Large-range water jet rust removal vehicle based on double-degree-of-freedom spin-rail spinning spray head

Abstract

The invention relates to the technical field of water jet rust removal, in particular to a large-range water jet rust removal vehicle based on a double-degree-of-freedom rotating rail spinning sprayer. A mounting plate is arranged in a vehicle body, a water tank is fixed below the mounting plate, and a high-pressure water pump is arranged on the side of the water tank; the output end of the motor is in transmission connection with a connecting assembly, and a horizontal guide rail is installed at the top end of the connecting assembly. The horizontal guide rail is slidably connected with a vertical guide rail group through a guide rail connecting slide block, and the vertical guide rail group comprises a translation vertical guide rail and an adjustment vertical guide rail which are parallel to each other and are fixedly connected; a spraying connecting sliding block is installed on the adjusting vertical guide rail in a sliding mode, and a connecting bent pipe is fixed to the spraying connecting sliding block through a bent pipe connecting piece. The inlet end of the connecting bent pipe is connected with the output end of the high-pressure water pump through a hose, and a water segregator is mounted at the outlet end of the connecting bent pipe; and a water outlet of the water segregator is connected with a spraying assembly through a hose.

Description

Technical Field

[0001] This invention relates to the field of water jet rust removal technology, specifically to a large-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating self-rotating nozzle. Background Technology

[0002] Currently, rust removal operations on metal components such as shipbuilding, bridge steel structures, and large storage tanks still primarily rely on manual, handheld high-pressure water jets. Operators approach the surface via suspended platforms or aerial work platforms, utilizing the impact force of ultra-high-pressure water jets to peel away rust and old coatings. While this method features relatively simple equipment, it has significant limitations in practical application. Firstly, the spray distance, incident angle, and relative position of the nozzle to the workpiece surface all depend on manual experience, making it difficult to maintain consistency over extended periods. This results in uneven rust removal, with some areas experiencing incomplete cleaning or over-rinsing. Secondly, the spray angle adjustment range is limited, typically only allowing for small oscillations within a single plane, covering a small area. Frequent adjustments to the operator's posture are necessary to expand the work area, leading to high labor intensity and low efficiency. Furthermore, manual high-altitude work poses significant safety risks, especially when working on large ship hulls or the outer walls of tall steel structures, where operational stability and continuity are difficult to guarantee. The root cause of these problems lies in the lack of multi-degree-of-freedom motion mechanisms and automated control systems in existing equipment. The nozzles cannot achieve continuous coverage at large angles and in multiple directions, thus limiting the overall rust removal range and angle.

[0003] To improve the level of automation, some existing technologies employ wall-climbing robots or high-altitude platform robots equipped with ultra-high-pressure water jet devices, which attach to vertical or even inverted ship hull surfaces via permanent magnet adsorption or vacuum negative pressure adsorption. However, most of these devices use fixed or single-degree-of-freedom oscillating nozzle structures, with nozzles typically positioned at the front of the robot. The spray direction is singular, lacking spin or multi-axis linkage capabilities, resulting in limited coverage areas per application. Expansion requires overall robot movement. Furthermore, the adsorption mechanism must support the weight of the robot body and high-pressure water supply pipelines, severely limiting its overall mass and making it difficult to configure large-range oscillation or rotation mechanisms, further restricting the spray angle and working radius. In areas with significant curvature changes, such as bulbous bows, bilges, or weld edges, the robot's attitude adjustment capabilities are insufficient, making it difficult for the nozzles to achieve multi-angle contact spraying, resulting in cleaning dead zones. Ultimately, existing rust removal devices suffer from structural defects in nozzle movement freedom and trajectory coverage, failing to achieve large-area, multi-angle, and high-efficiency water jet coverage, thus limiting the overall quality and efficiency of rust removal operations. Therefore, there is an urgent need for a wide-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating self-rotating nozzle structure to overcome the limitations of existing technologies in terms of rust removal range and angle.

[0004] In view of the above, in order to overcome the above technical problems, the present invention designs a large-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating self-rotating nozzle, which solves the above technical problems. Summary of the Invention

[0005] The technical objective of this invention is to design a large-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating self-rotating nozzle, providing a larger range and wider angle during the rust removal process, thereby improving the overall quality and efficiency of the rust removal operation.

