Rust removal and flaw detection system for curved-surface ship body

Abstract

The invention discloses a rust removal and flaw detection system for a curved hull, which comprises a positioning mechanism, a guide mechanism, a polishing mechanism, a first adsorption assembly, a plurality of polishing assemblies and a reciprocating polishing mechanism, rust on the surface of the hull can be quickly cleaned, the rust removal efficiency is obviously improved, and the positioning mechanism reciprocates in a first direction or a second direction, so that the rust removal efficiency is improved. The ship hull rust removal system adapts to a complex curved surface structure of the surface of a ship hull, thoroughness and uniformity of rust removal are ensured, meanwhile, universality and applicability are improved, it is ensured that the system is tightly attached to the surface of the ship hull in the rust removal process through a first adsorption assembly, and through control of a driving assembly and a reversing assembly, rust removal efficiency is improved. And the polishing mechanism can conduct cleaning operation in different directions on the surface of the ship body, the problems that manual rust removal efficiency is low and rust is difficult to thoroughly remove through mechanical rust removal are solved, the safety of high-altitude operation is improved, and the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of ship rust removal and maintenance, and in particular to a rust removal and flaw detection system for curved hulls. Background Art

[0002] At present, in the shipbuilding industry, the number of newly built ships is increasing, and the maintenance and rectification problems of a large number of old ships are gradually becoming prominent, especially the corrosion problem of hull outer plate is particularly serious.

[0003] Hull plating corrosion has a profound impact on every aspect of a ship. From a safety perspective, corrosion reduces the strength and stability of the hull structure, increasing the risk of accidents during navigation, threatening the lives of crew members and the safe transportation of cargo. Regarding navigation performance, corrosion roughens the hull surface, increasing the ship's resistance in the water, reducing navigation speed and fuel efficiency, and thus affecting the ship's operational efficiency. In terms of economic costs, corrosion shortens the ship's service life and increases repair and replacement costs. Furthermore, reduced navigation performance leads to increased fuel consumption, further increasing operating costs. Furthermore, from an environmental perspective, corrosion products may enter the marine environment, polluting the marine ecosystem and failing to meet current environmental protection requirements.

[0004] Currently, traditional methods for rust removal from hull plating include manual, machine-assisted, and chemical rust removal. Manual rust removal is labor-intensive and inefficient, making it difficult to meet the needs of large-scale rust removal. Machine-assisted rust removal has a low degree of automation, is complex to operate, and struggles to completely remove rust, resulting in suboptimal rust removal results. Chemical rust removal can cause severe pollution and pose significant environmental risks. Furthermore, the dosage of chemical reagents is difficult to precisely control, making overdose or underdose prone to occur, impacting both rust removal effectiveness and safety.

[0005] Existing rust removal equipment faces significant applicability issues when dealing with different types of ships. For large ships, the rust removal work area is extremely large, requiring extensive treatment, making traditional rust removal methods inefficient. Furthermore, rust removal on large ships involves working at height, posing significant safety risks. Smaller ships, with their complex hull structures, numerous curved surfaces, and uneven surfaces, make traditional rust removal methods difficult to completely remove in one go, and are prone to blind spots, impacting the quality of the removal process.

[0006] Existing rust removal technologies and methods have many drawbacks, which seriously affect the efficiency and quality of ship repair and maintenance. Not only do they increase the cost and time of ship repair, but they may also have a negative impact on the safe operation of ships and environmental protection. Summary of the Invention

[0007] In view of the defects existing in the prior art, the present application provides a rust removal and flaw detection system for a curved hull to solve the problems of poor applicability and low cleaning efficiency of the rust removal means in the prior art.

[0008] The above-mentioned purpose of this application is mainly achieved through the following technical solutions:

[0009] A rust removal and flaw detection system for a curved hull, the rust removal and flaw detection system comprising:

[0010] There are at least two positioning mechanisms, each of which is provided with a drive assembly, and a reversing assembly is provided between the drive assembly and the positioning mechanism. The drive assembly can drive the positioning mechanism to move back and forth, and the reversing assembly can drive the drive assembly to move so that the positioning mechanism moves back and forth in a first direction or a second direction;

[0011] a guiding mechanism movably connected between the two positioning mechanisms;

[0012] a grinding mechanism movably connected to the guide member and capable of reciprocating on the guide member, wherein the grinding mechanism is provided with a plurality of grinding components for cleaning the surface of the hull;

[0013] The first adsorption component is provided on the positioning mechanism, and is used for forming a negative pressure area between the positioning mechanism and the surface of the hull to limit the separation of the positioning mechanism from the surface of the hull.

[0014] In an optional embodiment, the drive assembly includes at least three drive units, and the drive unit includes a first drive motor and a drive wheel that are transmission-connected. The first drive motor drives the drive wheel to rotate. The first drive motor is connected to the reversing assembly. The positioning mechanism is also provided with a shooting assembly to obtain image information of the hull surface.

[0015] In an optional embodiment, the reversing assembly includes a second drive motor connected between the positioning mechanism and the first drive motor, and the second drive motor drives the drive unit to rotate relative to the positioning mechanism to switch the moving direction of the positioning mechanism.

[0016] In an optional embodiment, a second adsorption component is provided on the rolling surface of the driving wheel, and the second adsorption component includes a plurality of suction cup parts and magnetic parts for adsorbing on the surface of the hull. The second adsorption component also includes a plurality of base plates arranged circumferentially on the rolling surface of the driving wheel, and a plurality of elastic parts are connected between the base plates and the driving wheel, and the suction cup part and the magnetic part are fixedly provided on each of the base plates.

[0017] In an optional embodiment, the driving wheel includes a wheel frame, and four arc-shaped units and four strip-shaped units that are retractably arranged on the wheel frame. The four arc-shaped units can be combined to form a ring-shaped wheel. When the four arc-shaped units are extended, the four strip-shaped units can be extended between adjacent arc-shaped units. The arc-shaped units and the strip-shaped units can be combined in turn to form a rectangular wheel.

[0018] In an optional embodiment, the wheel frame is provided with a third drive motor and a driving wheel and a driven wheel with opposite rotation directions, the third drive motor is connected to and drives the driving wheel and one of the driven wheels to rotate, each of the arc-shaped units is provided with a scissors-type telescopic mechanism, the driving end of the scissors-type telescopic mechanism is connected to the driving wheel and the driven wheel, so that when the driving wheel and the driven wheel rotate in the direction, the scissors-type telescopic mechanism extends or shortens.

