Rust removal operation device for steel structure of portal crane and control method of rust removal operation device

Abstract

The invention discloses a portal crane steel structure derusting operation device and a control method thereof.The portal crane steel structure derusting operation device comprises a basic carrier, a telescopic arm, a supporting platform and a manipulator, a supporting base is rotationally installed on the basic carrier through a pivotal bearing, the bottom of the telescopic arm is hinged to the supporting base, and the supporting platform is installed at the top end of the telescopic arm; the supporting platform comprises a platform base, a rotary table, a first driving motor, a telescopic jacking arm, an electromagnetic chuck and a storage box, the rotary table is rotationally installed at the front end of the platform base, an output shaft of the first driving motor is in transmission connection with the rotary table through a gear mechanism, and the telescopic jacking arm is installed at the front end of the platform base; the bottom of the mechanical arm is installed on the rotary table, an executing mechanism is installed at the tail end of the mechanical arm, and the technical purpose that high-quality, high-efficiency and automatic anti-corrosion operation maintenance is conducted on the portal crane steel structure at the height of tens of meters can be achieved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of high-altitude steel structure anticorrosion operation, and in particular to a rust removal operation device for a gantry crane steel structure and a control method thereof. BACKGROUND

[0002] With the continuous improvement of the automation and intelligent level of port construction operations, efficient and safe maintenance of large-scale steel structure equipment (such as gantry cranes, bridge cranes and the like) in ports has become an urgent requirement of the industry. Such equipment is long-term exposed to high-salt and high-humidity coastal or river environments, and the steel structure surface thereof needs to be regularly subjected to rust removal and anticorrosion spraying operations. However, the traditional maintenance mode mainly relying on manual operation has been difficult to adapt to the development requirements of modern ports. At present, for high-altitude rust removal and spraying operations on large-scale steel structures, the following technical solutions mainly exist: 1. Artificial scaffolding or high-altitude vehicle operation method. This method provides an operation platform for the operator by setting up a fixed scaffold or using a high-altitude operation vehicle. This method has the following significant disadvantages: first, the operation efficiency is low, and the daily processing area is usually less than 100 square meters; second, the safety risk of high-altitude operation is extremely high, and it is one of the main sources of major safety accidents in the industry; third, due to the reliance on the subjective operation of workers, the rust removal and spraying quality is difficult to guarantee uniformity; in addition, it also faces the challenges of labor shortage and continuously rising costs.

[0003] 2. Wall-climbing robot operation method. This solution uses a magnetic or vacuum suction type robot to carry out operation tools. However, it has obvious limitations: on the one hand, the load capacity of the robot is limited, and it is difficult to drive a large-power rust removal device (such as a heavy-duty milling head or an ultra-high pressure water jet system), resulting in insufficient processing capacity for thick rust layers; on the other hand, after carrying the load, it moves slowly and has poor adaptability to complex features such as welds, concaves and convexes on the steel structure surface, and is prone to detachment or jamming, which cannot meet the requirements of heavy-duty and efficient industrial operations.

[0004] 3. High-altitude operation platform integrated with a manipulator. This solution attempts to install a rust removal and spraying manipulator at the end of the boom of a high-altitude operation platform in order to realize automation. However, this solution faces fundamental technical obstacles in practice: since the boom system of a high-altitude operation platform (especially a straight-arm type) constitutes a flexible cantilever beam structure after lifting, the end platform is subject to continuous low-frequency shaking (with an amplitude often exceeding 50 millimeters) under wind load, self-inertia and operation reaction force. This instability seriously damages the dynamic accuracy of the end of the manipulator, making it impossible to perform precise and continuous trajectory tracking and control, thereby leading to the fact that this solution cannot be practically applied in automatic rust removal and spraying operations with high precision requirements.

[0005] In summary, existing technologies all have significant shortcomings, either facing bottlenecks in efficiency and safety, or failing to meet requirements in terms of stability and adaptability. Therefore, the industry urgently needs a new automated solution that combines high-altitude mobility, operational stability, and heavy-load capacity to overcome the technical challenges of high-quality, high-efficiency automated maintenance of large steel structures at heights of tens of meters. Summary of the Invention

[0006] The first technical problem to be solved by this application is to provide a rust removal device for the steel structure of gantry cranes, so as to solve the technical problem of how to carry out high-quality, high-efficiency and automated anti-corrosion maintenance of the steel structure of gantry cranes at a height of tens of meters.

