part of the straight arm assembly is connected to the rotating motor; the telescopic electric cylinder is used to drive the straight arm assembly to move forward and backward; the rotating motor is used to drive the straight arm assembly to rotate axially; the wireless remote controller is communicatively connected to the power module and is used to control the vehicle body.

[0006] Usually, after the ship enters the dock, the flat bottom rust removal of the ship relies on manually holding a small rust removal spray disc to perform rust removal operations, which is inefficient and has potential safety hazards. The technology of the present invention solves the above problems and proposes a remote control operation vehicle and method for flat bottom rust removal of ships. After the ship enters the dock, the operator controls the operation vehicle through a wireless remote control to perform flat bottom ultra-high pressure water rust removal operations on the ship, which is highly efficient and reduces the burden on the operator, making it safer and more reliable. The flat bottom rust removal operation vehicle of the present invention mainly uses a power module to provide power, and controls the entire flat bottom rust removal operation vehicle by remote control. A communication control module can be set on the vehicle body to achieve communication connection with a remote remote control. In the flat bottom area of ​​the ship, due to the small space and limited vision, traditional flat bottom trolleys have great potential safety hazards when performing ultra-high pressure water operations. The flat bottom rust removal operation vehicle can be controlled by remote control, allowing the operator to operate at the injection port of the ultra-high pressure water spray disc, avoiding direct contact between the operator and the dangerous area, thereby reducing the risk of accidents.

[0007] The straight arm assembly of the present invention is made of high-strength steel, and a pin connection is provided in the middle and end of the straight arm, which can be used to connect the rotating motor and the telescopic electric cylinder; the rotating motor: installed on the vehicle body, mainly controls the straight arm assembly and the cleaning disc assembly to swing left and right, with a swing amplitude of ±30°. The telescopic electric cylinder: used to connect the rotating motor and the straight arm assembly, mainly by controlling the telescopic electric cylinder to achieve the height operating range of the straight arm and the cleaning disc assembly, the minimum operating height is 1450mm, the maximum operating height is 2000m, and the operating range can reach 550mm. The robot body can reach a minimum amplitude of 1450mm, which is suitable for most docks and has strong versatility.

[0008] Furthermore, the cleaning disc assembly includes, from bottom to top, a first support frame, a first drive assembly, a support disc, a cleaning disc, and a cutter head; the first support frame is connected to the straight arm assembly; one end of the first drive assembly is connected to the first support frame, and the other end passes through the support disc and the cleaning disc to connect to the cutter head, so as to drive the cutter head to rotate; the bottom of the support disc is movably connected to the first support frame, and the top is connected to the cleaning disc. Therefore, the cutter head, sealing brush, and roller assembly included in the cleaning disc assembly work together to achieve rust removal and splash prevention integration.

[0009] Preferably, the cutter head is provided with multiple groups of nozzles for spraying ultra-high pressure water, and the first driving component is a hydraulic motor. More preferably, the cutter head has 7 to 9 2 mm nozzles for spraying ultra-high pressure water, and the first driving component drives the cutter head to rotate to ensure rapid removal of paint on the flat bottom surface of the hull.

[0010] Furthermore, the flat-bottom rust removal vehicle of the present invention further includes a roller assembly; the roller assembly includes a first fixing plate, a first connecting frame, and a roller member from bottom to top; the first connecting frame is in a "Z" shape, and the bottom of the first connecting frame is fixed to the support plate through the first fixing plate; the top of the first connecting frame is connected to the roller member; the roller member is located outside the cleaning plate. During the operation of the equipment, the roller assembly can ensure that the cleaning plate assembly moves smoothly at a required speed.

[0011] Furthermore, the flat-bottom rust removal vehicle of the present invention also includes a buffer spring, which is sleeved on the outside of the first driving assembly, connected to the first support frame at the bottom, and connected to the bottom of the support plate at the top.

[0012] More preferably, the flat-bottom rust removal vehicle of the present invention also includes a balancing spring, the bottom of which is connected to the outer side of the first support frame, and the top is connected to the side of the support plate; the bottom of the balancing spring is inclined from the inside to the outside toward the top, and the angle with the horizontal plane is α, where 90°<α≤150°.