[0019] In an optional embodiment, the wheel frame is provided with a fourth drive motor and a rotatable guide plate, the fourth drive motor is connected to and drives the guide plate to rotate, the guide plate is provided with a guide groove, the wheel frame is provided with a plurality of first slides, each of the arc-shaped units is provided with a first connecting rod mounted on the first slide, and the first connecting rod is also provided with a first sliding block extending into the guide groove, so that when the guide plate rotates, the first connecting rod reciprocates and extends on the first slide.

[0020] In an optional embodiment, the second adsorption assembly includes a plurality of detachably connected adsorption modules, and adjacent adsorption modules are provided with matching connecting portions and accommodating portions.

[0021] In an optional embodiment, the guiding mechanism includes a base fixed on the positioning mechanism, a rotating drum is provided on the base, and a fifth drive motor is transmission-connected to the rotating drum, a traction rope is wound around the rotating drum, and the fifth drive motor is used to drive the rotating drum to rotate and wind the traction rope, and the grinding mechanism is provided with a walking mechanism, and the walking mechanism includes a walking wheel clamped on the traction rope, and a sixth drive motor that drives the walking wheel to rotate.

[0022] In an optional embodiment, the grinding mechanism includes a first plate and a second plate arranged at intervals, a plurality of telescopic driving members are provided between the first plate and the second plate, the second plate is provided with the first adsorption component, and a seventh driving motor connected to and driving the grinding component to rotate, and the first plate is provided with the first adsorption component and the walking mechanism.

[0023] Compared with the prior art, the advantages of this application are:

[0024] The rust removal and flaw detection system in the present application is applied to rust removal operations on curved hulls, and the rust removal and flaw detection system includes a positioning mechanism, a guiding mechanism, a grinding mechanism and a first adsorption component. There are at least two positioning mechanisms, and a driving component is provided on the positioning mechanism. A reversing component is provided between the driving component and the positioning mechanism, and the driving component can drive the positioning mechanism to move back and forth, and the reversing component can drive the driving component to move so that the positioning mechanism can move back and forth in a first direction or a second direction; the guiding mechanism is movably connected between the two positioning mechanisms; the grinding mechanism is movably connected to the guiding member and can move back and forth on the guiding member, and the grinding mechanism is provided with a plurality of grinding components for cleaning the surface of the hull; the first adsorption component is provided on the positioning mechanism, and the first adsorption component is used to form a negative pressure area between the positioning mechanism and the surface of the hull to limit the separation of the positioning mechanism from the surface of the hull.

[0025] The advantages of the rust removal and flaw detection system are its efficient rust removal capabilities, adaptability to complex curved surfaces, stable adhesion, and automated and environmentally friendly features. This not only improves rust removal efficiency but also ensures operational safety and environmental friendliness.

[0026] The rust removal and flaw detection system, utilizing multiple grinding components and a reciprocating grinding mechanism, can rapidly remove rust from ship hull surfaces, significantly improving rust removal efficiency. Compared to traditional manual or single-machine rust removal methods, it achieves uniform rust removal over a large area, making it particularly suitable for large-scale rust removal tasks on large vessels. This highly efficient rust removal capability directly addresses the inefficiency of manual rust removal and the difficulty of mechanical rust removal in completely removing rust, providing a faster and more reliable solution for ship maintenance.

[0027] The positioning mechanism, through the coordinated action of the drive and reversing components, can reciprocate in either a first or second direction. This multi-directional movement allows the system to flexibly adapt to the complex curved structures of a ship's surface. Whether it's the flat surfaces of large vessels or the complex curves of smaller ones, it can effectively remove rust. This effectively addresses the difficulty of curving smaller vessels, ensuring thorough and uniform rust removal while also improving the system's versatility and applicability.

[0028] The first adsorption assembly creates a negative pressure zone between the positioning mechanism and the hull surface, ensuring a tight fit between the system and the hull during the rust removal process, effectively preventing separation. This not only improves system stability but also reduces safety risks associated with loose or slipping equipment, significantly enhancing operational safety, especially during high-altitude operations. This effectively addresses the high risk of high-altitude operations on large vessels, providing a safer and more reliable guarantee for ship repair operations.

[0029] The rust removal and flaw detection system, controlled by a drive assembly and a reversing assembly, enables the grinding mechanism to clean the hull surface in different directions, thereby systematically completing the complete coverage of the target area on the hull surface. This physical grinding method avoids the environmental pollution caused by chemical rust removal, meeting modern environmental protection requirements. This not only solves the serious pollution problems and difficult dosage control issues of chemical rust removal, but also improves the overall performance and sustainability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0031] Figure 1 This is a schematic diagram of the operation of the rust removal and flaw detection system provided in an embodiment of the present application;

[0032] Figure 2 A schematic structural diagram of the upper portion of the positioning mechanism provided in an embodiment of the present application;

[0033] Figure 3 A schematic structural diagram of the lower portion of the positioning mechanism provided in an embodiment of the present application;

[0034] Figure 4 A schematic structural diagram of a first angle of a driving wheel provided in an embodiment of the present application;

[0035] Figure 5 A schematic structural diagram of a second angle of the driving wheel provided in an embodiment of the present application;

[0036] Figure 6 A partially enlarged schematic diagram of a wheel carrier provided in an embodiment of the present application;

[0037] Figure 7 A schematic diagram of the structure of a rectangular driving wheel provided in an embodiment of the present application;

[0038] Figure 8 A schematic diagram of the disassembly of the adsorption module provided in an embodiment of the present application;

[0039] Figure 9 A schematic diagram of the splitting of the bar unit provided in an embodiment of the present application;

[0040] Figure 10 A schematic structural diagram of a grinding mechanism provided by an embodiment of the present application from a first angle;

[0041] Figure 11 A schematic structural diagram of a second angle of view of the grinding mechanism provided in an embodiment of the present application;