[0007] To solve the above-mentioned technical problems, the technical solution of this application is: a rust removal device for steel structures of gantry cranes, including a base carrier, a telescopic boom, a support platform, and a robot arm. A support base is rotatably mounted on the base carrier via a slewing bearing. The bottom of the telescopic boom is hinged to the support base, and a hydraulic drive device is provided between the telescopic boom and the support base. The support platform is mounted on the top of the telescopic boom and includes a platform base, a rotary table, a first drive motor, a telescopic top support arm, an electromagnetic chuck, and a storage box. The rotary table is rotatably mounted on the front end of the platform base, and the first drive motor is fixedly mounted on the platform base. The output shaft of the first drive motor is connected to the rotary table via a gear mechanism. The telescopic top support arm is mounted on the front end of the platform base, and the end of the telescopic top support arm is connected to the electromagnetic chuck via a spherical bearing. A storage box is fixedly mounted on the rear side of the platform base. The bottom of the robot arm is mounted on the rotary table, and an actuator is mounted at the end of the robot arm.

[0008] Preferably, an angle adjustment mechanism is provided between the telescopic arm and the support platform. The angle adjustment mechanism includes an upper support rod, a lower support rod, a connecting rod, and a hydraulic cylinder. One end of the upper support rod is hinged to the top of the telescopic arm and the other end is hinged to the upper end of the connecting rod. One end of the lower support rod is hinged to the telescopic arm and the other end is hinged to the lower end of the connecting rod. The platform base is installed above the upper support rod. The lower end of the hydraulic cylinder is hinged to the telescopic arm and the upper end is hinged to the lower support rod.

[0009] Preferably, the platform base and the upper support rod are rotatably connected by a slewing bearing, and a second drive motor is installed inside the platform base. The output shaft of the second drive motor is connected to the upper support rod by a gear mechanism.

[0010] Preferably, the robotic arm is composed of four articulated arms hinged together, and a rotary motor is installed between two adjacent articulated arms.

[0011] Preferably, the actuator is a rust removal laser head or a spraying head.

[0012] Preferably, the system further includes a controller system and a sensor system. The sensor system includes an angle sensor, a tilt sensor, a displacement sensor, and a vision sensor. The support base is equipped with the angle sensor to monitor its angle of rotation; the telescopic arm is equipped with the tilt sensor to monitor its tilt angle; the telescopic arm is equipped with the displacement sensor to monitor its telescopic length; and the vision sensor is installed at the front of the platform base.

[0013] The second technical problem to be solved by this application is to provide a control method for a rust removal device for steel structures of gantry cranes, comprising the following steps: (1) Parameter generation: The three-dimensional model of the gantry crane and the three-dimensional model of the rust removal device are imported into the motion simulation analysis software. The three-dimensional model of the gantry crane is divided into rust removal operation areas and numbered. The software is used to analyze and generate the coordinates of the parking position of the basic vehicle and the motion target parameters of each degree of freedom of the rust removal device corresponding to each rust removal operation area. A parameter database of the parking position parameters of the basic vehicle and the motion parameters of the rust removal device corresponding to the rust removal operation area is established and imported into the controller system. (2) Platform positioning: Select the rust removal operation area and input the corresponding number into the controller system. The controller system retrieves the parking position coordinates corresponding to the number from the database and moves and positions the base vehicle. The controller system retrieves the motion target parameters corresponding to the number from the database and adjusts each degree of freedom of the rust removal device. The sensor system detects the actual motion parameters and feeds them back to the controller system to achieve closed-loop control of each degree of freedom of the rust removal device. (3) Fine-tuning adsorption: The controller system adjusts the pitch angle of the platform base according to the data parameters collected by the vision sensor so that the electromagnetic chuck is aligned with the adsorption point, and drives the telescopic top support arm to extend so that the electromagnetic chuck is in contact with the adsorption point and adsorbs. (4) Rust removal operation: The controller system controls the robotic arm to sequentially perform rust removal operations on each working surface within the selected rust removal operation zone. (5) Repeat steps (2) to (4) to perform rust removal operations on other rust removal areas in sequence; (6) Platform reset: The controller system controls the reset of each mechanism of the rust removal device, and the rust removal operation is completed.