[0006] To achieve the above-mentioned technical objectives, the present invention provides the following technical solution:

[0007] A wide-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating self-rotating nozzle, wherein an installation plate is provided inside the vehicle body, a water tank is fixed below the installation plate, a high-pressure water pump is provided on the side of the water tank, and the water outlet of the water tank and the water inlet of the high-pressure water pump are connected by a hose.

[0008] An electric motor is mounted on top of the mounting plate, and a connecting assembly is driven to the output end of the electric motor. A horizontal guide rail is mounted on the top of the connecting assembly.

[0009] A vertical guide rail assembly is slidably connected to the horizontal guide rail via a guide rail connecting slider. The vertical guide rail assembly includes a translational vertical guide rail and an adjustment vertical guide rail that are parallel to each other and fixedly connected.

[0010] A jet connection slider is slidably mounted on the adjusting vertical guide rail, and a connecting bend is fixed to the jet connection slider by a bend connector.

[0011] The inlet end of the connecting bend is connected to the output end of the high-pressure water pump via a hose, and a water distributor is installed at the outlet end of the connecting bend.

[0012] The outlet of the water distributor is connected to a spray assembly via a hose.

[0013] As a preferred embodiment, the connecting assembly includes a connecting shaft located in a connecting bracket disposed on a mounting plate. One end of the connecting shaft is connected to a motor, and the other end of the connecting shaft is keyed to a fixing plate, which is fixedly mounted on the back of the horizontal guide rail.

[0014] As a preferred embodiment, the system also includes a guide rail motor and a guide rail lead screw, which are installed in the horizontal guide rail, the translational vertical guide rail, and the adjustment vertical guide rail. The two sides of the guide rail connecting slider are respectively connected to the guide rail lead screw on the horizontal guide rail and the translational vertical guide rail. The guide rail lead screw installed on the adjustment vertical guide rail is connected to the injection connecting slider.

[0015] As one preferred embodiment, the bent pipe connector includes an upper clamping plate and a lower clamping plate, which are installed on the upper and lower surfaces of the slider connecting plate. A circular hollow portion is formed between the upper and lower clamping plates, and the slider connecting plate is installed on the side of the spray connecting slider.

[0016] As one preferred embodiment, the water distributor is configured in a spindle shape, with a connecting bend connected to one end of the water distributor, and a bearing is provided between the connecting bend and the water distributor.

[0017] As one preferred embodiment, the water distributor has a transition channel inside, which is located in the middle of the water distributor. The upper end of the transition channel is connected to the connecting bend pipe, and the bottom end of the transition channel has multiple water distribution channels. The other side of the water distributor has multiple mounting grooves, and the other end of the water distribution channels is connected to the mounting grooves.

[0018] As a preferred embodiment, a support spring is provided in the mounting groove, a piston block is engaged at the top of the support spring, and a threaded limiting ring is provided at the opening of the mounting groove.

[0019] As a preferred embodiment, a quick connector is provided at one end of the hose used to connect the water distributor. The quick connector has a thread on its surface near the hose that matches the limiting ring. A water supply groove is provided inside the quick connector, and multiple strip-shaped water inlets are provided on the side of the water supply groove.

[0020] As a preferred embodiment, the spraying assembly includes a spraying support with a mounting rod, the spraying support being provided with a plurality of DC nozzles, and at least one angled nozzle being provided on the outermost side of the DC nozzles.

[0021] As a preferred embodiment, the tilt angle of the angled nozzle is set to 30-60°.

[0022] The beneficial effects of this invention are as follows:

[0023] 1. This invention achieves a linkage adjustment structure of the spraying assembly in the horizontal and vertical directions by setting up a dual-degree-of-freedom rotary motion structure composed of horizontal and vertical guide rails. This allows the nozzle to move continuously and be precisely positioned within a large plane range. Compared with traditional fixed or single-degree-of-freedom swing nozzles, this significantly increases the coverage area of ​​a single operation, reduces the number of times the whole vehicle moves, improves the overall rust removal efficiency, and ensures that the spraying trajectory is uniform and controllable, thus significantly improving the consistency of rust removal.

[0024] 2. This invention achieves an automatic rotation structure of the spray assembly driven by the reaction force of high-pressure water flow by setting up a spindle-shaped water distributor with bearing connection and a multi-nozzle self-rotating spray structure. This allows the DC nozzle and the angled nozzle to form an annular or conical coverage area during rotation, significantly expanding the spray angle range, enhancing the cleaning ability of curved surfaces, welds and corners, effectively reducing rust removal dead angles, and improving the treatment quality of complex structural surfaces.