[0042] In the figure: 100, positioning mechanism; 101, shooting assembly; 102, magnetic block; 103, sandblasting device; 104, second drive motor; 200, drive assembly; 201, drive unit; 202, first drive motor; 203, drive wheel; 204, wheel frame; 205, arc unit; 206, bar unit; 207, third drive motor; 208, driving wheel; 209, driven wheel; 210, scissor-type telescopic mechanism; 300, fourth drive motor; 301, guide plate; 302, guide groove; 303, first slideway; 304, first connecting rod; 305, first slider; 306, assembly groove; 307, constraint groove; 308, positioning block; 400 , guiding mechanism; 401, base; 402, rotating drum; 403, fifth drive motor; 404, traction rope; 405, walking mechanism; 406, walking wheel; 407, sixth drive motor; 500, grinding mechanism; 501, grinding assembly; 502, first plate; 503, second plate; 504, telescopic driving member; 505, seventh drive motor; 601, first adsorption assembly; 602, second adsorption assembly; 603, suction cup part; 604, magnetic part; 605, base plate; 606, elastic part; 701, adsorption module; 702, connecting part; 703, accommodating part; 704, eighth drive motor; 705, friction wheel; 800, hull surface. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the description of these embodiments is intended to help understand the present invention, but does not constitute a limitation of the present invention. The specific structural and functional details disclosed herein are merely intended to describe exemplary embodiments of the present invention. However, the present invention can be embodied in many alternative forms, and it should not be understood that the present invention is limited to the embodiments set forth herein.

[0044] like Figure 1 As shown, Figure 1 This is a schematic diagram of the operation of the rust removal and flaw detection system provided in an embodiment of the present application. A rust removal and flaw detection system for a curved hull, comprising a positioning mechanism 100, a guiding mechanism 400, a grinding mechanism 500, and a first adsorption component 601, wherein:

[0045] like Figure 1 、 Figure 2 and Figure 3 As shown, Figure 2 A schematic structural diagram of the upper portion of the positioning mechanism 100 provided in an embodiment of the present application; Figure 3This is a schematic structural diagram of the lower portion of the positioning mechanism 100 provided in an embodiment of the present application; the positioning mechanism 100 is provided with at least two, a driving component 200 is provided on the positioning mechanism 100, a reversing component is provided between the driving component 200 and the positioning mechanism 100, the driving component 200 can drive the positioning mechanism 100 to move back and forth, and the reversing component can drive the driving component 200 to move, so that the positioning mechanism 100 can move back and forth in a first direction or a second direction.

[0046] At least two positioning mechanisms 100 are provided to ensure system stability and operational flexibility. Each positioning mechanism 100 is equipped with a drive assembly 200, which provides power to the positioning mechanism 100, enabling the positioning mechanism 100 to reciprocate on the hull surface 800. The drive assembly 200 generates driving force through a motor or other power source and transmits the power to the positioning mechanism 100. By controlling the drive assembly 200 on each positioning mechanism 100 separately, the positioning mechanism 100 is arranged in the first direction. After completing the local operation, the multiple first mechanisms move in the first direction to the area to be treated to perform the operation.

[0047] like Figure 2 and Figure 3 As shown, it should be noted that a rotatable magnetic block 102 is provided on the edge of each positioning mechanism 100, so that adjacent positioning mechanisms 100 can be connected through the magnetic block 102, which is convenient for overall movement or operation.

[0048] like Figure 2 and Figure 3 As shown, in order to further enhance the rust removal and cleaning capability, a sandblasting device 103 is further provided at the bottom of the positioning mechanism 100. This not only enhances the rust removal effect of the system, but also significantly improves the rust removal efficiency, making it possible to more efficiently deal with heavy rust and stubborn stains on the hull surface 800.

[0049] Sandblasting device 103 removes rust, stains, and old coatings from hull surface 800 by ejecting abrasive materials (such as sand or steel shot) at high speed. This physical spraying method quickly removes rust from hull surface 800, providing a cleaner surface for subsequent polishing and flaw detection. The design of sandblasting device 103 takes into account various factors to ensure its efficient operation in complex working environments.

[0050] In addition, the sandblasting device 103 can also be equipped with a dust recovery system, which can promptly collect the dust and waste generated during the sandblasting process, thereby reducing pollution to the environment and protecting the health of the operators.

[0051] like Figure 2 and Figure 3As shown, the sandblasting device 103 is located at the bottom of the positioning mechanism 100 and is integrated with the movement and positioning functions of the positioning mechanism 100. During the rust removal process, the positioning mechanism 100, controlled by the drive assembly 200 and the reversing assembly, can flexibly move across the hull surface 800, ensuring that the sandblasting device 103 can cover all areas of the hull. The sandblasting operation of the sandblasting device 103 is synchronized with the movement of the positioning mechanism 100, achieving a comprehensive sandblasting treatment of the hull surface 800 through precise control.

[0052] The sandblasting device 103 can adjust the blasting intensity and spray angle based on the degree of rust and shape of the hull surface 800. For example, when treating heavily corroded areas, the sandblasting intensity and spray density can be increased; while when treating smoother areas, the sandblasting intensity can be appropriately reduced to avoid unnecessary damage to the hull surface 800. This flexible adjustment capability allows the sandblasting device 103 to adapt to different types of hull surfaces 800, improving the efficiency and quality of rust removal.

[0053] like Figure 2 and Figure 3 As shown, to achieve multi-directional movement, a reversing assembly is provided between the drive assembly 200 and the positioning mechanism 100. This reversing assembly changes the relative position of the drive assembly 200, thereby driving the positioning mechanism 100 to reciprocate in either a first or second direction. This allows the system to flexibly cover various areas of the hull, enabling effective rust removal on both the flat surfaces of large vessels and the complex curves of smaller vessels.

[0054] The first direction can be configured as a horizontal direction, and the second direction can be positioned as a vertical direction. The positioning mechanism 100 performs the first stage operation after completing the arrangement in the horizontal first direction. After completing the first stage operation, the driving component 200 is driven to a different position by the reversing component. At this time, under the re-drive of the driving component 200, the positioning mechanism 100 moves to the area to be processed in the vertical first direction, and then performs the second stage operation until the target area is covered.

[0055] like Figure 1 、 Figure 2 and Figure 3As shown, the guide mechanism 400 is movably connected between the two positioning mechanisms 100, playing an important role in connection and guidance. The guide mechanism 400 not only connects the two positioning mechanisms 100 but also provides a stable movement path for the grinding mechanism 500. The grinding mechanism 500 moves on the guide mechanism 400 via sliders or rollers. The guidance of the guide mechanism 400 allows the grinding mechanism 500 to move smoothly on the hull surface 800, ensuring uniformity and thoroughness of the rust removal operation. The movement principle of the guide mechanism 400 is based on sliding or rolling friction. By reducing friction, the grinding mechanism 500 can be ensured to move back and forth efficiently on the guide mechanism 400.