[0014] Furthermore, in step (4), the rotary table is equipped with a vibration signal acquisition device. The high-frequency vibration signal acquired by the vibration signal acquisition device is used to generate a compensation signal through feedforward control and transmitted to the controller system. The controller system superimposes the compensation signal into the motion control command of the robot arm to actively cancel the residual vibration of the support platform.

[0015] The technical effects achieved by adopting the above technical solution are as follows: 1. Improve the stability and precision of high-altitude operations. This application adopts a modular stability enhancement mechanism, which establishes a rigid connection with the high-altitude steel structure of the gantry crane, transforming the working platform into a "gantry frame". This reduces end effector vibration by more than 95%, providing a stable working base for the robotic arm and enabling it to achieve millimeter-level (±2mm) motion control precision. This allows for high-precision automated rust removal and uniform spraying operations at high altitudes.

[0016] 2. Improve the efficiency of steel structure anti-corrosion operations. This application can be equipped with heavy-duty, high-efficiency rust removal equipment, and through a multi-degree-of-freedom working platform that can "position once and cover three sides", the time for changing working surfaces is greatly reduced, avoiding frequent equipment relocation, and the overall work efficiency can be improved by more than 50%.

[0017] 3. Enhanced safety during operation. This application adopts a "ground operation, high-altitude work" model, completely freeing operators from the high-risk high-altitude environment and fundamentally eliminating personal safety accidents such as falls from heights. Simultaneously, the controller system employs a logic interlock mode to control the robotic arm's operation, further improving the equipment's inherent safety and reliability.

[0018] 4. It offers greater advantages in terms of equipment adaptability and economy. Based on a general-purpose aerial work platform, this application combines mobility and heavy-duty operation capabilities. The equipment cost and deployment time are significantly lower than customized large-scale special-purpose gantry cranes, resulting in a significantly improved return on investment. Compared to wall-climbing robots, this application is more adaptable to complex features such as the flatness of steel structure surfaces and weld seams, and is not limited by magnetic adsorption scratches or vacuum adsorption failures, thus having wider versatility.

[0019] 5. Intelligent and automated steel structure corrosion protection operations have been achieved. A database of motion target parameters is constructed using kinematic analysis software to enable rapid positioning, achieving "one-click positioning" from the moving state to the working position. This improves initial positioning efficiency by more than 50%, significantly reduces reliance on operator skills, and makes the entire system an easy-to-operate intelligent work unit.

[0020] An angle adjustment mechanism is provided between the telescopic arm and the support platform. This mechanism includes an upper support rod, a lower support rod, a connecting rod, and a hydraulic cylinder. One end of the upper support rod is hinged to the top of the telescopic arm, and the other end is hinged to the upper end of the connecting rod. One end of the lower support rod is hinged to the telescopic arm, and the other end is hinged to the lower end of the connecting rod. The platform base is mounted above the upper support rod. The lower end of the hydraulic cylinder is hinged to the telescopic arm, and the upper end is hinged to the lower support rod. The angle adjustment mechanism allows adjustment of the pitch angle of the support platform, enabling the electromagnetic chuck to be aligned with the steel structure surface in different orientations.

[0021] The robotic arm is composed of four articulated arms, with a rotary motor installed between adjacent articulated arms. The rotary motor drives each articulated arm to rotate, and the four articulated arms together form a multi-degree-of-freedom motion system, enabling rapid switching of the working surface.

[0022] The platform base and the upper support rod are rotatably connected via a slewing bearing. A second drive motor is installed inside the platform base, and the output shaft of the second drive motor is connected to the upper support rod via a gear mechanism. The second drive motor drives the platform base to rotate to adjust the working angle of the robot arm.

[0023] Since the actuator is a rust removal laser head or a spraying head, the end effector of the robot can be changed to realize the "rust removal + spraying" process.

