A dock outer bottom plate rust removal device with high safety performance and a control method thereof

Abstract

The present application relates to a kind of high security dock floor rust removal device and its control method, including walking chassis, the right bottom end of walking chassis is fixedly installed with mounting plate, the top left end of mounting plate is fixedly installed with support frame, the top of mounting plate is provided with power drive module, the left side of power drive module is provided with speed reduction drive module, the bottom of walking chassis is provided with walking module, the left top of walking chassis is fixedly installed with support platform, support platform is fixedly installed with height adjustment module, height adjustment module is fixedly installed with rust removal component, the bottom of rust removal component is provided with damping support module, the flexible movement of device on the ground of dock is realized, the drawbacks that traditional magnetic adsorption wall-climbing robot is limited to the contact area of ship body and dock pier are avoided, the synchronous configuration of diesel engine and generator provides independent power supply, cooperate with lighting system to realize all-weather operation capability, significantly improve the efficiency and safety of dock floor rust removal operation.

Description

Technical Field

[0001] This invention relates to the field of rust removal technology in shipbuilding and marine engineering, and in particular to a rust removal device for the outer bottom plate of a dry dock with high safety performance and its control method. Background Technology

[0002] During long-term voyages, the surface of a ship's outer bottom plate accumulates a large amount of marine organisms, rust, and dirt, which seriously affects the ship's navigation performance and fuel efficiency. Therefore, regular maintenance of the ship's outer bottom plate is necessary. Traditional dock bottom plate rust removal operations mainly rely on manual hand-held sandblasting equipment, which exposes workers to the risk of inhaling toxic dust. With the development of automation technology, wall-climbing robots have begun to be used for outer bottom plate rust removal. However, most existing wall-climbing robots use magnetic adsorption, and due to the width of the side wheels of the wall-climbing robot, a large area remains around the contact point between the ship and the dock pier that cannot be rusted. Summary of the Invention

[0003] The purpose of this invention is to provide a high-safety-performance rust removal device for the outer bottom plate of a dock and its control method, so as to solve the problems existing in the prior art.

[0004] The above-mentioned technical objective of the present invention is achieved through the following technical solution: A high-safety-performance rust removal device for the outer bottom plate of a dock and its control method are disclosed. The device includes a traveling chassis, a mounting plate fixedly installed at the bottom right end of the traveling chassis, a support frame fixedly installed at the top left end of the mounting plate, multiple limiting blocks spaced apart from front to back on the top of the support frame, a power drive module on the top of the mounting plate, a reduction transmission module on the left side of the power drive module, a traveling module at the bottom of the traveling chassis, a support platform fixedly installed at the top left end of the traveling chassis, a height adjustment module fixedly installed on the support platform, a rust removal component fixedly installed on the height adjustment module, and a shock-absorbing support module at the bottom of the rust removal component.

[0005] By adopting the above technical solution, the device can move flexibly on the dock floor, avoiding the drawbacks of traditional magnetic adsorption wall-climbing robots that are limited by the contact area between the hull and the dock pier. Through the cooperation of the height adjustment module and the rust removal component, the rust removal brush can be adjusted with multiple degrees of freedom according to the actual height and curved shape of the hull outer plate, ensuring full coverage of rust removal operations. The setting of the shock-absorbing support module effectively buffers the vibration and impact during the rust removal process. At the same time, the synchronous configuration of the diesel engine and generator provides the device with an independent power supply, which, together with the lighting system, enables all-weather operation and significantly improves the efficiency and safety of rust removal operations on the dock outer bottom plate.

[0006] In a further embodiment, the power drive module includes a diesel engine and a starter motor. The diesel engine is fixedly mounted on the top right end of the mounting plate, and the starter motor is mounted on the front side of the diesel engine.

[0007] By adopting the above technical solution, the diesel engine serves as an independent power source, eliminating the need for external power supply facilities. This makes it particularly suitable for dock operations. The starter motor works in conjunction with the diesel engine to achieve rapid cold starts, ensuring reliable operation of the equipment under harsh conditions such as low temperature and high humidity, and providing continuous and stable power output for the entire system.

[0008] In a further embodiment, the walking module includes a drive wheel, a first rotating shaft, and a guide wheel. The first rotating shaft is rotatably mounted on the left end of the walking chassis. The axis of the first rotating shaft is in the front-back direction. Drive wheels are fixedly mounted on both the front and rear ends of the first rotating shaft. A guide wheel is rotatably mounted on the bottom right side of the mounting plate.

[0009] By adopting the above technical solution, the drive wheel and the first rotating shaft are rigidly connected to ensure the reliability of power transmission. It can smoothly cross the track gaps and minor obstacles on the dock floor. The operator can adjust the deflection angle of the guide wheel in real time according to the operation requirements to realize the flexible steering of the walking chassis. With the differential control of the drive wheel, the device can complete the on-the-spot turning and lateral fine adjustment in the narrow dock space, which significantly improves the mobility of the device in the complex dock environment.