[0056] like Figure 1 、 Figure 2 and Figure 3 As shown, the grinding mechanism 500 is movably connected to the guide member and can reciprocate on the guide member. The grinding mechanism 500 is provided with a plurality of grinding components 501 for cleaning the hull surface 800;

[0057] like Figure 1 、 Figure 10 and Figure 11 As shown, Figure 10 A schematic structural diagram of a grinding mechanism 500 provided in an embodiment of the present application from a first angle; Figure 11 This is a schematic diagram of the structure of the polishing mechanism 500 provided in an embodiment of the present application from a second angle. The polishing mechanism 500 is equipped with multiple polishing assemblies 501, which are used to clean rust and other impurities from the hull surface 800. The polishing assemblies 501 can remove the rust layer on the hull surface 800 through rotation or vibration. The coordinated action of multiple polishing assemblies 501 can efficiently complete the rust removal task over a large area, significantly improving rust removal efficiency. The reciprocating motion of the polishing mechanism 500 ensures comprehensive coverage of the rust removal operation.

[0058] like Figure 1 、 Figure 2 and Figure 3 As shown, the first adsorption component 601 is provided on the positioning mechanism 100 , and the first adsorption component 601 is used to form a negative pressure area between the positioning mechanism 100 and the hull surface 800 to limit the separation of the positioning mechanism 100 and the hull surface 800 .

[0059] In order to ensure that the system fits tightly against the hull surface 800 during the rust removal process, a first adsorption component 601 is provided on the positioning mechanism 100. The first adsorption component 601 generates a strong adsorption force by forming a negative pressure area between the positioning mechanism 100 and the hull surface 800, thereby limiting the separation of the positioning mechanism 100 from the hull surface 800 and improving the reliability of the operation process. The principle of negative pressure adsorption is to extract the air between the positioning mechanism 100 and the hull surface 800 through an exhaust device to form a negative pressure environment below atmospheric pressure. This negative pressure adsorption state not only improves the stability of the system, but also reduces the safety risks caused by loose or slipping equipment, especially when working at high altitudes, significantly improving the safety of the operation. Through this design, the system can maintain stable operation in a complex working environment, ensuring the smooth progress of rust removal operations.

[0060] like Figure 1 、 Figure 2 and Figure 3 As shown, the first adsorption component 601 can be arranged as a plurality of negative pressure fans during actual configuration.

[0061] In an optional embodiment, the rust removal and flaw detection system in the present application is applied to the rust removal operation of the curved hull, and the rust removal and flaw detection system includes a positioning mechanism 100, a guiding mechanism 400, a grinding mechanism 500 and a first adsorption component 601. The positioning mechanism 100 is provided with at least two, a driving component 200 is provided on the positioning mechanism 100, and a reversing component is provided between the driving component 200 and the positioning mechanism 100. The driving component 200 can drive the positioning mechanism 100 to move back and forth, and the reversing component can drive the driving component 200 to move so that the positioning mechanism 10 0 reciprocates in the first direction or the second direction; the guiding mechanism 400 is movably connected between the two positioning mechanisms 100; the polishing mechanism 500 is movably connected to the guiding member and can reciprocate on the guiding member, and the polishing mechanism 500 is provided with a plurality of polishing components 501 for cleaning the hull surface 800; the first adsorption component 601 is provided on the positioning mechanism 100, and the first adsorption component 601 is used to form a negative pressure area between the positioning mechanism 100 and the hull surface 800 to limit the separation of the positioning mechanism 100 and the hull surface 800.

[0062] The advantages of the rust removal and flaw detection system are its efficient rust removal capabilities, adaptability to complex curved surfaces, stable adhesion, and automated and environmentally friendly features. This not only improves rust removal efficiency but also ensures operational safety and environmental friendliness.

[0063] The rust removal and flaw detection system, utilizing multiple grinding assemblies 501 and a reciprocating grinding mechanism 500, can rapidly remove rust from a ship's hull surface 800, significantly improving rust removal efficiency. Compared to traditional manual or mechanical rust removal methods, this system achieves uniform rust removal over a large area, making it particularly suitable for large-scale rust removal tasks on large vessels. This highly efficient rust removal capability directly addresses the inefficiency of manual rust removal and the difficulty of mechanical rust removal in completely removing rust, providing a faster and more reliable solution for ship maintenance.

[0064] The positioning mechanism 100, through the coordinated action of the drive assembly 200 and the reversing assembly, can reciprocate in either a first or second direction. This multi-directional movement allows the system to flexibly adapt to the complex curved structures of the hull surface 800. Whether it is the flat surface of a large vessel or the complex curved surfaces of a small vessel, rust removal can be effectively performed. This effectively addresses the difficulty of handling curved surfaces on small vessels, ensuring thorough and uniform rust removal while also improving the system's versatility and applicability.

[0065] The first adsorption assembly 601 creates a negative pressure zone between the positioning mechanism 100 and the hull surface 800, ensuring a tight fit between the system and the hull surface 800 during the rust removal process, effectively preventing separation. This not only improves system stability but also reduces safety risks associated with loose or slipping equipment, significantly enhancing operational safety, particularly during high-altitude operations. This effectively addresses the high risk of high-altitude operations on large vessels, providing a safer and more reliable guarantee for ship repair operations.

[0066] The rust removal and flaw detection system, controlled by the drive assembly 200 and the reversing assembly, enables the grinding mechanism 500 to perform cleaning operations in different directions on the hull surface 800, thereby systematically completing the complete coverage of the target area on the hull surface 800. The use of physical grinding avoids the environmental pollution caused by chemical rust removal, meeting modern environmental protection requirements. This not only solves the serious pollution problems and difficult dosage control problems of chemical rust removal, but also improves the overall performance and sustainability of the system.

[0067] like Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, Figure 4 A schematic structural diagram of the driving wheel 203 at a first angle provided in an embodiment of the present application; Figure 5This is a structural schematic diagram of the second angle of the driving wheel 203 provided in an embodiment of the present application. In an optional embodiment, the driving assembly 200 includes at least three driving units 201, and the driving unit 201 includes a first driving motor 202 and a driving wheel 203 that are transmission-connected. The first driving motor 202 drives the driving wheel 203 to rotate, and the first driving motor 202 is connected to the reversing assembly. The positioning mechanism 100 is also provided with a shooting assembly 101 to obtain image information of the hull surface 800.