[0013] The balance spring and buffer spring of the present invention also ensure that the height or angle of the cleaning disc assembly can be adjusted automatically when the structure is uneven, thereby ensuring normal operation. The balance spring and buffer spring can realize elastic adjustment of the height between the first support frame and the cleaning disc. The balance spring adopts an oblique pull method, which can realize rapid rebound when the support disc drives the cleaning disc to tilt and shake, thereby ensuring the overall balance.

[0014] Furthermore, a sealing brush is provided on the top of the cleaning plate, which ensures that the water ejected by the ultra-high pressure water during the rust removal process will not splash, releases the pressure in the cleaning plate, and better avoids obstacles on the uneven surface of the hull.

[0015] Furthermore, the power module includes a generator and a battery, which are installed on one side of the vehicle body, and mainly provide power for the robot to walk, turn, rotate the straight arm and the cleaning disc assembly, and lift and lower.

[0016] The cleaning disc assembly is connected to the straight arm assembly by a rotating joint and a spring. More preferably, the cleaning disc assembly can swing within a range of 15° left and right, and within an axial range of 1° to 2° (the axial swing is achieved by the pulling of a strong spring) to fit with the flat bottom of the hull. A circle of brushes is installed on the periphery of the cleaning disc assembly frame to form a seal and a soft connection between the cleaning disc and the working surface. 22 jet ports are arranged on the cutter head in the cleaning disc assembly, and the jet ports form a certain angle with the vertical plane. The component force of the high-pressure water jet in the linear direction of the jet ports drives the cutter head to rotate; the wireless remote control is communicatively connected to the power module for controlling the vehicle body, which can improve the efficiency of flat bottom rust removal operations on ships, while reducing operational risks and manpower requirements.

[0017] The present invention also provides an operation method of a flat-bottom rust removal operation vehicle, the operation method comprising the following steps:

[0018] S1: Start the flat-bottom rust removal vehicle: The operator first starts the power module: including the generator and battery, to provide the necessary power for the flat-bottom rust removal vehicle;

[0019] S2: Remote control operation: The operator uses a wireless remote control to control the movement and steering of the flat-bottom rust removal vehicle to reach the designated work area.

[0020] S3: Adjust the working height: Use the remote control to operate the telescopic electric cylinder to adjust the working height of the straight arm assembly and the cleaning plate assembly to adapt to the flat bottom structure of different hulls. The working height ranges from 1450mm to 2000mm.

[0021] S4: Control the cleaning disc assembly: Using the remote control, the operator controls the rotary motor to make the cleaning disc assembly swing left and right under the drive of the straight arm assembly to cover a wider working area;

[0022] S5: Start rust removal: When the cleaning disc assembly reaches the appropriate position and angle, the operator starts the hydraulic motor on the cleaning disc assembly to rotate the cutter head and spray ultra-high pressure water to remove rust through 6 to 9 2mm nozzles; the ultra-high pressure water internal operation vehicle can be installed.

[0023] S6: Operation monitoring: During the entire operation process, the operator monitors the working status of the cleaning disc assembly through the remote control to ensure the continuity and uniformity of the rust removal operation;

[0024] S7: Obstacle avoidance: When the cleaning disc assembly encounters an uneven obstacle on the hull surface, the balance spring and buffer spring will automatically adjust the height or angle of the cleaning disc assembly, sealing the brush while preventing water splashing, ensuring the continuity and safety of the operation;

[0025] S8: Operation completed: After the rust removal operation is completed, the operator moves the flat-bottom rust removal vehicle to a safe area through the remote control, and turns off the power module to end the operation.

[0026] Furthermore, the generator in step S1 is a diesel range extender, and the battery is a lead-acid battery; the power system for the flat-bottom rust removal vehicle in step S2 is a 1.5kw brushless motor; the steering system of the flat-bottom rust removal vehicle is a 400w closed-loop stepper motor; the rotating motor is a 600w slewing mechanism; in step S3, the telescopic electric cylinder is a 600w lifting electro-hydraulic cylinder; the swing amplitude of the cleaning disc assembly in step S4 is ±30°.