[0010] In a further embodiment, the reduction transmission module includes a reducer and a drive shaft. The reducer is fixedly installed on the left front side of the diesel engine. The reducer and the diesel engine are synchronously connected. A drive shaft is provided on the left side of the reducer. The left end of the drive shaft is connected to the drive wheel of the chassis.

[0011] By adopting the above technical solution, the reducer converts the high-speed, low-torque power output of the diesel engine into low-speed, high-torque power, which is then transmitted to the drive wheels through the transmission shaft. This satisfies the low-speed, high-torque drive requirements of the chassis while avoiding power waste and equipment impact caused by direct diesel engine drive. The synchronous connection method ensures the real-time performance and stability of power transmission, and can adapt to the angle changes of the chassis when driving on uneven ground, ensuring continuous and reliable power transmission.

[0012] In a further embodiment, the height adjustment module includes a hydraulic cylinder, a guide sleeve, a connecting rod, and a first telescopic rod. The hydraulic cylinder is fixedly installed at the top center of the support platform. Guide sleeves are symmetrically fixedly installed on the front and rear sides of the hydraulic cylinder. The bottom of the guide sleeve is fixedly connected to the support platform. The first telescopic rod is slidably installed inside the guide sleeve. The top of the first telescopic rod is fixedly installed with the same connecting rod.

[0013] By adopting the above technical solution, the hydraulic cylinder, as the core actuator for height adjustment, drives the connecting rod and the first telescopic rod to perform precise lifting and lowering movements along the guide sleeve. The sliding fit structure between the guide sleeve and the first telescopic rod effectively constrains the movement trajectory of the connecting rod, preventing it from deflecting or swaying during lifting and lowering, and ensuring that the rust removal assembly always maintains a stable working posture.

[0014] In a further embodiment, the rust removal assembly includes a rust removal frame, a first sleeve, a turntable, a second telescopic rod, an adjusting rod, and a rust removal brush. The second telescopic rod is fixedly installed at the left end of the support platform, and the axis of the second telescopic rod is vertical. The turntable is rotatably installed at the bottom end of the second telescopic rod. The first sleeve is rotatably installed at the telescopic end of the second telescopic rod. The adjusting rod is fixedly installed at the right end of the first sleeve. The rust removal frame is fixedly installed at the left end of the first sleeve. The rust removal brush is fixedly installed on the rust removal frame. A circular protrusion is fixedly installed at the top end of the second telescopic rod, and the circular protrusion extends to the right and is fixedly connected to the connecting rod.

[0015] By adopting the above technical solution, the second telescopic rod is rigidly connected to the connecting rod through the annular protrusion, enabling the rust removal component to rise and fall synchronously with the height adjustment module. This allows for a wide range of vertical position adjustments of the rust removal brush. The rotation function of the turntable allows the rust removal frame to deflect in the horizontal plane, giving the rust removal brush bidirectional attitude adjustment capability around the vertical and horizontal axes. The adjustment rod facilitates manual fine-tuning of the angle of the rust removal frame by the operator, allowing the rust removal brush to conform to the surface of the ship's outer plate with different curvatures. The rust removal frame has sufficient rigidity and strength to withstand the reaction force during rust removal operations. The pre-reserved installation interface at its bottom can be configured with various rust removal actuators such as wire brushes, abrasive brushes, or high-pressure water jet nozzles according to the rust removal process requirements, improving the versatility and adaptability of the device.

[0016] In a further embodiment, the shock-absorbing support module includes a shock-absorbing spring and a damper. The damper is symmetrically and rotatably mounted on the bottom of the rust-removing frame. The bottom end of the damper is fixedly connected to the turntable. The shock-absorbing spring is provided inside the damper.

[0017] By adopting the above technical solution, the parallel damping structure composed of dampers and shock-absorbing springs can provide flexible support when the rust removal brush contacts the hull plating, effectively absorbing and dissipating the high-frequency vibration energy generated during rust removal operations. The symmetrically arranged dampers at the front and rear make the force on the rust removal frame more balanced, preventing uneven wear caused by unilateral force. When there are local protrusions or depressions on the surface of the hull plating, the shock-absorbing support module can adjust the position of the rust removal frame in real time, so that the rust removal brush maintains a constant contact pressure with the hull surface, avoiding damage to the hull surface caused by excessive pressure and preventing incomplete rust removal caused by insufficient pressure. The nonlinear damping characteristics of the dampers enable the device to have a good vibration isolation effect under low-frequency, large-amplitude conditions, while the shock-absorbing springs ensure a fast response under high-frequency, small-amplitude conditions. The synergistic effect of the two significantly improves the stability and safety of rust removal operations.