[0068] The drive assembly 200 is the core power source for achieving efficient movement and rust removal of the system. The drive assembly 200 includes at least three drive units 201, and each drive unit 201 includes a first drive motor 202 and a drive wheel 203. The first drive motor 202 is connected to the drive wheel 203 through a transmission device (such as a gear drive or a belt drive) to provide rotational power for the drive wheel 203. When the first drive motor 202 is started, the power is transmitted to the drive wheel 203 through the transmission device, causing the drive wheel 203 to roll on the hull surface 800, thereby driving the entire positioning mechanism 100 to move in a predetermined direction. Not only is the power output of the system ensured, but the stability and movement efficiency of the system are also improved through the synergistic effect of multiple drive units 201.

[0069] like Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, to further enhance the flexibility of the system, the first drive motor 202 is connected to a reversing assembly. The reversing assembly changes the position of the drive unit 201, thereby enabling the positioning mechanism 100 to move in different directions. This allows the system to flexibly cover various parts of the hull, whether it is the flat surface of a large ship or the complex curved surface of a small vessel, allowing for effective rust removal. By precisely controlling the rotation direction and speed of the first drive motor 202, the system can adjust the motion trajectory of the drive wheel 203 according to actual needs, achieving efficient and flexible rust removal operations.

[0070] like Figure 2 、 Figure 3As shown, to further enhance the system's intelligence and operational accuracy, the positioning mechanism 100 is also equipped with a camera assembly 101. This allows the system to not only efficiently complete rust removal tasks but also capture real-time image information of the hull surface 800, providing important data support for subsequent flaw detection and quality assessment. The primary function of the camera assembly 101 is to capture real-time image information of the hull surface 800, which can be used for a variety of purposes. Before rust removal begins, the camera assembly 101 can perform a comprehensive scan of the hull surface 800 to determine the distribution of rust, corrosion, or other damage. By analyzing these images, operators can plan rust removal routes and key areas in advance, optimize the workflow, and improve rust removal efficiency. During the rust removal process, the camera assembly 101 captures real-time changes in the hull surface 800, ensuring uniformity and thoroughness of the rust removal operation. If rust is detected in areas where it has not been completely removed, the system can adjust the grinding intensity or repeat the grinding process to avoid missing any areas. After rust removal is complete, the camera assembly 101 can scan the hull surface 800 again to verify that the rust removal results meet the expected standards. These images can also be used for subsequent flaw detection, helping to identify potential structural issues or cracks. The image information captured by the camera module 101 can be stored and analyzed to generate detailed work reports. These reports can document changes in status before and after rust removal, providing important reference for ship maintenance and management.

[0071] In order to ensure that the shooting component 101 can efficiently complete the above tasks, the shooting component 101 should have high-resolution imaging capabilities and be able to clearly capture the details of the hull surface 800, including tiny rust spots and cracks. Since rust removal operations are usually carried out in a complex marine environment, the shooting component 101 needs to have waterproof, dustproof and corrosion-resistant properties to ensure stable operation even under harsh conditions. The image information obtained by the shooting component 101 needs to be able to be transmitted to the system's control unit in real time so that the operator can adjust the operating parameters in time. A data transmission module, such as a wireless communication module or a wired data transmission interface, can be integrated into the shooting component 101. In order to fully cover the hull surface 800, the shooting component 101 may need to have the ability to shoot from multiple angles. This can be achieved by setting multiple cameras on the positioning mechanism 100, or adjusting the angle of the camera through a mechanical device.

[0072] The coordinated work of the shooting component 101 and the positioning mechanism 100 is the key to achieving its function. Under the control of the driving component 200 and the reversing component, the positioning mechanism 100 can move flexibly on the hull surface 800, and the shooting component 101 shoots the hull surface 800 in real time as the positioning mechanism 100 moves. By precisely controlling the moving path and speed of the positioning mechanism 100, the shooting component 101 can fully cover the hull surface 800 according to a predetermined scanning pattern. In actual operation, the image information obtained by the shooting component 101 will be transmitted to the control unit in real time and analyzed by the image processing algorithm. If an area that requires special attention is found, the moving direction of the positioning mechanism 100 or the working state of the grinding mechanism 500 can be automatically adjusted to ensure the efficiency and accuracy of the rust removal operation. Not only is the rust removal efficiency improved, but the overall performance and reliability of the system are also improved.

[0073] By installing a camera assembly 101 on the positioning mechanism 100, not only can rust removal be completed efficiently, but real-time image information of the hull surface 800 can also be obtained, providing important data support for subsequent flaw detection and quality assessment. The introduction of camera assembly 101 makes the system intelligent and automated, greatly improving the efficiency and quality of ship maintenance.

[0074] like Figure 2 、 Figure 3 As shown, in an optional embodiment, the reversing assembly includes a second drive motor 104 connected between the positioning mechanism 100 and the first drive motor 202, and the second drive motor 104 drives the drive unit 201 to rotate relative to the positioning mechanism 100 to switch the moving direction of the positioning mechanism 100.

[0075] The reversing assembly is a key component that enables multi-directional movement of the positioning mechanism 100. The reversing assembly includes a second drive motor 104 connected between the positioning mechanism 100 and the first drive motor 202. The second drive motor 104 is connected to the drive unit 201 via a transmission device (e.g., a gear set), capable of driving the drive unit 201 to rotate relative to the positioning mechanism 100. When the second drive motor 104 is activated, it changes the direction of the drive unit 201, thereby switching the movement direction of the positioning mechanism 100.

[0076] The positioning mechanism 100 can flexibly switch between the first and second directions of movement to ensure comprehensive coverage of the rust removal operation. The movement principle of the reversing assembly is based on a gear transmission or a connecting rod mechanism, and the driving unit 201 can be quickly reversed by precisely controlling the rotation angle and direction of the motor.

