Posture adjusting device for derusting disc in dock bottom derusting vehicle and gravity center arrangement method

Abstract

The invention provides a posture adjusting device for a derusting disc in a dock bottom derusting vehicle and a gravity center arrangement method.The posture adjusting device comprises a double-fork-arm assembly, one end of the double-fork-arm assembly is hinged to the peripheral face of the derusting disc, and the other end of the double-fork-arm assembly is connected with a vehicle body of the dock bottom derusting vehicle; the two hinge points of the double-fork-arm assembly and the rust removal disc are symmetrically arranged on the peripheral face of the rust removal disc, and the gravity center of the rust removal disc is located on the perpendicular bisector of the connecting line between the two hinge points and located on the lower side of the horizontal plane where the hinge points are located. Through the design of the gravity center position of the derusting disc and the structural design of the double-fork-arm assembly, self-balance of the derusting disc on the horizontal plane is achieved, and the derusting disc is suitable for derusting of the ship bottom; and through repeated checking calculation and iterative optimization, the weight of the disc body, the weight of the water spraying assembly, the gravity center position of the disc body and the gravity center position of the water spraying assembly serve as variable parameters or quantitative parameters, optimized parameters are found, and therefore the rust removal disc and the posture adjusting device meeting the working requirements are produced and manufactured.

Description

Technical Field

[0001] This invention relates to the field of ship rust removal technology, and in particular to a posture adjustment device and center of gravity arrangement method for a rust removal disc in a dockside rust removal vehicle. Background Technology

[0002] During their service life, ships are constantly immersed in seawater and subject to its erosion. As ships operate at sea for longer periods, oxidation and rust inevitably occur on the outer walls and decks. Oxidation and rust affect the service life of ships, and if the rust becomes more severe, it can cause irreversible damage to the hull. Therefore, it is necessary to remove rust from ships in a timely manner to reduce the corrosion caused by rust and extend the service life of ships.

[0003] Ship rust removal machinery has gone through three development stages: abrasive jet rust removal, ultra-high pressure pure water jet rust removal, and ultra-high pressure pure water jet vacuum rust removal technology. Water-plus-sand abrasive jet rust removal has made water-based rust removal a reality, significantly reducing environmental pollution. Currently, common ship hull rust removal robots mainly consist of a trolley-shaped robot body, a grinding mechanism, and a washing mechanism. The robot body drives the grinding mechanism to move closely against the ship's hull surface. During the grinding process, water flow is used to wash away the rust, achieving the rust removal operation.

[0004] Because the rust removal disc needs to be in close contact with the outer surface of the ship's bottom when removing rust, and the bottom of the ship has a certain curvature, the rust removal disc also needs to rotate within a certain range. For example, the prior art disclosed in CN118143865A is a rust removal actuator and an automatic rust removal robot, in which the spray disc is rotatably connected to a second bracket, and the spray disc can be rotated and adjusted to fit the side wall of the ship's hull. The second bracket is semi-annular, and the spray disc is embedded in the inner ring of the second bracket and rotatably connected to the second bracket on both sides. The spray disc flips along the fixed axes on both sides. Because the second bracket has a limit baffle, the spray disc can only flip in one direction, that is, away from the second bracket. The first bracket is connected to the boom assembly through a limit rotation cylinder device. Through the rotation of the first bracket, the rotation of the second bracket, and the rotation adjustment of the spray disc, the position of the open end of the spray disc can be adjusted to facilitate its fit against the outer surface of the ship's hull.

[0005] As can be seen from the above application documents, the spray disc component itself can rotate unidirectionally around the second bracket, and the first bracket is rotated through a limiting rotary cylinder device. That is, the angle adjustment of the first bracket, the second bracket, and the spray disc component mainly relies on the limiting rotary cylinder device for adjustment. Then, the first bracket, the second bracket, and the spray disc component adaptively rotate with the curvature of the hull bottom to achieve fitting. Although the above application documents achieve the rotation and fitting of the spray disc component with the curvature of the hull bottom to a certain extent, the limiting rotary cylinder device plays a significant role in the rotation process of the spray disc component, resulting in a complex and costly control program for the rotation of the spray disc component. Summary of the Invention

[0006] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a posture adjustment device and center of gravity arrangement method for the rust removal disc in a dock bottom rust removal vehicle, so as to solve the problem that the control procedure for the spray disc to adhere to the bottom of the ship is complicated and costly, as the adhesion between the spray disc and the ship bottom mainly relies on the limit rotation cylinder device.

[0007] To achieve the above and other related objectives, the present invention provides a posture adjustment device for a rust removal disc in a dock bottom rust removal vehicle, comprising a double fork arm assembly. One end of the double fork arm assembly is hinged to the outer peripheral surface of the rust removal disc, and the other end of the double fork arm assembly is connected to the vehicle body of the dock bottom rust removal vehicle. The two hinge points of the double fork arm assembly and the rust removal disc are symmetrically arranged on the outer peripheral surface of the rust removal disc. The center of gravity of the rust removal disc is located on the perpendicular bisector of the line connecting the two hinge points and is located below the horizontal plane where the hinge points are located.

