Crawler-type super-high pressure water derusting dock bottom operation vehicle

Abstract

The application is a caterpillar type super high pressure water rust removal dock bottom operation vehicle, and particularly an X, comprising a running base, a slewing bearing horizontally rotatable thereon, a telescopic large arm hinged thereto and a hydraulic cylinder pushing and pulling the large arm. A working cavity is arranged on the top of the end working part of the large arm to accommodate a super high pressure water rust removal assembly, and a single disc fork is hinged to the bottom. A fine adjustment support plate is arranged between the single disc fork and the large arm. The upper part of the front and rear support plates is hinged, the lower part is provided with a long hole penetrating a guide screw, and the distance is adjusted by the screw nuts at both ends, and the spring provides pre-tightening force to realize angle fine adjustment and reset. The application has the advantages that: by arranging multiple adjustable flexible joints on the dock bottom rust removal operation vehicle, the working part can closely match the inclined angle or arc structure working surface of the ship bottom, thereby effectively improving the rust removal uniformity and coverage integrity, and significantly improving the operation continuity and overall efficiency.

Description

Technical Field

[0001] This invention relates to the field of rust removal technology, specifically a tracked ultra-high pressure water rust removal dock bottom operation vehicle. Background Technology

[0002] Rust removal technology is a key indicator for evaluating the quality of ship repair, and its efficiency and effectiveness directly affect the service life and safety performance of the ship. In the field of ship repair, rust removal on the hull bottom is particularly important and is also a major factor affecting repair schedule and cost. With technological advancements, ultra-high pressure water rust removal technology has become dominant in the field due to its environmental friendliness and high efficiency. Currently, most mainstream ship bottom rust removal equipment on the market uses a four-wheel chassis structure. While this type of equipment performs reasonably well in flat, open areas, it faces many limitations in the complex environment of actual dock bottoms. Dock bottom working environments are typically confined, with uneven terrain, and the transition areas between the hull bottom and sides often have complex curved surfaces. Existing equipment, due to insufficient chassis mobility, struggles to maneuver and position itself flexibly within limited spaces.

[0003] More importantly, the working mechanisms of traditional rust removal equipment generally lack sufficient degrees of freedom, resulting in insufficient contact between the working head and the hull surface. This is particularly problematic when dealing with curved transition areas such as the bilge keel, where maintaining a stable working distance is difficult, leading to uneven rust removal and even missed areas. Furthermore, existing equipment has a low level of automation, requiring operators to operate it at close range, which is not only physically demanding but also poses safety hazards. While some equipment has attempted to use adjustable booms, their simple joint structures cannot achieve multi-dimensional adaptive adjustments, making it difficult to cope with irregular changes in the hull surface. In ultra-high pressure water rust removal, the degree of contact between the working head and the working surface directly determines the efficiency and quality of rust removal. Therefore, there is an urgent need for a dockside rust removal device with multi-degree-of-freedom adjustment capabilities that can adapt to changes in the hull's curvature, addressing the core problems of poor adaptability, incomplete coverage, and low operating efficiency of existing technologies under complex working conditions. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a tracked ultra-high pressure water derusting dock bottom work vehicle. By setting multiple adjustable and flexible joints on the dock bottom derusting work vehicle, the working part can closely fit the inclined angle or arc-shaped structure of the bottom of the ship, thereby effectively improving the uniformity and integrity of derusting, and significantly improving the continuity of operation and overall efficiency.

[0005] To achieve the above objectives, a tracked ultra-high pressure water rust removal dock bottom operation vehicle is designed, comprising: a traveling base, a slewing bearing mounted on the traveling base for horizontal rotation, a telescopic boom hinged to the slewing bearing, and hydraulic cylinders hinged at both ends to push and pull the slewing bearing and the telescopic boom, further comprising: a working section located at the end of the telescopic boom away from the slewing bearing, the top of the working section having a working cavity for accommodating the ultra-high pressure water rust removal components, and a single disc fork hinged to the bottom of the working section; a fine-tuning support plate located between the single disc fork and the end of the telescopic boom, comprising: a front support plate connected to the single disc fork, and a rear support plate connected to the telescopic boom; the front support plate... Both the front and rear support plates have ear plates on their upper parts and are rotatably connected by a transverse pivot. The lower parts of both the front and rear support plates have through elongated holes. The two ends of the guide screw are respectively inserted into the elongated holes of the front and rear support plates. The two ends of the guide screw are also threaded with nuts. The nuts are located on the side of the front support plate away from the rear support plate and on the side of the rear support plate away from the front support plate, respectively. A strong spring is sleeved on the guide screw, with its two ends abutting against the front and rear support plates, respectively. By adjusting the nuts, the front and rear support plates are controlled to move closer or further away from each other around the hinge point. The strong spring is used to provide pre-tension force between the front and rear support plates to restore the initial position.