[0077] like Figure 4 、 Figure 5 、 Figure 8 As shown, Figure 8A disassembled schematic diagram of the adsorption module 701 provided in an embodiment of the present application; in an optional embodiment, a second adsorption component 602 is provided on the rolling surface of the driving wheel 203, and the second adsorption component 602 includes a plurality of suction cup portions 603 and a magnetic portion 604 for adsorbing on the hull surface 800, and the second adsorption component 602 also includes a plurality of base plates 605 circumferentially arranged on the rolling surface of the driving wheel 203, and a plurality of elastic portions 606 are connected between the base plates 605 and the driving wheel 203, and the suction cup portion 603 and the magnetic portion 604 are fixedly provided on each of the base plates.

[0078] To further enhance the system's adhesion, a second suction assembly 602 is installed on the rolling surface of the drive wheel 203. This assembly comprises multiple suction cups 603 and magnetic components 604 for attaching to the hull surface 800. These components securely attach the drive wheel 203 to the hull surface 800 through vacuum or magnetic attraction, ensuring the system does not slip during the rust removal process.

[0079] like Figure 4 、 Figure 5 、 Figure 8 As shown, the second adsorption component 602 also includes a plurality of base plates 605 circumferentially arranged on the rolling surface of the driving wheel 203, and each base plate 605 is connected to the driving wheel 203 through a plurality of elastic parts 606. The function of the elastic part 606 is to provide a certain elastic buffer so that the suction cup part 603 and the magnetic part 604 can better fit the irregular shape of the hull surface 800. A suction cup part 603 and a magnetic part 604 are fixed on each base plate 605 to ensure a uniform distribution of the adsorption force. Not only does it improve the adhesion stability of the system, but it also adapts to the slight undulations and irregular shapes of the hull surface 800 through the elastic buffer mechanism, further enhancing the reliability and adaptability of the system.

[0080] like Figure 5 、 Figure 6 、 Figure 7 As shown, Figure 6 A partial enlarged schematic diagram of the wheel frame 204 provided in an embodiment of the present application; Figure 7 The present invention provides a schematic structural diagram of a driving wheel 203 in a rectangular wheel form in an embodiment of the present application. In an optional embodiment, the driving wheel 203 includes a wheel frame 204, and four arc units 205 and four bar units 206 that are retractably arranged on the wheel frame 204. The four arc units 205 can be enclosed to form an annular wheel. When the four arc units 205 are extended, the four bar units 206 can be extended to between adjacent arc units 205. The arc units 205 and the bar units 206 can be enclosed in turn to form a rectangular wheel.

[0081] like Figure 5 、 Figure 7 As shown, the drive wheel 203 has a variable structure to adapt to the different shapes of the hull surface 800. Specifically, the drive wheel 203 includes a wheel frame 204, and four arc-shaped units 205 and four strip-shaped units 206 that are retractably mounted on the wheel frame 204. The four arc-shaped units 205 can be combined to form a ring-shaped wheel. When the four arc-shaped units 205 are extended, the four strip-shaped units 206 can extend between adjacent arc-shaped units 205, thereby forming a rectangular wheel.

[0082] This variable structure enables drive wheel 203 to adaptively adjust to the operating conditions of hull surface 800. In complex situations, four curved units 205 can be extended between adjacent curved units 205 to form a rectangular wheel. This increases the contact area of ​​drive wheel 203 and enhances adhesion reliability, significantly improving the adaptability and flexibility of the system and ensuring more stable operation on hull surface 800. By precisely controlling the extension and retraction of curved units 205 and strip units 206, the shape of drive wheel 203 can be quickly adjusted according to actual needs, achieving optimal adhesion and movement.

[0083] like Figure 4 、 Figure 5 、 Figure 6 As shown, in an optional embodiment, the wheel frame 204 is provided with a third drive motor 207 and a driving wheel 208 and a driven wheel 209 with opposite rotation directions, the third drive motor 207 is connected to and drives the driving wheel 208 and one of the driven wheels 209 to rotate, and each of the arc units 205 is provided with a scissors-type telescopic mechanism 210, and the driving end of the scissors-type telescopic mechanism 210 is connected to the driving wheel 208 and the driven wheel 209, so that when the driving wheel 208 and the driven wheel 209 rotate in the same direction, the scissors-type telescopic mechanism 210 is extended or shortened.

[0084] To achieve control over the extension and rotation of the drive wheel 203, the wheel frame 204 is equipped with a third drive motor 207, as well as a driving wheel 208 and a driven wheel 209 that rotate in opposite directions. The third drive motor 207 is connected to and drives one of the driving wheel 208 and the driven wheel 209 via a transmission mechanism. Correspondingly, the driving wheel 208 and the driven wheel 209 rotate synchronously in opposite directions. Each arc-shaped unit 205 is equipped with a scissor-type telescopic mechanism 210, the drive end of which is connected to the driving wheel 208 and the driven wheel 209. When the driving wheel 208 and the driven wheel 209 rotate in opposite directions, the scissor-type telescopic mechanism 210 extends or contracts, thereby achieving the telescopic movement of the arc-shaped unit 205.

[0085] This allows the shape of the drive wheel 203 to be dynamically adjusted based on the operational needs of the hull surface 800, ensuring the system maintains excellent adhesion and mobility under various operating conditions. The scissor-type telescopic mechanism 210 utilizes mechanical transmission and elastic deformation to precisely control the rotational direction and speed of the driving wheel 208 and the driven wheel 209, enabling rapid telescopic movement of the arc unit 205. This flexible telescopic mechanism not only improves the system's adaptability but also enhances its stability and reliability.

[0086] like Figure 4 、 Figure 5 、 Figure 6 As shown, in an optional embodiment, the wheel frame 204 is provided with a fourth drive motor 300 and a rotatable guide plate 301, the fourth drive motor 300 is connected to and drives the guide plate 301 to rotate, the guide plate 301 is provided with a guide groove 302, and the wheel frame 204 is provided with a plurality of first slides 303, each of the arc units 205 is provided with a first connecting rod 304 mounted on the first slide 303, and the first connecting rod 304 is also provided with a first slider 305 extending into the guide groove 302, so that when the guide plate 301 rotates, the first connecting rod 304 reciprocates and extends on the first slide 303.

[0087] To achieve flexible connection and motion control of the bar-shaped units 206, the wheel frame 204 is equipped with a fourth drive motor 300 and a rotatable guide plate 301. The fourth drive motor 300 is connected to and drives the guide plate 301 through a transmission mechanism. The guide plate 301 is provided with a guide slot 302, and the wheel frame 204 is provided with multiple first slideways 303. Each arc-shaped unit 205 is equipped with a first connecting rod 304 that fits over the first slideway 303. The first connecting rod 304 is also equipped with a first slider 305 that extends into the guide slot 302.