[0008] Preferably, the double wishbone assembly is hinged to the vehicle body, and the double wishbone assembly, together with the rust removal disc, can deflect relative to the vehicle body in a vertical plane; the double wishbone assembly is hinged to the rust removal disc, and the rust removal disc can deflect relative to the double wishbone assembly in a horizontal plane.

[0009] Preferably, a limit plate is also provided between the double wishbone assembly and the vehicle body to limit the deflection of the double wishbone assembly relative to the vehicle body.

[0010] Preferably, the rust removal disc includes a disc body and a water spraying assembly, wherein the end of the double fork arm assembly is hinged to the outer peripheral surface of the disc body; the water spraying assembly is disposed in the inner cavity of the disc body and is used to spray water to remove rust from the hull.

[0011] To achieve the above or other objectives, the present invention also discloses a method for arranging the center of gravity of a rust-removing disc in a dock-bottom rust-removing vehicle, employing the aforementioned attitude adjustment device for the rust-removing disc in the dock-bottom rust-removing vehicle. The rust-removing disc is configured to include a disc body and a water spray assembly mounted on the disc body. The method for arranging the center of gravity of the rust-removing disc in the dock-bottom rust-removing vehicle includes:

[0012] Construct a 3D model of the double fork arm assembly and the rust removal disc;

[0013] A rectangular coordinate system is established with the intersection of the line connecting the two hinge points on the outer circumference of the rust removal disc and its perpendicular line as the origin.

[0014] By adjusting the coordinate position of the center of gravity of the disc body in the rectangular coordinate system, or adjusting the coordinate position of the center of gravity of the water spray component in the rectangular coordinate system, or simultaneously adjusting the coordinate positions of the center of gravity of the disc body and the center of gravity of the water spray component in the rectangular coordinate system, the center of gravity of the rust removal disc is positioned on the perpendicular bisector of the line connecting the two hinge points, and is located below the horizontal plane where the hinge points are located.

[0015] Preferably, the method for obtaining the centroid position of the rust-removing disc in a rectangular coordinate system includes:

[0016]

[0017] in, Let x be the x-coordinate of the centroid of the rust removal disc in a rectangular coordinate system; m1 is the y-axis coordinate of the center of gravity of the rust removal disc in a rectangular coordinate system; m2 is the weight of the disc body; x1 is the x-axis coordinate of the center of gravity of the disc body in a rectangular coordinate system; y1 is the y-axis coordinate of the center of gravity of the disc body in a rectangular coordinate system; m2 is the weight of the water spray assembly; x2 is the x-axis coordinate of the center of gravity of the water spray assembly in a rectangular coordinate system; y2 is the y-axis coordinate of the center of gravity of the water spray assembly in a rectangular coordinate system.

[0018] Preferably, the weight m1 of the disc and the weight m2 of the water spray component are both configured to be fixed. The center of gravity of the disc and the water spray component can be adjusted by adjusting the installation orientation and shape of the disc and the water spray component.

[0019] Preferably, the weight m1 of the disc body and the weight m2 of the water spray component are both configured as adjustable variables. By adjusting the weight m1 of the disc body and the weight m2 of the water spray component, the center of gravity position of the disc body and the water spray component can be adjusted.

[0020] Preferably, the two hinge points on the outer circumference of the rust removal disc are positioned close to the top surface of the disc body.

[0021] Preferably, the method for arranging the center of gravity of the rust removal disc in the dock bottom rust removal vehicle further includes multiple verifications and iterative optimizations. The multiple verifications include using the coordinate origin as a quantitative parameter, and the weight of the disc, the weight of the water spray assembly, the center of gravity position of the disc, and the center of gravity position of the water spray assembly as variable parameters, repeating the verifications multiple times to obtain optimized variable parameters for the weight of the disc, the weight of the water spray assembly, the center of gravity position of the disc, and the center of gravity position of the water spray assembly at this coordinate origin. The iterative optimization includes using the coordinate origin as a variable parameter, obtaining optimized variable parameters for the weight of the disc, the weight of the water spray assembly, the center of gravity position of the disc, and the center of gravity position of the water spray assembly at multiple coordinate origins, comparing multiple coordinate origins and their optimized variable parameters, and finding the optimized coordinate origin parameters and their optimized variable parameters.

[0022] As described above, the attitude adjustment device and center-of-gravity arrangement method of the rust removal disc in the dock bottom rust removal vehicle of the present invention have the following beneficial effects:

[0023] 1. The present invention relates to a posture adjustment device and center of gravity arrangement method for a rust removal disc in a dock bottom rust removal vehicle. A double-wishbone assembly connects the rust removal disc to the vehicle body. The double-wishbone assembly is equipped with a second adapter, which is hinged to the rust removal disc for pitching motion on the horizontal plane. Simultaneously, the weight of the rust removal disc is set so that its center of gravity is located on the vertical line connecting the double-wishbone assembly and the hinge point of the rust removal disc, and the center of the rust removal disc is located below the horizontal plane where the hinge point is located. Thus, when the height of the rust removal disc changes due to the double-wishbone assembly, the rust removal disc will deflect based on its center of gravity position, always remaining on the vertical line connecting the hinge points, maintaining a self-balancing state on the horizontal plane, facilitating the rust removal disc's contact with the outer surface of the ship's bottom.