[0006] Preferably, the present invention further includes: a tail pivot is provided on the rear support plate away from the single disc fork along the extension direction of the telescopic boom; one end of the tail pivot is fixedly connected to the rear support plate and the other end is rotatably connected to the telescopic boom; together with the horizontal rotation of the slewing bearing, the hinged push-pull of the hydraulic cylinder, the hinge between the single disc fork and the working part, and the hinge of the fine-tuning support plate, it constitutes a multi-joint structure with multiple degrees of flexibility; one end of the tail pivot is sleeved with a rotary bearing, and the telescopic boom is rotatably connected to the tail pivot through the rotary bearing.

[0007] Preferably, the present invention further includes: a horizontally arranged top plate on the top of the front support plate, which is perpendicular to the front support plate, and the top plate and the front support plate form a right-angled receiving groove for stable connection with the end of the single disc fork; the ear plates are all vertically arranged and perpendicularly connected to the front support plate and the rear support plate respectively, the ear plate of the front support plate includes two parallel right-angled triangular plates, the ear plate of the rear support plate includes one right-angled triangular plate, the right-angled triangular plates of the ear plates of the front support plate and the rear support plate are all arranged with the right-angled side facing up and the hypotenuse facing down, and the ear plate of the rear support plate is inserted in the gap between the two ear plates of the front support plate, and a transverse rotating shaft is inserted through the ear plates of the front support plate and the rear support plate, and the ear plates of the front support plate and the rear support plate rotate around the transverse rotating shaft.

[0008] Preferably, the present invention further includes: a slewing bearing disk connected by a flange on the slewing bearing, two vertically parallel hinge plates on the slewing bearing disk, a first hinge point extending from the lower part of the hinge plate to the front side of the slewing bearing, a second hinge point on the top of the hinge plate, one end of the telescopic boom hinged to the second hinge point, one end of the hydraulic cylinder hinged to the first hinge point, the other end of the hydraulic cylinder hinged to the fixed wall of the telescopic boom, and a lighting lamp on the fixed arm of the telescopic boom.

[0009] Preferably, the present invention further includes: the traveling base includes: a vehicle shell, inside which is provided an oil tank, a generator, a battery and a hydraulic pump, the generator, the battery and the hydraulic pump are electrically connected to each other, the oil tank is electrically connected to the generator, and the generator generates electricity by burning oil in the oil tank; the slewing bearing is hydraulically driven, the hydraulic pump is connected in a closed loop with the hydraulic oil tank and the hydraulic regulating valve inside the vehicle shell through pipelines, and the hydraulic regulating valve is also provided with several pipelines respectively connected to the hydraulic cylinder and the hydraulic drive part of the slewing bearing, and the hydraulic fluid in the pipelines is input to or output to the hydraulic oil tank through a manifold.

[0010] Preferably, the present invention further includes: the traveling base further includes: a drive motor disposed inside the vehicle body, the drive motor being electrically connected to a generator, the drive motor being drive-connected to worm gear reducers disposed on both sides of the traveling base, traveling tracks being disposed on both sides of the vehicle body, the traveling tracks being drive-connected to worm gear reducers, and track outer plates covering the drive-connection points between the traveling tracks and the worm gear reducers.

[0011] Preferably, the present invention further includes: the working chamber of the working part is provided with a nozzle and a sewage hole of an ultra-high pressure water rust removal component located at the bottom of the working chamber; the telescopic arm is provided with several pipeline fixing brackets; the externally connected water inlet pipe and water outlet pipe are respectively connected to the nozzle and the sewage hole, and are all fixed on the pipeline fixing brackets; ultra-high pressure water is input into the nozzle through the water inlet pipe; the sewage after the rust removal work flows back into the working chamber and is discharged through the sewage hole and the water outlet pipe.

[0012] Preferably, the present invention further includes: a drain outlet is provided on the traveling base, and sewage that falls into the traveling base during operation is discharged through the drain outlet.

[0013] Preferably, the present invention further includes: the working part having a top open structure, the inner cavity of the open structure being a working cavity, bristles being provided at the edge of the open structure, and a plurality of guide wheels being provided around the edge of the open structure, the rolling surface of the guide wheels being arranged facing upwards, for use in conjunction with the single disc fork and the fine adjustment support plate to fit the working part onto the working surface.

[0014] Preferably, the present invention further includes: the running base further includes: a front hatch disposed on the vehicle body, the upper end of the front hatch being provided with a handle; a fuse and an emergency stop switch electrically connected to the generator and drive motor; and an electrical control box disposed at the rear of the vehicle body, the electrical control box integrating an electrical control chip and a wireless signal transmitter.

[0015] Compared with the prior art, the advantages of this invention are: This invention significantly improves operational performance by incorporating multiple adjustable and flexible joints on the dock bottom rust removal vehicle. This allows the working unit to adaptively adjust in multiple dimensions according to the actual curved surface shape of the ship's bottom. Regarding rust removal quality, the coordinated adjustment of the flexible joints ensures that the working head maintains a tight fit with complex structures such as inclined surfaces and curved transition zones. This effectively maintains a stable working distance between the ultra-high pressure water jet and the working surface, avoiding jet energy attenuation and coverage blind spots caused by gaps in the fit. This results in a uniform and thorough rust removal effect, especially in areas with significant curvature changes such as bilge keels. It effectively eliminates the omissions or uneven treatment that are common with traditional equipment, ensuring consistent surface treatment quality for the ship's hull.