[0025] 3. This invention achieves a synergistic structure of precise spray position control and stable water flow distribution by setting up a guide rail motor and lead screw precision transmission structure and a spring buffer water distribution channel adjustment structure. This not only ensures smooth nozzle operation and accurate positioning, but also buffers water flow impact under high pressure conditions, reduces vibration and component wear, improves the overall machine operation stability and service life, and enhances the automation level and operational safety of the equipment. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] The above and other aspects of the invention will now be described by way of example only, with reference to the accompanying drawings, in which:

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the connection component structure of the present invention;

[0030] Figure 3 This is a schematic diagram of the vertical guide rail assembly of the present invention;

[0031] Figure 4 This is a structural schematic diagram of the pipe bending connector of the present invention;

[0032] Figure 5 This is a schematic diagram of the horizontal guide rail and related components of the present invention;

[0033] Figure 6 This is a schematic diagram of the spray assembly structure of the present invention;

[0034] Figure 7 This is a schematic diagram of the internal structure of the water distributor of the present invention;

[0035] Figure 8 This is the present invention. Figure 7 A magnified view of a portion of the image;

[0036] Figure 9 This is a cross-sectional view of the connection between the bend and the water distributor of the present invention;

[0037] Figure 10 This is the present invention. Figure 9 Enlarged view of a local structure in the image;

[0038] Figure 11 This is a schematic diagram showing the rotation direction of the injection assembly and the movement direction of the other moving components of the present invention.

[0039] In the diagram: 1. Vehicle body; 101. Drive wheel; 102. Mounting plate; 2. Water tank; 3. High-pressure water pump; 4. Hoses; 5. Motor; 6. Connecting assembly; 601. Connecting shaft; 602. Connecting bracket; 603. Fixing plate; 7. Horizontal guide rail; 701. Guide rail connecting slider; 8. Translation vertical guide rail; 9. Adjustment vertical guide rail; 10. Spray connecting slider; 11. Bend connector; 1101. Upper clamping plate; 1102. Lower clamping plate; 1103. Slider connecting plate; 2. Connecting bend; 13. Water distributor; 1301. Transition channel; 1302. Water distribution channel; 1303. Mounting groove; 1304. Support spring; 1305. Piston block; 1306. Limiting ring; 14. Spray assembly; 1401. Mounting rod; 1402. Spray support; 1403. DC nozzle; 1404. Angled nozzle; 15. Guide rail motor; 16. Guide rail lead screw; 17. Bearing; 18. Quick connector; 1801. Water supply tank; 1802. Water supply port. Detailed Implementation

[0040] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0041] Example 1: As Figure 1-11 As shown, a wide-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating self-rotating nozzle is described. This device achieves a large-span movement of the nozzle within a plane range through a two-dimensional motion structure formed by the horizontal guide rail 7 and the vertical guide rail group. At the same time, in conjunction with the self-rotating structure of the water distributor 13 and the spray assembly 14, it achieves multi-angle coverage spraying, thereby significantly improving the coverage area and spray angle range of a single operation.

[0042] The vehicle body 1 is an integral load-bearing structure, employing a welded steel frame structure with an external protective shell to protect the internal electrical and hydraulic components. Drive wheels 101 are located at the bottom of the vehicle body 1. These drive wheels 101 can also be configured as a set of wheels or a track mechanism, depending on the operating environment, for movement on decks, bridge decks, or steel structure platforms. An installation plate 102 is installed inside the vehicle body 1. The installation plate 102 is made of thick steel plate and is welded and fixed to the chassis of the vehicle body 1 by reinforcing ribs, serving to support the power and injection systems.

[0043] A water tank 2 is fixed below the mounting plate 102. The water tank 2 is made of high-pressure resistant and corrosion-resistant material, and has internal baffles to reduce water sloshing during operation. A high-pressure water pump 3 is installed on the side of the water tank 2 and fixed to the lower bracket of the mounting plate 102. The outlet of the water tank 2 and the inlet of the high-pressure water pump 3 are connected by a high-pressure resistant hose 4. The hose 4 has a multi-layer steel wire braided structure to ensure safety and stability under high pressure. The high-pressure water pump 3 pressurizes the water in the water tank 2 and delivers it to the spraying system, providing a power source for the rust removal operation.