[0027] The flat-bottom rust removal vehicle system is composed of an extended-range power supply system and an electric actuator. Through the communication between the remote control and the receiver, the signals of the remote control's rocker and switch are transmitted to the receiver through communication, and the receiver transmits the remote control panel signal to the flat-bottom rust removal vehicle controller through the CAN / 485 bus protocol. The flat-bottom rust removal vehicle controller parses the panel data brought by the communication protocol and splits the data into control signals such as walking, steering, rotation, lifting, and lighting. Among them: walking controls the brushless motor driver through the 485 protocol to drive the brushless motor to operate. Steering controls the closed-loop stepper to rotate a specified number of circles through the PWM signal, and the steering wheel is turned through the mechanical structure transmission. The rotation controls the forward and reverse rotation of the motor through the switch signal, and the mechanical structure transmission makes the slewing mechanism complete clockwise / counterclockwise rotation. The lifting mechanism controls the forward and reverse rotation of the motor through the switch signal, and the hydraulic mechanism transmission makes the cylinder retract and retract to complete the lifting or lowering action. The lighting controls the LED on and off through the switch signal.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] When the flat-bottom rust removal vehicle of the present invention is used in the flat-bottom area of ​​a ship and the ultra-high pressure water operation is performed in the flat-bottom area of ​​the ship, the operation of a traditional trolley has great safety hazards due to the narrow space, limited vision and large water mist. The remote control vehicle can be operated from a few meters away, allowing the operator to observe the spray port of the ultra-high pressure water spray disc, avoiding direct contact between the operator and the dangerous area, thereby reducing the risk of accidents. At the same time, it can free the hands of the operators and reduce the labor intensity of the operators. In addition, it can significantly improve the efficiency of the ultra-high pressure water full scraping operation in the flat-bottom area, meeting the urgent needs of the ship repair dock period. Moreover, the present invention is purely electric, energy-saving and environmentally friendly, with simple parts and components and convenient maintenance.

[0030] The efficiency of the ultra-high pressure water scraper in the prior art is 20 square meters / hour. After multiple dock tests on the test samples, the efficiency of the flat-bottom remote-controlled work vehicle of the present invention can be stabilized at 40 square meters / hour, and the operating efficiency can be improved by 100%.

[0031] In the prior art, a single flat-bottomed trolley requires two strong workers to take turns to maintain long-term continuous operation due to the high intensity of operation. The present invention is controlled by a remote control, and the operator only needs to adjust the direction on the remote control, saving the operator's hands, and ordinary adults can perform long-term continuous operations. Each time the work vehicle of the present invention replaces a flat-bottomed trolley, one worker can be reduced. Moreover, the remote control work vehicle is controlled by a remote control, the operation is more uniform, the operation quality is consistent, and the rework problem caused by various quality dissatisfaction caused by human emotions and lack of concentration is avoided, saving the time cost caused by rework. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the operating state of the flat-bottom rust removal operation vehicle of the present invention.

[0033] Figure 2 It is a schematic diagram of the minimum operating height of the flat-bottom rust removal operation vehicle of the present invention.

[0034] Figure 3 It is a schematic diagram of the maximum operating height of the flat-bottom rust removal operation vehicle of the present invention.

[0035] Figure 4 It is a schematic diagram of the explosion structure of the flat-bottom rust removal operation vehicle of the present invention.

[0036] Figure 5 It is a schematic diagram of the swing angle of the straight arm assembly of the flat-bottom rust removal operation vehicle of the present invention.

[0037] Figure 6 It is a schematic diagram of the three-dimensional structure of the cleaning pan assembly of the flat-bottom rust removal operation vehicle of the present invention.

[0038] Figure 7 It is a schematic diagram of the test structure of the cleaning disc assembly of the flat-bottom rust removal operation vehicle of the present invention.