[0016] In terms of operational efficiency, the work vehicle does not need to stop frequently for manual posture adjustment or repositioning due to changes in curved surfaces. The flexible response of the joints enables the equipment to continuously and smoothly complete the rust removal task in complex contour areas, shortening the single operation cycle and improving the overall operational smoothness and time utilization.

[0017] Meanwhile, this structure significantly enhances the equipment's versatility in adapting to different ship bottom curvatures. One set of work vehicles can handle the operational needs of various tilt angles and curved structures, reducing the need for specialized tooling and equipment replacement, and lowering maintenance costs and operational complexity.

[0018] In addition, the stable fit optimizes the energy transfer efficiency of the high-pressure water jet, reduces jet scattering and energy loss caused by angular deviation, and indirectly reduces potential safety risks during operation while improving rust removal efficiency.

[0019] In summary, this invention effectively solves the core problem of insufficient fit of existing equipment under complex curved surface conditions through structural optimization. Without changing the basic operating principle, it achieves a synergistic improvement in rust removal quality, operating efficiency and equipment adaptability, providing a practical and feasible technical solution for efficient and high-quality rust removal operations at the bottom of ship docks. Attached Figure Description

[0020] Figure 1 This is a front view of the present invention; Figure 2 This is a rear view of the present invention; Figure 3 This is the right view of the present invention; Figure 4This is the left view of the present invention; Figure 5 This is a top view of the present invention; Figure 6 This is a bottom view of the present invention; Figure 7 yes Figure 5 Illustration with the front hood obscured; Figure 8 This is an isometric view of the present invention; Figure 9 This is a partial schematic diagram of the fine-tuning support plate of the present invention; In the diagram: 1. Working section; 2. Single disc fork; 3. Fine-tuning support plate; 4. Telescopic boom; 5. Front hatch; 6. Hydraulic cylinder; 7. Slewing bearing plate; 8. Slewing bearing; 9. Body shell; 10. Track outer plate; 11. Track; 12. LED lighting; 13. Emergency stop switch; 14. Electrical control box; 15. Drain outlet; 16. 48V DC diesel generator set; 17. Hydraulic oil tank; 18. Hydraulic motor; 19. Diesel fuel tank; 20. Drive motor; 21. Worm gear reducer; 22. Hydraulic regulating valve; 23. Regulating valve bracket; 24. 12V lead-acid battery; 25. Battery bracket; 26. Fuse; 27. Busbar; 28. Handle; 29. ​​Front support plate; 30. Rear support plate; 31. Long strip hole; 32. Guide screw; 33. Nut; 34. Strong spring; 35. Tail shaft; 36. Nozzle; 37. Sewage outlet; 38. Pipeline fixing bracket. Detailed Implementation

[0021] To make the purpose, principle and structure of the present invention clearer, the following description is provided in conjunction with the accompanying drawings and specific embodiments.

[0022] Reference Figures 1 to 9 This section provides an explanation of the tracked ultra-high pressure water derusting dock bottom work vehicle involved.

[0023] Ultra-high pressure water jet rust removal is an environmentally friendly and efficient ship surface treatment technology. It utilizes high-speed water jets exceeding 200 MPa to physically remove rust, old paint, and other adhering substances. Using water as the medium, it eliminates chemical pollution. Combined with a vacuum recovery system, it simultaneously collects wastewater and waste residue, effectively inhibiting rust recurrence. It is widely used in the field of green ship repair. Dry dock operations specifically refer to maintenance work carried out on the bottom area of ​​a ship within a dry dock.

[0024] Furthermore, in this specification, the following terms indicating direction, "front," "rear," "ahead (front side)," "rear (rear side)," "left," "right," "left side," "right side," "up," "down," "above," and "below," as well as any other similar terms indicating direction, are defined as follows: "Front" and "ahead (front side)" indicate a first direction on the work vehicle, close to the working part and away from the slewing bearing. "Rear" and "rear (rear side)" are directions opposite to the first direction. "Forward / backward direction" corresponds to the length direction of the vehicle body and the telescopic boom. "Up" and "above" indicate a second direction close to the top of the work vehicle body. "Down" and "below" indicate directions opposite to the second direction. "Left," "left side," "right," and "right side" are defined based on "up" and "down."

[0025] Reference Figures 1 to 9 This paper describes in detail the specific implementation of a tracked ultra-high pressure water rust removal dock bottom work vehicle of the present invention. The tracked ultra-high pressure water rust removal dock bottom work vehicle involved in the present invention mainly consists of a traveling base, a slewing bearing 8, a telescopic boom 4, a working part 1, and a fine-adjustment support plate 3. The components work together to achieve efficient rust removal operation on the complex curved surface of the dock bottom.