[0018] In a further embodiment, a generator is fixedly installed at the top left rear end of the mounting plate. The generator is connected to the diesel engine by a synchronous belt. A storage battery is fixedly installed on the left side of the generator. The storage battery is installed in conjunction with the generator. Lighting lamps are symmetrically fixedly installed on the left end of the connecting rod. The lighting lamps are electrically connected to the storage battery.

[0019] By adopting the above technical solution, the generator maintains mechanical linkage with the diesel engine through a synchronous belt, realizing the integrated design of the power source and the power system. There is no need to configure an additional independent generator, simplifying the overall structure of the device. The synchronous belt drive has the characteristics of accurate transmission ratio, smooth operation, and convenient maintenance. It can maintain the relative stability of the generator speed under the variable speed condition of the diesel engine, ensuring that the fluctuation range of the output voltage is controlled within the allowable range of the electrical equipment. The battery, as an energy storage unit, charges when the generator output is surplus and releases electrical energy during peak electricity demand or when the diesel engine is running at low speed, playing a role in peak shaving and valley filling. It ensures the continuous and stable power supply of electrical equipment such as lighting. The lighting uses LED light source, which has the advantages of low energy consumption, high brightness, and long life. Its installation position rises and falls synchronously with the connecting rod, which can always project the beam onto the working area of ​​the rust removal brush, eliminating the problem of blind spots in traditional fixed lighting and significantly improving the working vision conditions at night or in the enclosed dock.

[0020] In a further embodiment, the following steps are included: S1: Equipment Start-up. The operator first starts the diesel engine using the starter motor. After the diesel engine starts, it drives the generator to run. The generator maintains synchronous speed with the diesel engine through the synchronous belt, converting mechanical energy into electrical energy and storing it in the battery. The operator checks the working status of the hydraulic cylinder, the second telescopic rod, the lighting, and the shock absorption support module. After confirming that there are no abnormalities in each component, the equipment enters the standby state. S2: The operator controls the diesel engine to output power. After the power is reduced in speed and increased in torque by the reducer, it is transmitted to the first rotating shaft through the transmission shaft. The drive wheel rotates under the drive of the transmission shaft, and moves the chassis in conjunction with the guide wheel. During the movement, the operator adjusts the angle of the guide wheel in real time according to the outline of the hull plate, so that the chassis moves along the predetermined trajectory until the rust removal brush reaches the area to be rusted. S3: When the traveling chassis reaches the working position, the operator drives the hydraulic cylinder to start working, pushing the connecting rod and the first telescopic rod to slide vertically upward along the guide sleeve. At the same time, the second telescopic rod extends and retracts, cooperating with the rotation of the turntable to adjust the rust removal brush to the optimal working posture parallel to the surface of the ship's outer plate. S4: The rust removal brush rotates at high speed under power to remove rust from the surface of the dock's outer bottom plate. During the operation, the shock absorption support module responds in real time to the unevenness changes of the hull surface, so that the rust removal brush maintains a constant contact pressure with the hull surface, which ensures the quality of rust removal and avoids damage to the outer plate of the hull. S5: In the dark or low-light environment, the battery supplies power to the lighting. The lighting moves up and down synchronously with the connecting rod, always illuminating the rust removal area and ensuring that the operator can clearly observe the rust removal effect. After the current area is rust removed, repeat S2 to S4 until the rust removal of the entire outer bottom plate is completed. S6: After the operation is completed, the operator drives the hydraulic cylinder to retract, the first telescopic rod slides down along the guide sleeve, the rust removal component is lowered to the lowest position, the second telescopic rod is fully retracted, the rust removal brush is removed from the hull surface, the traveling chassis moves to a safe area, the diesel engine is turned off, the generator stops running, and the entire rust removal operation process is completed.

[0021] By adopting the above technical solution, the six stages of equipment startup, walking positioning, attitude adjustment, rust removal operation, lighting assistance, and shutdown and storage are organically linked to form a complete closed-loop operation process. The system's self-checking mechanism ensures that all functional modules are in normal condition before the equipment is put into operation, avoiding safety hazards caused by operating with faults. By combining walking control with rust removal area positioning, operators can flexibly plan the travel route according to the actual layout of the hull in the dock. The real-time angle adjustment function of the guide wheels allows the device to adapt to changes in the hull shape and accurately stop at the optimal working position. The use of hydraulic cylinders and a second... The coordinated adjustment strategy of the telescopic rod enables the vertical and horizontal adjustment of the rust removal brush, while the rotation function of the turntable solves the posture adaptation problem caused by the curved surface of the hull, allowing the working surface of the rust removal brush to achieve an ideal fit with the hull surface. The active response mechanism of the shock-absorbing support module transforms the traditional rigid contact into a flexible adaptive contact. The lighting linkage design fully considers the special characteristics of the dock operation environment, where the dock space usually suffers from insufficient natural lighting. Finally, the orderly storage process protects the structure of the rust removal components, and the locked state at the lowest position facilitates the transfer and storage of the device.