[0024] The control method of the steel structure rust removal device for gantry cranes in this application realizes rapid positioning of the basic carrier and support platform through a controller system and a distributed sensor network, and performs automatic rust removal on the surface of the steel structure through the built-in algorithm program of the controller system, which greatly improves the working efficiency of high-altitude steel structure rust removal operations.

[0025] Because a safety monitoring logic control is provided between the start of the robotic arm and the start of the electromagnetic chuck, the rust removal operation can be carried out only after the support platform and the steel structure are rigidly connected, thus ensuring the safety of the rust removal operation.

[0026] Since the rotary table is equipped with a vibration signal acquisition device, the high-frequency vibration signal acquired by the acquisition device is used to generate a compensation signal through feedforward control and transmitted to the controller system. The controller system superimposes the compensation signal into the motion control command of the robot arm to actively cancel the residual vibration of the support platform and ensure the trajectory accuracy of the robot arm end during operation. Attached Figure Description

[0027] The present application will be further described below with reference to the accompanying drawings and embodiments.

[0028] Figure 1 This is a schematic diagram of the overall structure of this application; Figure 2 This is a schematic diagram of the supporting platform structure for this application; Figure 3 This is a cross-sectional view of the internal structure of the platform supporting this application; Figure 4 This is a structural diagram of the robot arm operating on the bottom surface of the gantry crane steel structure in this application; In the diagram, 1. Basic carrier; 2. Support base; 3. Telescopic arm; 4. Support platform; 41. Platform base; 42. Rotary table; 43. First drive motor; 44. Telescopic top support arm; 45. Electromagnetic chuck; 46. Storage box; 5. Robotic arm; 6. Actuator; 7. Upper support rod; 8. Lower support rod; 9. Connecting rod; 10. Hydraulic cylinder; 11. Rotary support; 12. Second drive motor; 13. Rotary support; 14. Steel structure. Detailed Implementation

[0029] like Figures 1-3 As shown, a rust removal device for steel structures of gantry cranes includes a base carrier 1, a telescopic boom 3, a support platform 4, and a robotic arm 5. A support base 2 is rotatably mounted on the base carrier 1 via a slewing bearing. The bottom of the telescopic boom 3 is hinged to the support base 2. A hydraulic drive device is provided between the telescopic boom 3 and the support base 2; in this embodiment, the hydraulic drive device is a hydraulic cylinder. The support platform 4 is mounted on the top of the telescopic boom 3 and includes a platform base 41, a rotary table 42, a first drive motor 43, a telescopic top support arm 44, an electromagnetic chuck 45, and a storage box 46. The rotary table 42 is rotatably mounted on the front end of the platform base 41 via a slewing support 11. The first drive motor 43 is fixedly mounted on the platform base 41, and the output shaft of the first drive motor 43 is connected to the rotary table 42 via a gear mechanism. The telescopic top support arm 44 is mounted on the front end of the platform base 41. In this embodiment, the telescopic top support arm 44 passes through the central hole of the slewing support 11 at the front end of the platform base 41. The end of the telescopic top support arm 44 is connected to the electromagnetic chuck 45 via a joint bearing, and a storage box 46 for storing the actuator 6 is fixedly installed on the rear side of the platform base 41.

[0030] The robot arm 5 is mounted on a rotary table 42 at its base. The robot arm 5 consists of three or four articulated arms hinged together, with a rotary motor installed between adjacent articulated arms. A controller system controls the rotation of each articulated arm via a rotary electric drive. The four articulated arms together form a multi-degree-of-freedom motion system, enabling rapid switching of work surfaces. An actuator 6 is installed at the end of the robot arm 5; the actuator 6 is either a rust-removing laser head or a spraying head. Changing the actuator 6 at the end of the robot arm 5 allows for a "rust removal + spraying" process.