[0024] 2. The present invention relates to a posture adjustment device and center of gravity arrangement method for a rust removal disc in a dock bottom rust removal vehicle. The double fork arm assembly is provided with a first adapter, which is hinged to the vehicle body for rotating the rust removal disc in a vertical plane, so that the rust removal disc can also be adapted to rust removal on the inclined outer wall of the ship bottom.

[0025] 3. The attitude adjustment device and center of gravity arrangement method of the rust removal disc in the dock bottom rust removal vehicle of the present invention achieves self-balancing of the rust removal disc on the horizontal plane by designing the center of gravity position of the rust removal disc and the structure design of the double fork arm assembly, making the rust removal disc suitable for rust removal of the ship bottom. This solves the problem of complex control program and high cost caused by the existing technology that the rust removal disc and the ship bottom are mainly driven by the limit rotation cylinder device.

[0026] 4. The attitude adjustment device and center of gravity arrangement method of the rust removal disc in the dock bottom rust removal vehicle of the present invention establishes a rectangular coordinate system with the intersection of the line connecting the two hinge points on the outer circumference of the rust removal disc and its perpendicular line as the origin. The weight of the disc body, the weight of the water spray assembly, the center of gravity position of the disc body, and the center of gravity position of the water spray assembly are used as variable parameters or quantitative parameters. After multiple verifications and iterative optimizations, the optimized parameters are found before the product is manufactured. This enables the rust removal disc to be in a self-balancing state on the horizontal plane, which facilitates the rust removal disc to fit the outer wall of the ship bottom. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the spatial structure of the attitude adjustment device of the rust removal disc in the dock bottom rust removal vehicle of the present invention;

[0028] Figure 2 This is a top view of the attitude adjustment device of the rust removal disc in the dock bottom rust removal vehicle of the present invention;

[0029] Figure 3 This is a right view of the attitude adjustment device of the rust removal disc in the dock bottom rust removal vehicle of the present invention;

[0030] Figure 4This is a left view of the attitude adjustment device of the rust removal disc in the dock bottom rust removal vehicle of the present invention;

[0031] Figure 5 This is a cross-sectional view of the cutter head in the attitude adjustment device of the rust removal disc in the dock bottom rust removal vehicle of the present invention;

[0032] Figure 6 This is a schematic diagram of the rotary joint in the attitude adjustment device of the rust removal disc in the dock bottom rust removal vehicle of the present invention;

[0033] Figure 7 This is a cross-sectional view of the double fork arm assembly in the attitude adjustment device of the rust removal disc in the dock bottom rust removal vehicle of the present invention.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Double wishbone assembly; 11. First adapter; 110. Connecting plate; 111. Connecting sleeve; 112. Connecting shaft; 113. Bushing; 114. Central shaft tube; 115. Limiting plate; 12. Arm tube body; 13. Second adapter; 130. Threaded sleeve; 131. Screw; 132. Joint bearing;

[0036] 2. Rust removal disc; 21. Disc body; 210. Inner cylinder; 211. Base plate; 2110. Drain outlet; 2111. Drain pipe; 212. Brush fixing plate; 213. Brush buffer pad; 2131. Brush; 214. Ball bearing; 215. Rib plate; 216. Plate; 217. Shaft; 22. Water spray assembly; 220. Rotary drive cover; 221. Blade head drive source; 222. Rotary joint; 2220. Joint housing; 2221. Top connection hole of housing; 2222. Peripheral connection hole of housing; 2223. Joint body; 2224. Body connection hole; 2225. Water inlet; 223. Blade head; 2230. Spray hole; 2231. Spray hole channel; 2232. Blade head water inlet. Detailed Implementation

[0037] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0038] It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings of this specification are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of the invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0039] This invention discloses a posture adjustment device for the rust removal disc in a dockside rust removal vehicle. For ease of description, the length direction of the double-wishbone assembly 1 is defined as the front-to-back direction, the width direction as the left-to-right direction, and the height direction as the up-down direction. Therefore, in the appendix... Figure 3 In the diagram, the left and right directions of the paper are the back and front directions, the top and bottom directions are the top and bottom directions, and the front and back directions are the right and left directions.

[0040] like Figures 1-7 As shown, the present invention provides a posture adjustment device for a rust removal disc in a dock bottom rust removal vehicle, including a double fork arm assembly 1. The front end of the double fork arm assembly 1 is hinged to the outer peripheral surface of the rust removal disc 2, and the rear end of the double fork arm assembly 1 is connected to the vehicle body of the dock bottom rust removal vehicle. The two hinge points of the double fork arm assembly 1 and the rust removal disc 2 are symmetrically arranged on the outer peripheral surface of the rust removal disc 2 in the left-right direction. The center of gravity of the rust removal disc 2 is located on the vertical line of the line connecting the two hinge points and is located below the horizontal plane where the hinge points are located.