[0039] Figure 8 This is a schematic diagram of the three-dimensional structure of the cleaning disc assembly of the flat-bottom rust removal vehicle of the present invention from another perspective. DETAILED DESCRIPTION

[0040] The drawings in the embodiments provide a more detailed description of the technical solutions in the embodiments of the present invention. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in 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. The embodiments of the present invention are described in detail below in conjunction with the drawings.

[0041] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0042] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application. Example 1

[0043] This embodiment provides a flat-bottom rust removal vehicle for ships, such as Figure 1 As shown in FIG. 1 , the operation process of the flat-bottom rust removal vehicle is shown. The hull 100 is placed on the dock 200, and the flat-bottom rust removal vehicle 300 operates under the flat bottom of the hull. Figures 2 to 4 As shown, it includes a vehicle body 1, a power module 2, a rotating motor 3, a telescopic electric cylinder 4, a straight arm assembly 5, a cleaning plate assembly 6, and a wireless remote control which are not shown in the figure; the straight arm assembly 5 of the present invention is a straight arm made of high-strength steel, and a pin connection is provided in the middle and end of the straight arm, which can be used to connect the rotating motor 3 and the telescopic electric cylinder 4; combined with Figure 5As shown, the rotating motor 3 is installed on the vehicle body 1, mainly to control the straight arm assembly 5 and the cleaning disc assembly 6 to swing left and right, with a swing amplitude of ±30°. The telescopic electric cylinder is used to connect the rotating motor 3 and the straight arm assembly 5, mainly by controlling the telescopic electric cylinder 4 to achieve the height of the straight arm and the cleaning disc assembly 6. The minimum operating height is 1450mm, the maximum operating height is 2000m, and the operating amplitude can reach 550mm. The robot body 1 can reach a minimum amplitude of 1450mm, which is suitable for most docks and has strong versatility.

[0044] The power module 2 includes a generator and a battery, which is installed on one side of the vehicle body 1, and is mainly used to provide power for the robot to walk, turn, rotate and lift the straight arm and the cleaning disc assembly 6. The wireless remote control is connected to the power module 2 for controlling the vehicle body 1. After the ship enters the dock, the operator controls the operation vehicle through the wireless remote control to perform the flat-bottom ultra-high pressure water rust removal operation of the ship, which is highly efficient and reduces the burden on the operator, making it safer and more reliable. The flat-bottom rust removal operation vehicle of the present invention mainly uses the power module 2 to provide power, and controls the entire flat-bottom rust removal operation vehicle by remote control. A communication control module can be set on the vehicle body 1 to achieve communication connection with a remote remote control. In the flat-bottom area of ​​the ship, due to the small space and limited vision, traditional flat-bottom trolleys have great safety hazards when performing ultra-high pressure water operations. The flat-bottom rust removal operation vehicle can be controlled by remote control, allowing the operator to operate at the injection port of the ultra-high pressure water spray disc, avoiding direct contact between the operator and the dangerous area, thereby reducing the risk of accidents.

[0045] like Figures 6-7 As shown, the cleaning disc assembly 6 includes a first support frame 61, a hydraulic motor 62, a support disc 63, a cleaning disc 64, a cutter head 65, a buffer spring 66, a balance spring 67, and a roller assembly 68 from bottom to top; the first support frame 61 is connected to the straight arm assembly 5; one end of the hydraulic motor 62 is connected to the first support frame 61, and the other end passes through the support disc 63 and the cleaning disc 64 to connect the cutter head 65 to drive the cutter head 65 to rotate; the bottom of the support disc 63 is movably connected to the first support frame 61, and the top is connected to the cleaning disc 64, and the top of the cleaning disc 64 is provided with a sealing brush. The cutter head 65 has 7 2mm nozzles for spraying ultra-high pressure water, and the hydraulic motor 62 drives the cutter head 65 to rotate to ensure the rapid removal of paint on the flat bottom surface of the hull. The buffer spring 66 is sleeved on the outside of the hydraulic motor 62, the bottom is connected to the first support frame 61, and the top is connected to the bottom of the support disc 63. The bottom of the balance spring 67 is connected to the outer side of the first support frame 61, and the top is connected to the side of the support plate 63; the bottom of the balance spring 67 is inclined from the inside to the outside toward the top, and the angle α with the horizontal plane is 100°, and the cleaning plate assembly has the best adaptability.