[0022] In summary, the present invention has the following beneficial effects: 1. By adopting a non-magnetic adsorption mobile solution where the chassis directly contacts the dock floor, the drawbacks of traditional wall-climbing robots, which cannot effectively operate in the contact area between the hull and the dock piers, are fundamentally avoided. This completely solves the problem of blind spots in rust removal, enabling comprehensive and continuous coverage of the dock's outer bottom plate area and ensuring the integrity and completeness of rust removal. The combination of a diesel engine and a generator provides a completely independent and self-sufficient energy supply system for the entire system, successfully eliminating the need for external power supply. Combined with high-capacity batteries, this further ensures the stability and continuity of energy supply during long-term, high-intensity continuous operation. Operational capabilities: The multi-degree-of-freedom linkage design between the height adjustment module and the rust removal execution components allows the rust removal brush to flexibly and actively adapt to hull structures transitioning from flat bottoms to complex curved surfaces, greatly enhancing adaptability to different ship types; The lighting system and rust removal components achieve synchronous lifting and lowering of the mechanical structure, completely eliminating the problems of shadows and blind spots present in traditional fixed lighting, providing uniform, clear, and reliable visual assurance for continuous nighttime operations and dock operations in low-light conditions; This device significantly reduces the labor intensity of operators in actual work and effectively improves the overall processing quality and comprehensive work efficiency of rust removal operations on the dock's outer bottom plate; 2. By adopting a combination design of shock-absorbing support module and rust removal component, the parallel structure of damper and shock-absorbing spring absorbs impact energy and realizes real-time response to micro-undulations on the hull surface through nonlinear damping characteristics, so that the rust removal brush and the outer plate of the hull always maintain the optimal contact state, preventing the problem of uneven rust removal depth caused by contact pressure fluctuation.

[0023] 3. By adopting differential steering of the walking module and coordinated control of guide wheels, the directness of power transmission and the immediacy of response are ensured, enabling the device to smoothly cross the track gaps and grooves on the dock floor. The setting of guide wheels improves the flexibility and maneuverability of the walking chassis in narrow spaces. Operators can achieve steering by adjusting the deflection angle of the guide wheels in real time, which significantly improves the passability in complex dock environments. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram illustrating the structural connection between the power drive module, the reduction transmission module, and the generator of the present invention; Figure 3 This is a schematic diagram illustrating the structural connection between the walking chassis and the height adjustment module, rust removal component and shock absorption support module of the present invention. Figure 4 This is a schematic diagram illustrating the operation process of the present invention.

[0025] In the diagram: 1. Walking chassis; 2. Mounting plate; 3. Power drive module; 31. Diesel engine; 32. Starter motor; 4. Reduction transmission module; 41. Reducer; 42. Drive shaft; 5. Walking module; 51. Drive wheel; 52. First rotating shaft; 53. Guide wheel; 6. Support platform; 7. Height adjustment module; 71. Hydraulic cylinder; 72. Guide sleeve; 73. Connecting rod; 74. First telescopic rod; 8. Rust removal assembly; 81. Rust removal frame; 82. First sleeve; 83. Turntable; 84. Second telescopic rod; 85. Adjusting rod; 86. Rust removal brush; 9. Shock absorption support module; 91. Shock absorption spring; 92. Damper; 10. Limit block; 11. Circular protrusion; 12. Generator; 13. Battery; 14. Lighting lamp; 15. Support frame. Detailed Implementation

[0026] The present invention will be further described in detail below with reference to the accompanying drawings.

[0027] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to the attached figures. Figure 1In this specification, the terms "bottom surface" and "top surface," "inner" and "outer" refer to the direction towards / away from the geometry of a specific component, respectively. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating / implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this specification, "a plurality of" means two or more, unless otherwise explicitly and specifically defined by the direction of the center.

[0028] Example 1: like Figure 1 - Figure 4 As shown, a high-safety-performance rust removal device for the outer bottom plate of a dock and its control method include a traveling chassis 1, an mounting plate 2 fixedly installed at the right bottom end of the traveling chassis 1, a support frame 15 fixedly installed at the top left end of the mounting plate 2, a plurality of limit blocks 10 spaced apart from front to back on the top of the support frame 15, a power drive module 3 installed at the top of the mounting plate 2, a reduction transmission module 4 installed on the left side of the power drive module 3, a traveling module 5 installed at the bottom end of the traveling chassis 1, a support platform 6 fixedly installed at the top left end of the traveling chassis 1, a height adjustment module 7 fixedly installed on the support platform 6, a rust removal component 8 fixedly installed on the height adjustment module 7, and a shock-absorbing support module 9 installed at the bottom of the rust removal component 8.