[0026] The running base serves as the support and foundation for the entire equipment, comprising a chassis 9, tracks 11, and a power system. Tracks 11 are located on both sides of the chassis 9 and are connected to the power system for movement. The power system is as follows: the chassis 9 houses a 48V DC diesel generator set 16, four 12V lead-acid batteries 24, a hydraulic oil tank 17, a diesel fuel tank 19, and a drive motor 20. The 48V DC diesel generator set 16 is electrically connected to the batteries 24 and the drive motor 20. The diesel fuel tank 19 is electrically connected to the 48V DC diesel generator set 16, generating electricity by burning the fuel in the diesel fuel tank 19. The drive motor 20 is connected to worm gear reducers 21 located on both sides of the running base. Tracks 11 are located on both sides of the chassis 9 and are connected to the worm gear reducers 21. Track outer plates 10 cover the connection points between the tracks 11 and the worm gear reducers 21. Preferably, the track 11 is driven by track wheels, and a worm gear is fitted on the rotating shaft of the track wheel, meshing with the worm in the worm gear reducer 21. This equipment adopts a hybrid oil-electric drive mode, and can be powered by a 48V DC diesel generator set 16 or by the battery 24 alone. The vehicle body 9 is covered with a front hatch 5, and the upper end of the front hatch 5 is equipped with a handle 28 for easy opening by maintenance personnel. An electrical control box 14 is located at the rear of the vehicle body 9, which integrates an electrical control chip and a wireless signal transmitter, enabling wireless remote control operation and reducing safety risks for operators. The running base is also equipped with a fuse 26 and an emergency stop switch 13 to ensure safe operation of the equipment. In addition, the running base is equipped with a drain outlet 15, which can discharge sewage that falls into the running base during operation.

[0027] The slewing bearing 8 is mounted on the traveling base and can rotate horizontally. The slewing bearing 8 is a horizontally mounted bearing structure, which includes a fixed ring and a movable ring. Several balls or rollers are arranged between the fixed ring and the movable ring. The fixed ring of the bearing is fixedly connected to the traveling base, and the movable ring of the bearing has a gear ring structure.

[0028] A slewing bearing 8 is equipped with a slewing bearing plate 7, which is fixedly connected to the movable ring of the slewing bearing 8 via a flange and rotates with the movable ring. Two vertically parallel hinge plates are arranged on the slewing bearing plate 7. The lower part of the hinge plate extends to the front side of the slewing bearing 8 and has a first hinge point, while the top of the hinge plate has a second hinge point. This structure provides a stable hinge base for the telescopic boom 4 and the hydraulic cylinder 6. The lower part of the hinge plate conforms to the portion of the slewing bearing 8 that protrudes from the traveling base. The first hinge point faces forward, and its height is lower than the second hinge point, which is used to increase the force of the hydraulic cylinder 6 by increasing the lever arm length during subsequent hinge operations.