[0046] like Figure 8 As shown, the first support frame 61 includes a small arm 611, a base plate 612, a first support plate 613, a bolt connector 614 and a second support plate 615; one end of the small arm 611 is fixed to the straight arm assembly 5; the other end is fixed to the base plate 612; the first support plate 613 has two groups, which are vertically arranged on both sides of the base plate 612; the second support plate 615 also has two groups, one end of which is fixed to the bottom of the support plate 63, and the other end is connected to the first support plate 613 through the bolt connector 614; and the connection position of the first support plate 613 is provided with a card slot 10, which can realize the up and down sliding of the first support plate 613 and the second support plate 615. The bottom of the buffer spring 66 is fixed to the bottom plate 612, and the top is connected to the support plate 63; under the rebound force of the buffer spring 66, the bolt connector 614 slides to the top of the slot 10; when there is downward pressure during operation, the bolt connector 614 drives the second support plate 615 to slide downward to adapt to different working heights.

[0047] like Figures 7-8 As shown, the roller assembly 68 includes a first fixing plate 681, a first connecting frame 682, and a roller member 683 from bottom to top; the first connecting frame 682 is in a "Z" shape, and the bottom of the first connecting frame 682 is fixed to the support plate 63 through the first fixing plate 681; the top of the first connecting frame 682 is connected to the roller member 683; the roller member 683 is located on the outside of the cleaning plate 64. During the operation of the equipment, the roller assembly 68 can ensure that the cleaning plate assembly 6 moves smoothly at a required speed. Example 2

[0048] This embodiment also provides an operation method of a flat-bottom rust removal operation vehicle, the operation method comprising the following steps:

[0049] S1: Start the flat-bottom rust removal vehicle: The operator first starts the power module 2: including a generator and a battery, which provides the necessary power for the flat-bottom rust removal vehicle; the generator is a diesel range extender, and the battery is a lead-acid battery

[0050] S2: Remote control operation: The operator uses a wireless remote control to control the flat-bottom rust removal vehicle to move and turn, so that it reaches the designated work area. The power system for moving is a 1.5kw brushless motor; the power system for steering the flat-bottom rust removal vehicle is a 400w closed-loop stepper motor;

[0051] S3: Adjust the working height: operate the telescopic electric cylinder 4 through the remote control. The telescopic electric cylinder 4 is a 600w lifting electro-hydraulic cylinder. Adjust the working height of the straight arm assembly 5 and the cleaning plate assembly 6 to adapt to the flat bottom structure of different hulls. The working height ranges from 1450mm to 2000mm.

[0052] S4: Control the cleaning disc assembly 6: Control the cleaning disc assembly 6: Using the remote control, the operator can control the rotary motor 3 to make the cleaning disc assembly 6 swing left and right under the drive of the straight arm assembly 5, with a swing amplitude of ±30° to cover a wider working area;

[0053] S5: Start rust removal: When the cleaning disc assembly 6 reaches a suitable position and angle, the operator starts the hydraulic motor 62 on the cleaning disc assembly 6 to rotate the cutter head 65 and spray ultra-high pressure water to perform rust removal through 7 2 mm nozzles;

[0054] S6: Operation monitoring: During the entire operation process, the operator monitors the working status of the cleaning disc assembly 6 through the remote control to ensure the continuity and uniformity of the rust removal operation;

[0055] S7: Obstacle avoidance: When the cleaning disc assembly 6 encounters an uneven obstacle on the hull surface, the balance spring 67 and the buffer spring 66 will automatically adjust the height or angle of the cleaning disc assembly 6, sealing the brush while preventing water splashing, ensuring the continuity and safety of the operation;

[0056] S8: Operation completed: After the rust removal operation is completed, the operator moves the flat-bottom rust removal operation vehicle to a safe area through the remote control, and turns off the power module 2 to end the operation.