[0044] like Figure 2 As shown, a motor 5 is mounted on top of the mounting plate 102. The motor 5 is fixed to the vibration damping base with bolts to reduce operating vibration. The output end of the motor 5 is connected to a connecting assembly 6. The connecting assembly 6 includes a connecting shaft 601, which is located in a connecting bracket 602 on the mounting plate 102. The connecting bracket 602 has a U-shaped or frame structure and contains bearing seats 17 to support the rotation of the connecting shaft 601. One end of the connecting shaft 601 is connected to the output shaft of the motor 5 via a coupling, and the other end is connected to a fixing plate 603 via a key connection. The fixing plate 603 is fixedly mounted on the back of the horizontal guide rail 7. When the motor 5 is working, it drives the fixing plate 603 to rotate via the connecting shaft 601, thereby causing the entire horizontal guide rail 7 assembly to swing angularly around the axis of the connecting shaft 601, achieving rotational adjustment of the first degree of freedom.

[0045] like Figure 5 As shown, the horizontal guide rail 7 adopts a high-strength linear guide rail structure, on which a vertical guide rail assembly is slidably connected via a guide rail connecting slider 701. To achieve precise movement control, the device also includes a guide rail motor 15 and a guide rail lead screw 16, which are respectively installed in the horizontal guide rail 7, the translational vertical guide rail 8, and the adjustment vertical guide rail 9. The horizontal guide rail 7 has an internal lead screw transmission structure; the guide rail motor 15 drives the lead screw to rotate, thereby causing the guide rail connecting slider 701 to move horizontally, achieving a large range of lateral displacement of the nozzle.

[0046] like Figure 3 As shown, the vertical guide rail assembly includes a translational vertical guide rail 8 and an adjusting vertical guide rail 9 that are parallel to each other and fixedly connected. The translational vertical guide rail 8 is used for overall lifting and lowering movement, while the adjusting vertical guide rail 9 is used for fine height adjustment of the spray assembly 14. The two sides of the guide rail connecting slider 701 are respectively connected to the horizontal guide rail 7 and the guide rail screw 16 of the translational vertical guide rail 8, and can achieve vertical lifting and lowering movement by being driven by the guide rail motor 15. The guide rail screw 16, mounted on the adjusting vertical guide rail 9, is connected to the spray connecting slider 10, thereby realizing the second degree of freedom adjustment of the spray assembly 14 in the vertical direction. Through the combination of horizontal and vertical movement, a two-dimensional planar coverage trajectory can be formed.

[0047] like Figure 4 As shown, a spray connection slider 10 is slidably mounted on the adjusting vertical guide rail 9. A connecting bend 12 is fixed to the spray connection slider 10 via a bend connector 11. The bend connector 11 includes an upper clamping plate 1101 and a lower clamping plate 1102, which are installed on the upper and lower surfaces of the slider connecting plate 1103, forming a circular hollow section in the middle for fixing the connecting bend 12. The slider connecting plate 1103 is installed on the side of the spray connection slider 10 and fixed by bolts to ensure structural stability.

[0048] Example 2: Based on the above examples, this example provides a quick-release structure for the hose 4 between the spray assembly 14 and the water distributor 13, so that the number of DC nozzles 1403 that need to be operated can be controlled by quickly inserting and removing the hose 4 according to the usage requirements.

[0049] like Figure 7-10 As shown, the inlet end of the connecting bend 12 is connected to the output end of the high-pressure water pump 3 via a hose 4, and a distributor 13 is installed at the outlet end. The distributor 13 is designed with a spindle shape, with one end clamped to the connecting bend 12. A bearing 17 is provided between the connecting bend 12 and the distributor 13, allowing the distributor 13 to rotate relative to the bend. When high-pressure water flows through, the reaction force of the water flow drives the distributor 13 to rotate, realizing the self-rotation function of the nozzle.

[0050] The distributor 13 has a transition channel 1301 inside, located in the middle of the distributor 13. The upper end of the transition channel 1301 communicates with the connecting elbow 12, and the lower end has multiple distribution channels 1302. On the other side of the distributor 13, multiple mounting slots 1303 are provided, and each distribution channel 1302 communicates with a mounting slot 1303. A support spring 1304 is installed inside the mounting slot 1303, and a piston block 1305 is engaged at the top of the support spring 1304. A threaded limiting ring 1306 is provided at the opening of the mounting slot 1303. This structure can achieve buffering and adjustment under high-pressure water flow impact, ensuring stable water flow distribution.