[0031] An angle adjustment mechanism is provided between the telescopic arm 3 and the support platform 4. This mechanism includes an upper support rod 7, a lower support rod 8, a connecting rod 9, and a hydraulic cylinder 10. One end of the upper support rod 7 is hinged to the top of the telescopic arm 3, and the other end is hinged to the upper end of the connecting rod 9. One end of the lower support rod 8 is hinged to the telescopic arm 3, and the other end is hinged to the lower end of the connecting rod 9. The platform base 41 is mounted above the upper support rod 7. The lower end of the hydraulic cylinder 10 is hinged to the telescopic arm 3, and the upper end is hinged to the lower support rod 8. The angle adjustment mechanism allows adjustment of the pitch angle of the support platform 4, enabling the electromagnetic chuck 45 to align with the surface of the steel structure 14 in different orientations. The platform base 41 and the upper support rod 7 are rotatably connected via a rotary support 13. A second drive motor 12 is installed inside the platform base 41, and the output shaft of the second drive motor 12 is connected to the upper support rod 7 via a gear mechanism. The second drive motor 12 drives the platform base 41 to rotate, thereby adjusting the working angle of the robotic arm 5.

[0032] The rust removal device for steel structures of gantry cranes disclosed in this application also includes a controller system and a sensor system. The sensor system includes an angle sensor, a tilt sensor, a displacement sensor, and a vision sensor. An angle sensor is installed on the support base 2 to monitor its angle of rotation; an tilt sensor is installed on the telescopic boom 3 to monitor its tilt angle; a displacement sensor is installed on the telescopic boom 3 to monitor its telescopic length; and a vision sensor is installed at the front of the platform base 41. The sensor system is signal-connected to the controller system.

[0033] The rust removal device for steel structures of gantry cranes proposed in this application has the following technical advantages: 1. Improve the stability and precision of high-altitude operations. This application adopts a modular stability enhancement mechanism, which establishes a rigid connection with the high-altitude steel structure 14 of the gantry crane, transforming the working platform into a "gantry frame". This reduces end effector vibration by more than 95%, providing a stable working base for the robotic arm and enabling it to achieve millimeter-level (±2mm) motion control precision. This allows for high-precision automated rust removal and uniform spraying operations at high altitudes.

[0034] 2. Improve the efficiency of steel structure anti-corrosion operations. This application can be equipped with heavy-duty, high-efficiency rust removal equipment, and through a multi-degree-of-freedom operating platform that can "position once and cover three sides", the time for changing working surfaces is reduced from the traditional 15-20 minutes to less than 1 minute, avoiding frequent equipment relocation and improving overall operating efficiency by more than 50%.

[0035] 3. Enhanced safety during operation. This application adopts a "ground operation, high-altitude work" model, completely freeing operators from the high-risk high-altitude environment and fundamentally eliminating personal safety accidents such as falls from heights. Simultaneously, the controller system employs a logic interlock mode to control the robotic arm's operation, further improving the equipment's inherent safety and reliability.

[0036] 4. It offers greater advantages in terms of equipment adaptability and economy. Based on a general-purpose aerial work platform, this application combines mobility and heavy-duty operation capabilities. The equipment cost and deployment time are significantly lower than customized large-scale special-purpose gantry cranes, resulting in a significantly improved return on investment. Compared to wall-climbing robots, this application is more adaptable to complex features such as the flatness of steel structure surfaces and weld seams, and is not limited by magnetic adsorption scratches or vacuum adsorption failures, thus having wider versatility.

[0037] 5. Intelligent and automated steel structure corrosion protection operations have been achieved. A database of motion target parameters is constructed using kinematic analysis software to enable rapid positioning, achieving "one-click positioning" from the moving state to the working position. This improves initial positioning efficiency by more than 50%, significantly reduces reliance on operator skills, and makes the entire system an easy-to-operate intelligent work unit.

[0038] like Figures 1-2 and Figure 4 As shown, the control method for the rust removal device for steel structures of gantry cranes of this application includes the following steps: (1) Parameter generation: The 3D model of the gantry crane and the 3D model of the rust removal device are imported into the motion simulation analysis software. The 3D model of the gantry crane is divided into rust removal operation areas and numbered. The software is used to analyze and generate the coordinates of the parking position of the basic vehicle and the motion target parameters of each degree of freedom of the rust removal device for each rust removal operation area. The motion target parameters specifically include the rotation angle of the support base 2, the tilt angle of the telescopic boom 3, and the length of the telescopic boom 3. A parameter database of the parking position parameters of the basic vehicle and the motion parameters of the rust removal device corresponding to the rust removal operation area is established and imported into the controller system.