[0041] Preferred, such as Figure 1 , Figure 2 , Figure 7 As shown, the double wishbone assembly 1 is hinged to the vehicle body, and the double wishbone assembly 1, together with the rust removal disc 2, can deflect relative to the vehicle body in a vertical plane; the double wishbone assembly 1 and the rust removal disc 2 are hinged, and the rust removal disc 2 can deflect relative to the double wishbone assembly 1 in a horizontal plane; a limit plate 115 is also provided between the double wishbone assembly 1 and the vehicle body to limit the deflection of the double wishbone assembly 1 relative to the vehicle body.

[0042] In this embodiment, as Figure 1 , Figure 2 , Figure 7As shown, the double wishbone assembly 1 includes a first adapter 11, a boom tube body 12, and a second adapter 13. The first adapter 11 is located at the rear end of the boom tube body 12, and the second adapter 13 is located at the front end of the boom tube body 12. The first adapter 11 is hinged to the vehicle body and is used to drive the boom tube body 12, the second adapter 13, and the rust removal disc 2 to rotate in the vertical plane. The second adapter 13 is hinged to the rust removal disc 2 and is used for the pitching movement of the rust removal disc 2 in the horizontal plane.

[0043] Preferred, such as Figure 7 As shown, the limiting plate 115 is disposed in the first adapter 11. The first adapter 11 includes a connecting plate 110, a connecting sleeve 111, a connecting shaft 112, a bushing 113, and a central shaft tube 114. The connecting plate 110 is fixedly connected to the vehicle body. The connecting sleeve 111 is disposed on the connecting plate 110, and the connecting shaft 112 is disposed in the connecting sleeve 111. The central shaft tube 114 is sleeved on the outer circumferential surface of the connecting shaft 112, and the bushing 113 is disposed between the connecting shaft 112 and the central shaft tube 114. The limiting plate 115 is disposed between the central shaft tube 114 and the connecting plate 110.

[0044] In this embodiment, the connecting plate 110 is used to connect the telescopic assembly on the vehicle body, and the axial rear end of the connecting sleeve 111 is fixedly disposed on the front end face of the connecting plate 110. The rear end of the connecting shaft 112 is sleeved in the connecting sleeve 111, and the central shaft tube 114 is sleeved on the outer circumferential surface of the connecting shaft 112 in the front-rear direction, and the central shaft tube 114 can rotate around the connecting shaft 112 under the action of the bushing 113. The rear end of the limiting plate 115 is fixed to the connecting plate 110, and a limiting hole is opened on the front end of the limiting plate 115. A shaft tube through hole is opened on the central shaft tube 114. The limiting hole and the shaft tube through hole are aligned and a locking member is provided between them to limit the rotation angle of the central shaft tube 114 on the connecting shaft 112. The diameter of the shaft tube through hole is different from the diameter of the limiting hole (or one of the shaft tube through hole and the limiting hole is a sliding groove hole). Under the action of the locking member, the central shaft tube 114 can rotate around the connecting shaft 112 within a small range.

[0045] Preferred, such as Figure 7 As shown, the second adapter 13 includes a threaded sleeve 130, a screw 131, and a spherical bearing 132. The threaded sleeve 130 is located at the front end of the arm tube body 12; the rear end of the screw 131 is connected to the threaded sleeve 130, and the front end is connected to the spherical bearing 132; the spherical bearing 132 is used to hinge with the rust removal disc 2. Since the spherical bearing 132 is hinged to the outer circumferential surface of the rust removal disc 2, and the central shaft tube 114 can rotate within a small range around the connecting shaft 112, the rust removal disc 2 can pitch around the spherical bearing 132 and also rotate within a small range in the vertical plane.

[0046] Preferred, such as Figures 1-4As shown, the rust removal disc 2 includes a disc body 21 and a water spraying assembly 22. The end of the double fork arm assembly 1 is hinged to the outer peripheral surface of the disc body 21. The water spraying assembly 22 is disposed in the inner cavity of the disc body 21 and is used to spray water to remove rust from the hull. The center of gravity of the rust removal disc 2 relative to the hinge point is related to the center of gravity of the disc body 21 and the center of gravity of the water spraying assembly 22.

[0047] like Figures 1-4 As shown, the disc body 21 includes an inner cylinder 210 and a bottom plate 211, which are fixedly connected. A brush fixing plate 212 is also provided on the outer circumferential surface of the inner cylinder 210. A brush buffer pad 213 is provided on the brush fixing plate 212, and a plurality of brushes 2131 are provided on the brush buffer pad 213.

[0048] Preferred, such as Figures 1-4 As shown, several stiffening plates 215 are also provided between the inner cylinder 210 and the brush fixing plate 212. The stiffening plates 215 can be equipped with disc counterweights, which are used to adjust the center of gravity of the disc 21.