[0029] The slewing bearing 8 is hydraulically driven. Its drive system consists of a hydraulic motor 18, a hydraulic oil tank 17, a hydraulic regulating valve 22, and a manifold 27 integrated inside the body shell 9, forming a complete closed-loop circuit. The oil inlet of the hydraulic motor 18 is connected to the bottom of the hydraulic oil tank 17 via an oil inlet pipe, and the oil outlet is connected to the oil inlet of the hydraulic regulating valve 22 via a pressure pipe. The oil return port of the hydraulic regulating valve 22 flows into the manifold 27 via a return pipe, and then the manifold 27 guides the hydraulic oil back to the upper part of the hydraulic oil tank 17, forming an efficient circulation path. The hydraulic regulating valve 22 has multiple working oil ports, two of which are dedicated oil ports that are tightly connected to the oil inlet and return ports of the hydraulic drive unit of the slewing bearing 8 via high-pressure hoses, respectively. An independent oil circuit is also provided to the hydraulic cylinder 6 to achieve coordinated control of multiple actuators. The hydraulic regulating valve 22 is firmly fixed to the inner bottom plate of the body shell 9 by the regulating valve bracket 23 to ensure no displacement during operation. During operation, the operator issues a horizontal rotation command via a wireless remote control. The electronic control chip in the control box 14 receives the signal and drives the hydraulic regulating valve 22 to switch to the corresponding oil circuit of the slewing bearing 8, simultaneously starting the hydraulic motor 18. The hydraulic motor 18 pressurizes the hydraulic oil in the hydraulic oil tank 17 and delivers it to the hydraulic regulating valve 22. After precise distribution, the high-pressure hydraulic oil is injected into the hydraulic drive unit of the slewing bearing 8 along the inlet pipe, driving the internal transmission mechanism to produce controllable rotation of the movable ring, thereby driving the slewing bearing disc 7 and its upper components to achieve precise horizontal rotation. After completing the action, the hydraulic oil returns smoothly to the oil tank via the return pipe and manifold 27. The hydraulic regulating valve 22 controls the flow rate and direction of the hydraulic oil in real time by adjusting the valve core opening, thereby steplessly adjusting the rotation speed and direction of the slewing bearing 8 to meet the precise positioning requirements of the work position within the confined space of the dock bottom. The manifold 27, as the collection and distribution node of the hydraulic system, effectively integrates multiple oil return paths, simplifies the pipeline layout, and improves the system's sealing reliability and maintenance convenience. This hydraulic drive structure ensures smooth and rapid rotation, and works independently yet collaboratively with the pitch control of the hydraulic cylinder 6, providing a solid foundation for subsequent boom posture adjustments. One end of the telescopic boom 4 is hinged to the second hinge point on the slewing bearing plate 7; both ends of the hydraulic cylinder 6 are hinged to the first hinge point of the slewing bearing plate 7 and the fixed wall of the telescopic boom 4, respectively, achieving boom pitch angle adjustment via hydraulic push-pull. Both ends of the hydraulic cylinder 6 are hinged to the first hinge point of the slewing bearing plate 7 and the fixed wall of the telescopic boom 4 via pins. When the hydraulic system drives the hydraulic cylinder piston rod to extend, it pushes the telescopic boom 4 upward; when retracting, it pulls the telescopic boom 4 downward. This ensures that the telescopic boom 4 always performs controllable pitch movement around the rotation axis formed by itself and the second hinge point at the top of the slewing bearing plate 7, thereby precisely adjusting the working height and contact angle of the working part 1.The hydraulic drive unit of the slewing bearing 8 can be equipped with a hydraulic motor as the core actuator. As it can efficiently convert the pressure oil provided by the hydraulic system into continuous and controllable rotational mechanical energy, it has the characteristics of large output torque, smooth speed regulation, support for forward and reverse rotation and stepless speed regulation. It can directly drive the slewing bearing moving ring through gear meshing to achieve 360° precise rotation. At the same time, it is highly compatible with the existing hydraulic source of the equipment (hydraulic pump / motor, regulating valve, oil tank). It has a compact structure and rapid response, which fully meets the engineering requirements for horizontal positioning accuracy, smooth operation and system integration in dock bottom operations. It is also a conventional and mature solution for driving slewing bearings in the field of engineering machinery.

[0030] The telescopic boom 4 is composed of a basic boom (fixed boom) and a telescopic boom in a nested sliding fit. The cross-section of each boom section is rectangular or I-shaped, and the inner wall is equipped with a wear-resistant slider or roller guide mechanism to ensure smooth axial sliding. The telescopic action is driven by a built-in telescopic hydraulic cylinder. The cylinder barrel is fixed to the rear end of the inner cavity of the basic boom, and the front end of the piston rod is hinged to the tail end of the first telescopic boom section. When hydraulic oil enters the rodless chamber through the control valve, it pushes the piston rod to extend, causing the telescopic boom to slide out. The hydraulic system precisely controls the direction and flow of oil in and out through hydraulic valves to adjust the telescopic speed and position.

[0031] The telescopic boom 4 is equipped with LED lights 12 and multiple pipe fixing brackets 38. The external ultra-high pressure water inlet pipe and sewage recovery outlet pipe are both systematically fixed by the pipe fixing brackets 38 to prevent pipe entanglement or wear during operation. The working section 1 is installed at the far end of the boom. The open working chamber at the top of the working section 1 contains a nozzle 36 and a sewage outlet 37. The water inlet pipe connects to the nozzle 36, and the outlet pipe connects to the sewage outlet 37. During operation, the ultra-high pressure water jet impacts the rust layer, and the sewage is collected in the chamber and discharged through the outlet pipe. Flexible bristles and multiple guide wheels are arranged circumferentially along the edge of the open working chamber, with the rolling surface of the guide wheels facing upwards. This, along with the single disc fork 2 and the fine-tuning support plate 3, allows for adaptive fitting of the working section 1 to the curved surface of the hull. The telescopic boom 4 is also equipped with LED lights 12 for operational illumination.

[0032] The single-disc fork 2 is hinged to the bottom of the working part 1, allowing for fine-tuning of its angle. The single-disc fork 2 adopts a U-shaped fork structure, with a connection point at the center of its closed end. This connection point is securely attached to the right-angle receiving groove at the top of the front support plate 29 of the fine-tuning support plate, forming a single input connection point for the fine-tuning support plate to transmit adjustment force to the single-disc fork. The right-angle receiving groove at the top of the front support plate 29 increases the connection area with this connection point by providing a top contact surface and a front contact surface, thus enhancing connection stability. Two hinge points are symmetrically arranged on both sides of the U-shaped open end, respectively, and are connected to the corresponding hinge seats on the bottom circumferential direction of the disc-shaped working part 1 via pins, achieving double-point hinged connections and forming a "single-point input, double-point output" mechanical transmission structure. This design effectively distributes the single adjustment force applied by the fine-tuning support plate to both sides of the working part, significantly enhancing the anti-deflection capability and attitude stability of the disc-shaped working part when working in contact with the curved surface of the hull. At the same time, it retains the slight rotational freedom of the working part relative to the single disc fork, ensuring that the guide wheel and brush bristles can adaptively adjust with the changes in the curved surface, maintaining a tight fit between the working cavity and the working surface, avoiding shaking or fit failure caused by a single point connection, and effectively improving the uniformity and reliability of the rust removal operation.