[0029] The power drive module 3 includes a diesel engine 31 and a starter motor 32. The diesel engine 31 is fixedly installed on the top right end of the mounting plate 2, and the starter motor 32 is installed on the front side of the diesel engine 31.

[0030] The walking module 5 includes a drive wheel 51, a first rotating shaft 52 and a guide wheel 53. The first rotating shaft 52 is rotatably mounted on the left end of the walking chassis 1. The axis of the first rotating shaft 52 is in the front-back direction. The drive wheel 51 is fixedly mounted on both the front and rear ends of the first rotating shaft 52. The guide wheel 53 is rotatably mounted on the bottom right side of the mounting plate 2.

[0031] The reduction transmission module 4 includes a reducer 41 and a drive shaft 42. The reducer 41 is fixedly installed on the left front side of the diesel engine 31. The reducer 41 and the diesel engine 31 are synchronously connected. The drive shaft 42 is provided on the left side of the reducer 41. The left end of the drive shaft 42 is connected to the drive wheel 51 of the chassis 1.

[0032] The height adjustment module 7 includes a hydraulic cylinder 71, a guide sleeve 72, a connecting rod 73, and a first telescopic rod 74. The hydraulic cylinder 71 is fixedly installed at the top center of the support platform 6. The guide sleeves 72 are symmetrically fixedly installed on the front and rear sides of the hydraulic cylinder 71. The bottom of the guide sleeves 72 is fixedly connected to the support platform 6. The first telescopic rod 74 is slidably installed inside the guide sleeves 72. The top of the first telescopic rod 74 is fixedly installed with the same connecting rod 73.

[0033] The rust removal assembly 8 includes a rust removal frame 81, a first sleeve 82, a turntable 83, a second telescopic rod 84, an adjusting rod 85, and a rust removal brush 86. The second telescopic rod 84 is fixedly installed on the left end of the support platform 6. The axis of the second telescopic rod 84 is vertical. The turntable 83 is rotatably installed on the bottom end of the second telescopic rod 84. The first sleeve 82 is rotatably installed on the telescopic end of the second telescopic rod 84. The adjusting rod 85 is fixedly installed on the right end of the first sleeve 82. The rust removal frame 81 is fixedly installed on the left end of the first sleeve 82. The rust removal brush 86 is fixedly installed on the rust removal frame 81. A circular protrusion 11 is fixedly installed on the top end of the second telescopic rod 84. The circular protrusion 11 extends to the right and is fixedly connected to the connecting rod 73.

[0034] The shock-absorbing support module 9 includes a shock-absorbing spring 91 and a damper 92. The damper 92 is symmetrically mounted on the bottom of the rust-removing frame 81. The bottom end of the damper 92 is fixedly connected to the turntable 83. The shock-absorbing spring 91 is installed inside the damper 92.

[0035] A generator 12 is fixedly installed at the top left rear end of the mounting plate 2. The generator 12 is connected to the diesel engine 31 by a synchronous belt. A storage battery 13 is fixedly installed on the left side of the generator 12. The storage battery 13 is installed in conjunction with the generator 12. A lighting lamp 14 is symmetrically fixedly installed on the front and back of the left end of the connecting rod 73. The lighting lamp 14 is electrically connected to the storage battery 13.

[0036] Includes the following steps: S1: Equipment Start-up. The operator first starts the diesel engine 31 through the starter motor 32. After the diesel engine 31 starts, it drives the generator 12 to run. The generator 12 maintains synchronous speed with the diesel engine 31 through the synchronous belt, converting mechanical energy into electrical energy and storing it in the battery 13. The operator checks the working status of the hydraulic cylinder 71, the second telescopic rod 84, the lighting lamp 14 and the shock absorption support module 9. After confirming that there are no abnormalities in each component, the equipment enters the standby state. S2: The operator controls the diesel engine 31 to output power. After the power is reduced in speed and increased in torque by the reducer 41, it is transmitted to the first rotating shaft 52 through the drive shaft 42. The drive wheel 51 rotates under the drive of the drive shaft 42, and moves the walking chassis 1 in conjunction with the guide wheel 53. During the movement, the operator adjusts the angle of the guide wheel 53 in real time according to the contour of the hull plate, so that the walking chassis 1 moves along the predetermined trajectory until the rust removal brush 86 reaches the area to be rusted. S3: When the traveling chassis 1 reaches the working position, the operator drives the hydraulic cylinder 71 to start working, pushing the connecting rod 73 and the first telescopic rod 74 to slide vertically upward along the guide sleeve 72. At the same time, the second telescopic rod 84 extends and retracts, cooperating with the rotation of the turntable 83, so that the rust removal brush 86 is adjusted to the best working posture parallel to the surface of the ship's outer plate. S4: The rust removal brush 86 rotates at high speed under power drive to remove rust from the surface of the dock's outer bottom plate. During the operation, the shock absorption support module 9 responds in real time to the unevenness changes of the hull surface, so that the rust removal brush 86 maintains a constant contact pressure with the hull surface, which ensures the quality of rust removal and avoids damage to the outer plate of the hull. S5: In the dark or low-light environment, the battery 13 supplies power to the lighting lamp 14. The lighting lamp 14 rises and falls synchronously with the connecting rod 73, always illuminating the rust removal area and ensuring that the operator can clearly observe the rust removal effect. After the current area is rust removed, repeat S2 to S4 until the rust removal of the entire outer bottom plate is completed. S6: After the operation is completed, the operator drives the hydraulic cylinder 71 to retract, the first telescopic rod 74 slides down along the guide sleeve 72, the rust removal component 8 is lowered to the lowest position, the second telescopic rod 84 is fully retracted, the rust removal brush 86 is removed from the hull surface, the traveling chassis 1 moves to a safe area, the diesel engine 31 is turned off, the generator 12 stops running, and the entire rust removal operation process is completed.