[0049] In this embodiment, the base plate 211 is fixed to the bottom end of the inner cylinder 210, and the top of the inner cylinder 210 is open. A brush fixing plate 212 is fitted onto the outer circumferential surface of the inner cylinder 210. A brush fixing plate through hole is formed on the brush fixing plate 212 along the vertical direction, and a buffer pad through hole is formed on the brush buffer pad 213. The brush fixing plate through hole and the buffer pad through hole are aligned, and a locking element passes between them to connect the buffer pad through hole and the brush fixing plate through hole. A ball bearing 214 is provided on the top surface of the locking element. The diameter of the ball bearing 214 is smaller than the height of the brush 2131. This ensures the airtightness of the brush 2131 while the ball bearing 214 reduces the friction between the brush buffer pad 213 and the bottom of the ship, ensuring the smooth movement of the rust removal disc 2 along the bottom of the ship. The base plate 211 is also provided with a drain outlet 2110, and a drain pipe 2111 is connected to the drain outlet 2110. The drain pipe 2111 is used to discharge the wastewater after rust removal.

[0050] The stiffening plate 215, shaped like an L-shape, is fixedly connected between the bottom surface of the brush fixing plate 212 and the outer circumference of the inner cylinder 210, reinforcing the brush fixing plate 212 on the outer circumference of the inner cylinder 210. Additionally, the stiffening plate 215 has through holes for hanging weights or other counterweights to adjust the center of gravity of the disc 21. The number and installation position of the stiffening plates 215 can also be adjusted according to actual needs.

[0051] Furthermore, such as Figure 3 , Figure 4As shown, a disc body connecting assembly is also provided between the disc body 21 and the second adapter 13. The disc body connecting assembly includes a plate 216 and a rotating shaft 217. The plate 216 is fixedly disposed on the outer circumferential surface of the inner cylinder 210, and the rotating shaft 217 is fixedly disposed on the plate 216. The spherical bearing 132 of the second adapter 13 is sleeved on the outer circumferential surface of the rotating shaft 217 to realize the pitching movement of the rust removal disc 2 on the second adapter 13.

[0052] Preferred, such as Figures 2-5 As shown, the water spray assembly 22 includes a blade head 223, spray holes 2230, a rotary joint 222, a blade head drive source 221, and a rotary drive cover 220. The blade head 223 is rotatably disposed in the inner cavity of the disc body 21, and the two end faces of the blade head 223 away from its own rotation axis match the inner wall of the inner cylinder 210. A plurality of spray holes 2230 are formed on the top surface of the blade head 223. The rotary joint 222 includes a joint body 2223 and a joint housing 2220. The joint body 2223 is rotatably disposed in the inner cavity of the disc body 21. The connector body 2223 is placed in the connector housing 2220; the end face of the connector housing 2220 is fixedly connected to the base plate 211, the connector body 2223 passes through the inner cylinder 210, and the cutter head 223 is fixedly connected to the connector body 2223; the rotary drive cover 220 is fixedly connected to the outer peripheral surface of the connector housing 2220, and the cutter head drive source 221 is set in the rotary drive cover 220 and is connected to the connector body 2223 in a transmission manner; a main flow channel is opened in the connector body 2223, and the main flow channel communicates with the spray hole 2230 on the cutter head 223.

[0053] Furthermore, in this embodiment, the cutter head 223 is provided with a cutter head inlet 2232 and a nozzle channel 2231, and the cutter head inlet 2232 and the nozzles 2230 are connected through the nozzle channel 2231. The cutter head inlet 2232 is located in the middle of the bottom end face of the cutter head 223, and a plurality of nozzles 2230 are located on the top end face of the cutter head 223. The nozzle channel 2231 is disposed inside the cutter head 223 and is used to connect the nozzles 2230 and the cutter head inlet 2232.

[0054] The top of the connector housing 2220 is provided with several top connection holes 2221, and the bottom plate 211 is provided with bottom plate connection holes. The top connection holes 2221 and the bottom plate connection holes are aligned and a locking element passes through them to achieve a fixed connection between the connector housing 2220 and the bottom plate 211. The outer circumferential surface of the connector housing 2220 is provided with peripheral connection holes 2222 for connecting the rotary drive cover 220.

[0055] The top surface of the connector body 2223 is provided with a main body connection hole 2224, and a bottom plate through hole is provided on the bottom plate 211. The top of the connector body 2223 passes through the bottom plate through hole and is located in the inner cavity of the disc body 21. The cutter head 223 is fixedly connected to the connector body 2223 through the main body connection hole 2224, and the cutter head water inlet 2232 is connected to the top of the main body flow channel to facilitate the entry of ultra-high pressure water into the cutter head 223. A water inlet 2225 is provided at the bottom end of the main body flow channel, and a water inlet pipe is connected to the water inlet 2225. In order to prevent the water inlet pipe from getting tangled when the connector body 2223 rotates, a transition adapter is also provided at the end of the water inlet pipe. The upper part of the transition adapter is rotatably mounted on the lower part of the transition adapter. The upper part of the transition adapter is connected to the water inlet 2225 of the connector body 2223, and the lower part of the transition adapter is connected to the water inlet pipe.