[0033] The fine-tuning support plate 3 consists of a front support plate 29 and a rear support plate 30. The front support plate 29 has a horizontal top plate, which connects with the vertically positioned front support plate 29 to form a right-angle receiving groove at the top, which connects to the end of the single-disc fork 2. Both the front support plate 29 and the rear support plate 30 are provided with ear plates. The ear plates are all vertically positioned with a right-angled triangular structure. One right-angled side of the ear plate is fixedly connected to the two sides of the vertically positioned front support plate 29 or rear support plate 30, respectively, while the other right-angled side faces upward and the hypotenuse faces downward. Two ear plates are arranged parallel to each other on the front support plate 29, forming a gap between them. A single ear plate is provided on the rear support plate 30. The rear support plate 30 is embedded in the gap between the two ear plates of the front support plate 29, and is hinged and rotated by a transverse rotating shaft. This transverse rotating shaft forms a pin-shaped rotatable connection between the front support plate 29 and the rear support plate 30, and a locking pin is inserted at the end of the transverse rotating shaft to prevent it from coming out of the through hole in either the front support plate 29 or the rear support plate 30. The front support plate 29 and the rear support plate 30 swing and rotate up and down around this transverse rotating shaft. The ear plates on both the front support plate 29 and the rear support plate 30 are located on the upper part of the support plate, while the lower part of each support plate has a vertically oriented elongated hole 31. A guide screw 32 passes through the elongated hole 31, with both ends of the guide screw 32 passing through the elongated hole 31 and fitted with nuts 33 at both ends. The nuts 33 are located on the opposite sides of the front support plate 29 and the rear support plate 30, respectively. The nuts 33, through their cooperation with the guide screws 32, abut against the outer sides of the front support plate 29 and the rear support plate 30, thereby limiting and compressing the inner sides of the front support plate 29 and the rear support plate 30 (the inner side refers to the direction in which the front support plate 29 and the rear support plate 30 approach each other). A strong spring 34 is fitted onto the screw and abuts against the inner sides of the two support plates, forming an interaction force with the locking force of the nut 33. By turning the nut 33, the front support plate 29 and the rear support plate 30 are pushed closer to each other. The strong spring 34, fitted onto the guide screw 32, is also compressed by external force as its two ends are abutted against the front support plate 29 and the rear support plate 30 respectively. This shortens the stroke and accumulates elastic potential energy. When the two nuts 33 are turned away from each other, the elastic potential energy of the strong spring 34 is released, pushing the front support plate 29 and the rear support plate 30 away from each other, thus achieving the function of automatic reset. Since the nut 33 is still fitted onto the guide screw 32, it can form a limiting constraint on the movement of the front support plate 29 and the rear support plate 30 away from each other. The adjustable structure is located at the lower part of the front support plate 29 and the rear support plate 30, while the upper part of the front support plate 29 and the rear support plate 30 is connected by a pin. Therefore, by adjusting the amount of thread feed and retraction between the nut 33 and the guide screw 32, the rotation angle between the front support plate 29 and the rear support plate 30 can be precisely adjusted. In addition, the structure has elastic buffering and automatic reset capabilities.

[0034] The tail shaft 35 is a rigid cylindrical shaft with its axis parallel to the extension direction of the telescopic boom 4. It is fixedly mounted on the tail end face of the rear support plate 30 away from the single disc fork 2. One end of the tail shaft 35 near the rear support plate 30 is rigidly connected to the rear support plate 30 by welding or high-strength bolts to ensure reliable torque transmission; the other end (free end) is machined with a precision journal. A standard rotary bearing (usually a deep groove ball bearing or a spherical plain bearing, the specifications of which can be selected according to the needs of those skilled in the art) is fitted into this journal. The inner ring of the bearing is fastened to the tail shaft 35 by an interference fit or a shoulder and retaining ring structure. The outer ring of the bearing mates with a pre-set annular bearing mounting seat at the end of the telescopic boom 4. The mounting seat is a two-piece splicing structure with a groove inside that conforms to the shape of the rotary bearing. The mounting seat also has a through locking screw, the end of which is inserted into the groove and abuts against the outer surface of the rotary bearing to lock it in place, preventing axial movement. Preferably, a threaded hole can be provided on the outer ring of the rotary bearing to lock the mounting seat and the outer ring of the rotary bearing by engaging with the threaded end of the locking screw. This structure allows the rear support plate 30 to rotate freely at a small angle relative to the telescopic boom 4 with the stern pivot 35 as the axis of rotation. During operation, when there is a lateral tilt on the hull surface (i.e., a curvature change perpendicular to the boom axis), the working part 1 transmits the attitude adjustment requirements to the fine-tuning support plate 3 via the single disc fork 2. The rear support plate 30 then rotates adaptively around the stern pivot 35. At the same time, the upper lateral pivot controls the pitch angle, and the lower guide screw 32 and the strong spring 33 provide elastic contact force. The three work together to form a complete spatial attitude adjustment system. The precise fit of the rotary bearing ensures the smoothness of the rotation process and low starting torque, effectively avoiding jamming caused by rust and water stains during dock operations. Its load-bearing capacity can also withstand the recoil force of ultra-high pressure water jets and the contact reaction force of the hull. This design precisely decouples the angular freedom of the working part in the transverse plane, allowing the guide wheel and brush bristles at the edge of the disc-shaped working cavity to dynamically adjust their fitting angle according to the complex three-dimensional curved surfaces (combining longitudinal curvature and transverse tilt) such as the bilge keel of the ship's bottom. This significantly improves the sealing effect and the uniformity of rust removal, and is an indispensable key link in realizing the "multi-joint adaptive fitting" function.