[0037] Specific implementation process: The operator first confirms the working environment inside the dock, then starts the equipment. The starter motor 32 drives the diesel engine 31, and the generator 12 starts generating electricity under the synchronous belt drive. The voltage of the battery 13 gradually rises to the rated working voltage of 24V. The operator then checks the oil circuit sealing of the hydraulic cylinder 71, the extension and retraction flexibility of the second telescopic rod 84, the brightness of the LED light source of the lighting lamp 14, and the hydraulic oil level of the damper 92 in the shock absorption support module 9. According to the outer bottom plate of the vessel to be repaired, the operator controls the diesel engine 31 to output a stable speed. The power is reduced and increased in torque by the reducer 41 at a certain reduction ratio, and then transmitted to the first rotating shaft 52 through the drive shaft 42. The drive wheel 51 obtains sufficient traction to move the traveling chassis 1. During the movement, the operator... Personnel hold the control handles with both hands and adjust the deflection angle of the guide wheels 53 in real time according to the outer contour of the hull bottom, so that the traveling chassis 1 moves along the contour of the hull bottom plate. When the rust removal brush 86 reaches the area to be rusted, the steering mechanism of the guide wheels 53 is locked. After reaching the working position, the operator activates the hydraulic cylinder 71. Under the driving action of the hydraulic cylinder 71, the first telescopic rod 74 can be pushed up at a constant speed, thereby driving the connecting rod 73 to rise. Under the action of hydraulic pressure, the first telescopic rod 74 slides smoothly up and down along the guide sleeve 72. At the same time, because the second telescopic rod 84 is fixedly connected to the connecting rod 73 by the annular protrusion 11, the second telescopic rod 84 moves up and down synchronously. When the rust removal brush 86 reaches the bottom of the area to be rusted, the first sleeve... A linear bearing is installed inside the first sleeve 82. The first sleeve 82 is fixedly connected to the second telescopic rod 84 through the linear bearing. Therefore, the operator can rotate the first sleeve 82 by adjusting the adjusting rod 85, which in turn rotates the rust removal frame 81. As the rust removal frame 81 rotates, the turntable 83 rotates around the vertical axis. The angle of the adjusting rod 85 is finely adjusted. After the angle is adjusted, the adjusting rod 85 is placed in the corresponding limit block 10 at the top of the support frame 15, so that the working plane of the rust removal brush 86 is parallel and in contact with the surface of the hull plate. Then the rust removal operation begins. The rust removal brush 86 rotates at high speed under the drive of the motor. Depending on the type of rust on the ship, the rust removal brush 86 can use wire brushes or high-pressure water jets, etc. Using the same rust removal method to adapt to different degrees of rust on the outer bottom plate surface, the old paint layer and rust products on the hull outer plate surface are mechanically peeled off. During the operation, when local depressions or welding deformations on the hull outer bottom plate cause changes in surface unevenness, the damper 92 in the shock-absorbing support module 9 generates hydraulic damping force through the reciprocating motion of the internal piston, and the shock-absorbing spring 91 provides elastic support force. The two work together to maintain a constant contact pressure between the rust removal brush 86 and the hull surface. When encountering local protrusions, the damper 92 effectively absorbs impact energy; when encountering depressions, the restoring force of the shock-absorbing spring 91 pushes the rust removal brush 86 to follow up in time, avoiding missed rust areas. If working at night or in situations where there is insufficient lighting at the top of the dock, the lighting auxiliary function will be activated.The operator turns on the lighting switch 14, and the battery 13 supplies power to the lighting 14. Two sets of LED lights accurately reproduce the color of the metal surface after rust removal. The lighting 14 is fixedly connected to the connecting rod 73 via a rigid bracket, and moves synchronously with the lifting and lowering of the connecting rod 73. The illumination angle is always aimed at the center of the working area of ​​the rust removal brush 86. The operator can clearly distinguish the color difference between the rust-removed metal luster and the residual rust spots, and adjust the angle and position of the rust removal brush 86 in time. After completing the rust removal work in the current area, the operator drives the hydraulic cylinder 71 to briefly retract, causing the rust removal brush 86 to detach from the hull surface, releasing the locking state of the guide wheel 53, and continuing to walk along the contour of the ship's outer bottom plate to the next area to be rusted. The operator adjusts the hydraulic cylinder 71 and the adjusting rod 85 according to the actual situation to make the rust removal brush 86 parallel to the ship's outer bottom plate until the rust removal work on the entire outer bottom plate is completed. When the work is finished, the operator performs the equipment storage procedure, first driving the hydraulic cylinder 71 to fully retract, the first... The telescopic rod 74 slides down along the guide sleeve 72 to its lowest position. The connecting rod 73 descends simultaneously, causing the second telescopic rod 84 to fully retract. The rust removal frame 81 also retracts along with the second telescopic rod 84. The rust removal brush 86 completely detaches from the hull surface and is in a suspended protective state. After the traveling chassis 1 moves to the designated equipment parking area, the operator closes the fuel supply valve of the diesel engine 31. The generator 12 stops generating electricity as the diesel engine 31 stops running. The battery 13 exits the discharge state and enters the float charging maintenance mode. The lighting 14 automatically turns off. The entire rust removal device enters a long-term storage standby state. Finally, it is necessary to carefully check whether all moving parts have fully returned to their positions. After confirming that the overall equipment operation is normal, the entire rust removal process is completed. At this time, the equipment should be adjusted to a compact form for easy storage. This not only optimizes storage space but also lays a good foundation for rapid deployment in the next dock repair operation. After completing all the above steps, the equipment will enter a standby state, awaiting instructions for the next operation.