[0088] When the fourth drive motor 300 is activated, the guide plate 301 rotates, driving the first slider 305 to reciprocate and extend along the first slideway 303 via the guide slot 302. This allows the bar-shaped unit 206 to flexibly extend and retract between the arc-shaped units 205, further improving the adaptability and flexibility of the drive wheel 203. By precisely controlling the rotation direction and speed of the fourth drive motor 300, the system can quickly adjust the position and shape of the bar-shaped unit 206 according to actual needs, achieving optimal attachment and movement. This flexible connection and motion control mechanism not only improves the system's adaptability but also enhances its stability and reliability.

[0089] like Figure 8 、 Figure 9 As shown, Figure 9A schematic diagram of the disassembly of the bar unit 206 provided in an embodiment of the present application; in an optional embodiment, the second adsorption component 602 includes a plurality of detachably connected adsorption modules 701, and adjacent adsorption modules 701 are provided with matching connecting portions 702 and accommodating portions 703.

[0090] To improve the maintainability and flexibility of the system, the second adsorption assembly 602 includes multiple detachably connected adsorption modules 701. Adjacent adsorption modules 701 are provided with matching connection parts 702 and receiving parts 703, so that the adsorption modules 701 can be quickly replaced and maintained as needed.

[0091] This not only improves the system's maintainability and reduces repair costs, but also enhances its adaptability, enabling flexible configuration based on varying hull surface shapes and rust removal requirements. By arranging the adsorption modules 701 as removable structures, damaged or worn modules can be quickly replaced as needed, ensuring efficient system operation. This flexible modular design provides a strong guarantee for long-term stable operation.

[0092] It should be noted that each arc-shaped unit 205 and each bar-shaped unit 206 is respectively provided with an assembly groove 306 for accommodating the adsorption module 701, and a constraint groove 307 is provided on the side wall of the assembly groove 306. Each adsorption module 701 is provided with a positioning block 308 extending into the constraint groove 307. The adsorption module 701 moves as a whole in the constraint groove 307, and the positioning block 308 extends into the constraint groove 307 to limit the adsorption module 701 from falling out.

[0093] It should be noted that an eighth drive motor 704 and a friction wheel 705 with a transmission connection are also provided on the bar unit 206. The eighth drive motor 704 drives the friction wheel 705 mounted on the bar unit 206 to rotate, and the outer peripheral surface of the friction wheel 705 rubs against the adsorption module 701 on the bar unit 206. When the bar unit 206 extends between the adjacent arc units 205, the eighth drive motor 704 can drive the adsorption module 701 on the bar unit 206 through the friction wheel 705 to complete a stable matching relationship with the adsorption module 701 on the arc unit 205 through the connecting part 702 and the accommodating part 703, thereby improving reliability.

[0094] like Figure 1 、 Figure 2 and Figure 3As shown, in an optional embodiment, the guiding mechanism 400 includes a base 401 fixed on the positioning mechanism 100, a rotating drum 402 is provided on the base 401, and a fifth drive motor 403 is transmission-connected to the rotating drum 402, a traction rope 404 is wound around the rotating drum 402, and the fifth drive motor 403 is used to drive the rotating drum 402 to rotate and wind the traction rope 404, and the grinding mechanism 500 is provided with a walking mechanism 405, and the walking mechanism 405 includes a walking wheel 406 clamped on the traction rope 404, and a sixth drive motor 407 that drives the walking wheel 406 to rotate.

[0095] The guide mechanism 400 is a key component connecting the positioning mechanism 100 and the grinding mechanism 500. The guide mechanism 400 includes a base 401 fixed to the positioning mechanism 100. The base 401 is provided with a rotating drum 402 and a fifth drive motor 403 in transmission connection with the rotating drum 402. A traction rope 404 is wound around the rotating drum 402, and the fifth drive motor 403 is used to drive the rotating drum 402 to rotate and wind the traction rope 404.

[0096] The grinding mechanism 500 is equipped with a running mechanism 405, which includes running wheels 406 clamped to the traction rope 404 and a sixth drive motor 407 that drives the running wheels 406. When the fifth drive motor 403 is activated, it drives the traction rope 404 through the rotation of the drum 402, thereby keeping the traction rope 404 taut. The running wheels 406 roll on the traction rope 404, ensuring smooth movement of the grinding mechanism 500. This allows the grinding mechanism 500 to move flexibly across the hull surface 800 under the guidance of the guide mechanism 400, ensuring uniform and thorough rust removal.

[0097] By precisely controlling the rotational speed of the sixth drive motor 407 to control the travel wheel 406 to rotate in the set direction and speed, the position of the grinding mechanism 500 can be quickly adjusted according to actual needs, achieving efficient and flexible rust removal operations. This not only improves the adaptability of the system, but also enhances its stability and reliability, ensuring the efficient completion of rust removal operations.

[0098] like Figure 10 、 Figure 11 As shown, in an optional embodiment, the grinding mechanism 500 includes a first plate 502 and a second plate 503 arranged at intervals, a plurality of telescopic driving members 504 are provided between the first plate 502 and the second plate 503, the second plate 503 is provided with the first adsorption component 601, and a seventh driving motor 505 connected to and driving the grinding component 501 to rotate, the first plate 502 is provided with the first adsorption component 601 and the walking mechanism 405.

[0099] The grinding mechanism 500 includes a first plate 502 and a second plate 503 spaced apart. Multiple telescopic actuators 504 are positioned between the first and second plates 502, 503. These actuators 504 can dynamically adjust to the shape of the hull surface 800, ensuring a close fit between the grinding mechanism 500 and the hull surface 800.

[0100] The second plate 503 is provided with a first adsorption assembly 601 and a seventh drive motor 505 that is connected to and drives the grinding assembly 501 in rotation. The first adsorption assembly 601 securely attaches the grinding mechanism 500 to the hull surface 800 through vacuum or magnetic adsorption, ensuring the stability of the rust removal operation. The seventh drive motor 505 is connected to and drives the grinding assembly 501 in rotation via a transmission device, achieving efficient rust removal from the hull surface 800. By precisely controlling the rotation speed and direction of the seventh drive motor 505, the system can quickly adjust the operating state of the grinding assembly 501 according to actual needs, achieving efficient and uniform rust removal.