[0035] This multi-joint linkage structure allows the spring compression of the fine-tuning support plate 3 to adaptively adjust with changes in the curved surface when the working part 1 contacts the curved surface. The tail shaft 35 rotates synchronously to compensate for the tilt angle, ensuring that the working cavity continuously and tightly fits the hull surface. During operation, the track 11 is driven by the drive motor 20 through the worm gear reducer 21, adapting to the slippery and uneven terrain of the dock bottom. The operator remotely controls the horizontal rotation of the slewing bearing 8 and the pitching action of the hydraulic cylinder 6 to precisely position the working part 1 to the target area. The telescopic boom 4 applies a slight excess lift to press the working part 1 against the hull, and the fine-tuning support plate 3 responds in real time to changes in the curved surface to maintain the contact pressure. After the ultra-high pressure water completes the rust removal, the wastewater is discharged through the recycling system, and the guide wheel and brush enhance the sealing and splash prevention effect. Wastewater accumulated in the traveling base is periodically discharged through the drain port 15. This invention significantly improves the adaptability to complex curved surfaces of the ship bottom through the precise coordination of hydraulically driven slewing bearings and multi-degree-of-freedom joints, especially achieving uniform rust removal in curved areas such as bilge keels, avoiding omissions or damage to the substrate; the tracked chassis ensures mobile stability, the hybrid power system supports long-term operation, and wireless remote control greatly reduces the risks of manual operation. The overall structure is compact and the control is precise, effectively improving the efficiency and quality of rust removal operations on the dock bottom.

[0036] This invention, through its multi-joint structure design, allows the working unit to closely conform to the inclined angle or curved working surface of the ship's bottom. Especially when dealing with curved transition areas such as the bilge keel, it maintains a continuous and stable working distance, avoiding uneven rust removal or missed areas. Simultaneously, the tracked travel base allows the equipment to flexibly turn and position itself within the confined space of the dock, improving operational efficiency. The hybrid electric drive system ensures the equipment's ability to operate continuously for extended periods, while wireless remote control reduces operator safety risks, comprehensively enhancing the quality and efficiency of dockside rust removal operations.

[0037] The above description is merely a specific embodiment of the invention, but the scope of protection of the invention is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the invention, based on the technical solution and concept of the invention, should be covered within the scope of protection of the invention.

Claims

1. A tracked ultra-high pressure water derusting dock bottom operation vehicle, comprising: A traveling base, a slewing bearing mounted on the traveling base for horizontal rotation, a telescopic boom hinged to the slewing bearing, and a hydraulic cylinder with both ends hinged to and pushing / pulling the slewing bearing and the telescopic boom, characterized in that it further includes: The working section is located at the end of the telescopic boom away from the slewing bearing. The top of the working section is provided with a working cavity for accommodating the ultra-high pressure water rust removal assembly. The bottom of the working section is hinged with a single disc fork. A fine-tuning support plate is provided between the single disc fork and the end of the telescopic boom, including: a front support plate connected to the single disc fork and a rear support plate connected to the telescopic boom; Both the front and rear support plates have ear plates on their upper parts, which are rotatably connected by a transverse pivot. Both the front and rear support plates have through elongated holes on their lower parts, and the two ends of the guide screws are respectively inserted into the elongated holes in the front and rear support plates. The guide screw is also threaded with nuts at both ends, with the nuts located on the front support plate away from the rear support plate and on the rear support plate away from the front support plate, respectively. A strong spring is fitted onto a guide screw, with its two ends abutting against the front and rear support plates respectively. The adjustment nut controls the movement of the front and rear support plates toward or away from the hinge point. The strong spring is used to provide a pre-tension force between the front and rear support plates to restore the initial position.