[0056] The cutter head drive source 221 is connected to the connector body 2223 via a drive wheel, a driven wheel, and a timing belt. The drive wheel is mounted on the cutter head drive source 221, and the driven wheel is fitted onto the outer circumferential surface of the connector body 2223. The timing belt passes through the connector housing 2220 and connects the drive wheel and the driven wheel. The cutter head drive source 221 can be an electric motor or a hydraulic motor. However, considering that ultra-high pressure water is introduced into the rust removal disc 2, an electric motor is prone to corrosion and poses a potential electrical hazard. Therefore, a hydraulic motor is preferred for the cutter head drive source 221.

[0057] Preferably, in this embodiment, a counterweight block may be provided on the rotary drive cover 220. The counterweight block is used to adjust the center of gravity position of the water spray assembly 22. The number and installation position of the counterweight blocks can be adjusted according to actual needs. Connection holes can also be opened on the counterweight blocks for hooking weights or other counterweights to adjust the weight of the counterweight blocks.

[0058] To achieve the above or other objectives, the present invention also discloses a method for arranging the center of gravity of a rust-removing disc in a dock-bottom rust-removing vehicle. This method employs the aforementioned attitude adjustment device for the rust-removing disc in the dock-bottom rust-removing vehicle. The rust-removing disc 2 is configured to include a disc body 21 and a water spray assembly 22 mounted on the disc body 21. The center of gravity position of the rust-removing disc 2 relative to the hinge point is related to the center of gravity position of the disc body 21 and the center of gravity position of the water spray assembly 22. The method for arranging the center of gravity of the rust-removing disc in the dock-bottom rust-removing vehicle includes:

[0059] S1: Construct a 3D model of the double fork arm assembly 1 and the rust removal disc 2;

[0060] S2: Establish a rectangular coordinate system with the intersection of the line connecting the two hinge points on the outer circumference of the rust removal disc 2 and its perpendicular line as the origin; wherein the X-axis is opened along the radial direction of the rust removal disc 2, and the positive direction of the X-axis is the forward direction; the Y-axis is opened along the axial direction of the rust removal disc 2, and the positive direction of the Y-axis is the upward direction.

[0061] S3: By adjusting the coordinate position of the center of gravity of the disc 21 in the rectangular coordinate system, or adjusting the coordinate position of the center of gravity of the water spray assembly 22 in the rectangular coordinate system, or simultaneously adjusting the coordinate positions of the center of gravity of the disc 21 and the center of gravity of the water spray assembly 22 in the rectangular coordinate system, the center of gravity of the rust removal disc 2 is located on the perpendicular bisector of the line connecting the two hinge points, and is located below the horizontal plane where the hinge points are located, so that the rust removal disc 2 achieves self-balancing on the horizontal plane at the end of the double fork arm assembly 1.

[0062] S4: Multiple verifications and iterative optimizations;

[0063] Multiple verifications were performed, with the origin of the coordinate system as the quantitative parameter and the weight of the disc 21, the weight of the water spray component 22, the center of gravity of the disc 21, and the center of gravity of the water spray component 22 as the variable parameters. The verifications were repeated multiple times to obtain the optimized variable parameters of the weight of the disc 21, the weight of the water spray component 22, the center of gravity of the disc 21, and the center of gravity of the water spray component 22 at this origin of the coordinate system.

[0064] Iterative optimization includes using the origin of the coordinate system as the variable parameter to obtain optimized variable parameters for the weight of the disc 21, the weight of the water spray component 22, the center of gravity position of the disc 21, and the center of gravity position of the water spray component 22 at multiple origins of the coordinate system; and comparing multiple origins of the coordinate system and their optimized variable parameters to find the optimized origin parameters and their optimized variable parameters.

[0065] Preferably, in step S3, the method for obtaining the centroid position of the rust-removing disc 2 in a rectangular coordinate system includes:

[0066]

[0067] in, Let x be the x-axis coordinate of the centroid of the rust removal disc 2 in a rectangular coordinate system; m1 is the y-axis coordinate of the center of gravity of the rust removal disc 2 in a rectangular coordinate system; m2 is the weight of the disc body 21; x1 is the x-axis coordinate of the center of gravity of the disc body 21 in a rectangular coordinate system; y1 is the y-axis coordinate of the center of gravity of the disc body 21 in a rectangular coordinate system; m2 is the weight of the water spray assembly 22; x2 is the x-axis coordinate of the center of gravity of the water spray assembly 22 in a rectangular coordinate system; y2 is the y-axis coordinate of the center of gravity of the water spray assembly 22 in a rectangular coordinate system.

[0068] Preferably, in the above-mentioned relevant formulas, The calculation formula contains four parameters: m1, m2, x1, and x2. The calculation formula contains four parameters: m1, m2, y1, and y2. The center of gravity coordinates (x1, y1) of the disc 21 are related to the weight m1 of the disc 21, as well as the shape and installation orientation of the disc 21; the center of gravity coordinates (x2, y2) of the water spray assembly 22 are related to the weight m2 of the water spray assembly 22, as well as the shape and installation orientation of the water spray assembly 22.