[0101] The first plate 502 is also provided with a first suction assembly 601 and a travel mechanism 405 to ensure the stability and flexibility of the grinding mechanism 500 during the rust removal process. By integrating the first suction assembly 601 and the travel mechanism 405 on the grinding mechanism 500, the displacement control and stable suction operation state of the grinding mechanism 500 are maintained.

[0102] It should be understood that the terms first, second, etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element without departing from the scope of the exemplary embodiments of the present invention.

[0103] It should be understood that the term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that two relationships may exist. For example, A / and B can represent two situations: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0104] It should be understood that in the description of the present invention, the terms "upper", "vertical", "inside", "outside" and the like indicate orientations or positional relationships in which the disclosed product is conventionally placed when in use, or are orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0105] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0106] The terms used herein are used only to describe specific embodiments and are not intended to limit the exemplary embodiments of the present invention. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "comprise," "include," "include," and / or "comprising" when used herein specify the presence of claimed features, integers, steps, operations, units, and / or components, and do not preclude the presence or addition of one or more other features, quantities, steps, operations, units, components, and / or combinations thereof.

[0107] In the following description, certain details are provided to facilitate a thorough understanding of the exemplary embodiments. However, one of ordinary skill in the art will appreciate that the exemplary embodiments may be practiced without these specific details. In other embodiments, well-known processes, structures, and techniques may not be shown in unnecessary detail in order to avoid obscuring the exemplary embodiments.

[0108] The above are merely specific embodiments of the present application to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but rather is intended to conform to the widest scope consistent with the principles and novel features of the present application.

[0109] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to ordinary technicians in the field.

Claims

1. A rust removal and flaw detection system for curved hulls, characterized in that: The rust removal and flaw detection system comprises: There are at least two positioning mechanisms, each of which is provided with a drive assembly, and a reversing assembly is provided between the drive assembly and the positioning mechanism. The drive assembly can drive the positioning mechanism to move back and forth, and the reversing assembly can drive the drive assembly to move so that the positioning mechanism moves back and forth in a first direction or a second direction; a guiding mechanism movably connected between the two positioning mechanisms; a grinding mechanism movably connected to the guide member and capable of reciprocating on the guide member, wherein the grinding mechanism is provided with a plurality of grinding components for cleaning the surface of the hull; The first adsorption component is provided on the positioning mechanism, and is used for forming a negative pressure area between the positioning mechanism and the surface of the hull to limit the separation of the positioning mechanism from the surface of the hull.

2. The rust removal and flaw detection system for curved hulls according to claim 1, characterized in that: The driving assembly includes at least three driving units, each of which includes a first driving motor and a driving wheel that are transmission-connected. The first driving motor drives the driving wheel to rotate. The first driving motor is connected to the reversing assembly. The positioning mechanism is also provided with a shooting assembly to obtain image information of the hull surface.

3. The rust removal and flaw detection system for curved hulls as claimed in claim 2, characterized in that: The reversing assembly includes a second drive motor connected between the positioning mechanism and the first drive motor, and the second drive motor drives the drive unit to rotate relative to the positioning mechanism to switch the moving direction of the positioning mechanism.

4. The rust removal and flaw detection system for curved hulls according to claim 2, characterized in that: A second adsorption component is provided on the rolling surface of the driving wheel, and the second adsorption component includes a plurality of suction cup parts and magnetic parts for adsorbing on the surface of the hull. The second adsorption component also includes a plurality of base plates arranged circumferentially on the rolling surface of the driving wheel, and a plurality of elastic parts are connected between the base plates and the driving wheel, and the suction cup part and the magnetic part are fixed on each of the base plates.

5. The rust removal and flaw detection system for curved hulls as claimed in claim 2, characterized in that: The driving wheel includes a wheel frame, and four arc-shaped units and four strip-shaped units that are retractably arranged on the wheel frame. The four arc-shaped units can be combined to form a ring-shaped wheel. When the four arc-shaped units are extended, the four strip-shaped units can be extended between adjacent arc-shaped units. The arc-shaped units and the strip-shaped units can be combined in sequence to form a rectangular wheel.

6. The rust removal and flaw detection system for curved hulls according to claim 5, characterized in that: The wheel frame is provided with a third drive motor and a driving wheel and a driven wheel with opposite rotation directions. The third drive motor is connected to and drives one of the driving wheel and the driven wheel to rotate. Each of the arc-shaped units is provided with a scissor-type telescopic mechanism. The driving end of the scissor-type telescopic mechanism is connected to the driving wheel and the driven wheel, so that when the driving wheel and the driven wheel rotate in the same direction, the scissor-type telescopic mechanism is extended or shortened.

7. The rust removal and flaw detection system for curved hulls according to claim 5 or 6, characterized in that: The wheel frame is provided with a fourth drive motor and a rotatable guide plate, the fourth drive motor is connected to and drives the guide plate to rotate, the guide plate is provided with a guide groove, the wheel frame is provided with a plurality of first slides, each of the arc-shaped units is provided with a first connecting rod mounted on the first slide, and the first connecting rod is also provided with a first sliding block extending into the guide groove, so that when the guide plate rotates, the first connecting rod reciprocates and extends on the first slide.

8. The rust removal and flaw detection system for curved hulls as claimed in claim 4, characterized in that: The second adsorption assembly includes a plurality of detachably connected adsorption modules, and adjacent adsorption modules are provided with matching connecting parts and accommodating parts.

9. The rust removal and flaw detection system for curved hulls according to claim 1, characterized in that: The guiding mechanism includes a base fixed on the positioning mechanism, a rotating drum and a fifth drive motor connected to the rotating drum, a traction rope is wound around the rotating drum, and the fifth drive motor is used to drive the rotating drum to rotate and wind the traction rope. The grinding mechanism is provided with a walking mechanism, and the walking mechanism includes a walking wheel clamped on the traction rope, and a sixth drive motor that drives the walking wheel to rotate.

10. The rust removal and flaw detection system for curved hulls according to claim 9, characterized in that: The grinding mechanism includes a first plate and a second plate arranged at intervals, a plurality of telescopic driving members are provided between the first plate and the second plate, the first adsorption component and a seventh driving motor connected to and driving the grinding component to rotate are provided on the second plate, and the first adsorption component and the walking mechanism are provided on the first plate.

Images