[0038] In the embodiments disclosed in this invention, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments disclosed in this invention according to the specific circumstances.

[0039] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A high-safety-performance rust removal device for the outer bottom plate of a dock and its control method, comprising a traveling chassis (1), characterized in that: A mounting plate (2) is fixedly installed on the right bottom end of the walking chassis (1). A support frame (15) is fixedly installed on the top left end of the mounting plate (2). Multiple limit blocks (10) are spaced apart from front to back on the top of the support frame (15). A power drive module (3) is provided on the top of the mounting plate (2). A speed reduction transmission module (4) is provided on the left side of the power drive module (3). A walking module (5) is provided at the bottom end of the walking chassis (1). A support platform (6) is fixedly installed on the top left end of the walking chassis (1). A height adjustment module (7) is fixedly installed on the support platform (6). A rust removal component (8) is fixedly installed on the height adjustment module (7). A shock-absorbing support module (9) is provided at the bottom of the rust removal component (8).

2. The high-safety-performance rust removal device for the outer bottom plate of a dock and its control method according to claim 1, characterized in that: The power drive module (3) includes a diesel engine (31) and a starter motor (32). The diesel engine (31) is fixedly installed on the top right end of the mounting plate (2), and the starter motor (32) is installed on the front side of the diesel engine (31).

3. The high-safety-performance rust removal device for the outer bottom plate of a dry dock and its control method according to claim 1, characterized in that: The walking module (5) includes a drive wheel (51), a first rotating shaft (52) and a guide wheel (53). The left end of the walking chassis (1) is rotatably mounted with the first rotating shaft (52). The axis of the first rotating shaft (52) is in the front-back direction. The front and rear ends of the first rotating shaft (52) are fixedly mounted with drive wheels (51). The bottom right of the mounting plate (2) is rotatably mounted with a guide wheel (53).

4. The high-safety-performance rust removal device for the outer bottom plate of a dock and its control method according to claim 2, characterized in that: The speed reduction transmission module (4) includes a speed reducer (41) and a drive shaft (42). The speed reducer (41) is fixedly installed on the left front side of the diesel engine (31). The speed reducer (41) and the diesel engine (31) are synchronously connected. The drive shaft (42) is provided on the left side of the speed reducer (41). The left end of the drive shaft (42) is connected to the drive wheel (51) of the walking chassis (1).

5. The high-safety-performance rust removal device for the outer bottom plate of a dock and its control method according to claim 2, characterized in that: The height adjustment module (7) includes a hydraulic cylinder (71), a guide sleeve (72), a connecting rod (73), and a first telescopic rod (74). The hydraulic cylinder (71) is fixedly installed at the top center of the support platform (6). The guide sleeves (72) are symmetrically fixedly installed on the front and rear sides of the hydraulic cylinder (71). The bottom of the guide sleeves (72) is fixedly connected to the support platform (6). The first telescopic rod (74) is slidably installed inside the guide sleeves (72). The same connecting rod (73) is fixedly installed at the top of the first telescopic rod (74).