[0069] Therefore, the weight m1 of the disc body 21 and the weight m2 of the water spray assembly 22 are both configured as fixed values. By adjusting the installation orientation and shape of the disc body 21 and the water spray assembly 22, the center of gravity position of the disc body 21 and the water spray assembly 22 can be adjusted. The weight m1 of the disc body 21 and the weight m2 of the water spray assembly 22 are both configured as adjustable variables. By adjusting the weight m1 of the disc body 21 and the weight m2 of the water spray assembly 22, the center of gravity position of the disc body 21 and the water spray assembly 22 can be adjusted.

[0070] Preferably, in step S2, the positions of the two hinge points on the outer circumference of the rust-removing disc 2 are configured close to the top surface of the disc body 21. When the positions of the two hinge points are close to the top surface of the disc body 21, that is, when the ordinate position of the origin of the coordinate system is as close as possible to the top surface of the disc body 21, the ordinate of the center of gravity of the rust-removing disc 2 can be adjusted. The center of gravity should be as far away from 0 as possible, meaning its vertical coordinate should be as far away from the origin as possible. When the vertical coordinate of the center of gravity is far from the origin, the torque between the center of gravity and the hinge point increases, and the center of gravity of the rust removal disc 2 provides a greater force for resetting, making it easier to reset (easier to reach a self-balancing state). The center of gravity of the rust removal disc 2 is located on the perpendicular bisector of the line connecting the two hinge points, and is located below the horizontal plane where the hinge points are located, i.e., its horizontal coordinate is... It should be as close to 0 as possible, that is, the x-coordinate of the centroid should be as close as possible to the origin.

[0071] This invention relates to a posture adjustment device and center-of-gravity arrangement method for a rust removal disc in a dock-side rust removal vehicle. The rust removal disc 2 consists of a disc body 21 and a water spray assembly 22. The weight of the disc body 21 can be adjusted by the counterweight of the rib plate, thus changing the center-of-gravity position of the disc body 21. The weight of the water spray assembly 22 can be adjusted by the counterweight of the drive cover, thus changing the center-of-gravity position of the water spray assembly 22. In this way, by adjusting the center-of-gravity position of the disc body 21 and the center-of-gravity position of the water spray assembly 22, the center-of-gravity position of the entire rust removal disc 2 can be changed. When the center-of-gravity position of the rust removal disc 2 is on the perpendicular bisector of the line connecting the two hinge points and is located below the horizontal plane where the hinge points are located, the rust removal disc 2 can achieve self-balancing on the horizontal plane at the end of the double fork arm assembly 1. Thus, when the horizontal height of the rust removal disc 2 changes under the control of the dock bottom rust removal vehicle, it can still remain horizontal, allowing for better contact with the bottom surface of the ship's hull. Furthermore, the rust removal disc 2 is hinged to the second adapter 13, enabling its pitching motion, suitable for the curvature of the ship's hull. Simultaneously, the double fork arm assembly 1 is equipped with a first adapter 11, which has the function of rotating in a vertical plane, allowing the rust removal disc 2 to rotate within a small range in the vertical plane. This also adapts the rust removal function of the rust removal disc 2 to rust removal on the inclined outer wall of the ship's hull, thus expanding its applicability.

[0072] The present invention relates to a posture adjustment device and center of gravity arrangement method for a rust removal disc in a dock bottom rust removal vehicle. A rectangular coordinate system is established with the intersection of the line connecting two hinge points on the outer circumference of the rust removal disc 2 and its perpendicular line as the origin. The weight of the disc body 21, the weight of the water spray assembly 22, the center of gravity position of the disc body 21, and the center of gravity position of the water spray assembly 22 are respectively used as variable parameters or quantitative parameters. After multiple verifications and iterative optimizations, the optimized parameters are found before product manufacturing. This enables the rust removal disc 2 to be in a self-balancing state on the horizontal plane, which facilitates the rust removal disc 2 to fit against the outer wall of the ship bottom.

[0073] Therefore, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0074] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A posture adjustment device for a rust removal disc in a dock bottom rust removal vehicle, characterized in that: It includes a double wishbone assembly (1), one end of which is hinged to the outer peripheral surface of the rust removal disc (2), and the other end of which is connected to the body of the dock bottom rust removal vehicle; the two hinge points of the double wishbone assembly (1) and the rust removal disc (2) are symmetrically arranged on the outer peripheral surface of the rust removal disc (2), and the center of gravity of the rust removal disc (2) is located on the vertical line of the line connecting the two hinge points, and is located below the horizontal plane where the hinge points are located.

2. The attitude adjustment device for the rust removal disc in the dock bottom rust removal vehicle according to claim 1, characterized in that: The double wishbone assembly (1) is hinged to the vehicle body, and the double wishbone assembly (1) together with the rust removal disc (2) can deflect relative to the vehicle body in a vertical plane; the double wishbone assembly (1) is hinged to the rust removal disc (2), and the rust removal disc (2) can deflect relative to the double wishbone assembly (1) in a horizontal plane.