[0057] Through the above implementation methods, the remote control work vehicle created by this technology can effectively improve the efficiency of ship flat bottom rust removal operations, while reducing operation risks and manpower requirements, providing a safer and more efficient solution for the ship maintenance industry.

[0058] The flat-bottom rust removal vehicle system in this embodiment is composed of an extended-range power supply system and an electric actuator. Through the communication between the remote control and the receiver, the signals of the remote control's rocker and switch are transmitted to the receiver through communication, and the receiver transmits the remote control panel signal to the flat-bottom rust removal vehicle controller through the CAN / 485 bus protocol. The flat-bottom rust removal vehicle controller parses the panel data brought by the communication protocol and splits the data into control signals such as walking, steering, rotation, lifting, and lighting. Among them: walking controls the brushless motor driver through the 485 protocol to drive the brushless motor to operate. Steering controls the closed-loop stepping rotation of a specified number of circles through the PWM signal, and the steering wheel is turned through the mechanical structure transmission. The rotation controls the forward and reverse rotation of the motor through the switch signal, and the mechanical structure transmission makes the slewing mechanism complete clockwise / counterclockwise rotation. The lifting mechanism controls the forward and reverse rotation of the motor through the switch signal, and the hydraulic mechanism transmission makes the oil cylinder retract and retract to complete the lifting or lowering action. The lighting controls the LED on and off through the switch signal. In summary, the flat-bottom rust removal operation vehicle of the present invention is of great necessity to replace the human pushcart for ultra-high pressure water operation. Through the application of automatic control technology, the operation efficiency can be significantly improved, the operation safety can be guaranteed, the labor cost can be saved, and sustainable development can be promoted. The existing remote control technology on the current market can ensure that the flat-bottom rust removal operation vehicle performs continuous and stable operation. The flat-bottom rust removal operation vehicle will play an increasingly important role in the ultra-high pressure water operation in the flat bottom area of ​​the ship.

[0059] The above embodiments are only used to illustrate the technical solution of the present invention and are not intended to limit it. Although the present invention is described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention. Those skilled in the art may also make other changes within the spirit of the present invention and apply them to the design of the present invention, as long as they do not deviate from the technical effects of the present invention. These changes made according to the spirit of the present invention should be included in the scope of protection claimed by the present invention.

Claims

1. A flat-bottom rust removal vehicle for ships, characterized in that: It comprises a vehicle body (1), a power module (2), a rotating motor (3), a telescopic electric cylinder (4), a straight arm assembly (5), a cleaning disc assembly (6) and a wireless remote controller; The power module (2), the rotating motor (3), and the telescopic electric cylinder (4) are arranged on the vehicle body (1); the power module (2) provides kinetic energy for the working vehicle and is electrically connected to the rotating motor (3), the telescopic electric cylinder (4), and the cleaning disc assembly (6); One end of the straight arm assembly (5) is connected to the telescopic electric cylinder (4), and the other end is connected to the cleaning disc assembly (6); the middle part of the straight arm assembly (5) is connected to the rotating motor (3); The telescopic electric cylinder (4) is used to drive the straight arm assembly (5) to move forward and backward; the rotary motor (3) is used to drive the straight arm assembly (5) to rotate axially; The wireless remote controller is communicatively connected to the power module (2) and is used to control the vehicle body (1).

2. The flat bottom rust removal vehicle according to claim 1, characterized in that: The cleaning disc assembly (6) comprises, from bottom to top, a first support frame (61), a first drive assembly, a support disc (63), a cleaning disc (64) and a cutter head (65); The first support frame (61) is connected to the straight arm assembly (5); One end of the first driving component is connected to the first supporting frame (61), and the other end passes through the supporting plate (63) and the cleaning plate (64) and is connected to the cutter head (65) to drive the cutter head (65) to rotate; The bottom of the support plate (63) is movably connected to the first support frame (61), and the top is connected to the cleaning plate (64).

3. The flat bottom rust removal vehicle according to claim 2, characterized in that: The cutter head (65) is provided with a plurality of nozzles for spraying ultra-high pressure water, and the first driving component is a hydraulic motor (62).