[0051] One end of the hose 4 used to connect to the water distributor 13 is equipped with a quick connector 18, and the outer surface of the quick connector 18 is provided with threads that match the limiting ring 1306. A water supply groove 1801 is opened inside the quick connector 18, and multiple strip-shaped water supply ports 1802 are opened on the side of the water supply groove 1801 to allow water to flow evenly into the spray assembly 14. This structure facilitates quick disassembly and maintenance.

[0052] When a certain DC nozzle 1403 is not needed, there is no quick connector 18 in the mounting slot 1303 corresponding to the hose 4 connected to it. This allows the support spring 1304 to press the piston block 1305 below the water distribution channel 1302, blocking this mounting slot 1303 without affecting the normal water supply operation of the other mounting slots 1303.

[0053] When installation is required, the worker inserts the quick connector 18 into the mounting slot 1303. The quick connector 18 presses against the piston block 1305, causing it to compress the support spring 1304. Then, it is fixed by the matching thread on the limit ring 1306 and the quick connector 18. Thus, the high-pressure water flow can flow from the transition channel 1301 into the water distribution channel 1302 and then into the water supply tank 1801 through the water supply port 1802. The water supply tank 1801 and the hose 4 are connected, which can quickly input the high-pressure water flow into the DC nozzle 1403 for rust removal.

[0054] Example 3: Based on the above examples, this example provides a structure for a spray assembly 14;

[0055] like Figure 6 As shown, the spray assembly 14 includes a spray support 1402 with a mounting rod 1401. Multiple direct-flow nozzles 1403 are mounted on the spray support 1402 to form a high-impact water jet. At least one angled nozzle 1404 is located on the outermost side for self-rotation, with an angle of 30-60°. The angled nozzle 1404, in its self-rotating state, forms a conical coverage area, enhancing the cleaning ability of edges and dead corners.

[0056] This device uses a motor 5 to drive a horizontal guide rail 7 to rotate around a connecting shaft 601, forming the first degree of freedom. The second degree of freedom is planar motion formed by the sliding structure of the horizontal guide rail 7 and the vertical guide rail assembly. Combined with the self-rotating spray of the water distributor 13, it can achieve large-scale, multi-angle, and high-efficiency rust removal operations.

[0057] Working principle and process: Before operation, water is added to water tank 2, and high-pressure water pump 3 is started. The operation control system starts the guide rail motor 15, which moves the spray assembly 14 to the initial working position. Then, the motor 5 is started, which drives the horizontal guide rail 7 to swing around the axis through the connecting shaft 601, thus achieving initial adjustment of the spray angle. The operator can control different guide rail motors 15 through the control system to adjust the position of the spray assembly 14, and can also start the motor 5 to adjust the tilt angle of the horizontal guide rail 7.

[0058] High-pressure water pump 3 delivers water to connecting bend 12, which then flows through transition channel 1301 inside distributor 13 before entering each spray hose 4. The water flow forms a high-energy water jet through direct-flow nozzle 1403, impacting the rust layer. Simultaneously, some water is sprayed out through angled nozzle 1404, generating a self-rotating motion supported by bearing 17 in distributor 13. This self-rotating spray forms an annular or conical coverage area, significantly increasing the area covered by a single spray.

[0059] During the rust removal process, the guide rail motor 15 drives the lead screw of the horizontal guide rail 7, causing the spraying assembly 14 to move smoothly in the horizontal direction; at the same time, the lead screws of the vertical guide rail 8 and the vertical guide rail 9 drive the spraying assembly 14 to move up and down, achieving large-area grid coverage. Through the combined effects of horizontal rotation, lateral movement, longitudinal movement, and spin spraying, the nozzle can cover a large area, and the spraying angle can be adjusted according to the curvature of the surface.

[0060] The technical features disclosed above are not limited to combinations of the disclosed features with other features. Those skilled in the art can also make other combinations of the technical features according to the purpose of this disclosure, in order to achieve the objectives of this disclosure. The description herein is provided to enable those skilled in the art to implement or use the contents of this disclosure. Various modifications to the contents of this disclosure will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other variations without departing from the scope of this disclosure.