[0039] (2) Platform Positioning: Select the rust removal operation area and input the corresponding number into the controller system. The controller system retrieves the parking position coordinates corresponding to the number from the database and moves and positions the base vehicle. There are two methods for moving and positioning the base vehicle: The first method is to manually mark the parking positions of the base vehicle on the ground of the gantry crane according to the coordinate system of the motion simulation analysis software, and directly park the base vehicle according to the marks during construction. The second method is to install a positioning system on the base vehicle and use the positioning system to position the base vehicle according to the parking position coordinates. After the base vehicle is positioned, the controller system retrieves the motion target parameters corresponding to the number from the database and adjusts the various degrees of freedom of the rust removal device. The sensor system detects the actual motion parameters and feeds them back to the controller system to achieve closed-loop control of the various degrees of freedom of the rust removal device.

[0040] (3) Fine-tuning adsorption: The controller system adjusts the pitch angle of the platform base according to the data parameters collected by the vision sensor so that the electromagnetic chuck is aligned with the adsorption point, and drives the telescopic top support arm to extend so that the electromagnetic chuck is in contact with the adsorption point and adsorbs.

[0041] (4) Rust removal operation: The controller system controls the robot to perform rust removal operations on each working surface in the selected rust removal operation zone in sequence. There is a safety monitoring logic control between the start of the robot 5 and the start of the electromagnetic chuck 45. After the controller system detects that the internal pressure sensor of the electromagnetic chuck 45 has reached the preset adsorption force threshold, the controller controls the robot to start the high-altitude rust removal operation. After the controller system controls the robot to complete the high-altitude rust removal operation and return to the safe posture, the controller system controls the electromagnetic chuck 45 to release the adsorption.

[0042] (5) Repeat steps (2) to (4) to perform rust removal operations on other rust removal areas in sequence.

[0043] (6) Platform reset: The controller system controls the reset of each mechanism of the rust removal device, and the rust removal operation is completed.

[0044] During the rust removal operation in step (4) above, a vibration signal acquisition device is installed on the rotary table. The high-frequency vibration signal acquired by the vibration signal acquisition device is transmitted to the controller system through feedforward control to generate a compensation signal. The controller system superimposes the compensation signal into the motion command of the robot arm 5 to actively cancel the residual vibration of the support platform 4 and ensure the trajectory accuracy of the robot arm 5 end during operation.

[0045] The operation control method of the rust removal device for gantry cranes in this application realizes the rapid positioning of the base carrier 1 and the support platform 4 through the controller system and the distributed sensor network, and performs automatic rust removal on the surface of the steel structure through the built-in algorithm program of the controller system, which greatly improves the working efficiency of rust removal operation on high-altitude steel structures.

[0046] In summary, this application successfully integrates three characteristics that were difficult to achieve simultaneously in previous technologies: high mobility, extreme stability, and intelligent automation. It provides a perfect solution that is efficient, high-quality, safe, and economical for solving the problem of maintenance of ultra-high steel structures, and has great potential for industrial application.

[0047] It is obvious that the above description and account are merely illustrative and not intended to limit the disclosure, application, or use of this application. The scope of this application shall include any embodiments falling within the foregoing specification and appended claims.

Claims

1. A rust removal device for steel structures of gantry cranes, comprising a base carrier, wherein a support base is rotatably mounted on the base carrier via a slewing bearing, characterized in that, Also includes: A telescopic arm, the bottom of which is hinged to the support base, and a hydraulic drive device is provided between the telescopic arm and the support base; A support platform is installed at the top of the telescopic arm. The support platform includes a platform base, a rotary table, a first drive motor, a telescopic top support arm, an electromagnetic chuck, and a storage box. The rotary table is rotatably mounted on the front end of the platform base. The first drive motor is fixedly mounted on the platform base. The output shaft of the first drive motor is connected to the rotary table through a gear mechanism. The telescopic top support arm is installed on the front end of the platform base. The end of the telescopic top support arm is connected to the electromagnetic chuck through a spherical bearing. The storage box is fixedly mounted on the rear side of the platform base. And a robotic arm, the bottom of which is mounted on the rotary table, and an actuator is mounted at the end of the robotic arm.