2. The tracked ultra-high pressure water derusting dock bottom operation vehicle as described in claim 1, characterized in that, The rear support plate is also provided with a tail pivot on the side away from the single disc fork along the extension direction of the telescopic boom. One end of the tail pivot is fixedly connected to the rear support plate and the other end is rotatably connected to the telescopic boom. Together with the horizontal rotation of the slewing bearing, the hinged push and pull of the hydraulic cylinder, the hinge between the single disc fork and the working part, and the hinge of the fine-tuning support plate, it forms a multi-joint structure with multiple degrees of flexibility. One end of the tail shaft is fitted with a rotary bearing, and the telescopic boom is rotatably connected to the tail shaft through the rotary bearing.

3. The tracked ultra-high pressure water derusting dock bottom operation vehicle as described in claim 1, characterized in that, The top of the front support plate is provided with a horizontally arranged top plate that is perpendicular to the front support plate. The top plate and the front support plate form a right-angled receiving groove for stable connection with the end of the single disc fork. The ear plates are all vertically arranged and are perpendicularly connected to the front support plate and the rear support plate respectively. The ear plate of the front support plate includes two parallel right-angled triangular plates, and the ear plate of the rear support plate includes one right-angled triangular plate. The right-angled triangular plates of the ear plates of the front and rear support plates are arranged with the right-angled side facing up and the hypotenuse facing down. The ear plate of the rear support plate is inserted into the gap between the two ear plates of the front support plate. A transverse rotating shaft is inserted through the ear plates of the front and rear support plates, and the ear plates of the front and rear support plates rotate around the transverse rotating shaft.

4. The tracked ultra-high pressure water derusting dock bottom operation vehicle as described in claim 1, characterized in that, The slewing bearing is provided with a slewing bearing plate connected by a flange. Two hinge plates are vertically parallel on the slewing bearing plate. The lower part of the hinge plate extends to the front side of the slewing bearing and has a first hinge point. The top of the hinge plate has a second hinge point. One end of the telescopic boom is hinged to the second hinge point. One end of the hydraulic cylinder is hinged to the first hinge point. The other end of the hydraulic cylinder is hinged to the fixed wall of the telescopic boom. A lighting lamp is also provided on the fixed arm of the telescopic boom.

5. A tracked ultra-high pressure water derusting dock bottom operation vehicle as described in claim 1, characterized in that, The traveling base includes: The vehicle body contains an oil tank, a generator, a battery, and a hydraulic pump. The generator, battery, and hydraulic pump are electrically connected to each other. The oil tank is connected to the generator, and the generator generates electricity by burning fuel in the oil tank. The slewing bearing is hydraulically driven. The hydraulic pump is connected in a closed loop with the hydraulic oil tank and hydraulic regulating valve inside the vehicle body through pipelines. The hydraulic regulating valve is also provided with several pipelines that are respectively connected to the hydraulic cylinder and the hydraulic drive unit of the slewing bearing. The hydraulic fluid in the pipelines is input to or output to the hydraulic oil tank through the manifold.

6. A tracked ultra-high pressure water derusting dock bottom operation vehicle as described in claim 5, characterized in that, The travel base also includes: The drive motor is installed inside the vehicle body and is electrically connected to the generator. The drive motor is also connected to the worm gear reducer installed on both sides of the running base. The vehicle body is equipped with running tracks on both sides, which are connected to a worm gear reducer. The outer track plate covers the connection between the running track and the worm gear reducer.

7. A tracked ultra-high pressure water derusting dock bottom operation vehicle as described in claim 1, characterized in that, The working chamber of the working part is equipped with a nozzle and a sewage hole of an ultra-high pressure water rust removal component located at the bottom of the working chamber. The telescopic arm is equipped with several pipe fixing brackets. The external water inlet pipe and water outlet pipe are respectively connected to the nozzle and the sewage hole, and are all fixed on the pipe fixing brackets. Ultra-high pressure water is input into the nozzle through the water inlet pipe. After the rust removal work, the sewage flows back into the working chamber and is discharged through the sewage hole and the water outlet pipe.

8. A tracked ultra-high pressure water derusting dock bottom operation vehicle as described in claim 1, characterized in that, The traveling base is equipped with a drain outlet, and wastewater that falls into the traveling base during operation is discharged through the drain outlet.

9. A tracked ultra-high pressure water derusting dock bottom operation vehicle as described in claim 1, characterized in that, The working part has a top open structure, and the inner cavity of the open structure is the working chamber. The edge of the open structure is provided with bristles, and several guide wheels are provided around the edge of the open structure. The rolling surface of the guide wheels is arranged facing upwards, and is used to cooperate with the single disc fork and the fine adjustment support plate to fit the working part against the working surface.

10. A tracked ultra-high pressure water derusting dock bottom operation vehicle as described in claim 5, characterized in that, The travel base also includes: A front hatch is installed on the vehicle body, and a handle is provided at the upper end of the front hatch; The system includes fuses and an emergency stop switch that are electrically connected to the generator and drive motor. An electrical control box is located at the rear of the vehicle body, which integrates an electrical control chip and a wireless signal transmitter.

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