Claims

1. A wide-range waterjet rust removal vehicle based on a dual-degree-of-freedom rotating self-rotating nozzle, comprising a vehicle body (1) with drive wheels (101), characterized in that, The vehicle body (1) is provided with an installation plate (102) inside. A water tank (2) is fixed below the installation plate (102). A high-pressure water pump (3) is provided on the side of the water tank (2). The outlet of the water tank (2) and the inlet of the high-pressure water pump (3) are connected by a hose (4). An electric motor (5) is mounted on the top of the mounting plate (102), and the output end of the electric motor (5) is connected to a connecting assembly (6). A horizontal guide rail (7) is mounted on the top of the connecting assembly (6). The horizontal guide rail (7) is connected to a vertical guide rail assembly via a guide rail connecting slider (701). The vertical guide rail assembly includes a translational vertical guide rail (8) and an adjustment vertical guide rail (9) that are parallel to each other and fixedly connected. The adjusting vertical guide rail (9) is slidably mounted with a jet connection slider (10), and a connecting bend (12) is fixed on the jet connection slider (10) by a bend connector (11). The inlet end of the connecting bend (12) is connected to the output end of the high-pressure water pump (3) via a hose (4), and a water distributor (13) is installed at the outlet end of the connecting bend (12). The water distributor (13) is connected to the spray assembly (14) via a hose (4).

2. The large-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating nozzle according to claim 1, characterized in that: The connecting assembly (6) includes a connecting shaft (601), which is located in a connecting bracket (602) on a mounting plate (102). One end of the connecting shaft (601) is connected to a motor (5), and the other end of the connecting shaft (601) is keyed to a fixing plate (603). The fixing plate (603) is fixedly installed on the back of the horizontal guide rail (7).

3. The large-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating nozzle according to claim 1, characterized in that: It also includes a guide rail motor (15) and a guide rail screw (16), which are installed in the horizontal guide rail (7), the translation vertical guide rail (8) and the adjustment vertical guide rail (9). The two sides of the guide rail connecting slider (701) are respectively connected to the horizontal guide rail (7) and the guide rail screw (16) of the translation vertical guide rail (8). The guide rail screw (16) installed on the adjustment vertical guide rail (9) is connected to the spray connecting slider (10).

4. The large-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating nozzle according to claim 1, characterized in that: The bent pipe connector (11) includes an upper clamping plate (1101) and a lower clamping plate (1102). The upper clamping plate (1101) and the lower clamping plate (1102) are installed on the upper and lower surfaces of the slider connecting plate (1103). A circular hollow part is formed in the middle of the upper clamping plate (1101) and the lower clamping plate (1102). The slider connecting plate (1103) is installed on the side of the spray connecting slider (10).

5. A large-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating nozzle according to claim 1, characterized in that: The water distributor (13) is configured as a spindle shape, and a connecting bend (12) is snapped onto one end of the water distributor (13). A bearing (17) is provided between the connecting bend (12) and the water distributor (13).

6. A large-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating nozzle according to claim 5, characterized in that: The water distributor (13) has a transition channel (1301) inside. The transition channel (1301) is located in the middle of the water distributor (13). The upper end of the transition channel (1301) is connected to the connecting bend (12). The bottom end of the transition channel (1301) has multiple water distribution channels (1302). The other side of the water distributor (13) has multiple installation grooves (1303). The other end of the water distribution channel (1302) is connected to the installation groove (1303).

7. A large-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating nozzle according to claim 6, characterized in that: A support spring (1304) is provided in the mounting groove (1303), and a piston block (1305) is engaged at the top of the support spring (1304). A threaded limiting ring (1306) is provided at the opening of the mounting groove (1303).

8. A large-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating nozzle according to claim 7, characterized in that: A quick connector (18) is provided at one end of the hose (4) used to connect the water distributor (13). The quick connector (18) has a thread on the surface near the hose (4) that matches the limiting ring (1306). A water supply groove (1801) is provided inside the quick connector (18). Multiple strip-shaped water supply ports (1802) are provided on the side of the water supply groove (1801).

9. A large-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating nozzle according to claim 1, characterized in that: The spray assembly (14) includes a spray support (1402) with a mounting rod (1401), and a plurality of DC nozzles (1403) are provided on the spray support (1402). At least one angled nozzle (1404) is provided on the outermost side of the DC nozzles (1403).

10. A large-range water jet rust removal vehicle based on a dual-degree-of-freedom rotating nozzle according to claim 9, characterized in that: The tilt angle of the angled nozzle (1404) is set to 30-60°.

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