4. The flat bottom rust removal vehicle according to claim 2, characterized in that: The cleaning device further comprises a roller assembly (68); the roller assembly (68) comprises, from bottom to top, a first fixing plate (681), a first connecting frame (682), and a roller member (683); the first connecting frame (682) is in a "Z" shape, and the bottom of the first connecting frame (682) is fixed to the supporting plate (63) via the first fixing plate (681); the top of the first connecting frame (682) is connected to the roller member (683); and the roller member (683) is located on the outer side of the cleaning plate (64).

5. The flat bottom rust removal vehicle according to claim 2, characterized in that: It also includes a buffer spring (66), which is sleeved on the outside of the first driving component, with a bottom connected to the first support frame (61) and a top connected to the bottom of the support plate (63).

6. The flat bottom rust removal vehicle according to claim 5, characterized in that: It also includes a balancing spring (67), the bottom of the balancing spring (67) is connected to the outer side of the first support frame (61), and the top is connected to the side of the support plate (63); the bottom of the balancing spring (67) is inclined from the inside to the outside toward the top, and the angle with the horizontal plane is α, wherein 90°<α≤150°.

7. The flat bottom rust removal vehicle according to claim 6, characterized in that: A sealing brush is provided on the top of the cleaning plate (64).

8. The flat bottom rust removal vehicle according to any one of claims 1 to 7, characterized in that: The power module (2) comprises a generator and a battery, and is used to provide the working vehicle with walking, steering, rotation and lifting of the straight arm assembly (5) and the cleaning disc assembly (6).

9. A method for operating a flat-bottom rust removal vehicle, characterized in that: The method is implemented by using the flat-bottom rust removal vehicle according to any one of claims 6 to 7, and the method comprises the following steps: S1: Starting the flat-bottom rust removal operation vehicle: The operator first starts the power module (2): including a generator and a battery, to provide the necessary power for the flat-bottom rust removal operation vehicle; S2: Remote control operation: The operator uses a wireless remote control to control the movement and steering of the flat-bottom rust removal vehicle to reach the designated work area. S3: Adjusting the working height: The telescopic electric cylinder (4) is operated by the remote controller to adjust the working height of the straight arm assembly (5) and the cleaning plate assembly (6) to adapt to the flat bottom structure of different hulls. The working height range is 1450 mm to 2000 mm. S4: Controlling the cleaning disc assembly (6): Using a remote controller, the operator controls the rotary motor (3) to make the cleaning disc assembly (6) swing left and right under the drive of the straight arm assembly (5) to cover a wider working area; S5: start rust removal: when the cleaning disc assembly (6) reaches a suitable position and angle, the operator starts the first drive assembly on the cleaning disc assembly (6) to rotate the cutter head (65) and spray ultra-high pressure water to perform rust removal through 6 to 9 2 mm nozzles; S6: Operation monitoring: During the entire operation process, the operator monitors the working status of the cleaning disc assembly (6) through the remote control to ensure the continuity and uniformity of the rust removal operation; S7: Obstacle avoidance: When the cleaning disc assembly (6) encounters an uneven obstacle on the hull surface, the balance spring (67) and the buffer spring (66) will automatically adjust the height or angle of the cleaning disc assembly (6), sealing the brush while preventing water splashing, ensuring the continuity and safety of the operation; S8: Operation completed: After the rust removal operation is completed, the operator moves the flat-bottom rust removal operation vehicle to a safe area through the remote control, and turns off the power module (2), thus ending the operation.

10. The flat bottom rust removal vehicle according to claim 9, characterized in that: The generator in step S1 is a diesel range extender, and the battery is a lead-acid battery; the power system for the flat-bottom rust removal vehicle in step S2 is a 1.5kw brushless motor; the steering system of the flat-bottom rust removal vehicle is a 400w closed-loop stepper motor; the rotating motor (3) is a 600w rotary mechanism; in step S3, the telescopic electric cylinder (4) is a 600w lifting electric hydraulic cylinder; and the swing amplitude of the cleaning disc assembly (6) in step S4 is ±30°.

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