6. The high-safety-performance rust removal device for the outer bottom plate of a dry dock and its control method according to claim 5, characterized in that: The rust removal assembly (8) includes a rust removal frame (81), a first sleeve (82), a turntable (83), a second telescopic rod (84), an adjusting rod (85), and a rust removal brush (86). The second telescopic rod (84) is fixedly installed at the left end of the support platform (6). The axis of the second telescopic rod (84) is vertical. The turntable (83) is rotatably installed at the bottom end of the second telescopic rod (84). The first sleeve (82) is rotatably installed at the telescopic end of the second telescopic rod (84). The adjusting rod (85) is fixedly installed at the right end of the first sleeve (82). The rust removal frame (81) is fixedly installed at the left end of the first sleeve (82). The rust removal brush (86) is fixedly installed on the rust removal frame (81). The annular protrusion (11) is fixedly installed at the top end of the second telescopic rod (84). The annular protrusion (11) extends to the right and is fixedly connected to the connecting rod (73).

7. The high-safety-performance rust removal device for the outer bottom plate of a dry dock and its control method according to claim 6, characterized in that: The shock-absorbing support module (9) includes a shock-absorbing spring (91) and a damper (92). The bottom of the rust-removing frame (81) is symmetrically and rotatably equipped with a damper (92). The bottom end of the damper (92) is fixedly connected to the turntable (83). The damper (92) is equipped with a shock-absorbing spring (91) inside.

8. A high-safety-performance rust removal device for the outer bottom plate of a dock and its control method according to claim 5, characterized in that: A generator (12) is fixedly installed on the top left rear end of the mounting plate (2). The generator (12) is connected to the diesel engine (31) by a synchronous belt. A storage battery (13) is fixedly installed on the left side of the generator (12). The storage battery (13) is installed in conjunction with the generator (12). A lighting lamp (14) is symmetrically fixedly installed on the left end of the connecting rod (73). The lighting lamp (14) is electrically connected to the storage battery (13).

9. A high-safety-performance rust removal device for the outer bottom plate of a dock and its control method, based on any one of claims 1-8, characterized in that, Includes the following steps: S1: Equipment start-up. The operator first starts the diesel engine (31) through the starter (32). After the diesel engine (31) starts, it drives the generator (12) to run. The generator (12) maintains synchronous speed with the diesel engine (31) through the synchronous belt, converting mechanical energy into electrical energy and storing it in the battery (13). The operator checks the working status of the hydraulic cylinder (71), the second telescopic rod (84), the lighting lamp (14) and the shock absorption support module (9). After confirming that there are no abnormalities in each component, the equipment enters the standby state. S2: The operator controls the diesel engine (31) to output power. After the power is reduced in speed and increased in torque by the reducer (41), it is transmitted to the first rotating shaft (52) through the transmission shaft (42). The drive wheel (51) rotates under the drive of the transmission shaft (42) and moves the walking chassis (1) in conjunction with the guide wheel (53). During the walking process, the operator adjusts the angle of the guide wheel (53) in real time according to the outline of the outer plate of the ship so that the walking chassis (1) moves along the predetermined trajectory until the rust removal brush (86) reaches the area to be rusted. S3: When the traveling chassis (1) reaches the working position, the operator drives the hydraulic cylinder (71) to start working, pushing the connecting rod (73) and the first telescopic rod (74) to slide vertically upward along the guide sleeve (72), while the second telescopic rod (84) extends and retracts, cooperating with the rotation of the turntable (83) to adjust the rust removal brush (86) to the best working posture parallel to the surface of the ship's outer plate; S4: The rust removal brush (86) rotates at high speed under power drive to remove rust from the surface of the dock's outer bottom plate. During the operation, the shock absorption support module (9) responds in real time to the unevenness changes of the hull surface, so that the rust removal brush (86) maintains a constant contact pressure with the hull surface, which ensures the quality of rust removal and avoids damage to the outer plate of the hull. S5: In the night or in low light conditions, the battery (13) supplies power to the lighting lamp (14). The lighting lamp (14) moves up and down synchronously with the connecting rod (73) to always illuminate the rust removal area, ensuring that the operator can clearly observe the rust removal effect. After the current area is rust removed, repeat S2 to S4 until the rust removal operation of the entire outer bottom plate is completed. S6: After the operation is completed, the operator drives the hydraulic cylinder (71) to retract, the first telescopic rod (74) slides down along the guide sleeve (72), the rust removal component (8) is lowered to the lowest position, the second telescopic rod (84) is fully retracted, the rust removal brush (86) is removed from the hull surface, the traveling chassis (1) moves to a safe area, the diesel engine (31) is turned off, the generator (12) stops running, and the entire rust removal operation process is completed.

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