2. The rust removal device for steel structures of gantry cranes as described in claim 1, characterized in that, An angle adjustment mechanism is provided between the telescopic arm and the support platform. The angle adjustment mechanism includes an upper support rod, a lower support rod, a connecting rod, and a hydraulic cylinder. One end of the upper support rod is hinged to the top of the telescopic arm and the other end is hinged to the upper end of the connecting rod. One end of the lower support rod is hinged to the telescopic arm and the other end is hinged to the lower end of the connecting rod. The platform base is installed above the upper support rod. The lower end of the hydraulic cylinder is hinged to the telescopic arm and the upper end is hinged to the lower support rod.

3. The rust removal device for steel structures of gantry cranes as described in claim 2, characterized in that, The platform base and the upper support rod are rotatably connected by a slewing bearing. A second drive motor is installed inside the platform base, and the output shaft of the second drive motor is connected to the upper support rod by a gear mechanism.

4. The rust removal device for steel structures of gantry cranes as described in claim 1, characterized in that, The robotic arm is composed of four articulated arms, with a rotary motor installed between two adjacent articulated arms.

5. The rust removal device for steel structures of gantry cranes as described in claim 1, characterized in that, The actuator is a rust-removing laser head or a spraying head.

6. The rust removal device for steel structures of gantry cranes as described in claim 1, characterized in that, It also includes a controller system and a sensor system. The sensor system includes a rotation sensor, a tilt sensor, a displacement sensor, and a vision sensor. The support base is equipped with the rotation sensor to monitor its rotation angle; the telescopic arm is equipped with the tilt sensor to monitor its tilt angle; the telescopic arm is equipped with the displacement sensor to monitor its length; and the vision sensor is installed at the front of the platform base.

7. The control method for the rust removal device for steel structures of gantry cranes as described in claim 1, characterized in that, Includes the following steps: (1) Parameter generation: The three-dimensional model of the gantry crane and the three-dimensional model of the rust removal device are imported into the motion simulation analysis software respectively. The three-dimensional model of the gantry crane is divided into rust removal operation areas and numbered. The software is used to analyze and generate the coordinates of the parking position of the basic vehicle and the motion target parameters of each degree of freedom of the rust removal device corresponding to each rust removal operation area. The parameter database is established and imported into the controller system. (2) Platform positioning: Select the rust removal operation area and input the corresponding number into the controller system. The controller system retrieves the parking position coordinates corresponding to the number from the database and moves and positions the base vehicle. The controller system retrieves the motion target parameters corresponding to the number from the database and adjusts the various degrees of freedom of the rust removal device. (3) Fine-tuning adsorption: The controller system adjusts the pitch angle of the platform base according to the data parameters collected by the vision sensor so that the electromagnetic chuck is aligned with the adsorption point, and drives the telescopic top support arm to extend so that the electromagnetic chuck is in contact with the adsorption point and adsorbs. (4) Rust removal operation: The controller system controls the robotic arm to sequentially perform rust removal operations on each working surface within the selected rust removal operation zone. (5) Repeat steps (2) to (4) to perform rust removal operations on other rust removal areas in sequence; (6) Platform reset: The controller system controls the reset of each mechanism of the rust removal device, and the rust removal operation is completed.

8. The control method for the rust removal device for steel structures of gantry cranes as described in claim 7, characterized in that, In step (4), the rotary table is equipped with a vibration signal acquisition device. The high-frequency vibration signal acquired by the vibration signal acquisition device is used to generate a compensation signal through feedforward control and transmitted to the controller system. The controller system superimposes the compensation signal into the motion control command of the robot arm to actively cancel the residual vibration of the support platform.

9. The control method for the rust removal device for steel structures of gantry cranes as described in claim 7, characterized in that, The sensor system detects the actual motion parameters and feeds them back to the controller system to achieve closed-loop control of each degree of freedom.

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