3. The attitude adjustment device for the rust removal disc in the dock bottom rust removal vehicle according to claim 1, characterized in that: A limit plate (115) is also provided between the double wishbone assembly (1) and the vehicle body to limit the deflection of the double wishbone assembly (1) relative to the vehicle body.

4. The attitude adjustment device for the rust removal disc in the dock bottom rust removal vehicle according to claim 1, characterized in that: The rust removal disc (2) includes a disc body (21) and a water spraying assembly (22). The end of the double fork arm assembly (1) is hinged to the outer peripheral surface of the disc body (21). The water spraying assembly (22) is disposed in the inner cavity of the disc body (21) and is used to spray water to remove rust from the hull.

5. A method for arranging the center of gravity of a rust-removing disc in a dock-bottom rust-removing vehicle, employing the attitude adjustment device for the rust-removing disc in a dock-bottom rust-removing vehicle as described in any one of claims 1-4, characterized in that: The rust removal disc (2) is configured to include a disc body (21) and a water spray assembly (22) mounted on the disc body (21). The method for arranging the center of gravity of the rust removal disc in the dock bottom rust removal vehicle includes: Construct a three-dimensional model of the double fork arm assembly (1) and the rust removal disc (2); A rectangular coordinate system is established with the intersection of the line connecting the two hinge points on the outer circumference of the rust removal disc (2) and its perpendicular line as the origin. By adjusting the coordinate position of the center of gravity of the disc (21) in the rectangular coordinate system, or adjusting the coordinate position of the center of gravity of the water spray assembly (22) in the rectangular coordinate system, or simultaneously adjusting the coordinate positions of the center of gravity of the disc (21) and the center of gravity of the water spray assembly (22) in the rectangular coordinate system, the center of gravity of the rust removal disc (2) is located on the perpendicular bisector of the line connecting the two hinge points, and is located below the horizontal plane where the hinge points are located.

6. The method for arranging the center of gravity of the rust removal disc in the dock bottom rust removal vehicle according to claim 5, characterized in that: The method for obtaining the centroid position of the rust removal disc (2) in a rectangular coordinate system includes: in, The x-axis coordinate of the centroid of the rust removal disc (2) in a rectangular coordinate system; m1 is the y-axis coordinate of the center of gravity of the rust removal disc (2) in the rectangular coordinate system; m2 is the weight of the disc body (21); x1 is the x-axis coordinate of the center of gravity of the disc body (21) in the rectangular coordinate system; y1 is the y-axis coordinate of the center of gravity of the disc body (21) in the rectangular coordinate system; m2 is the weight of the water spray assembly (22); x2 is the x-axis coordinate of the center of gravity of the water spray assembly (22) in the rectangular coordinate system; y2 is the y-axis coordinate of the center of gravity of the water spray assembly (22) in the rectangular coordinate system.

7. The method for arranging the center of gravity of the rust removal disc in the dock bottom rust removal vehicle according to claim 6, characterized in that: The weight m1 of the disc body (21) and the weight m2 of the water spray assembly (22) are both configured to be fixed. The center of gravity of the disc body (21) and the water spray assembly (22) can be adjusted by adjusting the installation orientation and shape of the disc body (21) and the water spray assembly (22).

8. The method for arranging the center of gravity of the rust removal disc in the dock bottom rust removal vehicle according to claim 6, characterized in that: The weight m1 of the disc body (21) and the weight m2 of the water spray assembly (22) are both configured as adjustable variables. By adjusting the weight m1 of the disc body (21) and the weight m2 of the water spray assembly (22), the center of gravity position of the disc body (21) and the water spray assembly (22) can be adjusted.

9. The method for arranging the center of gravity of the rust removal disc in the dock bottom rust removal vehicle according to claim 5, characterized in that: The two hinge points on the outer circumference of the rust removal disc (2) are positioned close to the top surface of the disc body (21).

10. The method for arranging the center of gravity of the rust removal disc in the dock bottom rust removal vehicle according to claim 5, characterized in that: The method for arranging the center of gravity of the rust removal disc in the dock bottom rust removal vehicle also includes multiple verification calculations and iterative optimizations; The multiple verifications include taking the origin of the coordinate system as the quantitative parameter, and the weight m1 of the disc (21), the weight m2 of the water spray assembly (22), the center of gravity position of the disc (21), and the center of gravity position of the water spray assembly (22) as variable parameters. The verifications are repeated multiple times to obtain the optimized variable parameters of the weight m1 of the disc (21), the weight m2 of the water spray assembly (22), the center of gravity position of the disc (21), and the center of gravity position of the water spray assembly (22) at this origin of the coordinate system. The iterative optimization includes using the origin of the coordinate system as the variable parameter, obtaining the optimized variable parameters of the weight m1 of the disc (21), the weight m2 of the water spray component (22), the center of gravity position of the disc (21), and the center of gravity position of the water spray component (22) among multiple origins of the coordinate system, and comparing multiple origins of the coordinate system and their optimized variable parameters to find the optimized origin parameters and their optimized variable parameters.

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